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virtualx-engine/servers/physics/physics_server_sw.cpp

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/*************************************************************************/
/* physics_server_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2015 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 "physics_server_sw.h"
#include "broad_phase_basic.h"
#include "broad_phase_octree.h"
#include "joints/pin_joint_sw.h"
#include "joints/hinge_joint_sw.h"
#include "joints/slider_joint_sw.h"
#include "joints/cone_twist_joint_sw.h"
#include "joints/generic_6dof_joint_sw.h"
RID PhysicsServerSW::shape_create(ShapeType p_shape) {
ShapeSW *shape=NULL;
switch(p_shape) {
case SHAPE_PLANE: {
shape=memnew( PlaneShapeSW );
} break;
case SHAPE_RAY: {
shape=memnew( RayShapeSW );
} break;
case SHAPE_SPHERE: {
shape=memnew( SphereShapeSW);
} break;
case SHAPE_BOX: {
shape=memnew( BoxShapeSW);
} break;
case SHAPE_CAPSULE: {
shape=memnew( CapsuleShapeSW );
} break;
case SHAPE_CONVEX_POLYGON: {
shape=memnew( ConvexPolygonShapeSW );
} break;
case SHAPE_CONCAVE_POLYGON: {
shape=memnew( ConcavePolygonShapeSW );
} break;
case SHAPE_HEIGHTMAP: {
shape=memnew( HeightMapShapeSW );
} break;
case SHAPE_CUSTOM: {
ERR_FAIL_V(RID());
} break;
}
RID id = shape_owner.make_rid(shape);
shape->set_self(id);
return id;
};
void PhysicsServerSW::shape_set_data(RID p_shape, const Variant& p_data) {
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
shape->set_data(p_data);
};
void PhysicsServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
shape->set_custom_bias(p_bias);
}
PhysicsServer::ShapeType PhysicsServerSW::shape_get_type(RID p_shape) const {
const ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,SHAPE_CUSTOM);
return shape->get_type();
};
Variant PhysicsServerSW::shape_get_data(RID p_shape) const {
const ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,Variant());
ERR_FAIL_COND_V(!shape->is_configured(),Variant());
return shape->get_data();
};
real_t PhysicsServerSW::shape_get_custom_solver_bias(RID p_shape) const {
const ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,0);
return shape->get_custom_bias();
}
RID PhysicsServerSW::space_create() {
SpaceSW *space = memnew( SpaceSW );
RID id = space_owner.make_rid(space);
space->set_self(id);
RID area_id = area_create();
AreaSW *area = area_owner.get(area_id);
ERR_FAIL_COND_V(!area,RID());
space->set_default_area(area);
area->set_space(space);
area->set_priority(-1);
RID sgb = body_create();
body_set_space(sgb,id);
body_set_mode(sgb,BODY_MODE_STATIC);
space->set_static_global_body(sgb);
return id;
};
void PhysicsServerSW::space_set_active(RID p_space,bool p_active) {
SpaceSW *space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
if (p_active)
active_spaces.insert(space);
else
active_spaces.erase(space);
}
bool PhysicsServerSW::space_is_active(RID p_space) const {
const SpaceSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space,false);
return active_spaces.has(space);
}
void PhysicsServerSW::space_set_param(RID p_space,SpaceParameter p_param, real_t p_value) {
SpaceSW *space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
space->set_param(p_param,p_value);
}
real_t PhysicsServerSW::space_get_param(RID p_space,SpaceParameter p_param) const {
const SpaceSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space,0);
return space->get_param(p_param);
}
PhysicsDirectSpaceState* PhysicsServerSW::space_get_direct_state(RID p_space) {
SpaceSW *space = space_owner.get(p_space);
ERR_FAIL_COND_V(!space,NULL);
if (!doing_sync || space->is_locked()) {
ERR_EXPLAIN("Space state is inaccesible right now, wait for iteration or fixed process notification.");
ERR_FAIL_V(NULL);
}
return space->get_direct_state();
}
RID PhysicsServerSW::area_create() {
AreaSW *area = memnew( AreaSW );
RID rid = area_owner.make_rid(area);
area->set_self(rid);
return rid;
};
void PhysicsServerSW::area_set_space(RID p_area, RID p_space) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
SpaceSW *space=NULL;
if (p_space.is_valid()) {
space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
}
area->set_space(space);
};
RID PhysicsServerSW::area_get_space(RID p_area) const {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,RID());
SpaceSW *space = area->get_space();
if (!space)
return RID();
return space->get_self();
};
void PhysicsServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_space_override_mode(p_mode);
}
PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mode(RID p_area) const {
const AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,AREA_SPACE_OVERRIDE_DISABLED);
return area->get_space_override_mode();
}
void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform& p_transform) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
area->add_shape(shape,p_transform);
}
void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx,RID p_shape) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
ERR_FAIL_COND(!shape->is_configured());
area->set_shape(p_shape_idx,shape);
}
void PhysicsServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_shape_transform(p_shape_idx,p_transform);
}
int PhysicsServerSW::area_get_shape_count(RID p_area) const {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,-1);
return area->get_shape_count();
}
RID PhysicsServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,RID());
ShapeSW *shape = area->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape,RID());
return shape->get_self();
}
Transform PhysicsServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,Transform());
return area->get_shape_transform(p_shape_idx);
}
void PhysicsServerSW::area_remove_shape(RID p_area, int p_shape_idx) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->remove_shape(p_shape_idx);
}
void PhysicsServerSW::area_clear_shapes(RID p_area) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
while(area->get_shape_count())
area->remove_shape(0);
}
void PhysicsServerSW::area_attach_object_instance_ID(RID p_area,ObjectID p_ID) {
if (space_owner.owns(p_area)) {
SpaceSW *space=space_owner.get(p_area);
p_area=space->get_default_area()->get_self();
}
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_instance_id(p_ID);
}
ObjectID PhysicsServerSW::area_get_object_instance_ID(RID p_area) const {
if (space_owner.owns(p_area)) {
SpaceSW *space=space_owner.get(p_area);
p_area=space->get_default_area()->get_self();
}
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,0);
return area->get_instance_id();
}
void PhysicsServerSW::area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value) {
if (space_owner.owns(p_area)) {
SpaceSW *space=space_owner.get(p_area);
p_area=space->get_default_area()->get_self();
}
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_param(p_param,p_value);
};
void PhysicsServerSW::area_set_transform(RID p_area, const Transform& p_transform) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_transform(p_transform);
};
Variant PhysicsServerSW::area_get_param(RID p_area,AreaParameter p_param) const {
if (space_owner.owns(p_area)) {
SpaceSW *space=space_owner.get(p_area);
p_area=space->get_default_area()->get_self();
}
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,Variant());
return area->get_param(p_param);
};
Transform PhysicsServerSW::area_get_transform(RID p_area) const {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,Transform());
return area->get_transform();
};
void PhysicsServerSW::area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_monitor_callback(p_receiver?p_receiver->get_instance_ID():0,p_method);
}
void PhysicsServerSW::area_set_ray_pickable(RID p_area,bool p_enable) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
area->set_ray_pickable(p_enable);
}
bool PhysicsServerSW::area_is_ray_pickable(RID p_area) const{
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,false);
return area->is_ray_pickable();
}
/* BODY API */
RID PhysicsServerSW::body_create(BodyMode p_mode,bool p_init_sleeping) {
BodySW *body = memnew( BodySW );
if (p_mode!=BODY_MODE_RIGID)
body->set_mode(p_mode);
if (p_init_sleeping)
body->set_state(BODY_STATE_SLEEPING,p_init_sleeping);
RID rid = body_owner.make_rid(body);
body->set_self(rid);
return rid;
};
void PhysicsServerSW::body_set_space(RID p_body, RID p_space) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
SpaceSW *space=NULL;
if (p_space.is_valid()) {
space = space_owner.get(p_space);
ERR_FAIL_COND(!space);
}
if (body->get_space()==space)
return; //pointles
body->set_space(space);
};
RID PhysicsServerSW::body_get_space(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,RID());
SpaceSW *space = body->get_space();
if (!space)
return RID();
return space->get_self();
};
void PhysicsServerSW::body_set_mode(RID p_body, BodyMode p_mode) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_mode(p_mode);
};
PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body, BodyMode p_mode) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,BODY_MODE_STATIC);
return body->get_mode();
};
void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform& p_transform) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
body->add_shape(shape,p_transform);
}
void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx,RID p_shape) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
ERR_FAIL_COND(!shape->is_configured());
body->set_shape(p_shape_idx,shape);
}
void PhysicsServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_shape_transform(p_shape_idx,p_transform);
}
int PhysicsServerSW::body_get_shape_count(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,-1);
return body->get_shape_count();
}
RID PhysicsServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,RID());
ShapeSW *shape = body->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape,RID());
return shape->get_self();
}
void PhysicsServerSW::body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable) {
BodySW *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 PhysicsServerSW::body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const{
BodySW *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);
}
Transform PhysicsServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,Transform());
return body->get_shape_transform(p_shape_idx);
}
void PhysicsServerSW::body_remove_shape(RID p_body, int p_shape_idx) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->remove_shape(p_shape_idx);
}
void PhysicsServerSW::body_clear_shapes(RID p_body) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
while(body->get_shape_count())
body->remove_shape(0);
}
void PhysicsServerSW::body_set_enable_continuous_collision_detection(RID p_body,bool p_enable) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_continuous_collision_detection(p_enable);
}
bool PhysicsServerSW::body_is_continuous_collision_detection_enabled(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,false);
return body->is_continuous_collision_detection_enabled();
}
void PhysicsServerSW::body_set_layer_mask(RID p_body, uint32_t p_mask) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_layer_mask(p_mask);
body->wakeup();
}
uint32_t PhysicsServerSW::body_get_layer_mask(RID p_body, uint32_t p_mask) const{
const BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return body->get_layer_mask();
}
void PhysicsServerSW::body_attach_object_instance_ID(RID p_body,uint32_t p_ID) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_instance_id(p_ID);
};
uint32_t PhysicsServerSW::body_get_object_instance_ID(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return body->get_instance_id();
};
void PhysicsServerSW::body_set_user_flags(RID p_body, uint32_t p_flags) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
};
uint32_t PhysicsServerSW::body_get_user_flags(RID p_body, uint32_t p_flags) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return 0;
};
void PhysicsServerSW::body_set_param(RID p_body, BodyParameter p_param, float p_value) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_param(p_param,p_value);
};
float PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return body->get_param(p_param);
};
void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant& p_variant) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_state(p_state,p_variant);
};
Variant PhysicsServerSW::body_get_state(RID p_body, BodyState p_state) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,Variant());
return body->get_state(p_state);
};
void PhysicsServerSW::body_set_applied_force(RID p_body, const Vector3& p_force) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_applied_force(p_force);
body->wakeup();
};
Vector3 PhysicsServerSW::body_get_applied_force(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,Vector3());
return body->get_applied_force();
};
void PhysicsServerSW::body_set_applied_torque(RID p_body, const Vector3& p_torque) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_applied_torque(p_torque);
body->wakeup();
};
Vector3 PhysicsServerSW::body_get_applied_torque(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,Vector3());
return body->get_applied_torque();
};
void PhysicsServerSW::body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->apply_impulse(p_pos,p_impulse);
body->wakeup();
};
void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
Vector3 v = body->get_linear_velocity();
Vector3 axis = p_axis_velocity.normalized();
v-=axis*axis.dot(v);
v+=p_axis_velocity;
body->set_linear_velocity(v);
body->wakeup();
};
void PhysicsServerSW::body_set_axis_lock(RID p_body,BodyAxisLock p_lock) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_axis_lock(p_lock);
body->wakeup();
}
PhysicsServerSW::BodyAxisLock PhysicsServerSW::body_get_axis_lock(RID p_body) const{
const BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,BODY_AXIS_LOCK_DISABLED);
return body->get_axis_lock();
}
void PhysicsServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->add_exception(p_body_b);
body->wakeup();
};
void PhysicsServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->remove_exception(p_body_b);
body->wakeup();
};
void PhysicsServerSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
BodySW *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 PhysicsServerSW::body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
};
float PhysicsServerSW::body_get_contacts_reported_depth_treshold(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,0);
return 0;
};
void PhysicsServerSW::body_set_omit_force_integration(RID p_body,bool p_omit) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_omit_force_integration(p_omit);
};
bool PhysicsServerSW::body_is_omitting_force_integration(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,false);
return body->get_omit_force_integration();
};
void PhysicsServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_max_contacts_reported(p_contacts);
}
int PhysicsServerSW::body_get_max_contacts_reported(RID p_body) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,-1);
return body->get_max_contacts_reported();
}
void PhysicsServerSW::body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata) {
BodySW *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);
}
void PhysicsServerSW::body_set_ray_pickable(RID p_body,bool p_enable) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
body->set_ray_pickable(p_enable);
}
bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const{
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,false);
return body->is_ray_pickable();
}
/* JOINT API */
RID PhysicsServerSW::joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B) {
BodySW *body_A = body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A,RID());
if (!p_body_B.is_valid()) {
ERR_FAIL_COND_V(!body_A->get_space(),RID());
p_body_B=body_A->get_space()->get_static_global_body();
}
BodySW *body_B = body_owner.get(p_body_B);
ERR_FAIL_COND_V(!body_B,RID());
ERR_FAIL_COND_V(body_A==body_B,RID());
JointSW *joint = memnew( PinJointSW(body_A,p_local_A,body_B,p_local_B) );
RID rid = joint_owner.make_rid(joint);
joint->set_self(rid);
return rid;
}
void PhysicsServerSW::pin_joint_set_param(RID p_joint,PinJointParam p_param, float p_value){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_PIN);
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
pin_joint->set_param(p_param,p_value);
}
float PhysicsServerSW::pin_joint_get_param(RID p_joint,PinJointParam p_param) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,0);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,0);
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
return pin_joint->get_param(p_param);
}
void PhysicsServerSW::pin_joint_set_local_A(RID p_joint, const Vector3& p_A){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_PIN);
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
pin_joint->set_pos_A(p_A);
}
Vector3 PhysicsServerSW::pin_joint_get_local_A(RID p_joint) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,Vector3());
ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,Vector3());
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
return pin_joint->get_pos_A();
}
void PhysicsServerSW::pin_joint_set_local_B(RID p_joint, const Vector3& p_B){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_PIN);
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
pin_joint->set_pos_B(p_B);
}
Vector3 PhysicsServerSW::pin_joint_get_local_B(RID p_joint) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,Vector3());
ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,Vector3());
PinJointSW *pin_joint = static_cast<PinJointSW*>(joint);
return pin_joint->get_pos_B();
}
RID PhysicsServerSW::joint_create_hinge(RID p_body_A,const Transform& p_frame_A,RID p_body_B,const Transform& p_frame_B) {
BodySW *body_A = body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A,RID());
if (!p_body_B.is_valid()) {
ERR_FAIL_COND_V(!body_A->get_space(),RID());
p_body_B=body_A->get_space()->get_static_global_body();
}
BodySW *body_B = body_owner.get(p_body_B);
ERR_FAIL_COND_V(!body_B,RID());
ERR_FAIL_COND_V(body_A==body_B,RID());
JointSW *joint = memnew( HingeJointSW(body_A,body_B,p_frame_A,p_frame_B) );
RID rid = joint_owner.make_rid(joint);
joint->set_self(rid);
return rid;
}
RID PhysicsServerSW::joint_create_hinge_simple(RID p_body_A,const Vector3& p_pivot_A,const Vector3& p_axis_A,RID p_body_B,const Vector3& p_pivot_B,const Vector3& p_axis_B) {
BodySW *body_A = body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A,RID());
if (!p_body_B.is_valid()) {
ERR_FAIL_COND_V(!body_A->get_space(),RID());
p_body_B=body_A->get_space()->get_static_global_body();
}
BodySW *body_B = body_owner.get(p_body_B);
ERR_FAIL_COND_V(!body_B,RID());
ERR_FAIL_COND_V(body_A==body_B,RID());
JointSW *joint = memnew( HingeJointSW(body_A,body_B,p_pivot_A,p_pivot_B,p_axis_A,p_axis_B) );
RID rid = joint_owner.make_rid(joint);
joint->set_self(rid);
return rid;
}
void PhysicsServerSW::hinge_joint_set_param(RID p_joint,HingeJointParam p_param, float p_value){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_HINGE);
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
hinge_joint->set_param(p_param,p_value);
}
float PhysicsServerSW::hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,0);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_HINGE,0);
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
return hinge_joint->get_param(p_param);
}
void PhysicsServerSW::hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_HINGE);
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
hinge_joint->set_flag(p_flag,p_value);
}
bool PhysicsServerSW::hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,false);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_HINGE,false);
HingeJointSW *hinge_joint = static_cast<HingeJointSW*>(joint);
return hinge_joint->get_flag(p_flag);
}
void PhysicsServerSW::joint_set_solver_priority(RID p_joint,int p_priority) {
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
joint->set_priority(p_priority);
}
int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,0);
return joint->get_priority();
}
PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,JOINT_PIN);
return joint->get_type();
}
RID PhysicsServerSW::joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) {
BodySW *body_A = body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A,RID());
if (!p_body_B.is_valid()) {
ERR_FAIL_COND_V(!body_A->get_space(),RID());
p_body_B=body_A->get_space()->get_static_global_body();
}
BodySW *body_B = body_owner.get(p_body_B);
ERR_FAIL_COND_V(!body_B,RID());
ERR_FAIL_COND_V(body_A==body_B,RID());
JointSW *joint = memnew( SliderJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B) );
RID rid = joint_owner.make_rid(joint);
joint->set_self(rid);
return rid;
}
void PhysicsServerSW::slider_joint_set_param(RID p_joint,SliderJointParam p_param, float p_value){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_SLIDER);
SliderJointSW *slider_joint = static_cast<SliderJointSW*>(joint);
slider_joint->set_param(p_param,p_value);
}
float PhysicsServerSW::slider_joint_get_param(RID p_joint,SliderJointParam p_param) const{
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,0);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_CONE_TWIST,0);
SliderJointSW *slider_joint = static_cast<SliderJointSW*>(joint);
return slider_joint->get_param(p_param);
}
RID PhysicsServerSW::joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) {
BodySW *body_A = body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A,RID());
if (!p_body_B.is_valid()) {
ERR_FAIL_COND_V(!body_A->get_space(),RID());
p_body_B=body_A->get_space()->get_static_global_body();
}
BodySW *body_B = body_owner.get(p_body_B);
ERR_FAIL_COND_V(!body_B,RID());
ERR_FAIL_COND_V(body_A==body_B,RID());
JointSW *joint = memnew( ConeTwistJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B) );
RID rid = joint_owner.make_rid(joint);
joint->set_self(rid);
return rid;
}
void PhysicsServerSW::cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, float p_value) {
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_CONE_TWIST);
ConeTwistJointSW *cone_twist_joint = static_cast<ConeTwistJointSW*>(joint);
cone_twist_joint->set_param(p_param,p_value);
}
float PhysicsServerSW::cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const {
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,0);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_CONE_TWIST,0);
ConeTwistJointSW *cone_twist_joint = static_cast<ConeTwistJointSW*>(joint);
return cone_twist_joint->get_param(p_param);
}
RID PhysicsServerSW::joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) {
BodySW *body_A = body_owner.get(p_body_A);
ERR_FAIL_COND_V(!body_A,RID());
if (!p_body_B.is_valid()) {
ERR_FAIL_COND_V(!body_A->get_space(),RID());
p_body_B=body_A->get_space()->get_static_global_body();
}
BodySW *body_B = body_owner.get(p_body_B);
ERR_FAIL_COND_V(!body_B,RID());
ERR_FAIL_COND_V(body_A==body_B,RID());
JointSW *joint = memnew( Generic6DOFJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B,true) );
RID rid = joint_owner.make_rid(joint);
joint->set_self(rid);
return rid;
}
void PhysicsServerSW::generic_6dof_joint_set_param(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisParam p_param, float p_value){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_6DOF);
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
generic_6dof_joint->set_param(p_axis,p_param,p_value);
}
float PhysicsServerSW::generic_6dof_joint_get_param(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisParam p_param){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,0);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_6DOF,0);
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
return generic_6dof_joint->get_param(p_axis,p_param);
}
void PhysicsServerSW::generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisFlag p_flag, bool p_enable){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND(!joint);
ERR_FAIL_COND(joint->get_type()!=JOINT_6DOF);
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
generic_6dof_joint->set_flag(p_axis,p_flag,p_enable);
}
bool PhysicsServerSW::generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisFlag p_flag){
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,false);
ERR_FAIL_COND_V(joint->get_type()!=JOINT_6DOF,false);
Generic6DOFJointSW *generic_6dof_joint = static_cast<Generic6DOFJointSW*>(joint);
return generic_6dof_joint->get_flag(p_axis,p_flag);
}
#if 0
void PhysicsServerSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
JointSW *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 PhysicsServerSW::joint_get_param(RID p_joint,JointParam p_param) const {
const JointSW *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 PhysicsServerSW::pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b) {
BodySW *A=body_owner.get(p_body_a);
ERR_FAIL_COND_V(!A,RID());
BodySW *B=NULL;
if (body_owner.owns(p_body_b)) {
B=body_owner.get(p_body_b);
ERR_FAIL_COND_V(!B,RID());
}
JointSW *joint = memnew( PinJointSW(p_pos,A,B) );
RID self = joint_owner.make_rid(joint);
joint->set_self(self);
return self;
}
RID PhysicsServerSW::groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b) {
BodySW *A=body_owner.get(p_body_a);
ERR_FAIL_COND_V(!A,RID());
BodySW *B=body_owner.get(p_body_b);
ERR_FAIL_COND_V(!B,RID());
JointSW *joint = memnew( GrooveJointSW(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 PhysicsServerSW::damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b) {
BodySW *A=body_owner.get(p_body_a);
ERR_FAIL_COND_V(!A,RID());
BodySW *B=body_owner.get(p_body_b);
ERR_FAIL_COND_V(!B,RID());
JointSW *joint = memnew( DampedSpringJointSW(p_anchor_a,p_anchor_b,A,B) );
RID self = joint_owner.make_rid(joint);
joint->set_self(self);
return self;
}
void PhysicsServerSW::damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value) {
JointSW *j = joint_owner.get(p_joint);
ERR_FAIL_COND(!j);
ERR_FAIL_COND(j->get_type()!=JOINT_DAMPED_SPRING);
DampedSpringJointSW *dsj = static_cast<DampedSpringJointSW*>(j);
dsj->set_param(p_param,p_value);
}
real_t PhysicsServerSW::damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const {
JointSW *j = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!j,0);
ERR_FAIL_COND_V(j->get_type()!=JOINT_DAMPED_SPRING,0);
DampedSpringJointSW *dsj = static_cast<DampedSpringJointSW*>(j);
return dsj->get_param(p_param);
}
PhysicsServer::JointType PhysicsServerSW::joint_get_type(RID p_joint) const {
JointSW *joint = joint_owner.get(p_joint);
ERR_FAIL_COND_V(!joint,JOINT_PIN);
return joint->get_type();
}
#endif
void PhysicsServerSW::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
ShapeSW *shape = shape_owner.get(p_rid);
while(shape->get_owners().size()) {
ShapeOwnerSW *so=shape->get_owners().front()->key();
so->remove_shape(shape);
}
shape_owner.free(p_rid);
memdelete(shape);
} else if (body_owner.owns(p_rid)) {
BodySW *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)) {
AreaSW *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)) {
SpaceSW *space = space_owner.get(p_rid);
while(space->get_objects().size()) {
CollisionObjectSW *co = (CollisionObjectSW *)space->get_objects().front()->get();
co->set_space(NULL);
}
active_spaces.erase(space);
free(space->get_default_area()->get_self());
free(space->get_static_global_body());
space_owner.free(p_rid);
memdelete(space);
} else if (joint_owner.owns(p_rid)) {
JointSW *joint = joint_owner.get(p_rid);
for(int i=0;i<joint->get_body_count();i++) {
joint->get_body_ptr()[i]->remove_constraint(joint);
}
joint_owner.free(p_rid);
memdelete(joint);
} else {
ERR_EXPLAIN("Invalid ID");
ERR_FAIL();
}
};
void PhysicsServerSW::set_active(bool p_active) {
active=p_active;
};
void PhysicsServerSW::init() {
doing_sync=true;
last_step=0.001;
iterations=8;// 8?
stepper = memnew( StepSW );
direct_state = memnew( PhysicsDirectBodyStateSW );
};
void PhysicsServerSW::step(float p_step) {
if (!active)
return;
doing_sync=false;
last_step=p_step;
PhysicsDirectBodyStateSW::singleton->step=p_step;
island_count=0;
active_objects=0;
collision_pairs=0;
for( Set<const SpaceSW*>::Element *E=active_spaces.front();E;E=E->next()) {
stepper->step((SpaceSW*)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 PhysicsServerSW::sync() {
};
void PhysicsServerSW::flush_queries() {
if (!active)
return;
doing_sync=true;
for( Set<const SpaceSW*>::Element *E=active_spaces.front();E;E=E->next()) {
SpaceSW *space=(SpaceSW *)E->get();
space->call_queries();
}
};
void PhysicsServerSW::finish() {
memdelete(stepper);
memdelete(direct_state);
};
int PhysicsServerSW::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;
}
void PhysicsServerSW::_shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
CollCbkData *cbk=(CollCbkData *)p_userdata;
if (cbk->max==0)
return;
if (cbk->amount == cbk->max) {
//find least deep
float min_depth=1e20;
int min_depth_idx=0;
for(int i=0;i<cbk->amount;i++) {
float 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;
}
}
float d = p_point_A.distance_squared_to(p_point_B);
if (d<min_depth)
return;
cbk->ptr[min_depth_idx*2+0]=p_point_A;
cbk->ptr[min_depth_idx*2+1]=p_point_B;
} else {
cbk->ptr[cbk->amount*2+0]=p_point_A;
cbk->ptr[cbk->amount*2+1]=p_point_B;
cbk->amount++;
}
}
PhysicsServerSW::PhysicsServerSW() {
BroadPhaseSW::create_func=BroadPhaseOctree::_create;
island_count=0;
active_objects=0;
collision_pairs=0;
active=true;
};
PhysicsServerSW::~PhysicsServerSW() {
};
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