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virtualx-engine/servers/physics_2d/space_2d_sw.cpp
Juan Linietsky 33b5c57199 Variant: Added 64-bit packed arrays, renamed Variant::REAL to FLOAT. 
- Renames PackedIntArray to PackedInt32Array.
- Renames PackedFloatArray to PackedFloat32Array.
- Adds PackedInt64Array and PackedFloat64Array.
- Renames Variant::REAL to Variant::FLOAT for consistency.

Packed arrays are for storing large amount of data and creating stuff like
meshes, buffers. textures, etc. Forcing them to be 64 is a huge waste of
memory. That said, many users requested the ability to have 64 bits packed
arrays for their games, so this is just an optional added type.

For Variant, the float datatype is always 64 bits, and exposed as `float`.

We still have `real_t` which is the datatype that can change from 32 to 64
bits depending on a compile flag (not entirely working right now, but that's
the idea). It affects math related datatypes and code only.

Neither Variant nor PackedArray make use of real_t, which is only intended
for math precision, so the term is removed from there to keep only float.
2020-02-25 12:55:53 +01:00

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/*************************************************************************/
/* space_2d_sw.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "space_2d_sw.h"
#include "collision_solver_2d_sw.h"
#include "core/os/os.h"
#include "core/pair.h"
#include "physics_2d_server_sw.h"
_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (!(p_object->get_collision_layer() & p_collision_mask)) {
return false;
}
if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA && !p_collide_with_areas)
return false;
if (p_object->get_type() == CollisionObject2DSW::TYPE_BODY && !p_collide_with_bodies)
return false;
return true;
}
int Physics2DDirectSpaceStateSW::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) {
if (p_result_max <= 0)
return 0;
Rect2 aabb;
aabb.position = p_point - Vector2(0.00001, 0.00001);
aabb.size = Vector2(0.00002, 0.00002);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
continue;
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
if (p_pick_point && !col_obj->is_pickable())
continue;
if (p_filter_by_canvas && col_obj->get_canvas_instance_id() != p_canvas_instance_id)
continue;
int shape_idx = space->intersection_query_subindex_results[i];
Shape2DSW *shape = col_obj->get_shape(shape_idx);
Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
if (!shape->contains_point(local_point))
continue;
if (cc >= p_result_max)
continue;
r_results[cc].collider_id = col_obj->get_instance_id();
if (r_results[cc].collider_id.is_valid())
r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
r_results[cc].rid = col_obj->get_self();
r_results[cc].shape = shape_idx;
r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
cc++;
}
return cc;
}
int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point);
}
int Physics2DDirectSpaceStateSW::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id);
}
bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
ERR_FAIL_COND_V(space->locked, false);
Vector2 begin, end;
Vector2 normal;
begin = p_from;
end = p_to;
normal = (end - begin).normalized();
int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
//todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
bool collided = false;
Vector2 res_point, res_normal;
int res_shape;
const CollisionObject2DSW *res_obj;
real_t min_d = 1e10;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
continue;
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
Vector2 local_from = inv_xform.xform(begin);
Vector2 local_to = inv_xform.xform(end);
/*local_from = col_obj->get_inv_transform().xform(begin);
local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from);
local_to = col_obj->get_inv_transform().xform(end);
local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/
const Shape2DSW *shape = col_obj->get_shape(shape_idx);
Vector2 shape_point, shape_normal;
if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
shape_point = xform.xform(shape_point);
real_t ld = normal.dot(shape_point);
if (ld < min_d) {
min_d = ld;
res_point = shape_point;
res_normal = inv_xform.basis_xform_inv(shape_normal).normalized();
res_shape = shape_idx;
res_obj = col_obj;
collided = true;
}
}
}
if (!collided)
return false;
r_result.collider_id = res_obj->get_instance_id();
if (r_result.collider_id.is_valid())
r_result.collider = ObjectDB::get_instance(r_result.collider_id);
r_result.normal = res_normal;
r_result.metadata = res_obj->get_shape_metadata(res_shape);
r_result.position = res_point;
r_result.rid = res_obj->get_self();
r_result.shape = res_shape;
return true;
}
int Physics2DDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, 0);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
int cc = 0;
for (int i = 0; i < amount; i++) {
if (cc >= p_result_max)
break;
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
continue;
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), NULL, NULL, NULL, p_margin))
continue;
r_results[cc].collider_id = col_obj->get_instance_id();
if (r_results[cc].collider_id.is_valid())
r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
r_results[cc].rid = col_obj->get_self();
r_results[cc].shape = shape_idx;
r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
cc++;
}
return cc;
}
bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, false);
Rect2 aabb = p_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
real_t best_safe = 1;
real_t best_unsafe = 1;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
if (p_exclude.has(space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
Transform2D col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
//test initial overlap, does it collide if going all the way?
if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
continue;
}
//test initial overlap
if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
return false;
}
//just do kinematic solving
real_t low = 0;
real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
for (int j = 0; j < 8; j++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
Vector2 sep = mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, p_margin);
if (collided) {
hi = ofs;
} else {
low = ofs;
}
}
if (low < best_safe) {
best_safe = low;
best_unsafe = hi;
}
}
p_closest_safe = best_safe;
p_closest_unsafe = best_unsafe;
return true;
}
bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
if (p_result_max <= 0)
return 0;
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, 0);
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
bool collided = false;
r_result_count = 0;
Physics2DServerSW::CollCbkData cbk;
cbk.max = p_result_max;
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = r_results;
CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
Physics2DServerSW::CollCbkData *cbkptr = &cbk;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (p_exclude.has(col_obj->get_self()))
continue;
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
if (CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
collided = cbk.amount > 0;
}
}
r_result_count = cbk.amount;
return collided;
}
struct _RestCallbackData2D {
const CollisionObject2DSW *object;
const CollisionObject2DSW *best_object;
int local_shape;
int best_local_shape;
int shape;
int best_shape;
Vector2 best_contact;
Vector2 best_normal;
real_t best_len;
Vector2 valid_dir;
real_t valid_depth;
real_t min_allowed_depth;
};
static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
_RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata;
if (rd->valid_dir != Vector2()) {
if (p_point_A.distance_squared_to(p_point_B) > rd->valid_depth * rd->valid_depth)
return;
if (rd->valid_dir.dot((p_point_A - p_point_B).normalized()) < Math_PI * 0.25)
return;
}
Vector2 contact_rel = p_point_B - p_point_A;
real_t len = contact_rel.length();
if (len < rd->min_allowed_depth)
return;
if (len <= rd->best_len)
return;
rd->best_len = len;
rd->best_contact = p_point_B;
rd->best_normal = contact_rel / len;
rd->best_object = rd->object;
rd->best_shape = rd->shape;
rd->best_local_shape = rd->local_shape;
}
bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.getornull(p_shape);
ERR_FAIL_COND_V(!shape, 0);
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion
aabb = aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
_RestCallbackData2D rcd;
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
rcd.min_allowed_depth = space->test_motion_min_contact_depth;
for (int i = 0; i < amount; i++) {
if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
continue;
const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
int shape_idx = space->intersection_query_subindex_results[i];
if (p_exclude.has(col_obj->get_self()))
continue;
rcd.valid_dir = Vector2();
rcd.valid_depth = 0;
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = 0;
bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
if (!sc)
continue;
}
if (rcd.best_len == 0 || !rcd.best_object)
return false;
r_info->collider_id = rcd.best_object->get_instance_id();
r_info->shape = rcd.best_shape;
r_info->normal = rcd.best_normal;
r_info->point = rcd.best_contact;
r_info->rid = rcd.best_object->get_self();
r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
Vector2 rel_vec = r_info->point - body->get_transform().get_origin();
r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
} else {
r_info->linear_velocity = Vector2();
}
return true;
}
Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
space = NULL;
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////
int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results);
for (int i = 0; i < amount; i++) {
bool keep = true;
if (intersection_query_results[i] == p_body)
keep = false;
else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA)
keep = false;
else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0)
keep = false;
else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self()))
keep = false;
else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i]))
keep = false;
if (!keep) {
if (i < amount - 1) {
SWAP(intersection_query_results[i], intersection_query_results[amount - 1]);
SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]);
}
amount--;
i--;
}
}
return amount;
}
int Space2DSW::test_body_ray_separation(Body2DSW *p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, Physics2DServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
Rect2 body_aabb;
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i))
continue;
if (p_body->get_shape(i)->get_type() != Physics2DServer::SHAPE_RAY)
continue;
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
} else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
}
}
if (!shapes_found) {
return 0;
}
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
Transform2D body_transform = p_transform;
for (int i = 0; i < p_result_max; i++) {
//reset results
r_results[i].collision_depth = 0;
}
int rays_found = 0;
{
// raycast AND separate
const int max_results = 32;
int recover_attempts = 4;
Vector2 sr[max_results * 2];
Physics2DServerSW::CollCbkData cbk;
cbk.max = max_results;
Physics2DServerSW::CollCbkData *cbkptr = &cbk;
CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
do {
Vector2 recover_motion;
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
continue;
Shape2DSW *body_shape = p_body->get_shape(j);
if (body_shape->get_type() != Physics2DServer::SHAPE_RAY)
continue;
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = sr;
cbk.invalid_by_dir = 0;
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
/*
* There is no point in supporting one way collisions with ray shapes, as they will always collide in the desired
* direction. Use a short ray shape if you want to achieve a similar effect.
*
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
cbk.valid_depth = p_margin; //only valid depth is the collision margin
cbk.invalid_by_dir = 0;
} else {
*/
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
cbk.invalid_by_dir = 0;
/*
}
*/
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, p_margin)) {
if (cbk.amount > 0) {
collided = true;
}
int ray_index = -1; //reuse shape
for (int k = 0; k < rays_found; k++) {
if (r_results[ray_index].collision_local_shape == j) {
ray_index = k;
}
}
if (ray_index == -1 && rays_found < p_result_max) {
ray_index = rays_found;
rays_found++;
}
if (ray_index != -1) {
Physics2DServer::SeparationResult &result = r_results[ray_index];
for (int k = 0; k < cbk.amount; k++) {
Vector2 a = sr[k * 2 + 0];
Vector2 b = sr[k * 2 + 1];
recover_motion += (b - a) * 0.4;
float depth = a.distance_to(b);
if (depth > result.collision_depth) {
result.collision_depth = depth;
result.collision_point = b;
result.collision_normal = (b - a).normalized();
result.collision_local_shape = j;
result.collider_shape = shape_idx;
result.collider = col_obj->get_self();
result.collider_id = col_obj->get_instance_id();
result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
Body2DSW *body = (Body2DSW *)col_obj;
Vector2 rel_vec = b - body->get_transform().get_origin();
result.collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
}
}
}
}
}
}
}
if (!collided || recover_motion == Vector2()) {
break;
}
body_transform.elements[2] += recover_motion;
body_aabb.position += recover_motion;
recover_attempts--;
} while (recover_attempts);
}
//optimize results (remove non colliding)
for (int i = 0; i < rays_found; i++) {
if (r_results[i].collision_depth == 0) {
rays_found--;
SWAP(r_results[i], r_results[rays_found]);
}
}
r_recover_motion = body_transform.elements[2] - p_transform.elements[2];
return rays_found;
}
bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, Physics2DServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
//give me back regular physics engine logic
//this is madness
//and most people using this function will think
//what it does is simpler than using physics
//this took about a week to get right..
//but is it right? who knows at this point..
if (r_result) {
r_result->collider_id = ObjectID();
r_result->collider_shape = 0;
}
Rect2 body_aabb;
bool shapes_found = false;
for (int i = 0; i < p_body->get_shape_count(); i++) {
if (p_body->is_shape_set_as_disabled(i))
continue;
if (p_exclude_raycast_shapes && p_body->get_shape(i)->get_type() == Physics2DServer::SHAPE_RAY)
continue;
if (!shapes_found) {
body_aabb = p_body->get_shape_aabb(i);
shapes_found = true;
} else {
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
}
}
if (!shapes_found) {
if (r_result) {
*r_result = Physics2DServer::MotionResult();
r_result->motion = p_motion;
}
return false;
}
// Undo the currently transform the physics server is aware of and apply the provided one
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
body_aabb = body_aabb.grow(p_margin);
static const int max_excluded_shape_pairs = 32;
ExcludedShapeSW excluded_shape_pairs[max_excluded_shape_pairs];
int excluded_shape_pair_count = 0;
float separation_margin = MIN(p_margin, MAX(0.0, p_motion.length() - CMP_EPSILON)); //don't separate by more than the intended motion
Transform2D body_transform = p_from;
{
//STEP 1, FREE BODY IF STUCK
const int max_results = 32;
int recover_attempts = 4;
Vector2 sr[max_results * 2];
do {
Physics2DServerSW::CollCbkData cbk;
cbk.max = max_results;
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = sr;
cbk.invalid_by_dir = 0;
excluded_shape_pair_count = 0; //last step is the one valid
Physics2DServerSW::CollCbkData *cbkptr = &cbk;
CollisionSolver2DSW::CallbackResult cbkres = Physics2DServerSW::_shape_col_cbk;
bool collided = false;
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int j = 0; j < p_body->get_shape_count(); j++) {
if (p_body->is_shape_set_as_disabled(j))
continue;
Shape2DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
continue;
}
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
float owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
cbk.valid_depth = MAX(owc_margin, p_margin); //user specified, but never less than actual margin or it won't work
cbk.invalid_by_dir = 0;
if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (b->get_mode() == Physics2DServer::BODY_MODE_KINEMATIC || b->get_mode() == Physics2DServer::BODY_MODE_RIGID) {
//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
Vector2 lv = b->get_linear_velocity();
//compute displacement from linear velocity
Vector2 motion = lv * Physics2DDirectBodyStateSW::singleton->step;
float motion_len = motion.length();
motion.normalize();
cbk.valid_depth += motion_len * MAX(motion.dot(-cbk.valid_dir), 0.0);
}
}
} else {
cbk.valid_dir = Vector2();
cbk.valid_depth = 0;
cbk.invalid_by_dir = 0;
}
int current_passed = cbk.passed; //save how many points passed collision
bool did_collide = false;
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, NULL, separation_margin)) {
did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
}
if (!did_collide && cbk.invalid_by_dir > 0) {
//this shape must be excluded
if (excluded_shape_pair_count < max_excluded_shape_pairs) {
ExcludedShapeSW esp;
esp.local_shape = body_shape;
esp.against_object = col_obj;
esp.against_shape_index = shape_idx;
excluded_shape_pairs[excluded_shape_pair_count++] = esp;
}
}
if (did_collide) {
collided = true;
}
}
}
if (!collided) {
break;
}
Vector2 recover_motion;
for (int i = 0; i < cbk.amount; i++) {
Vector2 a = sr[i * 2 + 0];
Vector2 b = sr[i * 2 + 1];
recover_motion += (b - a) * 0.4;
}
if (recover_motion == Vector2()) {
collided = false;
break;
}
body_transform.elements[2] += recover_motion;
body_aabb.position += recover_motion;
recover_attempts--;
} while (recover_attempts);
}
real_t safe = 1.0;
real_t unsafe = 1.0;
int best_shape = -1;
{
// STEP 2 ATTEMPT MOTION
Rect2 motion_aabb = body_aabb;
motion_aabb.position += p_motion;
motion_aabb = motion_aabb.merge(body_aabb);
int amount = _cull_aabb_for_body(p_body, motion_aabb);
for (int body_shape_idx = 0; body_shape_idx < p_body->get_shape_count(); body_shape_idx++) {
if (p_body->is_shape_set_as_disabled(body_shape_idx))
continue;
Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
continue;
}
Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(body_shape_idx);
bool stuck = false;
real_t best_safe = 1;
real_t best_unsafe = 1;
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int col_shape_idx = intersection_query_subindex_results[i];
Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == col_shape_idx) {
excluded = true;
break;
}
}
if (excluded) {
continue;
}
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx);
//test initial overlap, does it collide if going all the way?
if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, against_shape, col_obj_shape_xform, Vector2(), NULL, NULL, NULL, 0)) {
continue;
}
//test initial overlap
if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), NULL, NULL, NULL, 0)) {
if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
continue;
}
stuck = true;
break;
}
//just do kinematic solving
real_t low = 0;
real_t hi = 1;
Vector2 mnormal = p_motion.normalized();
for (int k = 0; k < 8; k++) { //steps should be customizable..
real_t ofs = (low + hi) * 0.5;
Vector2 sep = mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, against_shape, col_obj_shape_xform, Vector2(), NULL, NULL, &sep, 0);
if (collided) {
hi = ofs;
} else {
low = ofs;
}
}
if (col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
Vector2 cd[2];
Physics2DServerSW::CollCbkData cbk;
cbk.max = 1;
cbk.amount = 0;
cbk.passed = 0;
cbk.ptr = cd;
cbk.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
cbk.valid_depth = 10e20;
Vector2 sep = mnormal; //important optimization for this to work fast enough
bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, 0);
if (!collided || cbk.amount == 0) {
continue;
}
}
if (low < best_safe) {
best_safe = low;
best_unsafe = hi;
}
}
if (stuck) {
safe = 0;
unsafe = 0;
best_shape = body_shape_idx; //sadly it's the best
break;
}
if (best_safe == 1.0) {
continue;
}
if (best_safe < safe) {
safe = best_safe;
unsafe = best_unsafe;
best_shape = body_shape_idx;
}
}
}
bool collided = false;
if (safe >= 1) {
best_shape = -1; //no best shape with cast, reset to -1
}
{
//it collided, let's get the rest info in unsafe advance
Transform2D ugt = body_transform;
ugt.elements[2] += p_motion * unsafe;
_RestCallbackData2D rcd;
rcd.best_len = 0;
rcd.best_object = NULL;
rcd.best_shape = 0;
rcd.min_allowed_depth = test_motion_min_contact_depth;
//optimization
int from_shape = best_shape != -1 ? best_shape : 0;
int to_shape = best_shape != -1 ? best_shape + 1 : p_body->get_shape_count();
for (int j = from_shape; j < to_shape; j++) {
if (p_body->is_shape_set_as_disabled(j))
continue;
Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
Shape2DSW *body_shape = p_body->get_shape(j);
if (p_exclude_raycast_shapes && body_shape->get_type() == Physics2DServer::SHAPE_RAY) {
continue;
}
body_aabb.position += p_motion * unsafe;
int amount = _cull_aabb_for_body(p_body, body_aabb);
for (int i = 0; i < amount; i++) {
const CollisionObject2DSW *col_obj = intersection_query_results[i];
int shape_idx = intersection_query_subindex_results[i];
if (CollisionObject2DSW::TYPE_BODY == col_obj->get_type()) {
const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
if (p_infinite_inertia && Physics2DServer::BODY_MODE_STATIC != b->get_mode() && Physics2DServer::BODY_MODE_KINEMATIC != b->get_mode()) {
continue;
}
}
Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
bool excluded = false;
for (int k = 0; k < excluded_shape_pair_count; k++) {
if (excluded_shape_pairs[k].local_shape == body_shape && excluded_shape_pairs[k].against_object == col_obj && excluded_shape_pairs[k].against_shape_index == shape_idx) {
excluded = true;
break;
}
}
if (excluded)
continue;
Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
if (col_obj->is_shape_set_as_one_way_collision(shape_idx)) {
rcd.valid_dir = col_obj_shape_xform.get_axis(1).normalized();
rcd.valid_depth = 10e20;
} else {
rcd.valid_dir = Vector2();
rcd.valid_depth = 0;
}
rcd.object = col_obj;
rcd.shape = shape_idx;
rcd.local_shape = j;
bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
if (!sc)
continue;
}
}
if (rcd.best_len != 0) {
if (r_result) {
r_result->collider = rcd.best_object->get_self();
r_result->collider_id = rcd.best_object->get_instance_id();
r_result->collider_shape = rcd.best_shape;
r_result->collision_local_shape = rcd.best_local_shape;
r_result->collision_normal = rcd.best_normal;
r_result->collision_point = rcd.best_contact;
r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin();
r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
r_result->motion = safe * p_motion;
r_result->remainder = p_motion - safe * p_motion;
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
}
collided = true;
}
}
if (!collided && r_result) {
r_result->motion = p_motion;
r_result->remainder = Vector2();
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
}
return collided;
}
void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
CollisionObject2DSW::Type type_A = A->get_type();
CollisionObject2DSW::Type type_B = B->get_type();
if (type_A > type_B) {
SWAP(A, B);
SWAP(p_subindex_A, p_subindex_B);
SWAP(type_A, type_B);
}
Space2DSW *self = (Space2DSW *)p_self;
self->collision_pairs++;
if (type_A == CollisionObject2DSW::TYPE_AREA) {
Area2DSW *area = static_cast<Area2DSW *>(A);
if (type_B == CollisionObject2DSW::TYPE_AREA) {
Area2DSW *area_b = static_cast<Area2DSW *>(B);
Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A));
return area2_pair;
} else {
Body2DSW *body = static_cast<Body2DSW *>(B);
AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A));
return area_pair;
}
} else {
BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B));
return b;
}
return NULL;
}
void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) {
Space2DSW *self = (Space2DSW *)p_self;
self->collision_pairs--;
Constraint2DSW *c = (Constraint2DSW *)p_data;
memdelete(c);
}
const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const {
return active_list;
}
void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) {
active_list.add(p_body);
}
void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
active_list.remove(p_body);
}
void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) {
inertia_update_list.add(p_body);
}
void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) {
inertia_update_list.remove(p_body);
}
BroadPhase2DSW *Space2DSW::get_broadphase() {
return broadphase;
}
void Space2DSW::add_object(CollisionObject2DSW *p_object) {
ERR_FAIL_COND(objects.has(p_object));
objects.insert(p_object);
}
void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
ERR_FAIL_COND(!objects.has(p_object));
objects.erase(p_object);
}
const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const {
return objects;
}
void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) {
state_query_list.add(p_body);
}
void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) {
state_query_list.remove(p_body);
}
void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) {
monitor_query_list.add(p_area);
}
void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) {
monitor_query_list.remove(p_area);
}
void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) {
area_moved_list.add(p_area);
}
void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) {
area_moved_list.remove(p_area);
}
const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const {
return area_moved_list;
}
void Space2DSW::call_queries() {
while (state_query_list.first()) {
Body2DSW *b = state_query_list.first()->self();
state_query_list.remove(state_query_list.first());
b->call_queries();
}
while (monitor_query_list.first()) {
Area2DSW *a = monitor_query_list.first()->self();
monitor_query_list.remove(monitor_query_list.first());
a->call_queries();
}
}
void Space2DSW::setup() {
contact_debug_count = 0;
while (inertia_update_list.first()) {
inertia_update_list.first()->self()->update_inertias();
inertia_update_list.remove(inertia_update_list.first());
}
}
void Space2DSW::update() {
broadphase->update();
}
void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_value) {
switch (p_param) {
case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break;
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: test_motion_min_contact_depth = p_value; break;
}
}
real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
switch (p_param) {
case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold;
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
case Physics2DServer::SPACE_PARAM_TEST_MOTION_MIN_CONTACT_DEPTH: return test_motion_min_contact_depth;
}
return 0;
}
void Space2DSW::lock() {
locked = true;
}
void Space2DSW::unlock() {
locked = false;
}
bool Space2DSW::is_locked() const {
return locked;
}
Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
return direct_access;
}
Space2DSW::Space2DSW() {
collision_pairs = 0;
active_objects = 0;
island_count = 0;
contact_debug_count = 0;
locked = false;
contact_recycle_radius = 1.0;
contact_max_separation = 1.5;
contact_max_allowed_penetration = 0.3;
test_motion_min_contact_depth = 0.005;
constraint_bias = 0.2;
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
broadphase = BroadPhase2DSW::create_func();
broadphase->set_pair_callback(_broadphase_pair, this);
broadphase->set_unpair_callback(_broadphase_unpair, this);
area = NULL;
direct_access = memnew(Physics2DDirectSpaceStateSW);
direct_access->space = this;
for (int i = 0; i < ELAPSED_TIME_MAX; i++)
elapsed_time[i] = 0;
}
Space2DSW::~Space2DSW() {
memdelete(broadphase);
memdelete(direct_access);
}
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