c7bc44d5ad
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer with state-of-the-art rendering techniques tuned to work as low as middle end handheld devices - without compromising with the possibilities given for higher end desktop games of course. Great times ahead for the Godot community and the gamers that will play our games!
407 lines
15 KiB
C++
407 lines
15 KiB
C++
/*************************************************************************/
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/* body_2d_sw.h */
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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) 2007-2017 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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#ifndef BODY_2D_SW_H
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#define BODY_2D_SW_H
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#include "collision_object_2d_sw.h"
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#include "vset.h"
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#include "area_2d_sw.h"
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class Constraint2DSW;
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class Body2DSW : public CollisionObject2DSW {
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Physics2DServer::BodyMode mode;
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Vector2 biased_linear_velocity;
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real_t biased_angular_velocity;
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Vector2 linear_velocity;
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real_t angular_velocity;
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real_t linear_damp;
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real_t angular_damp;
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real_t gravity_scale;
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real_t mass;
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real_t bounce;
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real_t friction;
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real_t _inv_mass;
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real_t _inv_inertia;
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bool user_inertia;
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Vector2 gravity;
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real_t area_linear_damp;
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real_t area_angular_damp;
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real_t still_time;
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Vector2 applied_force;
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real_t applied_torque;
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Vector2 one_way_collision_direction;
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float one_way_collision_max_depth;
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SelfList<Body2DSW> active_list;
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SelfList<Body2DSW> inertia_update_list;
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SelfList<Body2DSW> direct_state_query_list;
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VSet<RID> exceptions;
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Physics2DServer::CCDMode continuous_cd_mode;
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bool omit_force_integration;
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bool active;
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bool can_sleep;
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bool first_time_kinematic;
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bool first_integration;
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bool using_one_way_cache;
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void _update_inertia();
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virtual void _shapes_changed();
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Matrix32 new_transform;
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Map<Constraint2DSW*,int> constraint_map;
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struct AreaCMP {
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Area2DSW *area;
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int refCount;
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_FORCE_INLINE_ bool operator==(const AreaCMP& p_cmp) const { return area->get_self() == p_cmp.area->get_self();}
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_FORCE_INLINE_ bool operator<(const AreaCMP& p_cmp) const { return area->get_priority() < p_cmp.area->get_priority();}
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_FORCE_INLINE_ AreaCMP() {}
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_FORCE_INLINE_ AreaCMP(Area2DSW *p_area) { area=p_area; refCount=1;}
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};
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Vector<AreaCMP> areas;
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struct Contact {
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Vector2 local_pos;
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Vector2 local_normal;
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float depth;
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int local_shape;
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Vector2 collider_pos;
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int collider_shape;
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ObjectID collider_instance_id;
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RID collider;
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Vector2 collider_velocity_at_pos;
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};
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Vector<Contact> contacts; //no contacts by default
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int contact_count;
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struct ForceIntegrationCallback {
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ObjectID id;
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StringName method;
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Variant callback_udata;
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};
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ForceIntegrationCallback *fi_callback;
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uint64_t island_step;
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Body2DSW *island_next;
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Body2DSW *island_list_next;
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_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area2DSW *p_area);
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friend class Physics2DDirectBodyStateSW; // i give up, too many functions to expose
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public:
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void set_force_integration_callback(ObjectID p_id, const StringName& p_method, const Variant &p_udata=Variant());
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_FORCE_INLINE_ void add_area(Area2DSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if( index > -1 ) {
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areas[index].refCount += 1;
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} else {
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areas.ordered_insert(AreaCMP(p_area));
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}
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}
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_FORCE_INLINE_ void remove_area(Area2DSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if( index > -1 ) {
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areas[index].refCount -= 1;
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if( areas[index].refCount < 1 )
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areas.remove(index);
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}
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}
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_FORCE_INLINE_ void set_max_contacts_reported(int p_size) { contacts.resize(p_size); contact_count=0; if (mode==Physics2DServer::BODY_MODE_KINEMATIC && p_size) set_active(true);}
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_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
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_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.empty(); }
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_FORCE_INLINE_ void add_contact(const Vector2& p_local_pos,const Vector2& p_local_normal, float p_depth, int p_local_shape, const Vector2& p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID& p_collider,const Vector2& p_collider_velocity_at_pos);
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_FORCE_INLINE_ void add_exception(const RID& p_exception) { exceptions.insert(p_exception);}
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_FORCE_INLINE_ void remove_exception(const RID& p_exception) { exceptions.erase(p_exception);}
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_FORCE_INLINE_ bool has_exception(const RID& p_exception) const { return exceptions.has(p_exception);}
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_FORCE_INLINE_ const VSet<RID>& get_exceptions() const { return exceptions;}
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_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
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_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step=p_step; }
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_FORCE_INLINE_ Body2DSW* get_island_next() const { return island_next; }
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_FORCE_INLINE_ void set_island_next(Body2DSW* p_next) { island_next=p_next; }
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_FORCE_INLINE_ Body2DSW* get_island_list_next() const { return island_list_next; }
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_FORCE_INLINE_ void set_island_list_next(Body2DSW* p_next) { island_list_next=p_next; }
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_FORCE_INLINE_ void add_constraint(Constraint2DSW* p_constraint, int p_pos) { constraint_map[p_constraint]=p_pos; }
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_FORCE_INLINE_ void remove_constraint(Constraint2DSW* p_constraint) { constraint_map.erase(p_constraint); }
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const Map<Constraint2DSW*,int>& get_constraint_map() const { return constraint_map; }
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_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration=p_omit_force_integration; }
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_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
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_FORCE_INLINE_ void set_linear_velocity(const Vector2& p_velocity) {linear_velocity=p_velocity; }
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_FORCE_INLINE_ Vector2 get_linear_velocity() const { return linear_velocity; }
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_FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity=p_velocity; }
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_FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; }
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_FORCE_INLINE_ void set_biased_linear_velocity(const Vector2& p_velocity) {biased_linear_velocity=p_velocity; }
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_FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; }
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_FORCE_INLINE_ void set_biased_angular_velocity(real_t p_velocity) { biased_angular_velocity=p_velocity; }
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_FORCE_INLINE_ real_t get_biased_angular_velocity() const { return biased_angular_velocity; }
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_FORCE_INLINE_ void apply_impulse(const Vector2& p_offset, const Vector2& p_impulse) {
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linear_velocity += p_impulse * _inv_mass;
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angular_velocity += _inv_inertia * p_offset.cross(p_impulse);
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}
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_FORCE_INLINE_ void apply_bias_impulse(const Vector2& p_pos, const Vector2& p_j) {
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biased_linear_velocity += p_j * _inv_mass;
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biased_angular_velocity += _inv_inertia * p_pos.cross(p_j);
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}
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void set_active(bool p_active);
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_FORCE_INLINE_ bool is_active() const { return active; }
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_FORCE_INLINE_ void wakeup() {
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if ((!get_space()) || mode==Physics2DServer::BODY_MODE_STATIC || mode==Physics2DServer::BODY_MODE_KINEMATIC)
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return;
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set_active(true);
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}
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void set_param(Physics2DServer::BodyParameter p_param, float);
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float get_param(Physics2DServer::BodyParameter p_param) const;
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void set_mode(Physics2DServer::BodyMode p_mode);
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Physics2DServer::BodyMode get_mode() const;
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void set_state(Physics2DServer::BodyState p_state, const Variant& p_variant);
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Variant get_state(Physics2DServer::BodyState p_state) const;
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void set_applied_force(const Vector2& p_force) { applied_force=p_force; }
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Vector2 get_applied_force() const { return applied_force; }
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void set_applied_torque(real_t p_torque) { applied_torque=p_torque; }
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real_t get_applied_torque() const { return applied_torque; }
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_FORCE_INLINE_ void add_force(const Vector2& p_force, const Vector2& p_offset) {
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applied_force += p_force;
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applied_torque += p_offset.cross(p_force);
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}
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_FORCE_INLINE_ void set_continuous_collision_detection_mode(Physics2DServer::CCDMode p_mode) { continuous_cd_mode=p_mode; }
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_FORCE_INLINE_ Physics2DServer::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; }
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void set_one_way_collision_direction(const Vector2& p_dir) {
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one_way_collision_direction=p_dir;
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using_one_way_cache=one_way_collision_direction!=Vector2();
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}
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Vector2 get_one_way_collision_direction() const { return one_way_collision_direction; }
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void set_one_way_collision_max_depth(float p_depth) { one_way_collision_max_depth=p_depth; }
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float get_one_way_collision_max_depth() const { return one_way_collision_max_depth; }
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_FORCE_INLINE_ bool is_using_one_way_collision() const { return using_one_way_cache; }
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void set_space(Space2DSW *p_space);
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void update_inertias();
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_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
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_FORCE_INLINE_ real_t get_inv_inertia() const { return _inv_inertia; }
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_FORCE_INLINE_ real_t get_friction() const { return friction; }
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_FORCE_INLINE_ Vector2 get_gravity() const { return gravity; }
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_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
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_FORCE_INLINE_ real_t get_linear_damp() const { return linear_damp; }
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_FORCE_INLINE_ real_t get_angular_damp() const { return angular_damp; }
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void integrate_forces(real_t p_step);
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void integrate_velocities(real_t p_step);
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_FORCE_INLINE_ Vector2 get_motion() const {
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if (mode>Physics2DServer::BODY_MODE_KINEMATIC) {
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return new_transform.get_origin() - get_transform().get_origin();
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} else if (mode==Physics2DServer::BODY_MODE_KINEMATIC) {
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return get_transform().get_origin() -new_transform.get_origin(); //kinematic simulates forward
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}
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return Vector2();
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}
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void call_queries();
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void wakeup_neighbours();
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bool sleep_test(real_t p_step);
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Body2DSW();
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~Body2DSW();
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};
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//add contact inline
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void Body2DSW::add_contact(const Vector2& p_local_pos,const Vector2& p_local_normal, float p_depth, int p_local_shape, const Vector2& p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID& p_collider,const Vector2& p_collider_velocity_at_pos) {
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int c_max=contacts.size();
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if (c_max==0)
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return;
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Contact *c = &contacts[0];
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int idx=-1;
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if (contact_count<c_max) {
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idx=contact_count++;
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} else {
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float least_depth=1e20;
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int least_deep=-1;
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for(int i=0;i<c_max;i++) {
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if (i==0 || c[i].depth<least_depth) {
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least_deep=i;
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least_depth=c[i].depth;
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}
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}
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if (least_deep>=0 && least_depth<p_depth) {
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idx=least_deep;
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}
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if (idx==-1)
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return; //none least deepe than this
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}
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c[idx].local_pos=p_local_pos;
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c[idx].local_normal=p_local_normal;
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c[idx].depth=p_depth;
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c[idx].local_shape=p_local_shape;
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c[idx].collider_pos=p_collider_pos;
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c[idx].collider_shape=p_collider_shape;
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c[idx].collider_instance_id=p_collider_instance_id;
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c[idx].collider=p_collider;
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c[idx].collider_velocity_at_pos=p_collider_velocity_at_pos;
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}
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class Physics2DDirectBodyStateSW : public Physics2DDirectBodyState {
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OBJ_TYPE( Physics2DDirectBodyStateSW, Physics2DDirectBodyState );
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public:
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static Physics2DDirectBodyStateSW *singleton;
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Body2DSW *body;
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real_t step;
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virtual Vector2 get_total_gravity() const { return body->gravity; } // get gravity vector working on this body space/area
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virtual float get_total_angular_damp() const { return body->area_angular_damp; } // get density of this body space/area
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virtual float get_total_linear_damp() const { return body->area_linear_damp; } // get density of this body space/area
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virtual float get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
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virtual real_t get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
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virtual void set_linear_velocity(const Vector2& p_velocity) { body->set_linear_velocity(p_velocity); }
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virtual Vector2 get_linear_velocity() const { return body->get_linear_velocity(); }
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virtual void set_angular_velocity(real_t p_velocity) { body->set_angular_velocity(p_velocity); }
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virtual real_t get_angular_velocity() const { return body->get_angular_velocity(); }
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virtual void set_transform(const Matrix32& p_transform) { body->set_state(Physics2DServer::BODY_STATE_TRANSFORM,p_transform); }
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virtual Matrix32 get_transform() const { return body->get_transform(); }
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virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
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virtual bool is_sleeping() const { return !body->is_active(); }
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virtual int get_contact_count() const { return body->contact_count; }
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virtual Vector2 get_contact_local_pos(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2());
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return body->contacts[p_contact_idx].local_pos;
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}
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virtual Vector2 get_contact_local_normal(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2()); return body->contacts[p_contact_idx].local_normal; }
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virtual int get_contact_local_shape(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,-1); return body->contacts[p_contact_idx].local_shape; }
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virtual RID get_contact_collider(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,RID()); return body->contacts[p_contact_idx].collider; }
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virtual Vector2 get_contact_collider_pos(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2()); return body->contacts[p_contact_idx].collider_pos; }
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virtual ObjectID get_contact_collider_id(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,0); return body->contacts[p_contact_idx].collider_instance_id; }
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virtual int get_contact_collider_shape(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,0); return body->contacts[p_contact_idx].collider_shape; }
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virtual Variant get_contact_collider_shape_metadata(int p_contact_idx) const;
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virtual Vector2 get_contact_collider_velocity_at_pos(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector2()); return body->contacts[p_contact_idx].collider_velocity_at_pos; }
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virtual Physics2DDirectSpaceState* get_space_state();
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virtual real_t get_step() const { return step; }
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Physics2DDirectBodyStateSW() { singleton=this; body=NULL; }
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};
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#endif // BODY_2D_SW_H
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