7344beafdd
In all physics servers, body_get_direct_state() now silently returns
nullptr when the body has been already freed or is removed from space,
so the client code can detect this state and invalidate the body rid.
In 2D, there is no change in behavior (just no more errors).
In 3D, the Bullet server returned a valid direct body state when the
body was removed from the physics space, but in this case it didn't
make sense to use the information from the body state.
(cherry picked from commit b93aeec4a2)
1456 lines
43 KiB
C++
1456 lines
43 KiB
C++
/*************************************************************************/
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/* physics_server_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "physics_server_sw.h"
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#include "broad_phase_basic.h"
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#include "broad_phase_bvh.h"
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#include "broad_phase_octree.h"
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#include "core/os/os.h"
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#include "core/project_settings.h"
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#include "core/script_language.h"
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#include "joints/cone_twist_joint_sw.h"
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#include "joints/generic_6dof_joint_sw.h"
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#include "joints/hinge_joint_sw.h"
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#include "joints/pin_joint_sw.h"
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#include "joints/slider_joint_sw.h"
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#define FLUSH_QUERY_CHECK(m_object) \
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ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
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RID PhysicsServerSW::shape_create(ShapeType p_shape) {
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ShapeSW *shape = nullptr;
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switch (p_shape) {
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case SHAPE_PLANE: {
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shape = memnew(PlaneShapeSW);
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} break;
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case SHAPE_RAY: {
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shape = memnew(RayShapeSW);
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} break;
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case SHAPE_SPHERE: {
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shape = memnew(SphereShapeSW);
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} break;
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case SHAPE_BOX: {
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shape = memnew(BoxShapeSW);
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} break;
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case SHAPE_CAPSULE: {
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shape = memnew(CapsuleShapeSW);
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} break;
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case SHAPE_CYLINDER: {
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shape = memnew(CylinderShapeSW);
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} break;
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case SHAPE_CONVEX_POLYGON: {
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shape = memnew(ConvexPolygonShapeSW);
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} break;
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case SHAPE_CONCAVE_POLYGON: {
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shape = memnew(ConcavePolygonShapeSW);
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} break;
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case SHAPE_HEIGHTMAP: {
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shape = memnew(HeightMapShapeSW);
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} break;
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case SHAPE_CUSTOM: {
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ERR_FAIL_V(RID());
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} break;
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}
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RID id = shape_owner.make_rid(shape);
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shape->set_self(id);
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return id;
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};
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void PhysicsServerSW::shape_set_data(RID p_shape, const Variant &p_data) {
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_data(p_data);
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};
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void PhysicsServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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shape->set_custom_bias(p_bias);
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}
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PhysicsServer::ShapeType PhysicsServerSW::shape_get_type(RID p_shape) const {
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const ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
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return shape->get_type();
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};
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Variant PhysicsServerSW::shape_get_data(RID p_shape) const {
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const ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, Variant());
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ERR_FAIL_COND_V(!shape->is_configured(), Variant());
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return shape->get_data();
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};
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void PhysicsServerSW::shape_set_margin(RID p_shape, real_t p_margin) {
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}
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real_t PhysicsServerSW::shape_get_margin(RID p_shape) const {
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return 0.0;
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}
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real_t PhysicsServerSW::shape_get_custom_solver_bias(RID p_shape) const {
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const ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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return shape->get_custom_bias();
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}
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RID PhysicsServerSW::space_create() {
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SpaceSW *space = memnew(SpaceSW);
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RID id = space_owner.make_rid(space);
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space->set_self(id);
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RID area_id = area_create();
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AreaSW *area = area_owner.get(area_id);
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ERR_FAIL_COND_V(!area, RID());
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space->set_default_area(area);
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area->set_space(space);
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area->set_priority(-1);
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RID sgb = body_create();
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body_set_space(sgb, id);
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body_set_mode(sgb, BODY_MODE_STATIC);
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space->set_static_global_body(sgb);
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return id;
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};
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void PhysicsServerSW::space_set_active(RID p_space, bool p_active) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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if (p_active) {
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active_spaces.insert(space);
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} else {
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active_spaces.erase(space);
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}
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}
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bool PhysicsServerSW::space_is_active(RID p_space) const {
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const SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, false);
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return active_spaces.has(space);
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}
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void PhysicsServerSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_param(p_param, p_value);
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}
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real_t PhysicsServerSW::space_get_param(RID p_space, SpaceParameter p_param) const {
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const SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, 0);
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return space->get_param(p_param);
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}
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PhysicsDirectSpaceState *PhysicsServerSW::space_get_direct_state(RID p_space) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, nullptr);
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ERR_FAIL_COND_V_MSG(space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
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return space->get_direct_state();
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}
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void PhysicsServerSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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space->set_debug_contacts(p_max_contacts);
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}
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Vector<Vector3> PhysicsServerSW::space_get_contacts(RID p_space) const {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, Vector<Vector3>());
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return space->get_debug_contacts();
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}
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int PhysicsServerSW::space_get_contact_count(RID p_space) const {
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SpaceSW *space = space_owner.get(p_space);
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ERR_FAIL_COND_V(!space, 0);
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return space->get_debug_contact_count();
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}
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RID PhysicsServerSW::area_create() {
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AreaSW *area = memnew(AreaSW);
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RID rid = area_owner.make_rid(area);
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area->set_self(rid);
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return rid;
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};
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void PhysicsServerSW::area_set_space(RID p_area, RID p_space) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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SpaceSW *space = nullptr;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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if (area->get_space() == space) {
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return; //pointless
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}
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area->clear_constraints();
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area->set_space(space);
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};
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RID PhysicsServerSW::area_get_space(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, RID());
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SpaceSW *space = area->get_space();
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if (!space) {
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return RID();
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}
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return space->get_self();
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};
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void PhysicsServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_space_override_mode(p_mode);
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}
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PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mode(RID p_area) const {
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const AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
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return area->get_space_override_mode();
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}
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void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform &p_transform, bool p_disabled) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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area->add_shape(shape, p_transform, p_disabled);
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}
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void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ShapeSW *shape = shape_owner.get(p_shape);
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ERR_FAIL_COND(!shape);
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ERR_FAIL_COND(!shape->is_configured());
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area->set_shape(p_shape_idx, shape);
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}
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void PhysicsServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_shape_transform(p_shape_idx, p_transform);
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}
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int PhysicsServerSW::area_get_shape_count(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, -1);
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return area->get_shape_count();
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}
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RID PhysicsServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, RID());
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ShapeSW *shape = area->get_shape(p_shape_idx);
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ERR_FAIL_COND_V(!shape, RID());
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return shape->get_self();
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}
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Transform PhysicsServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Transform());
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return area->get_shape_transform(p_shape_idx);
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}
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void PhysicsServerSW::area_remove_shape(RID p_area, int p_shape_idx) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->remove_shape(p_shape_idx);
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}
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void PhysicsServerSW::area_clear_shapes(RID p_area) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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while (area->get_shape_count()) {
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area->remove_shape(0);
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}
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}
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void PhysicsServerSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
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FLUSH_QUERY_CHECK(area);
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area->set_shape_disabled(p_shape_idx, p_disabled);
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}
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void PhysicsServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
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if (space_owner.owns(p_area)) {
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SpaceSW *space = space_owner.get(p_area);
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p_area = space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_instance_id(p_id);
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}
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ObjectID PhysicsServerSW::area_get_object_instance_id(RID p_area) const {
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if (space_owner.owns(p_area)) {
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SpaceSW *space = space_owner.get(p_area);
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p_area = space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, 0);
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return area->get_instance_id();
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}
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void PhysicsServerSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
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if (space_owner.owns(p_area)) {
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SpaceSW *space = space_owner.get(p_area);
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p_area = space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_param(p_param, p_value);
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};
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void PhysicsServerSW::area_set_transform(RID p_area, const Transform &p_transform) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_transform(p_transform);
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};
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Variant PhysicsServerSW::area_get_param(RID p_area, AreaParameter p_param) const {
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if (space_owner.owns(p_area)) {
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SpaceSW *space = space_owner.get(p_area);
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p_area = space->get_default_area()->get_self();
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}
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Variant());
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return area->get_param(p_param);
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};
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Transform PhysicsServerSW::area_get_transform(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, Transform());
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return area->get_transform();
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};
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void PhysicsServerSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_layer(p_layer);
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}
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void PhysicsServerSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_collision_mask(p_mask);
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}
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void PhysicsServerSW::area_set_monitorable(RID p_area, bool p_monitorable) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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FLUSH_QUERY_CHECK(area);
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area->set_monitorable(p_monitorable);
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}
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void PhysicsServerSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
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}
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void PhysicsServerSW::area_set_ray_pickable(RID p_area, bool p_enable) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_ray_pickable(p_enable);
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}
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bool PhysicsServerSW::area_is_ray_pickable(RID p_area) const {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND_V(!area, false);
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return area->is_ray_pickable();
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}
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void PhysicsServerSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
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AreaSW *area = area_owner.get(p_area);
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ERR_FAIL_COND(!area);
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area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
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}
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/* BODY API */
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RID PhysicsServerSW::body_create(BodyMode p_mode, bool p_init_sleeping) {
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BodySW *body = memnew(BodySW);
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if (p_mode != BODY_MODE_RIGID) {
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body->set_mode(p_mode);
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}
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if (p_init_sleeping) {
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body->set_state(BODY_STATE_SLEEPING, p_init_sleeping);
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}
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RID rid = body_owner.make_rid(body);
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body->set_self(rid);
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return rid;
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};
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void PhysicsServerSW::body_set_space(RID p_body, RID p_space) {
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BodySW *body = body_owner.get(p_body);
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ERR_FAIL_COND(!body);
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SpaceSW *space = nullptr;
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if (p_space.is_valid()) {
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space = space_owner.get(p_space);
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ERR_FAIL_COND(!space);
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}
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if (body->get_space() == space) {
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return; //pointless
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}
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body->clear_constraint_map();
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body->set_space(space);
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};
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RID PhysicsServerSW::body_get_space(RID p_body) const {
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BodySW *body = body_owner.get(p_body);
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|
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) 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, bool p_disabled) {
|
|
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, p_disabled);
|
|
}
|
|
|
|
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_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
|
|
FLUSH_QUERY_CHECK(body);
|
|
|
|
body->set_shape_disabled(p_shape_idx, p_disabled);
|
|
}
|
|
|
|
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_collision_layer(RID p_body, uint32_t p_layer) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_layer(p_layer);
|
|
body->wakeup();
|
|
}
|
|
|
|
uint32_t PhysicsServerSW::body_get_collision_layer(RID p_body) const {
|
|
const BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_layer();
|
|
}
|
|
|
|
void PhysicsServerSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_collision_mask(p_mask);
|
|
body->wakeup();
|
|
}
|
|
|
|
uint32_t PhysicsServerSW::body_get_collision_mask(RID p_body) const {
|
|
const BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_collision_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) 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, real_t p_value) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_param(p_param, p_value);
|
|
};
|
|
|
|
real_t 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_kinematic_safe_margin(RID p_body, real_t p_margin) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
body->set_kinematic_margin(p_margin);
|
|
}
|
|
|
|
real_t PhysicsServerSW::body_get_kinematic_safe_margin(RID p_body) const {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
|
|
return body->get_kinematic_margin();
|
|
}
|
|
|
|
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_add_central_force(RID p_body, const Vector3 &p_force) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_central_force(p_force);
|
|
body->wakeup();
|
|
}
|
|
|
|
void PhysicsServerSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_pos) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_force(p_force, p_pos);
|
|
body->wakeup();
|
|
};
|
|
|
|
void PhysicsServerSW::body_add_torque(RID p_body, const Vector3 &p_torque) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->add_torque(p_torque);
|
|
body->wakeup();
|
|
};
|
|
|
|
void PhysicsServerSW::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
_update_shapes();
|
|
|
|
body->apply_central_impulse(p_impulse);
|
|
body->wakeup();
|
|
}
|
|
|
|
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);
|
|
|
|
_update_shapes();
|
|
|
|
body->apply_impulse(p_pos, p_impulse);
|
|
body->wakeup();
|
|
};
|
|
|
|
void PhysicsServerSW::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
_update_shapes();
|
|
|
|
body->apply_torque_impulse(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);
|
|
|
|
_update_shapes();
|
|
|
|
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, BodyAxis p_axis, bool p_lock) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
|
|
body->set_axis_lock(p_axis, p_lock);
|
|
body->wakeup();
|
|
}
|
|
|
|
bool PhysicsServerSW::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
|
|
const BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, 0);
|
|
return body->is_axis_locked(p_axis);
|
|
}
|
|
|
|
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_threshold(RID p_body, real_t p_threshold) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND(!body);
|
|
};
|
|
|
|
real_t PhysicsServerSW::body_get_contacts_reported_depth_threshold(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();
|
|
}
|
|
|
|
bool PhysicsServerSW::body_test_motion(RID p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, MotionResult *r_result, bool p_exclude_raycast_shapes, const Set<RID> &p_exclude) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
ERR_FAIL_COND_V(!body->get_space(), false);
|
|
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
|
|
|
|
_update_shapes();
|
|
|
|
return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, body->get_kinematic_margin(), r_result, p_exclude_raycast_shapes, p_exclude);
|
|
}
|
|
|
|
int PhysicsServerSW::body_test_ray_separation(RID p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, false);
|
|
ERR_FAIL_COND_V(!body->get_space(), false);
|
|
ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
|
|
|
|
_update_shapes();
|
|
|
|
return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
|
|
}
|
|
|
|
PhysicsDirectBodyState *PhysicsServerSW::body_get_direct_state(RID p_body) {
|
|
if (!body_owner.owns(p_body)) {
|
|
return nullptr;
|
|
}
|
|
|
|
BodySW *body = body_owner.get(p_body);
|
|
ERR_FAIL_COND_V(!body, nullptr);
|
|
|
|
if (!body->get_space()) {
|
|
return nullptr;
|
|
}
|
|
|
|
ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
|
|
|
|
direct_state->body = body;
|
|
return direct_state;
|
|
}
|
|
|
|
/* 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, real_t 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);
|
|
}
|
|
real_t 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_position_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_position_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, real_t 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);
|
|
}
|
|
real_t 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();
|
|
}
|
|
|
|
void PhysicsServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND(!joint);
|
|
|
|
joint->disable_collisions_between_bodies(p_disable);
|
|
|
|
if (2 == joint->get_body_count()) {
|
|
BodySW *body_a = *joint->get_body_ptr();
|
|
BodySW *body_b = *(joint->get_body_ptr() + 1);
|
|
|
|
if (p_disable) {
|
|
body_add_collision_exception(body_a->get_self(), body_b->get_self());
|
|
body_add_collision_exception(body_b->get_self(), body_a->get_self());
|
|
} else {
|
|
body_remove_collision_exception(body_a->get_self(), body_b->get_self());
|
|
body_remove_collision_exception(body_b->get_self(), body_a->get_self());
|
|
}
|
|
}
|
|
}
|
|
|
|
bool PhysicsServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
|
|
JointSW *joint = joint_owner.get(p_joint);
|
|
ERR_FAIL_COND_V(!joint, true);
|
|
|
|
return joint->is_disabled_collisions_between_bodies();
|
|
}
|
|
|
|
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, real_t 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);
|
|
}
|
|
real_t 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, real_t 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);
|
|
}
|
|
real_t 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, real_t 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);
|
|
}
|
|
real_t 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);
|
|
}
|
|
|
|
void PhysicsServerSW::free(RID p_rid) {
|
|
_update_shapes(); //just in case
|
|
|
|
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(nullptr);
|
|
|
|
while (body->get_shape_count()) {
|
|
body->remove_shape(0);
|
|
}
|
|
|
|
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(nullptr);
|
|
|
|
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(nullptr);
|
|
}
|
|
|
|
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_FAIL_MSG("Invalid ID.");
|
|
}
|
|
};
|
|
|
|
void PhysicsServerSW::set_active(bool p_active) {
|
|
active = p_active;
|
|
};
|
|
|
|
void PhysicsServerSW::set_collision_iterations(int p_iterations) {
|
|
iterations = p_iterations;
|
|
};
|
|
|
|
void PhysicsServerSW::init() {
|
|
last_step = 0.001;
|
|
iterations = 8; // 8?
|
|
stepper = memnew(StepSW);
|
|
direct_state = memnew(PhysicsDirectBodyStateSW);
|
|
};
|
|
|
|
void PhysicsServerSW::step(real_t p_step) {
|
|
#ifndef _3D_DISABLED
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
_update_shapes();
|
|
|
|
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();
|
|
}
|
|
#endif
|
|
}
|
|
|
|
void PhysicsServerSW::flush_queries() {
|
|
#ifndef _3D_DISABLED
|
|
|
|
if (!active) {
|
|
return;
|
|
}
|
|
|
|
flushing_queries = true;
|
|
|
|
uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
|
|
|
|
for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
|
|
SpaceSW *space = (SpaceSW *)E->get();
|
|
space->call_queries();
|
|
}
|
|
|
|
flushing_queries = false;
|
|
|
|
if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) {
|
|
uint64_t total_time[SpaceSW::ELAPSED_TIME_MAX];
|
|
static const char *time_name[SpaceSW::ELAPSED_TIME_MAX] = {
|
|
"integrate_forces",
|
|
"generate_islands",
|
|
"setup_constraints",
|
|
"solve_constraints",
|
|
"integrate_velocities"
|
|
};
|
|
|
|
for (int i = 0; i < SpaceSW::ELAPSED_TIME_MAX; i++) {
|
|
total_time[i] = 0;
|
|
}
|
|
|
|
for (Set<const SpaceSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
|
|
for (int i = 0; i < SpaceSW::ELAPSED_TIME_MAX; i++) {
|
|
total_time[i] += E->get()->get_elapsed_time(SpaceSW::ElapsedTime(i));
|
|
}
|
|
}
|
|
|
|
Array values;
|
|
values.resize(SpaceSW::ELAPSED_TIME_MAX * 2);
|
|
for (int i = 0; i < SpaceSW::ELAPSED_TIME_MAX; i++) {
|
|
values[i * 2 + 0] = time_name[i];
|
|
values[i * 2 + 1] = USEC_TO_SEC(total_time[i]);
|
|
}
|
|
values.push_back("flush_queries");
|
|
values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg));
|
|
|
|
ScriptDebugger::get_singleton()->add_profiling_frame_data("physics", values);
|
|
}
|
|
#endif
|
|
};
|
|
|
|
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::_update_shapes() {
|
|
while (pending_shape_update_list.first()) {
|
|
pending_shape_update_list.first()->self()->_shape_changed();
|
|
pending_shape_update_list.remove(pending_shape_update_list.first());
|
|
}
|
|
}
|
|
|
|
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
|
|
real_t min_depth = 1e20;
|
|
int min_depth_idx = 0;
|
|
for (int i = 0; i < cbk->amount; i++) {
|
|
real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]);
|
|
if (d < min_depth) {
|
|
min_depth = d;
|
|
min_depth_idx = i;
|
|
}
|
|
}
|
|
|
|
real_t 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::singleton = nullptr;
|
|
PhysicsServerSW::PhysicsServerSW() {
|
|
singleton = this;
|
|
|
|
bool use_bvh_or_octree = GLOBAL_GET("physics/3d/godot_physics/use_bvh");
|
|
|
|
if (use_bvh_or_octree) {
|
|
BroadPhaseSW::create_func = BroadPhaseBVH::_create;
|
|
} else {
|
|
BroadPhaseSW::create_func = BroadPhaseOctree::_create;
|
|
}
|
|
|
|
island_count = 0;
|
|
active_objects = 0;
|
|
collision_pairs = 0;
|
|
|
|
active = true;
|
|
flushing_queries = false;
|
|
};
|
|
|
|
PhysicsServerSW::~PhysicsServerSW(){
|
|
|
|
};
|