1225 lines
37 KiB
C++
1225 lines
37 KiB
C++
/*************************************************************************/
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/* space_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) 2007-2019 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2019 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 "space_sw.h"
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#include "collision_solver_sw.h"
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#include "core/project_settings.h"
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#include "physics_server_sw.h"
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_FORCE_INLINE_ static bool _can_collide_with(CollisionObjectSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
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if (!(p_object->get_collision_layer() & p_collision_mask)) {
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return false;
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}
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if (p_object->get_type() == CollisionObjectSW::TYPE_AREA && !p_collide_with_areas)
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return false;
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if (p_object->get_type() == CollisionObjectSW::TYPE_BODY && !p_collide_with_bodies)
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return false;
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return true;
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}
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int PhysicsDirectSpaceStateSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
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ERR_FAIL_COND_V(space->locked, false);
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int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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int cc = 0;
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//Transform ai = p_xform.affine_inverse();
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for (int i = 0; i < amount; i++) {
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if (cc >= p_result_max)
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break;
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
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continue;
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//area can't be picked by ray (default)
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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Transform inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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inv_xform.affine_invert();
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if (!col_obj->get_shape(shape_idx)->intersect_point(inv_xform.xform(p_point)))
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continue;
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r_results[cc].collider_id = col_obj->get_instance_id();
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if (r_results[cc].collider_id != 0)
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r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
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else
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r_results[cc].collider = NULL;
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r_results[cc].rid = col_obj->get_self();
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r_results[cc].shape = shape_idx;
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cc++;
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}
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return cc;
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}
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bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
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ERR_FAIL_COND_V(space->locked, false);
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Vector3 begin, end;
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Vector3 normal;
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begin = p_from;
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end = p_to;
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normal = (end - begin).normalized();
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int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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//todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
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bool collided = false;
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Vector3 res_point, res_normal;
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int res_shape;
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const CollisionObjectSW *res_obj;
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real_t min_d = 1e10;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
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continue;
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if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable()))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
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Vector3 local_from = inv_xform.xform(begin);
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Vector3 local_to = inv_xform.xform(end);
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const ShapeSW *shape = col_obj->get_shape(shape_idx);
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Vector3 shape_point, shape_normal;
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if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
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Transform xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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shape_point = xform.xform(shape_point);
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real_t ld = normal.dot(shape_point);
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if (ld < min_d) {
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min_d = ld;
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res_point = shape_point;
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res_normal = inv_xform.basis.xform_inv(shape_normal).normalized();
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res_shape = shape_idx;
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res_obj = col_obj;
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collided = true;
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}
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}
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}
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if (!collided)
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return false;
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r_result.collider_id = res_obj->get_instance_id();
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if (r_result.collider_id != 0)
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r_result.collider = ObjectDB::get_instance(r_result.collider_id);
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else
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r_result.collider = NULL;
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r_result.normal = res_normal;
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r_result.position = res_point;
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r_result.rid = res_obj->get_self();
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r_result.shape = res_shape;
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return true;
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}
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int PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
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if (p_result_max <= 0)
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return 0;
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ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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AABB aabb = p_xform.xform(shape->get_aabb());
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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int cc = 0;
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//Transform ai = p_xform.affine_inverse();
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for (int i = 0; i < amount; i++) {
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if (cc >= p_result_max)
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break;
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
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continue;
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//area can't be picked by ray (default)
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (!CollisionSolverSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL, NULL, NULL, p_margin, 0))
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continue;
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if (r_results) {
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r_results[cc].collider_id = col_obj->get_instance_id();
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if (r_results[cc].collider_id != 0)
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r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
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else
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r_results[cc].collider = NULL;
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r_results[cc].rid = col_obj->get_self();
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r_results[cc].shape = shape_idx;
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}
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cc++;
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}
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return cc;
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}
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bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
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ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, false);
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AABB aabb = p_xform.xform(shape->get_aabb());
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aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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real_t best_safe = 1;
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real_t best_unsafe = 1;
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Transform xform_inv = p_xform.affine_inverse();
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MotionShapeSW mshape;
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mshape.shape = shape;
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mshape.motion = xform_inv.basis.xform(p_motion);
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bool best_first = true;
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Vector3 closest_A, closest_B;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
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continue;
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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue; //ignore excluded
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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Vector3 point_A, point_B;
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Vector3 sep_axis = p_motion.normalized();
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Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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//test initial overlap, does it collide if going all the way?
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if (CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
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continue;
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}
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//test initial overlap
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sep_axis = p_motion.normalized();
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if (!CollisionSolverSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
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return false;
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}
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//just do kinematic solving
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real_t low = 0;
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real_t hi = 1;
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Vector3 mnormal = p_motion.normalized();
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for (int i = 0; i < 8; i++) { //steps should be customizable..
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real_t ofs = (low + hi) * 0.5;
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Vector3 sep = mnormal; //important optimization for this to work fast enough
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mshape.motion = xform_inv.basis.xform(p_motion * ofs);
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Vector3 lA, lB;
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bool collided = !CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
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if (collided) {
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hi = ofs;
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} else {
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point_A = lA;
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point_B = lB;
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low = ofs;
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}
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}
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if (low < best_safe) {
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best_first = true; //force reset
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best_safe = low;
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best_unsafe = hi;
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}
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if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low <= best_safe))) {
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closest_A = point_A;
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closest_B = point_B;
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r_info->collider_id = col_obj->get_instance_id();
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r_info->rid = col_obj->get_self();
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r_info->shape = shape_idx;
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r_info->point = closest_B;
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r_info->normal = (closest_A - closest_B).normalized();
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best_first = false;
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if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
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const BodySW *body = static_cast<const BodySW *>(col_obj);
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r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
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}
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}
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}
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p_closest_safe = best_safe;
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p_closest_unsafe = best_unsafe;
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return true;
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}
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bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
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if (p_result_max <= 0)
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return 0;
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ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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AABB aabb = p_shape_xform.xform(shape->get_aabb());
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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bool collided = false;
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r_result_count = 0;
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PhysicsServerSW::CollCbkData cbk;
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cbk.max = p_result_max;
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cbk.amount = 0;
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cbk.ptr = r_results;
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CollisionSolverSW::CallbackResult cbkres = NULL;
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PhysicsServerSW::CollCbkData *cbkptr = NULL;
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if (p_result_max > 0) {
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cbkptr = &cbk;
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cbkres = PhysicsServerSW::_shape_col_cbk;
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}
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
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continue;
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (p_exclude.has(col_obj->get_self())) {
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continue;
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}
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if (CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
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collided = true;
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}
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}
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r_result_count = cbk.amount;
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return collided;
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}
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struct _RestCallbackData {
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const CollisionObjectSW *object;
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const CollisionObjectSW *best_object;
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int shape;
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int best_shape;
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Vector3 best_contact;
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Vector3 best_normal;
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real_t best_len;
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};
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static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
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_RestCallbackData *rd = (_RestCallbackData *)p_userdata;
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Vector3 contact_rel = p_point_B - p_point_A;
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real_t len = contact_rel.length();
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if (len <= rd->best_len)
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return;
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rd->best_len = len;
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rd->best_contact = p_point_B;
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rd->best_normal = contact_rel / len;
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rd->best_object = rd->object;
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rd->best_shape = rd->shape;
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}
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bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
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ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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AABB aabb = p_shape_xform.xform(shape->get_aabb());
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aabb = aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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_RestCallbackData rcd;
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rcd.best_len = 0;
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rcd.best_object = NULL;
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rcd.best_shape = 0;
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for (int i = 0; i < amount; i++) {
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if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas))
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continue;
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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if (p_exclude.has(col_obj->get_self()))
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continue;
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rcd.object = col_obj;
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rcd.shape = shape_idx;
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bool sc = CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, NULL, p_margin);
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if (!sc)
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continue;
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}
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if (rcd.best_len == 0)
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return false;
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|
r_info->collider_id = rcd.best_object->get_instance_id();
|
|
r_info->shape = rcd.best_shape;
|
|
r_info->normal = rcd.best_normal;
|
|
r_info->point = rcd.best_contact;
|
|
r_info->rid = rcd.best_object->get_self();
|
|
if (rcd.best_object->get_type() == CollisionObjectSW::TYPE_BODY) {
|
|
|
|
const BodySW *body = static_cast<const BodySW *>(rcd.best_object);
|
|
r_info->linear_velocity = body->get_linear_velocity() +
|
|
(body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
|
|
|
|
} else {
|
|
r_info->linear_velocity = Vector3();
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
Vector3 PhysicsDirectSpaceStateSW::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
|
|
|
|
CollisionObjectSW *obj = PhysicsServerSW::singleton->area_owner.getornull(p_object);
|
|
if (!obj) {
|
|
obj = PhysicsServerSW::singleton->body_owner.getornull(p_object);
|
|
}
|
|
ERR_FAIL_COND_V(!obj, Vector3());
|
|
|
|
ERR_FAIL_COND_V(obj->get_space() != space, Vector3());
|
|
|
|
float min_distance = 1e20;
|
|
Vector3 min_point;
|
|
|
|
bool shapes_found = false;
|
|
|
|
for (int i = 0; i < obj->get_shape_count(); i++) {
|
|
|
|
if (obj->is_shape_set_as_disabled(i))
|
|
continue;
|
|
|
|
Transform shape_xform = obj->get_transform() * obj->get_shape_transform(i);
|
|
ShapeSW *shape = obj->get_shape(i);
|
|
|
|
Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
|
|
point = shape_xform.xform(point);
|
|
|
|
float dist = point.distance_to(p_point);
|
|
if (dist < min_distance) {
|
|
min_distance = dist;
|
|
min_point = point;
|
|
}
|
|
shapes_found = true;
|
|
}
|
|
|
|
if (!shapes_found) {
|
|
return obj->get_transform().origin; //no shapes found, use distance to origin.
|
|
} else {
|
|
return min_point;
|
|
}
|
|
}
|
|
|
|
PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
|
|
|
|
space = NULL;
|
|
}
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
int SpaceSW::_cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb) {
|
|
|
|
int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results);
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
bool keep = true;
|
|
|
|
if (intersection_query_results[i] == p_body)
|
|
keep = false;
|
|
else if (intersection_query_results[i]->get_type() == CollisionObjectSW::TYPE_AREA)
|
|
keep = false;
|
|
else if ((static_cast<BodySW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0)
|
|
keep = false;
|
|
else if (static_cast<BodySW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self()))
|
|
keep = false;
|
|
else if (static_cast<BodySW *>(intersection_query_results[i])->is_shape_set_as_disabled(intersection_query_subindex_results[i]))
|
|
keep = false;
|
|
|
|
if (!keep) {
|
|
|
|
if (i < amount - 1) {
|
|
SWAP(intersection_query_results[i], intersection_query_results[amount - 1]);
|
|
SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]);
|
|
}
|
|
|
|
amount--;
|
|
i--;
|
|
}
|
|
}
|
|
|
|
return amount;
|
|
}
|
|
|
|
int SpaceSW::test_body_ray_separation(BodySW *p_body, const Transform &p_transform, bool p_infinite_inertia, Vector3 &r_recover_motion, PhysicsServer::SeparationResult *r_results, int p_result_max, real_t p_margin) {
|
|
|
|
AABB body_aabb;
|
|
|
|
bool shapes_found = false;
|
|
|
|
for (int i = 0; i < p_body->get_shape_count(); i++) {
|
|
|
|
if (p_body->is_shape_set_as_disabled(i))
|
|
continue;
|
|
|
|
if (!shapes_found) {
|
|
body_aabb = p_body->get_shape_aabb(i);
|
|
shapes_found = true;
|
|
} else {
|
|
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
|
|
}
|
|
}
|
|
|
|
if (!shapes_found) {
|
|
return 0;
|
|
}
|
|
// Undo the currently transform the physics server is aware of and apply the provided one
|
|
body_aabb = p_transform.xform(p_body->get_inv_transform().xform(body_aabb));
|
|
body_aabb = body_aabb.grow(p_margin);
|
|
|
|
Transform body_transform = p_transform;
|
|
|
|
for (int i = 0; i < p_result_max; i++) {
|
|
//reset results
|
|
r_results[i].collision_depth = 0;
|
|
}
|
|
|
|
int rays_found = 0;
|
|
|
|
{
|
|
// raycast AND separate
|
|
|
|
const int max_results = 32;
|
|
int recover_attempts = 4;
|
|
Vector3 sr[max_results * 2];
|
|
PhysicsServerSW::CollCbkData cbk;
|
|
cbk.max = max_results;
|
|
PhysicsServerSW::CollCbkData *cbkptr = &cbk;
|
|
CollisionSolverSW::CallbackResult cbkres = PhysicsServerSW::_shape_col_cbk;
|
|
|
|
do {
|
|
|
|
Vector3 recover_motion;
|
|
|
|
bool collided = false;
|
|
|
|
int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
int ray_index = 0;
|
|
|
|
for (int j = 0; j < p_body->get_shape_count(); j++) {
|
|
if (p_body->is_shape_set_as_disabled(j))
|
|
continue;
|
|
|
|
ShapeSW *body_shape = p_body->get_shape(j);
|
|
|
|
if (body_shape->get_type() != PhysicsServer::SHAPE_RAY)
|
|
continue;
|
|
|
|
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObjectSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
cbk.amount = 0;
|
|
cbk.ptr = sr;
|
|
|
|
if (CollisionObjectSW::TYPE_BODY == col_obj->get_type()) {
|
|
const BodySW *b = static_cast<const BodySW *>(col_obj);
|
|
if (p_infinite_inertia && PhysicsServer::BODY_MODE_STATIC != b->get_mode() && PhysicsServer::BODY_MODE_KINEMATIC != b->get_mode()) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
ShapeSW *against_shape = col_obj->get_shape(shape_idx);
|
|
if (CollisionSolverSW::solve_static(body_shape, body_shape_xform, against_shape, col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
|
|
if (cbk.amount > 0) {
|
|
collided = true;
|
|
}
|
|
|
|
if (ray_index < p_result_max) {
|
|
PhysicsServer::SeparationResult &result = r_results[ray_index];
|
|
|
|
for (int k = 0; k < cbk.amount; k++) {
|
|
Vector3 a = sr[k * 2 + 0];
|
|
Vector3 b = sr[k * 2 + 1];
|
|
|
|
recover_motion += (b - a) * 0.4;
|
|
|
|
float depth = a.distance_to(b);
|
|
if (depth > result.collision_depth) {
|
|
|
|
result.collision_depth = depth;
|
|
result.collision_point = b;
|
|
result.collision_normal = (b - a).normalized();
|
|
result.collision_local_shape = shape_idx;
|
|
result.collider = col_obj->get_self();
|
|
result.collider_id = col_obj->get_instance_id();
|
|
//result.collider_metadata = col_obj->get_shape_metadata(shape_idx);
|
|
if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
|
|
BodySW *body = (BodySW *)col_obj;
|
|
|
|
Vector3 rel_vec = b - body->get_transform().get_origin();
|
|
//result.collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
result.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rel_vec); // * mPos);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
ray_index++;
|
|
}
|
|
|
|
rays_found = MAX(ray_index, rays_found);
|
|
|
|
if (!collided || recover_motion == Vector3()) {
|
|
break;
|
|
}
|
|
|
|
body_transform.origin += recover_motion;
|
|
body_aabb.position += recover_motion;
|
|
|
|
recover_attempts--;
|
|
} while (recover_attempts);
|
|
}
|
|
|
|
//optimize results (remove non colliding)
|
|
for (int i = 0; i < rays_found; i++) {
|
|
if (r_results[i].collision_depth == 0) {
|
|
rays_found--;
|
|
SWAP(r_results[i], r_results[rays_found]);
|
|
}
|
|
}
|
|
|
|
r_recover_motion = body_transform.origin - p_transform.origin;
|
|
return rays_found;
|
|
}
|
|
|
|
bool SpaceSW::test_body_motion(BodySW *p_body, const Transform &p_from, const Vector3 &p_motion, bool p_infinite_inertia, real_t p_margin, PhysicsServer::MotionResult *r_result, bool p_exclude_raycast_shapes) {
|
|
|
|
//give me back regular physics engine logic
|
|
//this is madness
|
|
//and most people using this function will think
|
|
//what it does is simpler than using physics
|
|
//this took about a week to get right..
|
|
//but is it right? who knows at this point..
|
|
|
|
if (r_result) {
|
|
r_result->collider_id = 0;
|
|
r_result->collider_shape = 0;
|
|
}
|
|
AABB body_aabb;
|
|
bool shapes_found = false;
|
|
|
|
for (int i = 0; i < p_body->get_shape_count(); i++) {
|
|
|
|
if (p_body->is_shape_set_as_disabled(i))
|
|
continue;
|
|
|
|
if (!shapes_found) {
|
|
body_aabb = p_body->get_shape_aabb(i);
|
|
shapes_found = true;
|
|
} else {
|
|
body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
|
|
}
|
|
}
|
|
|
|
if (!shapes_found) {
|
|
return false;
|
|
}
|
|
|
|
// Undo the currently transform the physics server is aware of and apply the provided one
|
|
body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
|
|
body_aabb = body_aabb.grow(p_margin);
|
|
|
|
Transform body_transform = p_from;
|
|
|
|
{
|
|
//STEP 1, FREE BODY IF STUCK
|
|
|
|
const int max_results = 32;
|
|
int recover_attempts = 4;
|
|
Vector3 sr[max_results * 2];
|
|
|
|
do {
|
|
|
|
PhysicsServerSW::CollCbkData cbk;
|
|
cbk.max = max_results;
|
|
cbk.amount = 0;
|
|
cbk.ptr = sr;
|
|
|
|
PhysicsServerSW::CollCbkData *cbkptr = &cbk;
|
|
CollisionSolverSW::CallbackResult cbkres = PhysicsServerSW::_shape_col_cbk;
|
|
|
|
bool collided = false;
|
|
|
|
int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
|
|
for (int j = 0; j < p_body->get_shape_count(); j++) {
|
|
if (p_body->is_shape_set_as_disabled(j))
|
|
continue;
|
|
|
|
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
ShapeSW *body_shape = p_body->get_shape(j);
|
|
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
|
|
continue;
|
|
}
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObjectSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
if (CollisionSolverSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
|
|
collided = cbk.amount > 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
if (!collided) {
|
|
break;
|
|
}
|
|
|
|
Vector3 recover_motion;
|
|
|
|
for (int i = 0; i < cbk.amount; i++) {
|
|
|
|
Vector3 a = sr[i * 2 + 0];
|
|
Vector3 b = sr[i * 2 + 1];
|
|
recover_motion += (b - a) * 0.4;
|
|
}
|
|
|
|
if (recover_motion == Vector3()) {
|
|
collided = false;
|
|
break;
|
|
}
|
|
|
|
body_transform.origin += recover_motion;
|
|
body_aabb.position += recover_motion;
|
|
|
|
recover_attempts--;
|
|
|
|
} while (recover_attempts);
|
|
}
|
|
|
|
real_t safe = 1.0;
|
|
real_t unsafe = 1.0;
|
|
int best_shape = -1;
|
|
|
|
{
|
|
// STEP 2 ATTEMPT MOTION
|
|
|
|
AABB motion_aabb = body_aabb;
|
|
motion_aabb.position += p_motion;
|
|
motion_aabb = motion_aabb.merge(body_aabb);
|
|
|
|
int amount = _cull_aabb_for_body(p_body, motion_aabb);
|
|
|
|
for (int j = 0; j < p_body->get_shape_count(); j++) {
|
|
|
|
if (p_body->is_shape_set_as_disabled(j))
|
|
continue;
|
|
|
|
Transform body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
ShapeSW *body_shape = p_body->get_shape(j);
|
|
|
|
if (p_exclude_raycast_shapes && body_shape->get_type() == PhysicsServer::SHAPE_RAY) {
|
|
continue;
|
|
}
|
|
|
|
Transform body_shape_xform_inv = body_shape_xform.affine_inverse();
|
|
MotionShapeSW mshape;
|
|
mshape.shape = body_shape;
|
|
mshape.motion = body_shape_xform_inv.basis.xform(p_motion);
|
|
|
|
bool stuck = false;
|
|
|
|
real_t best_safe = 1;
|
|
real_t best_unsafe = 1;
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObjectSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
//test initial overlap, does it collide if going all the way?
|
|
Vector3 point_A, point_B;
|
|
Vector3 sep_axis = p_motion.normalized();
|
|
|
|
Transform col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
|
|
//test initial overlap, does it collide if going all the way?
|
|
if (CollisionSolverSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
|
|
continue;
|
|
}
|
|
sep_axis = p_motion.normalized();
|
|
|
|
if (!CollisionSolverSW::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
|
|
stuck = true;
|
|
break;
|
|
}
|
|
|
|
//just do kinematic solving
|
|
real_t low = 0;
|
|
real_t hi = 1;
|
|
Vector3 mnormal = p_motion.normalized();
|
|
|
|
for (int i = 0; i < 8; i++) { //steps should be customizable..
|
|
|
|
real_t ofs = (low + hi) * 0.5;
|
|
|
|
Vector3 sep = mnormal; //important optimization for this to work fast enough
|
|
|
|
mshape.motion = body_shape_xform_inv.basis.xform(p_motion * ofs);
|
|
|
|
Vector3 lA, lB;
|
|
|
|
bool collided = !CollisionSolverSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
|
|
|
|
if (collided) {
|
|
|
|
hi = ofs;
|
|
} else {
|
|
|
|
point_A = lA;
|
|
point_B = lB;
|
|
low = ofs;
|
|
}
|
|
}
|
|
|
|
if (low < best_safe) {
|
|
best_safe = low;
|
|
best_unsafe = hi;
|
|
}
|
|
}
|
|
|
|
if (stuck) {
|
|
|
|
safe = 0;
|
|
unsafe = 0;
|
|
best_shape = j; //sadly it's the best
|
|
break;
|
|
}
|
|
if (best_safe == 1.0) {
|
|
continue;
|
|
}
|
|
if (best_safe < safe) {
|
|
|
|
safe = best_safe;
|
|
unsafe = best_unsafe;
|
|
best_shape = j;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool collided = false;
|
|
if (safe >= 1) {
|
|
//not collided
|
|
collided = false;
|
|
if (r_result) {
|
|
|
|
r_result->motion = p_motion;
|
|
r_result->remainder = Vector3();
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
} else {
|
|
|
|
//it collided, let's get the rest info in unsafe advance
|
|
Transform ugt = body_transform;
|
|
ugt.origin += p_motion * unsafe;
|
|
|
|
_RestCallbackData rcd;
|
|
rcd.best_len = 0;
|
|
rcd.best_object = NULL;
|
|
rcd.best_shape = 0;
|
|
|
|
Transform body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
|
|
ShapeSW *body_shape = p_body->get_shape(best_shape);
|
|
|
|
body_aabb.position += p_motion * unsafe;
|
|
|
|
int amount = _cull_aabb_for_body(p_body, body_aabb);
|
|
|
|
for (int i = 0; i < amount; i++) {
|
|
|
|
const CollisionObjectSW *col_obj = intersection_query_results[i];
|
|
int shape_idx = intersection_query_subindex_results[i];
|
|
|
|
rcd.object = col_obj;
|
|
rcd.shape = shape_idx;
|
|
bool sc = CollisionSolverSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, NULL, p_margin);
|
|
if (!sc)
|
|
continue;
|
|
}
|
|
|
|
if (rcd.best_len != 0) {
|
|
|
|
if (r_result) {
|
|
r_result->collider = rcd.best_object->get_self();
|
|
r_result->collider_id = rcd.best_object->get_instance_id();
|
|
r_result->collider_shape = rcd.best_shape;
|
|
r_result->collision_local_shape = best_shape;
|
|
r_result->collision_normal = rcd.best_normal;
|
|
r_result->collision_point = rcd.best_contact;
|
|
//r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
|
|
|
|
const BodySW *body = static_cast<const BodySW *>(rcd.best_object);
|
|
//Vector3 rel_vec = r_result->collision_point - body->get_transform().get_origin();
|
|
// r_result->collider_velocity = Vector3(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
r_result->collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
|
|
|
|
r_result->motion = safe * p_motion;
|
|
r_result->remainder = p_motion - safe * p_motion;
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
collided = true;
|
|
} else {
|
|
if (r_result) {
|
|
|
|
r_result->motion = p_motion;
|
|
r_result->remainder = Vector3();
|
|
r_result->motion += (body_transform.get_origin() - p_from.get_origin());
|
|
}
|
|
|
|
collided = false;
|
|
}
|
|
}
|
|
|
|
return collided;
|
|
}
|
|
|
|
void *SpaceSW::_broadphase_pair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_self) {
|
|
|
|
CollisionObjectSW::Type type_A = A->get_type();
|
|
CollisionObjectSW::Type type_B = B->get_type();
|
|
if (type_A > type_B) {
|
|
|
|
SWAP(A, B);
|
|
SWAP(p_subindex_A, p_subindex_B);
|
|
SWAP(type_A, type_B);
|
|
}
|
|
|
|
SpaceSW *self = (SpaceSW *)p_self;
|
|
|
|
self->collision_pairs++;
|
|
|
|
if (type_A == CollisionObjectSW::TYPE_AREA) {
|
|
|
|
AreaSW *area = static_cast<AreaSW *>(A);
|
|
if (type_B == CollisionObjectSW::TYPE_AREA) {
|
|
|
|
AreaSW *area_b = static_cast<AreaSW *>(B);
|
|
Area2PairSW *area2_pair = memnew(Area2PairSW(area_b, p_subindex_B, area, p_subindex_A));
|
|
return area2_pair;
|
|
} else {
|
|
|
|
BodySW *body = static_cast<BodySW *>(B);
|
|
AreaPairSW *area_pair = memnew(AreaPairSW(body, p_subindex_B, area, p_subindex_A));
|
|
return area_pair;
|
|
}
|
|
} else {
|
|
|
|
BodyPairSW *b = memnew(BodyPairSW((BodySW *)A, p_subindex_A, (BodySW *)B, p_subindex_B));
|
|
return b;
|
|
}
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void SpaceSW::_broadphase_unpair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_data, void *p_self) {
|
|
|
|
SpaceSW *self = (SpaceSW *)p_self;
|
|
self->collision_pairs--;
|
|
ConstraintSW *c = (ConstraintSW *)p_data;
|
|
memdelete(c);
|
|
}
|
|
|
|
const SelfList<BodySW>::List &SpaceSW::get_active_body_list() const {
|
|
|
|
return active_list;
|
|
}
|
|
void SpaceSW::body_add_to_active_list(SelfList<BodySW> *p_body) {
|
|
|
|
active_list.add(p_body);
|
|
}
|
|
void SpaceSW::body_remove_from_active_list(SelfList<BodySW> *p_body) {
|
|
|
|
active_list.remove(p_body);
|
|
}
|
|
|
|
void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW> *p_body) {
|
|
|
|
inertia_update_list.add(p_body);
|
|
}
|
|
|
|
void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW> *p_body) {
|
|
|
|
inertia_update_list.remove(p_body);
|
|
}
|
|
|
|
BroadPhaseSW *SpaceSW::get_broadphase() {
|
|
|
|
return broadphase;
|
|
}
|
|
|
|
void SpaceSW::add_object(CollisionObjectSW *p_object) {
|
|
|
|
ERR_FAIL_COND(objects.has(p_object));
|
|
objects.insert(p_object);
|
|
}
|
|
|
|
void SpaceSW::remove_object(CollisionObjectSW *p_object) {
|
|
|
|
ERR_FAIL_COND(!objects.has(p_object));
|
|
objects.erase(p_object);
|
|
}
|
|
|
|
const Set<CollisionObjectSW *> &SpaceSW::get_objects() const {
|
|
|
|
return objects;
|
|
}
|
|
|
|
void SpaceSW::body_add_to_state_query_list(SelfList<BodySW> *p_body) {
|
|
|
|
state_query_list.add(p_body);
|
|
}
|
|
void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW> *p_body) {
|
|
|
|
state_query_list.remove(p_body);
|
|
}
|
|
|
|
void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW> *p_area) {
|
|
|
|
monitor_query_list.add(p_area);
|
|
}
|
|
void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW> *p_area) {
|
|
|
|
monitor_query_list.remove(p_area);
|
|
}
|
|
|
|
void SpaceSW::area_add_to_moved_list(SelfList<AreaSW> *p_area) {
|
|
|
|
area_moved_list.add(p_area);
|
|
}
|
|
|
|
void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW> *p_area) {
|
|
|
|
area_moved_list.remove(p_area);
|
|
}
|
|
|
|
const SelfList<AreaSW>::List &SpaceSW::get_moved_area_list() const {
|
|
|
|
return area_moved_list;
|
|
}
|
|
|
|
void SpaceSW::call_queries() {
|
|
|
|
while (state_query_list.first()) {
|
|
|
|
BodySW *b = state_query_list.first()->self();
|
|
state_query_list.remove(state_query_list.first());
|
|
b->call_queries();
|
|
}
|
|
|
|
while (monitor_query_list.first()) {
|
|
|
|
AreaSW *a = monitor_query_list.first()->self();
|
|
monitor_query_list.remove(monitor_query_list.first());
|
|
a->call_queries();
|
|
}
|
|
}
|
|
|
|
void SpaceSW::setup() {
|
|
|
|
contact_debug_count = 0;
|
|
while (inertia_update_list.first()) {
|
|
inertia_update_list.first()->self()->update_inertias();
|
|
inertia_update_list.remove(inertia_update_list.first());
|
|
}
|
|
}
|
|
|
|
void SpaceSW::update() {
|
|
|
|
broadphase->update();
|
|
}
|
|
|
|
void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
|
|
|
|
switch (p_param) {
|
|
|
|
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: body_linear_velocity_sleep_threshold = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break;
|
|
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
|
|
}
|
|
}
|
|
|
|
real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
|
|
|
|
switch (p_param) {
|
|
|
|
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
|
|
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
|
|
case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
|
|
case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_THRESHOLD: return body_linear_velocity_sleep_threshold;
|
|
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_THRESHOLD: return body_angular_velocity_sleep_threshold;
|
|
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
|
|
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
|
|
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void SpaceSW::lock() {
|
|
|
|
locked = true;
|
|
}
|
|
|
|
void SpaceSW::unlock() {
|
|
|
|
locked = false;
|
|
}
|
|
|
|
bool SpaceSW::is_locked() const {
|
|
|
|
return locked;
|
|
}
|
|
|
|
PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
|
|
|
|
return direct_access;
|
|
}
|
|
|
|
SpaceSW::SpaceSW() {
|
|
|
|
collision_pairs = 0;
|
|
active_objects = 0;
|
|
island_count = 0;
|
|
contact_debug_count = 0;
|
|
|
|
locked = false;
|
|
contact_recycle_radius = 0.01;
|
|
contact_max_separation = 0.05;
|
|
contact_max_allowed_penetration = 0.01;
|
|
|
|
constraint_bias = 0.01;
|
|
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
|
|
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
|
|
body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
|
|
ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::REAL, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
|
|
body_angular_velocity_damp_ratio = 10;
|
|
|
|
broadphase = BroadPhaseSW::create_func();
|
|
broadphase->set_pair_callback(_broadphase_pair, this);
|
|
broadphase->set_unpair_callback(_broadphase_unpair, this);
|
|
area = NULL;
|
|
|
|
direct_access = memnew(PhysicsDirectSpaceStateSW);
|
|
direct_access->space = this;
|
|
|
|
for (int i = 0; i < ELAPSED_TIME_MAX; i++)
|
|
elapsed_time[i] = 0;
|
|
}
|
|
|
|
SpaceSW::~SpaceSW() {
|
|
|
|
memdelete(broadphase);
|
|
memdelete(direct_access);
|
|
}
|