204 lines
8.7 KiB
C++
204 lines
8.7 KiB
C++
/*************************************************************************/
|
|
/* space_sw.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* http://www.godotengine.org */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
|
|
/* */
|
|
/* Permission is hereby granted, free of charge, to any person obtaining */
|
|
/* a copy of this software and associated documentation files (the */
|
|
/* "Software"), to deal in the Software without restriction, including */
|
|
/* without limitation the rights to use, copy, modify, merge, publish, */
|
|
/* distribute, sublicense, and/or sell copies of the Software, and to */
|
|
/* permit persons to whom the Software is furnished to do so, subject to */
|
|
/* the following conditions: */
|
|
/* */
|
|
/* The above copyright notice and this permission notice shall be */
|
|
/* included in all copies or substantial portions of the Software. */
|
|
/* */
|
|
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
|
|
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
|
|
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
|
|
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
|
|
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
|
|
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
|
|
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
|
|
/*************************************************************************/
|
|
#ifndef SPACE_SW_H
|
|
#define SPACE_SW_H
|
|
|
|
#include "typedefs.h"
|
|
#include "hash_map.h"
|
|
#include "body_sw.h"
|
|
#include "area_sw.h"
|
|
#include "body_pair_sw.h"
|
|
#include "area_pair_sw.h"
|
|
#include "broad_phase_sw.h"
|
|
#include "collision_object_sw.h"
|
|
#include "globals.h"
|
|
|
|
|
|
class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState {
|
|
|
|
OBJ_TYPE( PhysicsDirectSpaceStateSW, PhysicsDirectSpaceState );
|
|
public:
|
|
|
|
SpaceSW *space;
|
|
|
|
virtual bool intersect_ray(const Vector3& p_from, const Vector3& p_to,RayResult &r_result,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,bool p_pick_ray=false);
|
|
virtual int intersect_shape(const RID& p_shape, const Transform& p_xform,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
|
|
virtual bool cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION,ShapeRestInfo *r_info=NULL);
|
|
virtual bool collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
|
|
virtual bool rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude=Set<RID>(),uint32_t p_layer_mask=0xFFFFFFFF,uint32_t p_object_type_mask=TYPE_MASK_COLLISION);
|
|
|
|
PhysicsDirectSpaceStateSW();
|
|
};
|
|
|
|
|
|
|
|
class SpaceSW {
|
|
|
|
public:
|
|
|
|
enum ElapsedTime {
|
|
ELAPSED_TIME_INTEGRATE_FORCES,
|
|
ELAPSED_TIME_GENERATE_ISLANDS,
|
|
ELAPSED_TIME_SETUP_CONSTRAINTS,
|
|
ELAPSED_TIME_SOLVE_CONSTRAINTS,
|
|
ELAPSED_TIME_INTEGRATE_VELOCITIES,
|
|
ELAPSED_TIME_MAX
|
|
|
|
};
|
|
private:
|
|
|
|
uint64_t elapsed_time[ELAPSED_TIME_MAX];
|
|
|
|
PhysicsDirectSpaceStateSW *direct_access;
|
|
RID self;
|
|
|
|
BroadPhaseSW *broadphase;
|
|
SelfList<BodySW>::List active_list;
|
|
SelfList<BodySW>::List inertia_update_list;
|
|
SelfList<BodySW>::List state_query_list;
|
|
SelfList<AreaSW>::List monitor_query_list;
|
|
SelfList<AreaSW>::List area_moved_list;
|
|
|
|
static void* _broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self);
|
|
static void _broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self);
|
|
|
|
Set<CollisionObjectSW*> objects;
|
|
|
|
AreaSW *area;
|
|
|
|
real_t contact_recycle_radius;
|
|
real_t contact_max_separation;
|
|
real_t contact_max_allowed_penetration;
|
|
real_t constraint_bias;
|
|
|
|
enum {
|
|
|
|
INTERSECTION_QUERY_MAX=2048
|
|
};
|
|
|
|
CollisionObjectSW *intersection_query_results[INTERSECTION_QUERY_MAX];
|
|
int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
|
|
|
|
float body_linear_velocity_sleep_threshold;
|
|
float body_angular_velocity_sleep_threshold;
|
|
float body_time_to_sleep;
|
|
float body_angular_velocity_damp_ratio;
|
|
|
|
bool locked;
|
|
|
|
int island_count;
|
|
int active_objects;
|
|
int collision_pairs;
|
|
|
|
RID static_global_body;
|
|
|
|
Vector<Vector3> contact_debug;
|
|
int contact_debug_count;
|
|
|
|
friend class PhysicsDirectSpaceStateSW;
|
|
|
|
public:
|
|
|
|
_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
|
|
_FORCE_INLINE_ RID get_self() const { return self; }
|
|
|
|
void set_default_area(AreaSW *p_area) { area=p_area; }
|
|
AreaSW *get_default_area() const { return area; }
|
|
|
|
const SelfList<BodySW>::List& get_active_body_list() const;
|
|
void body_add_to_active_list(SelfList<BodySW>* p_body);
|
|
void body_remove_from_active_list(SelfList<BodySW>* p_body);
|
|
void body_add_to_inertia_update_list(SelfList<BodySW>* p_body);
|
|
void body_remove_from_inertia_update_list(SelfList<BodySW>* p_body);
|
|
|
|
void body_add_to_state_query_list(SelfList<BodySW>* p_body);
|
|
void body_remove_from_state_query_list(SelfList<BodySW>* p_body);
|
|
|
|
void area_add_to_monitor_query_list(SelfList<AreaSW>* p_area);
|
|
void area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area);
|
|
void area_add_to_moved_list(SelfList<AreaSW>* p_area);
|
|
void area_remove_from_moved_list(SelfList<AreaSW>* p_area);
|
|
const SelfList<AreaSW>::List& get_moved_area_list() const;
|
|
|
|
BroadPhaseSW *get_broadphase();
|
|
|
|
void add_object(CollisionObjectSW *p_object);
|
|
void remove_object(CollisionObjectSW *p_object);
|
|
const Set<CollisionObjectSW*> &get_objects() const;
|
|
|
|
_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
|
|
_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
|
|
_FORCE_INLINE_ real_t get_contact_max_allowed_penetration() const { return contact_max_allowed_penetration; }
|
|
_FORCE_INLINE_ real_t get_constraint_bias() const { return constraint_bias; }
|
|
_FORCE_INLINE_ real_t get_body_linear_velocity_sleep_treshold() const { return body_linear_velocity_sleep_threshold; }
|
|
_FORCE_INLINE_ real_t get_body_angular_velocity_sleep_treshold() const { return body_angular_velocity_sleep_threshold; }
|
|
_FORCE_INLINE_ real_t get_body_time_to_sleep() const { return body_time_to_sleep; }
|
|
_FORCE_INLINE_ real_t get_body_angular_velocity_damp_ratio() const { return body_angular_velocity_damp_ratio; }
|
|
|
|
|
|
void update();
|
|
void setup();
|
|
void call_queries();
|
|
|
|
|
|
bool is_locked() const;
|
|
void lock();
|
|
void unlock();
|
|
|
|
void set_param(PhysicsServer::SpaceParameter p_param, real_t p_value);
|
|
real_t get_param(PhysicsServer::SpaceParameter p_param) const;
|
|
|
|
void set_island_count(int p_island_count) { island_count=p_island_count; }
|
|
int get_island_count() const { return island_count; }
|
|
|
|
void set_active_objects(int p_active_objects) { active_objects=p_active_objects; }
|
|
int get_active_objects() const { return active_objects; }
|
|
|
|
int get_collision_pairs() const { return collision_pairs; }
|
|
|
|
PhysicsDirectSpaceStateSW *get_direct_state();
|
|
|
|
void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
|
|
_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.empty(); }
|
|
_FORCE_INLINE_ void add_debug_contact(const Vector3& p_contact) { if (contact_debug_count<contact_debug.size()) contact_debug[contact_debug_count++]=p_contact; }
|
|
_FORCE_INLINE_ Vector<Vector3> get_debug_contacts() { return contact_debug; }
|
|
_FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; }
|
|
|
|
void set_static_global_body(RID p_body) { static_global_body=p_body; }
|
|
RID get_static_global_body() { return static_global_body; }
|
|
|
|
void set_elapsed_time(ElapsedTime p_time,uint64_t p_msec) { elapsed_time[p_time]=p_msec; }
|
|
uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
|
|
|
|
SpaceSW();
|
|
~SpaceSW();
|
|
};
|
|
|
|
|
|
#endif // SPACE__SW_H
|