#ifndef SPACE_SW_H #define SPACE_SW_H /*************************************************************************/ /* space_sw.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "area_pair_sw.h" #include "area_sw.h" #include "body_pair_sw.h" #include "body_sw.h" #include "broad_phase_sw.h" #include "collision_object_sw.h" #include "core/hash_map.h" #include "core/project_settings.h" #include "core/typedefs.h" class PhysicsDirectSpaceStateSW : public PhysicsDirectSpaceState { GDCLASS(PhysicsDirectSpaceStateSW, PhysicsDirectSpaceState); public: SpaceSW *space; virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); 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_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false); virtual int 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, ShapeRestInfo *r_info = nullptr); virtual bool 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 = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); virtual bool rest_info(RID p_shape, const Transform &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = 0xFFFFFFFF, bool p_collide_with_bodies = true, bool p_collide_with_areas = false); virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const; PhysicsDirectSpaceStateSW(); }; class SpaceSW : public RID_Data { 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 *p_object_A, int p_subindex_A, CollisionObjectSW *p_object_B, int p_subindex_B, void *p_pair_data, void *p_self); static void _broadphase_unpair(CollisionObjectSW *p_object_A, int p_subindex_A, CollisionObjectSW *p_object_B, int p_subindex_B, void *p_pair_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]; real_t body_linear_velocity_sleep_threshold; real_t body_angular_velocity_sleep_threshold; real_t body_time_to_sleep; real_t body_angular_velocity_damp_ratio; bool locked; real_t step; int island_count; int active_objects; int collision_pairs; RID static_global_body; Vector<Vector3> contact_debug; int contact_debug_count; friend class PhysicsDirectSpaceStateSW; int _cull_aabb_for_body(BodySW *p_body, const AABB &p_aabb); public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } _FORCE_INLINE_ RID get_self() const { return self; } _FORCE_INLINE_ void set_step(const real_t &p_step) { step = p_step; } _FORCE_INLINE_ real_t get_step() const { return step; } 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_threshold() const { return body_linear_velocity_sleep_threshold; } _FORCE_INLINE_ real_t get_body_angular_velocity_sleep_threshold() 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.write[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]; } int 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); bool 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, const Set<RID> &p_exclude = Set<RID>()); SpaceSW(); ~SpaceSW(); }; #endif // SPACE__SW_H