mirror of
https://github.com/Relintai/pandemonium_engine.git
synced 2024-11-21 16:37:20 +01:00
457 lines
17 KiB
C++
457 lines
17 KiB
C++
#ifndef BODY_2D_SW_H
|
|
#define BODY_2D_SW_H
|
|
|
|
/*************************************************************************/
|
|
/* body_2d_sw.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* PANDEMONIUM ENGINE */
|
|
/* https://github.com/Relintai/pandemonium_engine */
|
|
/*************************************************************************/
|
|
/* Copyright (c) 2022-present Péter Magyar. */
|
|
/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */
|
|
/* Copyright (c) 2007-2022 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. */
|
|
/*************************************************************************/
|
|
|
|
#include "area_2d_sw.h"
|
|
#include "collision_object_2d_sw.h"
|
|
#include "core/containers/vset.h"
|
|
|
|
class Constraint2DSW;
|
|
class Physics2DDirectBodyStateSW;
|
|
|
|
class Body2DSW : public CollisionObject2DSW {
|
|
Physics2DServer::BodyMode mode;
|
|
|
|
Vector2 biased_linear_velocity;
|
|
real_t biased_angular_velocity;
|
|
|
|
Vector2 linear_velocity;
|
|
real_t angular_velocity;
|
|
|
|
Vector2 prev_linear_velocity;
|
|
real_t prev_angular_velocity = 0.0;
|
|
|
|
real_t linear_damp;
|
|
real_t angular_damp;
|
|
real_t gravity_scale;
|
|
|
|
real_t mass;
|
|
real_t inertia;
|
|
real_t bounce;
|
|
real_t friction;
|
|
|
|
real_t _inv_mass;
|
|
real_t _inv_inertia;
|
|
bool user_inertia;
|
|
|
|
Vector2 gravity;
|
|
real_t area_linear_damp;
|
|
real_t area_angular_damp;
|
|
|
|
real_t still_time;
|
|
|
|
Vector2 applied_force;
|
|
real_t applied_torque;
|
|
|
|
SelfList<Body2DSW> active_list;
|
|
SelfList<Body2DSW> inertia_update_list;
|
|
SelfList<Body2DSW> direct_state_query_list;
|
|
|
|
VSet<RID> exceptions;
|
|
Physics2DServer::CCDMode continuous_cd_mode;
|
|
bool omit_force_integration;
|
|
bool active;
|
|
bool can_sleep;
|
|
bool first_time_kinematic;
|
|
bool first_integration;
|
|
void _update_inertia();
|
|
virtual void _shapes_changed();
|
|
Transform2D new_transform;
|
|
|
|
RBMap<Constraint2DSW *, int> constraint_map;
|
|
|
|
struct AreaCMP {
|
|
Area2DSW *area;
|
|
int refCount;
|
|
_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
|
|
_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
|
|
_FORCE_INLINE_ AreaCMP() {}
|
|
_FORCE_INLINE_ AreaCMP(Area2DSW *p_area) {
|
|
area = p_area;
|
|
refCount = 1;
|
|
}
|
|
};
|
|
|
|
Vector<AreaCMP> areas;
|
|
|
|
struct Contact {
|
|
Vector2 local_pos;
|
|
Vector2 local_normal;
|
|
real_t depth;
|
|
int local_shape;
|
|
Vector2 collider_pos;
|
|
int collider_shape;
|
|
ObjectID collider_instance_id;
|
|
RID collider;
|
|
Vector2 collider_velocity_at_pos;
|
|
};
|
|
|
|
Vector<Contact> contacts; //no contacts by default
|
|
int contact_count;
|
|
|
|
struct ForceIntegrationCallback {
|
|
ObjectID id;
|
|
StringName method;
|
|
Variant callback_udata;
|
|
};
|
|
|
|
ForceIntegrationCallback *fi_callback;
|
|
|
|
uint64_t island_step;
|
|
Body2DSW *island_next;
|
|
Body2DSW *island_list_next;
|
|
|
|
_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const Area2DSW *p_area);
|
|
|
|
Physics2DDirectBodyStateSW *direct_access = nullptr;
|
|
friend class Physics2DDirectBodyStateSW; // i give up, too many functions to expose
|
|
|
|
public:
|
|
void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
|
|
|
|
_FORCE_INLINE_ void add_area(Area2DSW *p_area) {
|
|
int index = areas.find(AreaCMP(p_area));
|
|
if (index > -1) {
|
|
areas.write[index].refCount += 1;
|
|
} else {
|
|
areas.ordered_insert(AreaCMP(p_area));
|
|
}
|
|
}
|
|
|
|
_FORCE_INLINE_ void remove_area(Area2DSW *p_area) {
|
|
int index = areas.find(AreaCMP(p_area));
|
|
if (index > -1) {
|
|
areas.write[index].refCount -= 1;
|
|
if (areas[index].refCount < 1) {
|
|
areas.remove(index);
|
|
}
|
|
}
|
|
}
|
|
|
|
_FORCE_INLINE_ void set_max_contacts_reported(int p_size) {
|
|
contacts.resize(p_size);
|
|
contact_count = 0;
|
|
if (mode == Physics2DServer::BODY_MODE_KINEMATIC && p_size) {
|
|
set_active(true);
|
|
}
|
|
}
|
|
|
|
_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
|
|
|
|
_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.empty(); }
|
|
_FORCE_INLINE_ void add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos);
|
|
|
|
_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
|
|
_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
|
|
_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
|
|
_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
|
|
|
|
_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
|
|
_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
|
|
|
|
_FORCE_INLINE_ Body2DSW *get_island_next() const { return island_next; }
|
|
_FORCE_INLINE_ void set_island_next(Body2DSW *p_next) { island_next = p_next; }
|
|
|
|
_FORCE_INLINE_ Body2DSW *get_island_list_next() const { return island_list_next; }
|
|
_FORCE_INLINE_ void set_island_list_next(Body2DSW *p_next) { island_list_next = p_next; }
|
|
|
|
_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
|
|
_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraint_map.erase(p_constraint); }
|
|
const RBMap<Constraint2DSW *, int> &get_constraint_map() const { return constraint_map; }
|
|
_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }
|
|
|
|
_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
|
|
_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
|
|
|
|
_FORCE_INLINE_ void set_linear_velocity(const Vector2 &p_velocity) { linear_velocity = p_velocity; }
|
|
_FORCE_INLINE_ Vector2 get_linear_velocity() const { return linear_velocity; }
|
|
|
|
_FORCE_INLINE_ void set_angular_velocity(real_t p_velocity) { angular_velocity = p_velocity; }
|
|
_FORCE_INLINE_ real_t get_angular_velocity() const { return angular_velocity; }
|
|
|
|
_FORCE_INLINE_ Vector2 get_prev_linear_velocity() const { return prev_linear_velocity; }
|
|
_FORCE_INLINE_ real_t get_prev_angular_velocity() const { return prev_angular_velocity; }
|
|
|
|
_FORCE_INLINE_ void set_biased_linear_velocity(const Vector2 &p_velocity) { biased_linear_velocity = p_velocity; }
|
|
_FORCE_INLINE_ Vector2 get_biased_linear_velocity() const { return biased_linear_velocity; }
|
|
|
|
_FORCE_INLINE_ void set_biased_angular_velocity(real_t p_velocity) { biased_angular_velocity = p_velocity; }
|
|
_FORCE_INLINE_ real_t get_biased_angular_velocity() const { return biased_angular_velocity; }
|
|
|
|
_FORCE_INLINE_ void apply_central_impulse(const Vector2 &p_impulse) {
|
|
linear_velocity += p_impulse * _inv_mass;
|
|
}
|
|
|
|
_FORCE_INLINE_ void apply_impulse(const Vector2 &p_offset, const Vector2 &p_impulse) {
|
|
linear_velocity += p_impulse * _inv_mass;
|
|
angular_velocity += _inv_inertia * p_offset.cross(p_impulse);
|
|
}
|
|
|
|
_FORCE_INLINE_ void apply_torque_impulse(real_t p_torque) {
|
|
angular_velocity += _inv_inertia * p_torque;
|
|
}
|
|
|
|
_FORCE_INLINE_ void apply_bias_impulse(const Vector2 &p_pos, const Vector2 &p_j) {
|
|
biased_linear_velocity += p_j * _inv_mass;
|
|
biased_angular_velocity += _inv_inertia * p_pos.cross(p_j);
|
|
}
|
|
|
|
void set_active(bool p_active);
|
|
_FORCE_INLINE_ bool is_active() const { return active; }
|
|
|
|
_FORCE_INLINE_ void wakeup() {
|
|
if ((!get_space()) || mode == Physics2DServer::BODY_MODE_STATIC || mode == Physics2DServer::BODY_MODE_KINEMATIC) {
|
|
return;
|
|
}
|
|
set_active(true);
|
|
}
|
|
|
|
void set_param(Physics2DServer::BodyParameter p_param, real_t);
|
|
real_t get_param(Physics2DServer::BodyParameter p_param) const;
|
|
|
|
void set_mode(Physics2DServer::BodyMode p_mode);
|
|
Physics2DServer::BodyMode get_mode() const;
|
|
|
|
void set_state(Physics2DServer::BodyState p_state, const Variant &p_variant);
|
|
Variant get_state(Physics2DServer::BodyState p_state) const;
|
|
|
|
void set_applied_force(const Vector2 &p_force) { applied_force = p_force; }
|
|
Vector2 get_applied_force() const { return applied_force; }
|
|
|
|
void set_applied_torque(real_t p_torque) { applied_torque = p_torque; }
|
|
real_t get_applied_torque() const { return applied_torque; }
|
|
|
|
_FORCE_INLINE_ void add_central_force(const Vector2 &p_force) {
|
|
applied_force += p_force;
|
|
}
|
|
|
|
_FORCE_INLINE_ void add_force(const Vector2 &p_offset, const Vector2 &p_force) {
|
|
applied_force += p_force;
|
|
applied_torque += p_offset.cross(p_force);
|
|
}
|
|
|
|
_FORCE_INLINE_ void add_torque(real_t p_torque) {
|
|
applied_torque += p_torque;
|
|
}
|
|
|
|
_FORCE_INLINE_ void set_continuous_collision_detection_mode(Physics2DServer::CCDMode p_mode) { continuous_cd_mode = p_mode; }
|
|
_FORCE_INLINE_ Physics2DServer::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; }
|
|
|
|
void set_space(Space2DSW *p_space);
|
|
|
|
void update_inertias();
|
|
|
|
_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
|
|
_FORCE_INLINE_ real_t get_inv_inertia() const { return _inv_inertia; }
|
|
_FORCE_INLINE_ real_t get_friction() const { return friction; }
|
|
_FORCE_INLINE_ Vector2 get_gravity() const { return gravity; }
|
|
_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
|
|
_FORCE_INLINE_ real_t get_linear_damp() const { return linear_damp; }
|
|
_FORCE_INLINE_ real_t get_angular_damp() const { return angular_damp; }
|
|
|
|
void integrate_forces(real_t p_step);
|
|
void integrate_velocities(real_t p_step);
|
|
|
|
_FORCE_INLINE_ Vector2 get_velocity_in_local_point(const Vector2 &rel_pos) const {
|
|
return linear_velocity + Vector2(-angular_velocity * rel_pos.y, angular_velocity * rel_pos.x);
|
|
}
|
|
|
|
_FORCE_INLINE_ Vector2 get_motion() const {
|
|
if (mode > Physics2DServer::BODY_MODE_KINEMATIC) {
|
|
return new_transform.get_origin() - get_transform().get_origin();
|
|
} else if (mode == Physics2DServer::BODY_MODE_KINEMATIC) {
|
|
return get_transform().get_origin() - new_transform.get_origin(); //kinematic simulates forward
|
|
}
|
|
return Vector2();
|
|
}
|
|
|
|
void call_queries();
|
|
void wakeup_neighbours();
|
|
|
|
bool sleep_test(real_t p_step);
|
|
|
|
Physics2DDirectBodyStateSW *get_direct_state() const { return direct_access; }
|
|
|
|
Body2DSW();
|
|
~Body2DSW();
|
|
};
|
|
|
|
//add contact inline
|
|
|
|
void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) {
|
|
int c_max = contacts.size();
|
|
|
|
if (c_max == 0) {
|
|
return;
|
|
}
|
|
|
|
Contact *c = contacts.ptrw();
|
|
|
|
int idx = -1;
|
|
|
|
if (contact_count < c_max) {
|
|
idx = contact_count++;
|
|
} else {
|
|
real_t least_depth = 1e20;
|
|
int least_deep = -1;
|
|
for (int i = 0; i < c_max; i++) {
|
|
if (i == 0 || c[i].depth < least_depth) {
|
|
least_deep = i;
|
|
least_depth = c[i].depth;
|
|
}
|
|
}
|
|
|
|
if (least_deep >= 0 && least_depth < p_depth) {
|
|
idx = least_deep;
|
|
}
|
|
if (idx == -1) {
|
|
return; //none least deepe than this
|
|
}
|
|
}
|
|
|
|
c[idx].local_pos = p_local_pos;
|
|
c[idx].local_normal = p_local_normal;
|
|
c[idx].depth = p_depth;
|
|
c[idx].local_shape = p_local_shape;
|
|
c[idx].collider_pos = p_collider_pos;
|
|
c[idx].collider_shape = p_collider_shape;
|
|
c[idx].collider_instance_id = p_collider_instance_id;
|
|
c[idx].collider = p_collider;
|
|
c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
|
|
}
|
|
|
|
class Physics2DDirectBodyStateSW : public Physics2DDirectBodyState {
|
|
GDCLASS(Physics2DDirectBodyStateSW, Physics2DDirectBodyState);
|
|
|
|
public:
|
|
Body2DSW *body = nullptr;
|
|
|
|
virtual Vector2 get_total_gravity() const { return body->gravity; } // get gravity vector working on this body space/area
|
|
virtual real_t get_total_angular_damp() const { return body->area_angular_damp; } // get density of this body space/area
|
|
virtual real_t get_total_linear_damp() const { return body->area_linear_damp; } // get density of this body space/area
|
|
|
|
virtual real_t get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
|
|
virtual real_t get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
|
|
|
|
virtual void set_linear_velocity(const Vector2 &p_velocity) {
|
|
body->wakeup();
|
|
body->set_linear_velocity(p_velocity);
|
|
}
|
|
virtual Vector2 get_linear_velocity() const { return body->get_linear_velocity(); }
|
|
|
|
virtual void set_angular_velocity(real_t p_velocity) {
|
|
body->wakeup();
|
|
body->set_angular_velocity(p_velocity);
|
|
}
|
|
virtual real_t get_angular_velocity() const { return body->get_angular_velocity(); }
|
|
|
|
virtual void set_transform(const Transform2D &p_transform) { body->set_state(Physics2DServer::BODY_STATE_TRANSFORM, p_transform); }
|
|
virtual Transform2D get_transform() const { return body->get_transform(); }
|
|
|
|
virtual Vector2 get_velocity_at_local_position(const Vector2 &p_position) const { return body->get_velocity_in_local_point(p_position); }
|
|
|
|
virtual void add_central_force(const Vector2 &p_force) {
|
|
body->wakeup();
|
|
body->add_central_force(p_force);
|
|
}
|
|
virtual void add_force(const Vector2 &p_offset, const Vector2 &p_force) {
|
|
body->wakeup();
|
|
body->add_force(p_offset, p_force);
|
|
}
|
|
virtual void add_torque(real_t p_torque) {
|
|
body->wakeup();
|
|
body->add_torque(p_torque);
|
|
}
|
|
virtual void apply_central_impulse(const Vector2 &p_impulse) {
|
|
body->wakeup();
|
|
body->apply_central_impulse(p_impulse);
|
|
}
|
|
virtual void apply_impulse(const Vector2 &p_offset, const Vector2 &p_force) {
|
|
body->wakeup();
|
|
body->apply_impulse(p_offset, p_force);
|
|
}
|
|
virtual void apply_torque_impulse(real_t p_torque) {
|
|
body->wakeup();
|
|
body->apply_torque_impulse(p_torque);
|
|
}
|
|
|
|
virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
|
|
virtual bool is_sleeping() const { return !body->is_active(); }
|
|
|
|
virtual int get_contact_count() const { return body->contact_count; }
|
|
|
|
virtual Vector2 get_contact_local_position(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
|
|
return body->contacts[p_contact_idx].local_pos;
|
|
}
|
|
virtual Vector2 get_contact_local_normal(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
|
|
return body->contacts[p_contact_idx].local_normal;
|
|
}
|
|
virtual int get_contact_local_shape(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
|
|
return body->contacts[p_contact_idx].local_shape;
|
|
}
|
|
|
|
virtual RID get_contact_collider(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
|
|
return body->contacts[p_contact_idx].collider;
|
|
}
|
|
virtual Vector2 get_contact_collider_position(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
|
|
return body->contacts[p_contact_idx].collider_pos;
|
|
}
|
|
virtual ObjectID get_contact_collider_id(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
|
|
return body->contacts[p_contact_idx].collider_instance_id;
|
|
}
|
|
virtual int get_contact_collider_shape(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
|
|
return body->contacts[p_contact_idx].collider_shape;
|
|
}
|
|
virtual Variant get_contact_collider_shape_metadata(int p_contact_idx) const;
|
|
|
|
virtual Vector2 get_contact_collider_velocity_at_position(int p_contact_idx) const {
|
|
ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
|
|
return body->contacts[p_contact_idx].collider_velocity_at_pos;
|
|
}
|
|
|
|
virtual Physics2DDirectSpaceState *get_space_state();
|
|
|
|
virtual real_t get_step() const;
|
|
|
|
Physics2DDirectBodyStateSW() {}
|
|
};
|
|
|
|
#endif // BODY_2D_SW_H
|