mirror of
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492 lines
18 KiB
C++
492 lines
18 KiB
C++
#ifndef BODY_SW_H
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#define BODY_SW_H
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/*************************************************************************/
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/* body_sw.h */
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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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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 "area_sw.h"
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#include "collision_object_sw.h"
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#include "core/vset.h"
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class ConstraintSW;
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class PhysicsDirectBodyStateSW;
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class BodySW : public CollisionObjectSW {
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PhysicsServer::BodyMode mode;
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Vector3 linear_velocity;
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Vector3 angular_velocity;
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Vector3 biased_linear_velocity;
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Vector3 biased_angular_velocity;
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real_t mass;
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real_t bounce;
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real_t friction;
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real_t linear_damp;
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real_t angular_damp;
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real_t gravity_scale;
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uint16_t locked_axis;
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real_t kinematic_safe_margin;
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real_t _inv_mass;
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Vector3 _inv_inertia; // Relative to the principal axes of inertia
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// Relative to the local frame of reference
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Basis principal_inertia_axes_local;
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Vector3 center_of_mass_local;
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// In world orientation with local origin
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Basis _inv_inertia_tensor;
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Basis principal_inertia_axes;
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Vector3 center_of_mass;
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Vector3 gravity;
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real_t still_time;
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Vector3 applied_force;
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Vector3 applied_torque;
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real_t area_angular_damp;
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real_t area_linear_damp;
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SelfList<BodySW> active_list;
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SelfList<BodySW> inertia_update_list;
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SelfList<BodySW> direct_state_query_list;
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VSet<RID> exceptions;
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bool omit_force_integration;
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bool active;
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bool first_integration;
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bool continuous_cd;
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bool can_sleep;
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bool first_time_kinematic;
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void _update_inertia();
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virtual void _shapes_changed();
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Transform new_transform;
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Map<ConstraintSW *, int> constraint_map;
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struct AreaCMP {
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AreaSW *area;
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int refCount;
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_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
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_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
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_FORCE_INLINE_ AreaCMP() {}
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_FORCE_INLINE_ AreaCMP(AreaSW *p_area) {
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area = p_area;
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refCount = 1;
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}
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};
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Vector<AreaCMP> areas;
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struct Contact {
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Vector3 local_pos;
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Vector3 local_normal;
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real_t depth;
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int local_shape;
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Vector3 collider_pos;
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int collider_shape;
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ObjectID collider_instance_id;
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RID collider;
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Vector3 collider_velocity_at_pos;
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};
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Vector<Contact> contacts; //no contacts by default
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int contact_count;
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struct ForceIntegrationCallback {
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ObjectID id;
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StringName method;
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Variant udata;
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};
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ForceIntegrationCallback *fi_callback;
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uint64_t island_step;
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BodySW *island_next;
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BodySW *island_list_next;
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_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const AreaSW *p_area);
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_FORCE_INLINE_ void _update_transform_dependant();
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PhysicsDirectBodyStateSW *direct_access = nullptr;
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friend class PhysicsDirectBodyStateSW; // i give up, too many functions to expose
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public:
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void set_force_integration_callback(ObjectID p_id, const StringName &p_method, const Variant &p_udata = Variant());
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void set_kinematic_margin(real_t p_margin);
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_FORCE_INLINE_ real_t get_kinematic_margin() { return kinematic_safe_margin; }
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_FORCE_INLINE_ void add_area(AreaSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if (index > -1) {
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areas.write[index].refCount += 1;
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} else {
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areas.ordered_insert(AreaCMP(p_area));
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}
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}
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_FORCE_INLINE_ void remove_area(AreaSW *p_area) {
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int index = areas.find(AreaCMP(p_area));
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if (index > -1) {
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areas.write[index].refCount -= 1;
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if (areas[index].refCount < 1) {
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areas.remove(index);
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}
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}
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}
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_FORCE_INLINE_ void set_max_contacts_reported(int p_size) {
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contacts.resize(p_size);
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contact_count = 0;
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if (mode == PhysicsServer::BODY_MODE_KINEMATIC && p_size) {
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set_active(true);
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}
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}
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_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }
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_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.empty(); }
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_FORCE_INLINE_ void add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos);
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_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
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_FORCE_INLINE_ void remove_exception(const RID &p_exception) { exceptions.erase(p_exception); }
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_FORCE_INLINE_ bool has_exception(const RID &p_exception) const { return exceptions.has(p_exception); }
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_FORCE_INLINE_ const VSet<RID> &get_exceptions() const { return exceptions; }
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_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
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_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
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_FORCE_INLINE_ BodySW *get_island_next() const { return island_next; }
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_FORCE_INLINE_ void set_island_next(BodySW *p_next) { island_next = p_next; }
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_FORCE_INLINE_ BodySW *get_island_list_next() const { return island_list_next; }
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_FORCE_INLINE_ void set_island_list_next(BodySW *p_next) { island_list_next = p_next; }
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_FORCE_INLINE_ void add_constraint(ConstraintSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
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_FORCE_INLINE_ void remove_constraint(ConstraintSW *p_constraint) { constraint_map.erase(p_constraint); }
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const Map<ConstraintSW *, int> &get_constraint_map() const { return constraint_map; }
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_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }
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_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
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_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }
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_FORCE_INLINE_ Basis get_principal_inertia_axes() const { return principal_inertia_axes; }
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_FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; }
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_FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3 &p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); }
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_FORCE_INLINE_ void set_linear_velocity(const Vector3 &p_velocity) { linear_velocity = p_velocity; }
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_FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; }
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_FORCE_INLINE_ void set_angular_velocity(const Vector3 &p_velocity) { angular_velocity = p_velocity; }
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_FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }
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_FORCE_INLINE_ const Vector3 &get_biased_linear_velocity() const { return biased_linear_velocity; }
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_FORCE_INLINE_ const Vector3 &get_biased_angular_velocity() const { return biased_angular_velocity; }
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_FORCE_INLINE_ void apply_central_impulse(const Vector3 &p_j) {
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linear_velocity += p_j * _inv_mass;
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}
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_FORCE_INLINE_ void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
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linear_velocity += p_j * _inv_mass;
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angular_velocity += _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
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}
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_FORCE_INLINE_ void apply_torque_impulse(const Vector3 &p_j) {
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angular_velocity += _inv_inertia_tensor.xform(p_j);
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}
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_FORCE_INLINE_ void apply_bias_impulse(const Vector3 &p_pos, const Vector3 &p_j, real_t p_max_delta_av = -1.0) {
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biased_linear_velocity += p_j * _inv_mass;
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if (p_max_delta_av != 0.0) {
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Vector3 delta_av = _inv_inertia_tensor.xform((p_pos - center_of_mass).cross(p_j));
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if (p_max_delta_av > 0 && delta_av.length() > p_max_delta_av) {
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delta_av = delta_av.normalized() * p_max_delta_av;
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}
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biased_angular_velocity += delta_av;
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}
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}
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_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3 &p_j) {
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biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
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}
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_FORCE_INLINE_ void add_central_force(const Vector3 &p_force) {
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applied_force += p_force;
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}
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_FORCE_INLINE_ void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
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applied_force += p_force;
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applied_torque += p_pos.cross(p_force);
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}
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_FORCE_INLINE_ void add_torque(const Vector3 &p_torque) {
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applied_torque += p_torque;
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}
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void set_active(bool p_active);
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_FORCE_INLINE_ bool is_active() const { return active; }
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_FORCE_INLINE_ void wakeup() {
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if ((!get_space()) || mode == PhysicsServer::BODY_MODE_STATIC || mode == PhysicsServer::BODY_MODE_KINEMATIC) {
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return;
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}
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set_active(true);
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}
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void set_param(PhysicsServer::BodyParameter p_param, real_t);
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real_t get_param(PhysicsServer::BodyParameter p_param) const;
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void set_mode(PhysicsServer::BodyMode p_mode);
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PhysicsServer::BodyMode get_mode() const;
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void set_state(PhysicsServer::BodyState p_state, const Variant &p_variant);
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Variant get_state(PhysicsServer::BodyState p_state) const;
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void set_applied_force(const Vector3 &p_force) { applied_force = p_force; }
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Vector3 get_applied_force() const { return applied_force; }
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void set_applied_torque(const Vector3 &p_torque) { applied_torque = p_torque; }
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Vector3 get_applied_torque() const { return applied_torque; }
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_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; }
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_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }
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void set_space(SpaceSW *p_space);
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void update_inertias();
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_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
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_FORCE_INLINE_ Vector3 get_inv_inertia() const { return _inv_inertia; }
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_FORCE_INLINE_ Basis get_inv_inertia_tensor() const { return _inv_inertia_tensor; }
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_FORCE_INLINE_ real_t get_friction() const { return friction; }
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_FORCE_INLINE_ Vector3 get_gravity() const { return gravity; }
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_FORCE_INLINE_ real_t get_bounce() const { return bounce; }
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void set_axis_lock(PhysicsServer::BodyAxis p_axis, bool lock);
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bool is_axis_locked(PhysicsServer::BodyAxis p_axis) const;
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void integrate_forces(real_t p_step);
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void integrate_velocities(real_t p_step);
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_FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3 &rel_pos) const {
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return linear_velocity + angular_velocity.cross(rel_pos - center_of_mass);
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}
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_FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3 &p_pos, const Vector3 &p_normal) const {
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Vector3 r0 = p_pos - get_transform().origin - center_of_mass;
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Vector3 c0 = (r0).cross(p_normal);
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Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0);
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return _inv_mass + p_normal.dot(vec);
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}
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_FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3 &p_axis) const {
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return p_axis.dot(_inv_inertia_tensor.xform_inv(p_axis));
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}
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//void simulate_motion(const Transform& p_xform,real_t p_step);
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void call_queries();
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void wakeup_neighbours();
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bool sleep_test(real_t p_step);
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PhysicsDirectBodyStateSW *get_direct_state() const { return direct_access; }
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BodySW();
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~BodySW();
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};
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//add contact inline
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void BodySW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
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int c_max = contacts.size();
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if (c_max == 0) {
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return;
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}
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Contact *c = contacts.ptrw();
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int idx = -1;
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if (contact_count < c_max) {
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idx = contact_count++;
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} else {
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real_t least_depth = 1e20;
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int least_deep = -1;
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for (int i = 0; i < c_max; i++) {
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if (i == 0 || c[i].depth < least_depth) {
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least_deep = i;
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least_depth = c[i].depth;
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}
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}
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if (least_deep >= 0 && least_depth < p_depth) {
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idx = least_deep;
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}
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if (idx == -1) {
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return; //none least deepe than this
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}
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}
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c[idx].local_pos = p_local_pos;
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c[idx].local_normal = p_local_normal;
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c[idx].depth = p_depth;
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c[idx].local_shape = p_local_shape;
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c[idx].collider_pos = p_collider_pos;
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c[idx].collider_shape = p_collider_shape;
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c[idx].collider_instance_id = p_collider_instance_id;
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c[idx].collider = p_collider;
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c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
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}
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class PhysicsDirectBodyStateSW : public PhysicsDirectBodyState {
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GDCLASS(PhysicsDirectBodyStateSW, PhysicsDirectBodyState);
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public:
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BodySW *body = nullptr;
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virtual Vector3 get_total_gravity() const { return body->gravity; } // get gravity vector working on this body space/area
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virtual real_t get_total_angular_damp() const { return body->area_angular_damp; } // get density of this body space/area
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virtual real_t get_total_linear_damp() const { return body->area_linear_damp; } // get density of this body space/area
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virtual Vector3 get_center_of_mass() const { return body->get_center_of_mass(); }
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virtual Basis get_principal_inertia_axes() const { return body->get_principal_inertia_axes(); }
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virtual real_t get_inverse_mass() const { return body->get_inv_mass(); } // get the mass
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virtual Vector3 get_inverse_inertia() const { return body->get_inv_inertia(); } // get density of this body space
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virtual Basis get_inverse_inertia_tensor() const { return body->get_inv_inertia_tensor(); } // get density of this body space
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virtual void set_linear_velocity(const Vector3 &p_velocity) {
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body->wakeup();
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body->set_linear_velocity(p_velocity);
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}
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virtual Vector3 get_linear_velocity() const { return body->get_linear_velocity(); }
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virtual void set_angular_velocity(const Vector3 &p_velocity) {
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body->wakeup();
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body->set_angular_velocity(p_velocity);
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}
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virtual Vector3 get_angular_velocity() const { return body->get_angular_velocity(); }
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virtual void set_transform(const Transform &p_transform) { body->set_state(PhysicsServer::BODY_STATE_TRANSFORM, p_transform); }
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virtual Transform get_transform() const { return body->get_transform(); }
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virtual Vector3 get_velocity_at_local_position(const Vector3 &p_position) const { return body->get_velocity_in_local_point(p_position); }
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virtual void add_central_force(const Vector3 &p_force) {
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body->wakeup();
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body->add_central_force(p_force);
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}
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virtual void add_force(const Vector3 &p_force, const Vector3 &p_pos) {
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body->wakeup();
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body->add_force(p_force, p_pos);
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}
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virtual void add_torque(const Vector3 &p_torque) {
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body->wakeup();
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body->add_torque(p_torque);
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}
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virtual void apply_central_impulse(const Vector3 &p_j) {
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body->wakeup();
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body->apply_central_impulse(p_j);
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}
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virtual void apply_impulse(const Vector3 &p_pos, const Vector3 &p_j) {
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body->wakeup();
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body->apply_impulse(p_pos, p_j);
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}
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virtual void apply_torque_impulse(const Vector3 &p_j) {
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body->wakeup();
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body->apply_torque_impulse(p_j);
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}
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virtual void set_sleep_state(bool p_enable) { body->set_active(!p_enable); }
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virtual bool is_sleeping() const { return !body->is_active(); }
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virtual int get_contact_count() const { return body->contact_count; }
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virtual Vector3 get_contact_local_position(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].local_pos;
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}
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virtual Vector3 get_contact_local_normal(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].local_normal;
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}
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virtual float get_contact_impulse(int p_contact_idx) const {
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return 0.0f; // Only implemented for bullet
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}
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virtual int get_contact_local_shape(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
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return body->contacts[p_contact_idx].local_shape;
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}
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virtual RID get_contact_collider(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
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return body->contacts[p_contact_idx].collider;
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}
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virtual Vector3 get_contact_collider_position(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].collider_pos;
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}
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virtual ObjectID get_contact_collider_id(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
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return body->contacts[p_contact_idx].collider_instance_id;
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}
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virtual int get_contact_collider_shape(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
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return body->contacts[p_contact_idx].collider_shape;
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}
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virtual Vector3 get_contact_collider_velocity_at_position(int p_contact_idx) const {
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ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
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return body->contacts[p_contact_idx].collider_velocity_at_pos;
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}
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virtual PhysicsDirectSpaceState *get_space_state();
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virtual real_t get_step() const;
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PhysicsDirectBodyStateSW() {}
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};
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#endif // BODY__SW_H
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