From cc39dca9f7d960d1bb137f1dcbbf1da5cec8a505 Mon Sep 17 00:00:00 2001 From: PouleyKetchoupp Date: Mon, 18 Oct 2021 12:24:30 -0700 Subject: [PATCH] Rename Godot Physics classes from *SW to Godot* Also moved MT physics server wrappers to the main servers folder, since they don't have to be implementation specific. --- scene/register_scene_types.cpp | 2 - .../{area_2d_sw.cpp => godot_area_2d.cpp} | 42 +- .../{area_2d_sw.h => godot_area_2d.h} | 57 +- ..._pair_2d_sw.cpp => godot_area_pair_2d.cpp} | 30 +- ...area_pair_2d_sw.h => godot_area_pair_2d.h} | 34 +- .../{body_2d_sw.cpp => godot_body_2d.cpp} | 74 +- .../{body_2d_sw.h => godot_body_2d.h} | 57 +- ..._sw.cpp => godot_body_direct_state_2d.cpp} | 74 +- ...e_2d_sw.h => godot_body_direct_state_2d.h} | 16 +- ..._pair_2d_sw.cpp => godot_body_pair_2d.cpp} | 44 +- ...body_pair_2d_sw.h => godot_body_pair_2d.h} | 28 +- ...ase_2d_sw.cpp => godot_broad_phase_2d.cpp} | 8 +- ...d_phase_2d_sw.h => godot_broad_phase_2d.h} | 28 +- ...d_bvh.cpp => godot_broad_phase_2d_bvh.cpp} | 48 +- ...se_2d_bvh.h => godot_broad_phase_2d_bvh.h} | 31 +- ...d_sw.cpp => godot_collision_object_2d.cpp} | 48 +- ...ct_2d_sw.h => godot_collision_object_2d.h} | 47 +- ...d_sw.cpp => godot_collision_solver_2d.cpp} | 26 +- ...er_2d_sw.h => godot_collision_solver_2d.h} | 22 +- ....cpp => godot_collision_solver_2d_sat.cpp} | 134 +- ..._sat.h => godot_collision_solver_2d_sat.h} | 12 +- ...nstraint_2d_sw.h => godot_constraint_2d.h} | 20 +- .../{joints_2d_sw.cpp => godot_joints_2d.cpp} | 58 +- .../{joints_2d_sw.h => godot_joints_2d.h} | 54 +- .../physics_2d/godot_physics_server_2d.cpp | 1350 +++++++++++++ ...rver_2d_sw.h => godot_physics_server_2d.h} | 50 +- .../{shape_2d_sw.cpp => godot_shape_2d.cpp} | 128 +- .../{shape_2d_sw.h => godot_shape_2d.h} | 70 +- .../{space_2d_sw.cpp => godot_space_2d.cpp} | 247 +-- .../{space_2d_sw.h => godot_space_2d.h} | 107 +- .../{step_2d_sw.cpp => godot_step_2d.cpp} | 72 +- .../{step_2d_sw.h => godot_step_2d.h} | 30 +- servers/physics_2d/physics_server_2d_sw.cpp | 1349 ------------- servers/physics_3d/gjk_epa.cpp | 28 +- servers/physics_3d/gjk_epa.h | 8 +- .../{area_3d_sw.cpp => godot_area_3d.cpp} | 47 +- .../{area_3d_sw.h => godot_area_3d.h} | 73 +- ..._pair_3d_sw.cpp => godot_area_pair_3d.cpp} | 43 +- ...area_pair_3d_sw.h => godot_area_pair_3d.h} | 46 +- .../{body_3d_sw.cpp => godot_body_3d.cpp} | 111 +- .../{body_3d_sw.h => godot_body_3d.h} | 53 +- ..._sw.cpp => godot_body_direct_state_3d.cpp} | 78 +- ...e_3d_sw.h => godot_body_direct_state_3d.h} | 16 +- ..._pair_3d_sw.cpp => godot_body_pair_3d.cpp} | 73 +- ...body_pair_3d_sw.h => godot_body_pair_3d.h} | 49 +- ...ase_3d_sw.cpp => godot_broad_phase_3d.cpp} | 8 +- ...d_phase_3d_sw.h => godot_broad_phase_3d.h} | 30 +- ...d_bvh.cpp => godot_broad_phase_3d_bvh.cpp} | 51 +- ...se_3d_bvh.h => godot_broad_phase_3d_bvh.h} | 33 +- ...d_sw.cpp => godot_collision_object_3d.cpp} | 49 +- ...ct_3d_sw.h => godot_collision_object_3d.h} | 47 +- ...d_sw.cpp => godot_collision_solver_3d.cpp} | 70 +- ...er_3d_sw.h => godot_collision_solver_3d.h} | 32 +- ....cpp => godot_collision_solver_3d_sat.cpp} | 189 +- ..._sat.h => godot_collision_solver_3d_sat.h} | 12 +- ...nstraint_3d_sw.h => godot_constraint_3d.h} | 24 +- .../{joints_3d_sw.h => godot_joint_3d.h} | 24 +- .../physics_3d/godot_physics_server_3d.cpp | 1749 +++++++++++++++++ ...rver_3d_sw.h => godot_physics_server_3d.h} | 49 +- .../{shape_3d_sw.cpp => godot_shape_3d.cpp} | 332 ++-- .../{shape_3d_sw.h => godot_shape_3d.h} | 94 +- ..._body_3d_sw.cpp => godot_soft_body_3d.cpp} | 149 +- ...soft_body_3d_sw.h => godot_soft_body_3d.h} | 48 +- .../{space_3d_sw.cpp => godot_space_3d.cpp} | 263 +-- .../{space_3d_sw.h => godot_space_3d.h} | 113 +- .../{step_3d_sw.cpp => godot_step_3d.cpp} | 97 +- .../{step_3d_sw.h => godot_step_3d.h} | 32 +- ...d_sw.cpp => godot_cone_twist_joint_3d.cpp} | 18 +- ...nt_3d_sw.h => godot_cone_twist_joint_3d.h} | 28 +- ...sw.cpp => godot_generic_6dof_joint_3d.cpp} | 69 +- ..._3d_sw.h => godot_generic_6dof_joint_3d.h} | 111 +- ...int_3d_sw.cpp => godot_hinge_joint_3d.cpp} | 34 +- ...e_joint_3d_sw.h => godot_hinge_joint_3d.h} | 28 +- ...ntry_3d_sw.h => godot_jacobian_entry_3d.h} | 28 +- ...joint_3d_sw.cpp => godot_pin_joint_3d.cpp} | 20 +- ...pin_joint_3d_sw.h => godot_pin_joint_3d.h} | 26 +- ...nt_3d_sw.cpp => godot_slider_joint_3d.cpp} | 48 +- ..._joint_3d_sw.h => godot_slider_joint_3d.h} | 30 +- servers/physics_3d/physics_server_3d_sw.cpp | 1748 ---------------- servers/physics_server_2d.h | 6 +- .../physics_server_2d_wrap_mt.cpp | 0 .../physics_server_2d_wrap_mt.h | 6 +- servers/physics_server_3d.h | 6 +- .../physics_server_3d_wrap_mt.cpp | 0 .../physics_server_3d_wrap_mt.h | 6 +- servers/register_server_types.cpp | 12 +- 86 files changed, 5351 insertions(+), 5390 deletions(-) rename servers/physics_2d/{area_2d_sw.cpp => godot_area_2d.cpp} (86%) rename servers/physics_2d/{area_2d_sw.h => godot_area_2d.h} (77%) rename servers/physics_2d/{area_pair_2d_sw.cpp => godot_area_pair_2d.cpp} (80%) rename servers/physics_2d/{area_pair_2d_sw.h => godot_area_pair_2d.h} (79%) rename servers/physics_2d/{body_2d_sw.cpp => godot_body_2d.cpp} (89%) rename servers/physics_2d/{body_2d_sw.h => godot_body_2d.h} (87%) rename servers/physics_2d/{body_direct_state_2d_sw.cpp => godot_body_direct_state_2d.cpp} (61%) rename servers/physics_2d/{body_direct_state_2d_sw.h => godot_body_direct_state_2d.h} (92%) rename servers/physics_2d/{body_pair_2d_sw.cpp => godot_body_pair_2d.cpp} (91%) rename servers/physics_2d/{body_pair_2d_sw.h => godot_body_pair_2d.h} (83%) rename servers/physics_2d/{broad_phase_2d_sw.cpp => godot_broad_phase_2d.cpp} (90%) rename servers/physics_2d/{broad_phase_2d_sw.h => godot_broad_phase_2d.h} (73%) rename servers/physics_2d/{broad_phase_2d_bvh.cpp => godot_broad_phase_2d_bvh.cpp} (63%) rename servers/physics_2d/{broad_phase_2d_bvh.h => godot_broad_phase_2d_bvh.h} (73%) rename servers/physics_2d/{collision_object_2d_sw.cpp => godot_collision_object_2d.cpp} (77%) rename servers/physics_2d/{collision_object_2d_sw.h => godot_collision_object_2d.h} (84%) rename servers/physics_2d/{collision_solver_2d_sw.cpp => godot_collision_solver_2d.cpp} (81%) rename servers/physics_2d/{collision_solver_2d_sw.h => godot_collision_solver_2d.h} (59%) rename servers/physics_2d/{collision_solver_2d_sat.cpp => godot_collision_solver_2d_sat.cpp} (79%) rename servers/physics_2d/{collision_solver_2d_sat.h => godot_collision_solver_2d_sat.h} (77%) rename servers/physics_2d/{constraint_2d_sw.h => godot_constraint_2d.h} (87%) rename servers/physics_2d/{joints_2d_sw.cpp => godot_joints_2d.cpp} (86%) rename servers/physics_2d/{joints_2d_sw.h => godot_joints_2d.h} (79%) create mode 100644 servers/physics_2d/godot_physics_server_2d.cpp rename servers/physics_2d/{physics_server_2d_sw.h => godot_physics_server_2d.h} (92%) rename servers/physics_2d/{shape_2d_sw.cpp => godot_shape_2d.cpp} (80%) rename servers/physics_2d/{shape_2d_sw.h => godot_shape_2d.h} (92%) rename servers/physics_2d/{space_2d_sw.cpp => godot_space_2d.cpp} (71%) rename servers/physics_2d/{space_2d_sw.h => godot_space_2d.h} (73%) rename servers/physics_2d/{step_2d_sw.cpp => godot_step_2d.cpp} (73%) rename servers/physics_2d/{step_2d_sw.h => godot_step_2d.h} (76%) delete mode 100644 servers/physics_2d/physics_server_2d_sw.cpp rename servers/physics_3d/{area_3d_sw.cpp => godot_area_3d.cpp} (87%) rename servers/physics_3d/{area_3d_sw.h => godot_area_3d.h} (76%) rename servers/physics_3d/{area_pair_3d_sw.cpp => godot_area_pair_3d.cpp} (81%) rename servers/physics_3d/{area_pair_3d_sw.h => godot_area_pair_3d.h} (75%) rename servers/physics_3d/{body_3d_sw.cpp => godot_body_3d.cpp} (86%) rename servers/physics_3d/{body_3d_sw.h => godot_body_3d.h} (88%) rename servers/physics_3d/{body_direct_state_3d_sw.cpp => godot_body_direct_state_3d.cpp} (60%) rename servers/physics_3d/{body_direct_state_3d_sw.h => godot_body_direct_state_3d.h} (92%) rename servers/physics_3d/{body_pair_3d_sw.cpp => godot_body_pair_3d.cpp} (91%) rename servers/physics_3d/{body_pair_3d_sw.h => godot_body_pair_3d.h} (78%) rename servers/physics_3d/{broad_phase_3d_sw.cpp => godot_broad_phase_3d.cpp} (90%) rename servers/physics_3d/{broad_phase_3d_sw.h => godot_broad_phase_3d.h} (70%) rename servers/physics_3d/{broad_phase_3d_bvh.cpp => godot_broad_phase_3d_bvh.cpp} (62%) rename servers/physics_3d/{broad_phase_3d_bvh.h => godot_broad_phase_3d_bvh.h} (70%) rename servers/physics_3d/{collision_object_3d_sw.cpp => godot_collision_object_3d.cpp} (77%) rename servers/physics_3d/{collision_object_3d_sw.h => godot_collision_object_3d.h} (83%) rename servers/physics_3d/{collision_solver_3d_sw.cpp => godot_collision_solver_3d.cpp} (80%) rename servers/physics_3d/{collision_solver_3d_sw.h => godot_collision_solver_3d.h} (53%) rename servers/physics_3d/{collision_solver_3d_sat.cpp => godot_collision_solver_3d_sat.cpp} (85%) rename servers/physics_3d/{collision_solver_3d_sat.h => godot_collision_solver_3d_sat.h} (79%) rename servers/physics_3d/{constraint_3d_sw.h => godot_constraint_3d.h} (86%) rename servers/physics_3d/{joints_3d_sw.h => godot_joint_3d.h} (84%) create mode 100644 servers/physics_3d/godot_physics_server_3d.cpp rename servers/physics_3d/{physics_server_3d_sw.h => godot_physics_server_3d.h} (94%) rename servers/physics_3d/{shape_3d_sw.cpp => godot_shape_3d.cpp} (79%) rename servers/physics_3d/{shape_3d_sw.h => godot_shape_3d.h} (91%) rename servers/physics_3d/{soft_body_3d_sw.cpp => godot_soft_body_3d.cpp} (87%) rename servers/physics_3d/{soft_body_3d_sw.h => godot_soft_body_3d.h} (88%) rename servers/physics_3d/{space_3d_sw.cpp => godot_space_3d.cpp} (70%) rename servers/physics_3d/{space_3d_sw.h => godot_space_3d.h} (70%) rename servers/physics_3d/{step_3d_sw.cpp => godot_step_3d.cpp} (74%) rename servers/physics_3d/{step_3d_sw.h => godot_step_3d.h} (72%) rename servers/physics_3d/joints/{cone_twist_joint_3d_sw.cpp => godot_cone_twist_joint_3d.cpp} (95%) rename servers/physics_3d/joints/{cone_twist_joint_3d_sw.h => godot_cone_twist_joint_3d.h} (86%) rename servers/physics_3d/joints/{generic_6dof_joint_3d_sw.cpp => godot_generic_6dof_joint_3d.cpp} (89%) rename servers/physics_3d/joints/{generic_6dof_joint_3d_sw.h => godot_generic_6dof_joint_3d.h} (74%) rename servers/physics_3d/joints/{hinge_joint_3d_sw.cpp => godot_hinge_joint_3d.cpp} (93%) rename servers/physics_3d/joints/{hinge_joint_3d_sw.h => godot_hinge_joint_3d.h} (84%) rename servers/physics_3d/joints/{jacobian_entry_3d_sw.h => godot_jacobian_entry_3d.h} (90%) rename servers/physics_3d/joints/{pin_joint_3d_sw.cpp => godot_pin_joint_3d.cpp} (91%) rename servers/physics_3d/joints/{pin_joint_3d_sw.h => godot_pin_joint_3d.h} (87%) rename servers/physics_3d/joints/{slider_joint_3d_sw.cpp => godot_slider_joint_3d.cpp} (93%) rename servers/physics_3d/joints/{slider_joint_3d_sw.h => godot_slider_joint_3d.h} (94%) delete mode 100644 servers/physics_3d/physics_server_3d_sw.cpp rename servers/{physics_2d => }/physics_server_2d_wrap_mt.cpp (100%) rename servers/{physics_2d => }/physics_server_2d_wrap_mt.h (99%) rename servers/{physics_3d => }/physics_server_3d_wrap_mt.cpp (100%) rename servers/{physics_3d => }/physics_server_3d_wrap_mt.h (99%) diff --git a/scene/register_scene_types.cpp b/scene/register_scene_types.cpp index bf8f7291be..6b2f610227 100644 --- a/scene/register_scene_types.cpp +++ b/scene/register_scene_types.cpp @@ -940,10 +940,8 @@ void register_scene_types() { ClassDB::add_compatibility_class("Path", "Path3D"); ClassDB::add_compatibility_class("PathFollow", "PathFollow3D"); ClassDB::add_compatibility_class("PhysicalBone", "PhysicalBone3D"); - ClassDB::add_compatibility_class("Physics2DDirectBodyStateSW", "PhysicsDirectBodyState2DSW"); ClassDB::add_compatibility_class("Physics2DDirectBodyState", "PhysicsDirectBodyState2D"); ClassDB::add_compatibility_class("Physics2DDirectSpaceState", "PhysicsDirectSpaceState2D"); - ClassDB::add_compatibility_class("Physics2DServerSW", "PhysicsServer2DSW"); ClassDB::add_compatibility_class("Physics2DServer", "PhysicsServer2D"); ClassDB::add_compatibility_class("Physics2DShapeQueryParameters", "PhysicsShapeQueryParameters2D"); ClassDB::add_compatibility_class("Physics2DTestMotionResult", "PhysicsTestMotionResult2D"); diff --git a/servers/physics_2d/area_2d_sw.cpp b/servers/physics_2d/godot_area_2d.cpp similarity index 86% rename from servers/physics_2d/area_2d_sw.cpp rename to servers/physics_2d/godot_area_2d.cpp index c85b1575e3..7cb202dd1f 100644 --- a/servers/physics_2d/area_2d_sw.cpp +++ b/servers/physics_2d/godot_area_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_2d_sw.cpp */ +/* godot_area_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,31 +28,31 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "area_2d_sw.h" -#include "body_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_area_2d.h" +#include "godot_body_2d.h" +#include "godot_space_2d.h" -Area2DSW::BodyKey::BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +GodotArea2D::BodyKey::BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { rid = p_body->get_self(); instance_id = p_body->get_instance_id(); body_shape = p_body_shape; area_shape = p_area_shape; } -Area2DSW::BodyKey::BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +GodotArea2D::BodyKey::BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { rid = p_body->get_self(); instance_id = p_body->get_instance_id(); body_shape = p_body_shape; area_shape = p_area_shape; } -void Area2DSW::_shapes_changed() { +void GodotArea2D::_shapes_changed() { if (!moved_list.in_list() && get_space()) { get_space()->area_add_to_moved_list(&moved_list); } } -void Area2DSW::set_transform(const Transform2D &p_transform) { +void GodotArea2D::set_transform(const Transform2D &p_transform) { if (!moved_list.in_list() && get_space()) { get_space()->area_add_to_moved_list(&moved_list); } @@ -61,7 +61,7 @@ void Area2DSW::set_transform(const Transform2D &p_transform) { _set_inv_transform(p_transform.affine_inverse()); } -void Area2DSW::set_space(Space2DSW *p_space) { +void GodotArea2D::set_space(GodotSpace2D *p_space) { if (get_space()) { if (monitor_query_list.in_list()) { get_space()->area_remove_from_monitor_query_list(&monitor_query_list); @@ -77,7 +77,7 @@ void Area2DSW::set_space(Space2DSW *p_space) { _set_space(p_space); } -void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) { +void GodotArea2D::set_monitor_callback(ObjectID p_id, const StringName &p_method) { if (p_id == monitor_callback_id) { monitor_callback_method = p_method; return; @@ -98,7 +98,7 @@ void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) { } } -void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) { +void GodotArea2D::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) { if (p_id == area_monitor_callback_id) { area_monitor_callback_method = p_method; return; @@ -119,7 +119,7 @@ void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_meth } } -void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) { +void GodotArea2D::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) { bool do_override = p_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; if (do_override == (space_override_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED)) { return; @@ -129,7 +129,7 @@ void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_ _shape_changed(); } -void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) { +void GodotArea2D::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer2D::AREA_PARAM_GRAVITY: gravity = p_value; @@ -158,7 +158,7 @@ void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant & } } -Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const { +Variant GodotArea2D::get_param(PhysicsServer2D::AreaParameter p_param) const { switch (p_param) { case PhysicsServer2D::AREA_PARAM_GRAVITY: return gravity; @@ -181,7 +181,7 @@ Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const { return Variant(); } -void Area2DSW::_queue_monitor_update() { +void GodotArea2D::_queue_monitor_update() { ERR_FAIL_COND(!get_space()); if (!monitor_query_list.in_list()) { @@ -189,7 +189,7 @@ void Area2DSW::_queue_monitor_update() { } } -void Area2DSW::set_monitorable(bool p_monitorable) { +void GodotArea2D::set_monitorable(bool p_monitorable) { if (monitorable == p_monitorable) { return; } @@ -198,7 +198,7 @@ void Area2DSW::set_monitorable(bool p_monitorable) { _set_static(!monitorable); } -void Area2DSW::call_queries() { +void GodotArea2D::call_queries() { if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) { Variant res[5]; Variant *resptr[5]; @@ -274,7 +274,7 @@ void Area2DSW::call_queries() { } } -void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const { +void GodotArea2D::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const { if (is_gravity_point()) { const real_t gravity_distance_scale = get_gravity_distance_scale(); Vector2 v = get_transform().xform(get_gravity_vector()) - p_position; @@ -294,12 +294,12 @@ void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) co } } -Area2DSW::Area2DSW() : - CollisionObject2DSW(TYPE_AREA), +GodotArea2D::GodotArea2D() : + GodotCollisionObject2D(TYPE_AREA), monitor_query_list(this), moved_list(this) { _set_static(true); //areas are not active by default } -Area2DSW::~Area2DSW() { +GodotArea2D::~GodotArea2D() { } diff --git a/servers/physics_2d/area_2d_sw.h b/servers/physics_2d/godot_area_2d.h similarity index 77% rename from servers/physics_2d/area_2d_sw.h rename to servers/physics_2d/godot_area_2d.h index 0b7c791ed5..daa03d39e3 100644 --- a/servers/physics_2d/area_2d_sw.h +++ b/servers/physics_2d/godot_area_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_2d_sw.h */ +/* godot_area_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,18 +28,19 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef AREA_2D_SW_H -#define AREA_2D_SW_H +#ifndef GODOT_AREA_2D_H +#define GODOT_AREA_2D_H + +#include "godot_collision_object_2d.h" -#include "collision_object_2d_sw.h" #include "core/templates/self_list.h" #include "servers/physics_server_2d.h" -class Space2DSW; -class Body2DSW; -class Constraint2DSW; +class GodotSpace2D; +class GodotBody2D; +class GodotConstraint2D; -class Area2DSW : public CollisionObject2DSW { +class GodotArea2D : public GodotCollisionObject2D { PhysicsServer2D::AreaSpaceOverrideMode space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED; real_t gravity = 9.80665; Vector2 gravity_vector = Vector2(0, -1); @@ -57,8 +58,8 @@ class Area2DSW : public CollisionObject2DSW { ObjectID area_monitor_callback_id; StringName area_monitor_callback_method; - SelfList monitor_query_list; - SelfList moved_list; + SelfList monitor_query_list; + SelfList moved_list; struct BodyKey { RID rid; @@ -79,8 +80,8 @@ class Area2DSW : public CollisionObject2DSW { } _FORCE_INLINE_ BodyKey() {} - BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); }; struct BodyState { @@ -92,7 +93,7 @@ class Area2DSW : public CollisionObject2DSW { Map monitored_bodies; Map monitored_areas; - Set constraints; + Set constraints; virtual void _shapes_changed(); void _queue_monitor_update(); @@ -104,11 +105,11 @@ public: void set_area_monitor_callback(ObjectID p_id, const StringName &p_method); _FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); } - _FORCE_INLINE_ void add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape); - _FORCE_INLINE_ void remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape); + _FORCE_INLINE_ void add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape); + _FORCE_INLINE_ void remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape); void set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value); Variant get_param(PhysicsServer2D::AreaParameter p_param) const; @@ -140,9 +141,9 @@ public: _FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; } _FORCE_INLINE_ int get_priority() const { return priority; } - _FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint) { constraints.insert(p_constraint); } - _FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraints.erase(p_constraint); } - _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } + _FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint) { constraints.insert(p_constraint); } + _FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint) { constraints.erase(p_constraint); } + _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } _FORCE_INLINE_ void clear_constraints() { constraints.clear(); } void set_monitorable(bool p_monitorable); @@ -150,17 +151,17 @@ public: void set_transform(const Transform2D &p_transform); - void set_space(Space2DSW *p_space); + void set_space(GodotSpace2D *p_space); void call_queries(); void compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const; - Area2DSW(); - ~Area2DSW(); + GodotArea2D(); + ~GodotArea2D(); }; -void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +void GodotArea2D::add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { BodyKey bk(p_body, p_body_shape, p_area_shape); monitored_bodies[bk].inc(); if (!monitor_query_list.in_list()) { @@ -168,7 +169,7 @@ void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32 } } -void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +void GodotArea2D::remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { BodyKey bk(p_body, p_body_shape, p_area_shape); monitored_bodies[bk].dec(); if (!monitor_query_list.in_list()) { @@ -176,7 +177,7 @@ void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, u } } -void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { +void GodotArea2D::add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { BodyKey bk(p_area, p_area_shape, p_self_shape); monitored_areas[bk].inc(); if (!monitor_query_list.in_list()) { @@ -184,7 +185,7 @@ void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32 } } -void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { +void GodotArea2D::remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { BodyKey bk(p_area, p_area_shape, p_self_shape); monitored_areas[bk].dec(); if (!monitor_query_list.in_list()) { @@ -192,4 +193,4 @@ void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, u } } -#endif // AREA_2D_SW_H +#endif // GODOT_AREA_2D_H diff --git a/servers/physics_2d/area_pair_2d_sw.cpp b/servers/physics_2d/godot_area_pair_2d.cpp similarity index 80% rename from servers/physics_2d/area_pair_2d_sw.cpp rename to servers/physics_2d/godot_area_pair_2d.cpp index 4f1148c26f..fdb95aa262 100644 --- a/servers/physics_2d/area_pair_2d_sw.cpp +++ b/servers/physics_2d/godot_area_pair_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_pair_2d_sw.cpp */ +/* godot_area_pair_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,12 +28,12 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "area_pair_2d_sw.h" -#include "collision_solver_2d_sw.h" +#include "godot_area_pair_2d.h" +#include "godot_collision_solver_2d.h" -bool AreaPair2DSW::setup(real_t p_step) { +bool GodotAreaPair2D::setup(real_t p_step) { bool result = false; - if (area->collides_with(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) { + if (area->collides_with(body) && GodotCollisionSolver2D::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) { result = true; } @@ -51,7 +51,7 @@ bool AreaPair2DSW::setup(real_t p_step) { return process_collision; } -bool AreaPair2DSW::pre_solve(real_t p_step) { +bool GodotAreaPair2D::pre_solve(real_t p_step) { if (!process_collision) { return false; } @@ -77,11 +77,11 @@ bool AreaPair2DSW::pre_solve(real_t p_step) { return false; // Never do any post solving. } -void AreaPair2DSW::solve(real_t p_step) { +void GodotAreaPair2D::solve(real_t p_step) { // Nothing to do. } -AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape) { +GodotAreaPair2D::GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape) { body = p_body; area = p_area; body_shape = p_body_shape; @@ -93,7 +93,7 @@ AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, } } -AreaPair2DSW::~AreaPair2DSW() { +GodotAreaPair2D::~GodotAreaPair2D() { if (colliding) { if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) { body->remove_area(area); @@ -108,10 +108,10 @@ AreaPair2DSW::~AreaPair2DSW() { ////////////////////////////////// -bool Area2Pair2DSW::setup(real_t p_step) { +bool GodotArea2Pair2D::setup(real_t p_step) { bool result_a = area_a->collides_with(area_b); bool result_b = area_b->collides_with(area_a); - if ((result_a || result_b) && !CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) { + if ((result_a || result_b) && !GodotCollisionSolver2D::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) { result_a = false; result_b = false; } @@ -139,7 +139,7 @@ bool Area2Pair2DSW::setup(real_t p_step) { return process_collision; } -bool Area2Pair2DSW::pre_solve(real_t p_step) { +bool GodotArea2Pair2D::pre_solve(real_t p_step) { if (process_collision_a) { if (colliding_a) { area_a->add_area_to_query(area_b, shape_b, shape_a); @@ -159,11 +159,11 @@ bool Area2Pair2DSW::pre_solve(real_t p_step) { return false; // Never do any post solving. } -void Area2Pair2DSW::solve(real_t p_step) { +void GodotArea2Pair2D::solve(real_t p_step) { // Nothing to do. } -Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b) { +GodotArea2Pair2D::GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b) { area_a = p_area_a; area_b = p_area_b; shape_a = p_shape_a; @@ -172,7 +172,7 @@ Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area area_b->add_constraint(this); } -Area2Pair2DSW::~Area2Pair2DSW() { +GodotArea2Pair2D::~GodotArea2Pair2D() { if (colliding_a) { if (area_a->has_area_monitor_callback()) { area_a->remove_area_from_query(area_b, shape_b, shape_a); diff --git a/servers/physics_2d/area_pair_2d_sw.h b/servers/physics_2d/godot_area_pair_2d.h similarity index 79% rename from servers/physics_2d/area_pair_2d_sw.h rename to servers/physics_2d/godot_area_pair_2d.h index 66e9f1afee..7a9677f714 100644 --- a/servers/physics_2d/area_pair_2d_sw.h +++ b/servers/physics_2d/godot_area_pair_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_pair_2d_sw.h */ +/* godot_area_pair_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,16 +28,16 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef AREA_PAIR_2D_SW_H -#define AREA_PAIR_2D_SW_H +#ifndef GODOT_AREA_PAIR_2D_H +#define GODOT_AREA_PAIR_2D_H -#include "area_2d_sw.h" -#include "body_2d_sw.h" -#include "constraint_2d_sw.h" +#include "godot_area_2d.h" +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" -class AreaPair2DSW : public Constraint2DSW { - Body2DSW *body = nullptr; - Area2DSW *area = nullptr; +class GodotAreaPair2D : public GodotConstraint2D { + GodotBody2D *body = nullptr; + GodotArea2D *area = nullptr; int body_shape = 0; int area_shape = 0; bool colliding = false; @@ -48,13 +48,13 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape); - ~AreaPair2DSW(); + GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape); + ~GodotAreaPair2D(); }; -class Area2Pair2DSW : public Constraint2DSW { - Area2DSW *area_a = nullptr; - Area2DSW *area_b = nullptr; +class GodotArea2Pair2D : public GodotConstraint2D { + GodotArea2D *area_a = nullptr; + GodotArea2D *area_b = nullptr; int shape_a = 0; int shape_b = 0; bool colliding_a = false; @@ -67,8 +67,8 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b); - ~Area2Pair2DSW(); + GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b); + ~GodotArea2Pair2D(); }; -#endif // AREA_PAIR_2D_SW_H +#endif // GODOT_AREA_PAIR_2D_H diff --git a/servers/physics_2d/body_2d_sw.cpp b/servers/physics_2d/godot_body_2d.cpp similarity index 89% rename from servers/physics_2d/body_2d_sw.cpp rename to servers/physics_2d/godot_body_2d.cpp index 38b98b7bca..b0885a1f7b 100644 --- a/servers/physics_2d/body_2d_sw.cpp +++ b/servers/physics_2d/godot_body_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_2d_sw.cpp */ +/* godot_body_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,19 +28,19 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_2d_sw.h" +#include "godot_body_2d.h" -#include "area_2d_sw.h" -#include "body_direct_state_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_area_2d.h" +#include "godot_body_direct_state_2d.h" +#include "godot_space_2d.h" -void Body2DSW::_mass_properties_changed() { +void GodotBody2D::_mass_properties_changed() { if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) { get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list); } } -void Body2DSW::update_mass_properties() { +void GodotBody2D::update_mass_properties() { //update shapes and motions switch (mode) { @@ -83,7 +83,7 @@ void Body2DSW::update_mass_properties() { continue; } - const Shape2DSW *shape = get_shape(i); + const GodotShape2D *shape = get_shape(i); real_t area = get_shape_aabb(i).get_area(); if (area == 0.0) { @@ -121,13 +121,13 @@ void Body2DSW::update_mass_properties() { } } -void Body2DSW::reset_mass_properties() { +void GodotBody2D::reset_mass_properties() { calculate_inertia = true; calculate_center_of_mass = true; _mass_properties_changed(); } -void Body2DSW::set_active(bool p_active) { +void GodotBody2D::set_active(bool p_active) { if (active == p_active) { return; } @@ -146,7 +146,7 @@ void Body2DSW::set_active(bool p_active) { } } -void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) { +void GodotBody2D::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer2D::BODY_PARAM_BOUNCE: { bounce = p_value; @@ -195,7 +195,7 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant & } } -Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { +Variant GodotBody2D::get_param(PhysicsServer2D::BodyParameter p_param) const { switch (p_param) { case PhysicsServer2D::BODY_PARAM_BOUNCE: { return bounce; @@ -228,7 +228,7 @@ Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const { return 0; } -void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { +void GodotBody2D::set_mode(PhysicsServer2D::BodyMode p_mode) { PhysicsServer2D::BodyMode prev = mode; mode = p_mode; @@ -267,16 +267,16 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) { } } -PhysicsServer2D::BodyMode Body2DSW::get_mode() const { +PhysicsServer2D::BodyMode GodotBody2D::get_mode() const { return mode; } -void Body2DSW::_shapes_changed() { +void GodotBody2D::_shapes_changed() { _mass_properties_changed(); wakeup_neighbours(); } -void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) { +void GodotBody2D::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) { switch (p_state) { case PhysicsServer2D::BODY_STATE_TRANSFORM: { if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { @@ -344,7 +344,7 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va } } -Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const { +Variant GodotBody2D::get_state(PhysicsServer2D::BodyState p_state) const { switch (p_state) { case PhysicsServer2D::BODY_STATE_TRANSFORM: { return get_transform(); @@ -366,7 +366,7 @@ Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const { return Variant(); } -void Body2DSW::set_space(Space2DSW *p_space) { +void GodotBody2D::set_space(GodotSpace2D *p_space) { if (get_space()) { wakeup_neighbours(); @@ -391,7 +391,7 @@ void Body2DSW::set_space(Space2DSW *p_space) { } } -void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) { +void GodotBody2D::_compute_area_gravity_and_damping(const GodotArea2D *p_area) { Vector2 area_gravity; p_area->compute_gravity(get_transform().get_origin(), area_gravity); gravity += area_gravity; @@ -400,13 +400,13 @@ void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) { area_angular_damp += p_area->get_angular_damp(); } -void Body2DSW::integrate_forces(real_t p_step) { +void GodotBody2D::integrate_forces(real_t p_step) { if (mode == PhysicsServer2D::BODY_MODE_STATIC) { return; } - Area2DSW *def_area = get_space()->get_default_area(); - // Area2DSW *damp_area = def_area; + GodotArea2D *def_area = get_space()->get_default_area(); + // GodotArea2D *damp_area = def_area; ERR_FAIL_COND(!def_area); int ac = areas.size(); @@ -528,7 +528,7 @@ void Body2DSW::integrate_forces(real_t p_step) { contact_count = 0; } -void Body2DSW::integrate_velocities(real_t p_step) { +void GodotBody2D::integrate_velocities(real_t p_step) { if (mode == PhysicsServer2D::BODY_MODE_STATIC) { return; } @@ -570,17 +570,17 @@ void Body2DSW::integrate_velocities(real_t p_step) { } } -void Body2DSW::wakeup_neighbours() { - for (const Pair &E : constraint_list) { - const Constraint2DSW *c = E.first; - Body2DSW **n = c->get_body_ptr(); +void GodotBody2D::wakeup_neighbours() { + for (const Pair &E : constraint_list) { + const GodotConstraint2D *c = E.first; + GodotBody2D **n = c->get_body_ptr(); int bc = c->get_body_count(); for (int i = 0; i < bc; i++) { if (i == E.second) { continue; } - Body2DSW *b = n[i]; + GodotBody2D *b = n[i]; if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) { continue; } @@ -592,7 +592,7 @@ void Body2DSW::wakeup_neighbours() { } } -void Body2DSW::call_queries() { +void GodotBody2D::call_queries() { if (fi_callback_data) { if (!fi_callback_data->callable.get_object()) { set_force_integration_callback(Callable()); @@ -616,7 +616,7 @@ void Body2DSW::call_queries() { } } -bool Body2DSW::sleep_test(real_t p_step) { +bool GodotBody2D::sleep_test(real_t p_step) { if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) { return true; } else if (!can_sleep) { @@ -633,12 +633,12 @@ bool Body2DSW::sleep_test(real_t p_step) { } } -void Body2DSW::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) { +void GodotBody2D::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) { body_state_callback_instance = p_instance; body_state_callback = p_callback; } -void Body2DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { +void GodotBody2D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { if (p_callable.get_object()) { if (!fi_callback_data) { fi_callback_data = memnew(ForceIntegrationCallbackData); @@ -651,23 +651,23 @@ void Body2DSW::set_force_integration_callback(const Callable &p_callable, const } } -PhysicsDirectBodyState2DSW *Body2DSW::get_direct_state() { +GodotPhysicsDirectBodyState2D *GodotBody2D::get_direct_state() { if (!direct_state) { - direct_state = memnew(PhysicsDirectBodyState2DSW); + direct_state = memnew(GodotPhysicsDirectBodyState2D); direct_state->body = this; } return direct_state; } -Body2DSW::Body2DSW() : - CollisionObject2DSW(TYPE_BODY), +GodotBody2D::GodotBody2D() : + GodotCollisionObject2D(TYPE_BODY), active_list(this), mass_properties_update_list(this), direct_state_query_list(this) { _set_static(false); } -Body2DSW::~Body2DSW() { +GodotBody2D::~GodotBody2D() { if (fi_callback_data) { memdelete(fi_callback_data); } diff --git a/servers/physics_2d/body_2d_sw.h b/servers/physics_2d/godot_body_2d.h similarity index 87% rename from servers/physics_2d/body_2d_sw.h rename to servers/physics_2d/godot_body_2d.h index 822ff76fae..c4f3578f1b 100644 --- a/servers/physics_2d/body_2d_sw.h +++ b/servers/physics_2d/godot_body_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_2d_sw.h */ +/* godot_body_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,19 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_2D_SW_H -#define BODY_2D_SW_H +#ifndef GODOT_BODY_2D_H +#define GODOT_BODY_2D_H + +#include "godot_area_2d.h" +#include "godot_collision_object_2d.h" -#include "area_2d_sw.h" -#include "collision_object_2d_sw.h" #include "core/templates/list.h" #include "core/templates/pair.h" #include "core/templates/vset.h" -class Constraint2DSW; -class PhysicsDirectBodyState2DSW; +class GodotConstraint2D; +class GodotPhysicsDirectBodyState2D; -class Body2DSW : public CollisionObject2DSW { +class GodotBody2D : public GodotCollisionObject2D { PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_DYNAMIC; Vector2 biased_linear_velocity; @@ -79,9 +80,9 @@ class Body2DSW : public CollisionObject2DSW { Vector2 applied_force; real_t applied_torque = 0.0; - SelfList active_list; - SelfList mass_properties_update_list; - SelfList direct_state_query_list; + SelfList active_list; + SelfList mass_properties_update_list; + SelfList direct_state_query_list; VSet exceptions; PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED; @@ -93,15 +94,15 @@ class Body2DSW : public CollisionObject2DSW { virtual void _shapes_changed(); Transform2D new_transform; - List> constraint_list; + List> constraint_list; struct AreaCMP { - Area2DSW *area = nullptr; + GodotArea2D *area = nullptr; int refCount = 0; _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) { + _FORCE_INLINE_ AreaCMP(GodotArea2D *p_area) { area = p_area; refCount = 1; } @@ -134,21 +135,21 @@ class Body2DSW : public CollisionObject2DSW { ForceIntegrationCallbackData *fi_callback_data = nullptr; - PhysicsDirectBodyState2DSW *direct_state = nullptr; + GodotPhysicsDirectBodyState2D *direct_state = nullptr; uint64_t island_step = 0; - _FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area2DSW *p_area); + _FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea2D *p_area); - friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose + friend class GodotPhysicsDirectBodyState2D; // i give up, too many functions to expose public: void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback); void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); - PhysicsDirectBodyState2DSW *get_direct_state(); + GodotPhysicsDirectBodyState2D *get_direct_state(); - _FORCE_INLINE_ void add_area(Area2DSW *p_area) { + _FORCE_INLINE_ void add_area(GodotArea2D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount += 1; @@ -157,7 +158,7 @@ public: } } - _FORCE_INLINE_ void remove_area(Area2DSW *p_area) { + _FORCE_INLINE_ void remove_area(GodotArea2D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount -= 1; @@ -188,9 +189,9 @@ public: _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_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); } - _FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); } - const List> &get_constraint_list() const { return constraint_list; } + _FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); } + _FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); } + const List> &get_constraint_list() const { return constraint_list; } _FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); } _FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; } @@ -267,7 +268,7 @@ public: _FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; } _FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; } - void set_space(Space2DSW *p_space); + void set_space(GodotSpace2D *p_space); void update_mass_properties(); void reset_mass_properties(); @@ -302,13 +303,13 @@ public: bool sleep_test(real_t p_step); - Body2DSW(); - ~Body2DSW(); + GodotBody2D(); + ~GodotBody2D(); }; //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) { +void GodotBody2D::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) { @@ -350,4 +351,4 @@ void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_no c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } -#endif // BODY_2D_SW_H +#endif // GODOT_BODY_2D_H diff --git a/servers/physics_2d/body_direct_state_2d_sw.cpp b/servers/physics_2d/godot_body_direct_state_2d.cpp similarity index 61% rename from servers/physics_2d/body_direct_state_2d_sw.cpp rename to servers/physics_2d/godot_body_direct_state_2d.cpp index b0673b9006..300c302c79 100644 --- a/servers/physics_2d/body_direct_state_2d_sw.cpp +++ b/servers/physics_2d/godot_body_direct_state_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_direct_state_2d_sw.cpp */ +/* godot_body_direct_state_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,151 +28,151 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_direct_state_2d_sw.h" +#include "godot_body_direct_state_2d.h" -#include "body_2d_sw.h" -#include "physics_server_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_body_2d.h" +#include "godot_physics_server_2d.h" +#include "godot_space_2d.h" -Vector2 PhysicsDirectBodyState2DSW::get_total_gravity() const { +Vector2 GodotPhysicsDirectBodyState2D::get_total_gravity() const { return body->gravity; } -real_t PhysicsDirectBodyState2DSW::get_total_angular_damp() const { +real_t GodotPhysicsDirectBodyState2D::get_total_angular_damp() const { return body->area_angular_damp; } -real_t PhysicsDirectBodyState2DSW::get_total_linear_damp() const { +real_t GodotPhysicsDirectBodyState2D::get_total_linear_damp() const { return body->area_linear_damp; } -Vector2 PhysicsDirectBodyState2DSW::get_center_of_mass() const { +Vector2 GodotPhysicsDirectBodyState2D::get_center_of_mass() const { return body->get_center_of_mass(); } -real_t PhysicsDirectBodyState2DSW::get_inverse_mass() const { +real_t GodotPhysicsDirectBodyState2D::get_inverse_mass() const { return body->get_inv_mass(); } -real_t PhysicsDirectBodyState2DSW::get_inverse_inertia() const { +real_t GodotPhysicsDirectBodyState2D::get_inverse_inertia() const { return body->get_inv_inertia(); } -void PhysicsDirectBodyState2DSW::set_linear_velocity(const Vector2 &p_velocity) { +void GodotPhysicsDirectBodyState2D::set_linear_velocity(const Vector2 &p_velocity) { body->wakeup(); body->set_linear_velocity(p_velocity); } -Vector2 PhysicsDirectBodyState2DSW::get_linear_velocity() const { +Vector2 GodotPhysicsDirectBodyState2D::get_linear_velocity() const { return body->get_linear_velocity(); } -void PhysicsDirectBodyState2DSW::set_angular_velocity(real_t p_velocity) { +void GodotPhysicsDirectBodyState2D::set_angular_velocity(real_t p_velocity) { body->wakeup(); body->set_angular_velocity(p_velocity); } -real_t PhysicsDirectBodyState2DSW::get_angular_velocity() const { +real_t GodotPhysicsDirectBodyState2D::get_angular_velocity() const { return body->get_angular_velocity(); } -void PhysicsDirectBodyState2DSW::set_transform(const Transform2D &p_transform) { +void GodotPhysicsDirectBodyState2D::set_transform(const Transform2D &p_transform) { body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform); } -Transform2D PhysicsDirectBodyState2DSW::get_transform() const { +Transform2D GodotPhysicsDirectBodyState2D::get_transform() const { return body->get_transform(); } -Vector2 PhysicsDirectBodyState2DSW::get_velocity_at_local_position(const Vector2 &p_position) const { +Vector2 GodotPhysicsDirectBodyState2D::get_velocity_at_local_position(const Vector2 &p_position) const { return body->get_velocity_in_local_point(p_position); } -void PhysicsDirectBodyState2DSW::add_central_force(const Vector2 &p_force) { +void GodotPhysicsDirectBodyState2D::add_central_force(const Vector2 &p_force) { body->wakeup(); body->add_central_force(p_force); } -void PhysicsDirectBodyState2DSW::add_force(const Vector2 &p_force, const Vector2 &p_position) { +void GodotPhysicsDirectBodyState2D::add_force(const Vector2 &p_force, const Vector2 &p_position) { body->wakeup(); body->add_force(p_force, p_position); } -void PhysicsDirectBodyState2DSW::add_torque(real_t p_torque) { +void GodotPhysicsDirectBodyState2D::add_torque(real_t p_torque) { body->wakeup(); body->add_torque(p_torque); } -void PhysicsDirectBodyState2DSW::apply_central_impulse(const Vector2 &p_impulse) { +void GodotPhysicsDirectBodyState2D::apply_central_impulse(const Vector2 &p_impulse) { body->wakeup(); body->apply_central_impulse(p_impulse); } -void PhysicsDirectBodyState2DSW::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { +void GodotPhysicsDirectBodyState2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) { body->wakeup(); body->apply_impulse(p_impulse, p_position); } -void PhysicsDirectBodyState2DSW::apply_torque_impulse(real_t p_torque) { +void GodotPhysicsDirectBodyState2D::apply_torque_impulse(real_t p_torque) { body->wakeup(); body->apply_torque_impulse(p_torque); } -void PhysicsDirectBodyState2DSW::set_sleep_state(bool p_enable) { +void GodotPhysicsDirectBodyState2D::set_sleep_state(bool p_enable) { body->set_active(!p_enable); } -bool PhysicsDirectBodyState2DSW::is_sleeping() const { +bool GodotPhysicsDirectBodyState2D::is_sleeping() const { return !body->is_active(); } -int PhysicsDirectBodyState2DSW::get_contact_count() const { +int GodotPhysicsDirectBodyState2D::get_contact_count() const { return body->contact_count; } -Vector2 PhysicsDirectBodyState2DSW::get_contact_local_position(int p_contact_idx) const { +Vector2 GodotPhysicsDirectBodyState2D::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; } -Vector2 PhysicsDirectBodyState2DSW::get_contact_local_normal(int p_contact_idx) const { +Vector2 GodotPhysicsDirectBodyState2D::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; } -int PhysicsDirectBodyState2DSW::get_contact_local_shape(int p_contact_idx) const { +int GodotPhysicsDirectBodyState2D::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; } -RID PhysicsDirectBodyState2DSW::get_contact_collider(int p_contact_idx) const { +RID GodotPhysicsDirectBodyState2D::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; } -Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_position(int p_contact_idx) const { +Vector2 GodotPhysicsDirectBodyState2D::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; } -ObjectID PhysicsDirectBodyState2DSW::get_contact_collider_id(int p_contact_idx) const { +ObjectID GodotPhysicsDirectBodyState2D::get_contact_collider_id(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); return body->contacts[p_contact_idx].collider_instance_id; } -int PhysicsDirectBodyState2DSW::get_contact_collider_shape(int p_contact_idx) const { +int GodotPhysicsDirectBodyState2D::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; } -Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const { +Vector2 GodotPhysicsDirectBodyState2D::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; } -PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() { +PhysicsDirectSpaceState2D *GodotPhysicsDirectBodyState2D::get_space_state() { return body->get_space()->get_direct_state(); } -real_t PhysicsDirectBodyState2DSW::get_step() const { +real_t GodotPhysicsDirectBodyState2D::get_step() const { return body->get_space()->get_last_step(); } diff --git a/servers/physics_2d/body_direct_state_2d_sw.h b/servers/physics_2d/godot_body_direct_state_2d.h similarity index 92% rename from servers/physics_2d/body_direct_state_2d_sw.h rename to servers/physics_2d/godot_body_direct_state_2d.h index 4266b24842..2f3e8e5095 100644 --- a/servers/physics_2d/body_direct_state_2d_sw.h +++ b/servers/physics_2d/godot_body_direct_state_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_direct_state_2d_sw.h */ +/* godot_body_direct_state_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,18 +28,18 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_DIRECT_STATE_2D_SW_H -#define BODY_DIRECT_STATE_2D_SW_H +#ifndef GODOT_BODY_DIRECT_STATE_2D_H +#define GODOT_BODY_DIRECT_STATE_2D_H #include "servers/physics_server_2d.h" -class Body2DSW; +class GodotBody2D; -class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D { - GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D); +class GodotPhysicsDirectBodyState2D : public PhysicsDirectBodyState2D { + GDCLASS(GodotPhysicsDirectBodyState2D, PhysicsDirectBodyState2D); public: - Body2DSW *body = nullptr; + GodotBody2D *body = nullptr; virtual Vector2 get_total_gravity() const override; virtual real_t get_total_angular_damp() const override; @@ -88,4 +88,4 @@ public: virtual real_t get_step() const override; }; -#endif // BODY_2D_SW_H +#endif // GODOT_BODY_DIRECT_STATE_2D_H diff --git a/servers/physics_2d/body_pair_2d_sw.cpp b/servers/physics_2d/godot_body_pair_2d.cpp similarity index 91% rename from servers/physics_2d/body_pair_2d_sw.cpp rename to servers/physics_2d/godot_body_pair_2d.cpp index 8bcc4609f4..97eeefbfe6 100644 --- a/servers/physics_2d/body_pair_2d_sw.cpp +++ b/servers/physics_2d/godot_body_pair_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_pair_2d_sw.cpp */ +/* godot_body_pair_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,20 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_pair_2d_sw.h" -#include "collision_solver_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_body_pair_2d.h" +#include "godot_collision_solver_2d.h" +#include "godot_space_2d.h" #define POSITION_CORRECTION #define ACCUMULATE_IMPULSES -void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) { - BodyPair2DSW *self = (BodyPair2DSW *)p_self; +void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) { + GodotBodyPair2D *self = (GodotBodyPair2D *)p_self; self->_contact_added_callback(p_point_A, p_point_B); } -void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) { +void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) { // check if we already have the contact Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A); @@ -121,7 +121,7 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto } } -void BodyPair2DSW::_validate_contacts() { +void GodotBodyPair2D::_validate_contacts() { //make sure to erase contacts that are no longer valid real_t max_separation = space->get_contact_max_separation(); @@ -164,7 +164,7 @@ void BodyPair2DSW::_validate_contacts() { } } -bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) { +bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) { Vector2 motion = p_A->get_linear_velocity() * p_step; real_t mlen = motion.length(); if (mlen < CMP_EPSILON) { @@ -217,15 +217,15 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const return true; } -real_t combine_bounce(Body2DSW *A, Body2DSW *B) { +real_t combine_bounce(GodotBody2D *A, GodotBody2D *B) { return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1); } -real_t combine_friction(Body2DSW *A, Body2DSW *B) { +real_t combine_friction(GodotBody2D *A, GodotBody2D *B) { return ABS(MIN(A->get_friction(), B->get_friction())); } -bool BodyPair2DSW::setup(real_t p_step) { +bool GodotBodyPair2D::setup(real_t p_step) { if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; @@ -257,8 +257,8 @@ bool BodyPair2DSW::setup(real_t p_step) { xform_Bu.elements[2] -= offset_A; Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B); - Shape2DSW *shape_A_ptr = A->get_shape(shape_A); - Shape2DSW *shape_B_ptr = B->get_shape(shape_B); + GodotShape2D *shape_A_ptr = A->get_shape(shape_A); + GodotShape2D *shape_B_ptr = B->get_shape(shape_B); Vector2 motion_A, motion_B; @@ -271,7 +271,7 @@ bool BodyPair2DSW::setup(real_t p_step) { bool prev_collided = collided; - collided = CollisionSolver2DSW::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis); + collided = GodotCollisionSolver2D::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis); if (!collided) { //test ccd (currently just a raycast) @@ -344,7 +344,7 @@ bool BodyPair2DSW::setup(real_t p_step) { return true; } -bool BodyPair2DSW::pre_solve(real_t p_step) { +bool GodotBodyPair2D::pre_solve(real_t p_step) { if (!collided || oneway_disabled) { return false; } @@ -353,8 +353,8 @@ bool BodyPair2DSW::pre_solve(real_t p_step) { real_t bias = 0.3; - Shape2DSW *shape_A_ptr = A->get_shape(shape_A); - Shape2DSW *shape_B_ptr = B->get_shape(shape_B); + GodotShape2D *shape_A_ptr = A->get_shape(shape_A); + GodotShape2D *shape_B_ptr = B->get_shape(shape_B); if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) { if (shape_A_ptr->get_custom_bias() == 0) { @@ -466,7 +466,7 @@ bool BodyPair2DSW::pre_solve(real_t p_step) { return do_process; } -void BodyPair2DSW::solve(real_t p_step) { +void GodotBodyPair2D::solve(real_t p_step) { if (!collided || oneway_disabled) { return; } @@ -528,8 +528,8 @@ void BodyPair2DSW::solve(real_t p_step) { } } -BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B) : - Constraint2DSW(_arr, 2) { +GodotBodyPair2D::GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B) : + GodotConstraint2D(_arr, 2) { A = p_A; B = p_B; shape_A = p_shape_A; @@ -539,7 +539,7 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh B->add_constraint(this, 1); } -BodyPair2DSW::~BodyPair2DSW() { +GodotBodyPair2D::~GodotBodyPair2D() { A->remove_constraint(this, 0); B->remove_constraint(this, 1); } diff --git a/servers/physics_2d/body_pair_2d_sw.h b/servers/physics_2d/godot_body_pair_2d.h similarity index 83% rename from servers/physics_2d/body_pair_2d_sw.h rename to servers/physics_2d/godot_body_pair_2d.h index db4f3eba69..0938ab542b 100644 --- a/servers/physics_2d/body_pair_2d_sw.h +++ b/servers/physics_2d/godot_body_pair_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_pair_2d_sw.h */ +/* godot_body_pair_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,23 +28,23 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_PAIR_2D_SW_H -#define BODY_PAIR_2D_SW_H +#ifndef GODOT_BODY_PAIR_2D_H +#define GODOT_BODY_PAIR_2D_H -#include "body_2d_sw.h" -#include "constraint_2d_sw.h" +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" -class BodyPair2DSW : public Constraint2DSW { +class GodotBodyPair2D : public GodotConstraint2D { enum { MAX_CONTACTS = 2 }; union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2] = { nullptr, nullptr }; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; int shape_A = 0; @@ -53,7 +53,7 @@ class BodyPair2DSW : public Constraint2DSW { bool collide_A = false; bool collide_B = false; - Space2DSW *space = nullptr; + GodotSpace2D *space = nullptr; struct Contact { Vector2 position; @@ -81,7 +81,7 @@ class BodyPair2DSW : public Constraint2DSW { bool oneway_disabled = false; bool report_contacts_only = false; - bool _test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false); + bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false); void _validate_contacts(); static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self); _FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B); @@ -91,8 +91,8 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B); - ~BodyPair2DSW(); + GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B); + ~GodotBodyPair2D(); }; -#endif // BODY_PAIR_2D_SW_H +#endif // GODOT_BODY_PAIR_2D_H diff --git a/servers/physics_2d/broad_phase_2d_sw.cpp b/servers/physics_2d/godot_broad_phase_2d.cpp similarity index 90% rename from servers/physics_2d/broad_phase_2d_sw.cpp rename to servers/physics_2d/godot_broad_phase_2d.cpp index 7f0af48b1f..4b35f8d996 100644 --- a/servers/physics_2d/broad_phase_2d_sw.cpp +++ b/servers/physics_2d/godot_broad_phase_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_2d_sw.cpp */ +/* godot_broad_phase_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,9 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "broad_phase_2d_sw.h" +#include "godot_broad_phase_2d.h" -BroadPhase2DSW::CreateFunction BroadPhase2DSW::create_func = nullptr; +GodotBroadPhase2D::CreateFunction GodotBroadPhase2D::create_func = nullptr; -BroadPhase2DSW::~BroadPhase2DSW() { +GodotBroadPhase2D::~GodotBroadPhase2D() { } diff --git a/servers/physics_2d/broad_phase_2d_sw.h b/servers/physics_2d/godot_broad_phase_2d.h similarity index 73% rename from servers/physics_2d/broad_phase_2d_sw.h rename to servers/physics_2d/godot_broad_phase_2d.h index 0f82f06b9c..7017a6e41f 100644 --- a/servers/physics_2d/broad_phase_2d_sw.h +++ b/servers/physics_2d/godot_broad_phase_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_2d_sw.h */ +/* godot_broad_phase_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,44 +28,44 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BROAD_PHASE_2D_SW_H -#define BROAD_PHASE_2D_SW_H +#ifndef GODOT_BROAD_PHASE_2D_H +#define GODOT_BROAD_PHASE_2D_H #include "core/math/math_funcs.h" #include "core/math/rect2.h" -class CollisionObject2DSW; +class GodotCollisionObject2D; -class BroadPhase2DSW { +class GodotBroadPhase2D { public: - typedef BroadPhase2DSW *(*CreateFunction)(); + typedef GodotBroadPhase2D *(*CreateFunction)(); static CreateFunction create_func; typedef uint32_t ID; - typedef void *(*PairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_userdata); - typedef void (*UnpairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_userdata); + typedef void *(*PairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_userdata); + typedef void (*UnpairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_userdata); // 0 is an invalid ID - virtual ID create(CollisionObject2DSW *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0; + virtual ID create(GodotCollisionObject2D *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0; virtual void move(ID p_id, const Rect2 &p_aabb) = 0; virtual void set_static(ID p_id, bool p_static) = 0; virtual void remove(ID p_id) = 0; - virtual CollisionObject2DSW *get_object(ID p_id) const = 0; + virtual GodotCollisionObject2D *get_object(ID p_id) const = 0; virtual bool is_static(ID p_id) const = 0; virtual int get_subindex(ID p_id) const = 0; - virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; - virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0; virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0; virtual void update() = 0; - virtual ~BroadPhase2DSW(); + virtual ~GodotBroadPhase2D(); }; -#endif // BROAD_PHASE_2D_SW_H +#endif // GODOT_BROAD_PHASE_2D_H diff --git a/servers/physics_2d/broad_phase_2d_bvh.cpp b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp similarity index 63% rename from servers/physics_2d/broad_phase_2d_bvh.cpp rename to servers/physics_2d/godot_broad_phase_2d_bvh.cpp index 0df7086c5a..9ec6b0a6b7 100644 --- a/servers/physics_2d/broad_phase_2d_bvh.cpp +++ b/servers/physics_2d/godot_broad_phase_2d_bvh.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_2d_bvh.cpp */ +/* godot_broad_phase_2d_bvh.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,51 +28,51 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "broad_phase_2d_bvh.h" -#include "collision_object_2d_sw.h" +#include "godot_broad_phase_2d_bvh.h" +#include "godot_collision_object_2d.h" -BroadPhase2DSW::ID BroadPhase2DBVH::create(CollisionObject2DSW *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) { +GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) { ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care? return oid + 1; } -void BroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) { +void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) { bvh.move(p_id - 1, p_aabb); } -void BroadPhase2DBVH::set_static(ID p_id, bool p_static) { - CollisionObject2DSW *it = bvh.get(p_id - 1); +void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) { + GodotCollisionObject2D *it = bvh.get(p_id - 1); bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care? } -void BroadPhase2DBVH::remove(ID p_id) { +void GodotBroadPhase2DBVH::remove(ID p_id) { bvh.erase(p_id - 1); } -CollisionObject2DSW *BroadPhase2DBVH::get_object(ID p_id) const { - CollisionObject2DSW *it = bvh.get(p_id - 1); +GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const { + GodotCollisionObject2D *it = bvh.get(p_id - 1); ERR_FAIL_COND_V(!it, nullptr); return it; } -bool BroadPhase2DBVH::is_static(ID p_id) const { +bool GodotBroadPhase2DBVH::is_static(ID p_id) const { return !bvh.is_pairable(p_id - 1); } -int BroadPhase2DBVH::get_subindex(ID p_id) const { +int GodotBroadPhase2DBVH::get_subindex(ID p_id) const { return bvh.get_subindex(p_id - 1); } -int BroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) { +int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) { return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices); } -int BroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) { +int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) { return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices); } -void *BroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject2DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject2DSW *p_object_B, int subindex_B) { - BroadPhase2DBVH *bpo = (BroadPhase2DBVH *)(self); +void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) { + GodotBroadPhase2DBVH *bpo = (GodotBroadPhase2DBVH *)(self); if (!bpo->pair_callback) { return nullptr; } @@ -80,8 +80,8 @@ void *BroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject2 return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata); } -void BroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject2DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject2DSW *p_object_B, int subindex_B, void *pairdata) { - BroadPhase2DBVH *bpo = (BroadPhase2DBVH *)(self); +void GodotBroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B, void *pairdata) { + GodotBroadPhase2DBVH *bpo = (GodotBroadPhase2DBVH *)(self); if (!bpo->unpair_callback) { return; } @@ -89,25 +89,25 @@ void BroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata); } -void BroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { +void GodotBroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { pair_callback = p_pair_callback; pair_userdata = p_userdata; } -void BroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { +void GodotBroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { unpair_callback = p_unpair_callback; unpair_userdata = p_userdata; } -void BroadPhase2DBVH::update() { +void GodotBroadPhase2DBVH::update() { bvh.update(); } -BroadPhase2DSW *BroadPhase2DBVH::_create() { - return memnew(BroadPhase2DBVH); +GodotBroadPhase2D *GodotBroadPhase2DBVH::_create() { + return memnew(GodotBroadPhase2DBVH); } -BroadPhase2DBVH::BroadPhase2DBVH() { +GodotBroadPhase2DBVH::GodotBroadPhase2DBVH() { bvh.set_pair_callback(_pair_callback, this); bvh.set_unpair_callback(_unpair_callback, this); } diff --git a/servers/physics_2d/broad_phase_2d_bvh.h b/servers/physics_2d/godot_broad_phase_2d_bvh.h similarity index 73% rename from servers/physics_2d/broad_phase_2d_bvh.h rename to servers/physics_2d/godot_broad_phase_2d_bvh.h index ea02a98417..19b49f3499 100644 --- a/servers/physics_2d/broad_phase_2d_bvh.h +++ b/servers/physics_2d/godot_broad_phase_2d_bvh.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_2d_bvh.h */ +/* godot_broad_phase_2d_bvh.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,19 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BROAD_PHASE_2D_BVH_H -#define BROAD_PHASE_2D_BVH_H +#ifndef GODOT_BROAD_PHASE_2D_BVH_H +#define GODOT_BROAD_PHASE_2D_BVH_H + +#include "godot_broad_phase_2d.h" -#include "broad_phase_2d_sw.h" #include "core/math/bvh.h" #include "core/math/rect2.h" #include "core/math/vector2.h" -class BroadPhase2DBVH : public BroadPhase2DSW { - BVH_Manager bvh; +class GodotBroadPhase2DBVH : public GodotBroadPhase2D { + BVH_Manager bvh; - static void *_pair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int); - static void _unpair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int, void *); + static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int); + static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *); PairCallback pair_callback = nullptr; void *pair_userdata = nullptr; @@ -49,25 +50,25 @@ class BroadPhase2DBVH : public BroadPhase2DSW { public: // 0 is an invalid ID - virtual ID create(CollisionObject2DSW *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false); + virtual ID create(GodotCollisionObject2D *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false); virtual void move(ID p_id, const Rect2 &p_aabb); virtual void set_static(ID p_id, bool p_static); virtual void remove(ID p_id); - virtual CollisionObject2DSW *get_object(ID p_id) const; + virtual GodotCollisionObject2D *get_object(ID p_id) const; virtual bool is_static(ID p_id) const; virtual int get_subindex(ID p_id) const; - virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr); + virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr); + virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr); virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); virtual void update(); - static BroadPhase2DSW *_create(); - BroadPhase2DBVH(); + static GodotBroadPhase2D *_create(); + GodotBroadPhase2DBVH(); }; -#endif // BROAD_PHASE_2D_BVH_H +#endif // GODOT_BROAD_PHASE_2D_BVH_H diff --git a/servers/physics_2d/collision_object_2d_sw.cpp b/servers/physics_2d/godot_collision_object_2d.cpp similarity index 77% rename from servers/physics_2d/collision_object_2d_sw.cpp rename to servers/physics_2d/godot_collision_object_2d.cpp index bc7d277152..3d4ebbedcd 100644 --- a/servers/physics_2d/collision_object_2d_sw.cpp +++ b/servers/physics_2d/godot_collision_object_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_object_2d_sw.cpp */ +/* godot_collision_object_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_object_2d_sw.h" -#include "servers/physics_2d/physics_server_2d_sw.h" -#include "space_2d_sw.h" +#include "godot_collision_object_2d.h" +#include "godot_physics_server_2d.h" +#include "godot_space_2d.h" -void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_transform, bool p_disabled) { +void GodotCollisionObject2D::add_shape(GodotShape2D *p_shape, const Transform2D &p_transform, bool p_disabled) { Shape s; s.shape = p_shape; s.xform = p_transform; @@ -45,11 +45,11 @@ void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_tra p_shape->add_owner(this); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) { +void GodotCollisionObject2D::set_shape(int p_index, GodotShape2D *p_shape) { ERR_FAIL_INDEX(p_index, shapes.size()); shapes[p_index].shape->remove_owner(this); shapes.write[p_index].shape = p_shape; @@ -57,25 +57,25 @@ void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) { p_shape->add_owner(this); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject2DSW::set_shape_transform(int p_index, const Transform2D &p_transform) { +void GodotCollisionObject2D::set_shape_transform(int p_index, const Transform2D &p_transform) { ERR_FAIL_INDEX(p_index, shapes.size()); shapes.write[p_index].xform = p_transform; shapes.write[p_index].xform_inv = p_transform.affine_inverse(); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) { +void GodotCollisionObject2D::set_shape_disabled(int p_idx, bool p_disabled) { ERR_FAIL_INDEX(p_idx, shapes.size()); - CollisionObject2DSW::Shape &shape = shapes.write[p_idx]; + GodotCollisionObject2D::Shape &shape = shapes.write[p_idx]; if (shape.disabled == p_disabled) { return; } @@ -90,16 +90,16 @@ void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) { space->get_broadphase()->remove(shape.bpid); shape.bpid = 0; if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } else if (!p_disabled && shape.bpid == 0) { if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } } -void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) { +void GodotCollisionObject2D::remove_shape(GodotShape2D *p_shape) { //remove a shape, all the times it appears for (int i = 0; i < shapes.size(); i++) { if (shapes[i].shape == p_shape) { @@ -109,7 +109,7 @@ void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) { } } -void CollisionObject2DSW::remove_shape(int p_index) { +void GodotCollisionObject2D::remove_shape(int p_index) { //remove anything from shape to be erased to end, so subindices don't change ERR_FAIL_INDEX(p_index, shapes.size()); for (int i = p_index; i < shapes.size(); i++) { @@ -124,13 +124,13 @@ void CollisionObject2DSW::remove_shape(int p_index) { shapes.remove(p_index); if (!pending_shape_update_list.in_list()) { - PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } // _update_shapes(); // _shapes_changed(); } -void CollisionObject2DSW::_set_static(bool p_static) { +void GodotCollisionObject2D::_set_static(bool p_static) { if (_static == p_static) { return; } @@ -147,7 +147,7 @@ void CollisionObject2DSW::_set_static(bool p_static) { } } -void CollisionObject2DSW::_unregister_shapes() { +void GodotCollisionObject2D::_unregister_shapes() { for (int i = 0; i < shapes.size(); i++) { Shape &s = shapes.write[i]; if (s.bpid > 0) { @@ -157,7 +157,7 @@ void CollisionObject2DSW::_unregister_shapes() { } } -void CollisionObject2DSW::_update_shapes() { +void GodotCollisionObject2D::_update_shapes() { if (!space) { return; } @@ -184,7 +184,7 @@ void CollisionObject2DSW::_update_shapes() { } } -void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) { +void GodotCollisionObject2D::_update_shapes_with_motion(const Vector2 &p_motion) { if (!space) { return; } @@ -211,7 +211,7 @@ void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) { } } -void CollisionObject2DSW::_set_space(Space2DSW *p_space) { +void GodotCollisionObject2D::_set_space(GodotSpace2D *p_space) { if (space) { space->remove_object(this); @@ -232,12 +232,12 @@ void CollisionObject2DSW::_set_space(Space2DSW *p_space) { } } -void CollisionObject2DSW::_shape_changed() { +void GodotCollisionObject2D::_shape_changed() { _update_shapes(); _shapes_changed(); } -CollisionObject2DSW::CollisionObject2DSW(Type p_type) : +GodotCollisionObject2D::GodotCollisionObject2D(Type p_type) : pending_shape_update_list(this) { type = p_type; } diff --git a/servers/physics_2d/collision_object_2d_sw.h b/servers/physics_2d/godot_collision_object_2d.h similarity index 84% rename from servers/physics_2d/collision_object_2d_sw.h rename to servers/physics_2d/godot_collision_object_2d.h index ca258a906a..7233857808 100644 --- a/servers/physics_2d/collision_object_2d_sw.h +++ b/servers/physics_2d/godot_collision_object_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_object_2d_sw.h */ +/* godot_collision_object_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,17 +28,18 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_OBJECT_2D_SW_H -#define COLLISION_OBJECT_2D_SW_H +#ifndef GODOT_COLLISION_OBJECT_2D_H +#define GODOT_COLLISION_OBJECT_2D_H + +#include "godot_broad_phase_2d.h" +#include "godot_shape_2d.h" -#include "broad_phase_2d_sw.h" #include "core/templates/self_list.h" #include "servers/physics_server_2d.h" -#include "shape_2d_sw.h" -class Space2DSW; +class GodotSpace2D; -class CollisionObject2DSW : public ShapeOwner2DSW { +class GodotCollisionObject2D : public GodotShapeOwner2D { public: enum Type { TYPE_AREA, @@ -55,23 +56,23 @@ private: struct Shape { Transform2D xform; Transform2D xform_inv; - BroadPhase2DSW::ID bpid = 0; + GodotBroadPhase2D::ID bpid = 0; Rect2 aabb_cache; //for rayqueries - Shape2DSW *shape = nullptr; + GodotShape2D *shape = nullptr; bool disabled = false; bool one_way_collision = false; real_t one_way_collision_margin = 0.0; }; Vector shapes; - Space2DSW *space = nullptr; + GodotSpace2D *space = nullptr; Transform2D transform; Transform2D inv_transform; uint32_t collision_mask = 1; uint32_t collision_layer = 1; bool _static = true; - SelfList pending_shape_update_list; + SelfList pending_shape_update_list; void _update_shapes(); @@ -89,9 +90,9 @@ protected: void _set_static(bool p_static); virtual void _shapes_changed() = 0; - void _set_space(Space2DSW *p_space); + void _set_space(GodotSpace2D *p_space); - CollisionObject2DSW(Type p_type); + GodotCollisionObject2D(Type p_type); public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } @@ -106,12 +107,12 @@ public: void _shape_changed(); _FORCE_INLINE_ Type get_type() const { return type; } - void add_shape(Shape2DSW *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false); - void set_shape(int p_index, Shape2DSW *p_shape); + void add_shape(GodotShape2D *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false); + void set_shape(int p_index, GodotShape2D *p_shape); void set_shape_transform(int p_index, const Transform2D &p_transform); _FORCE_INLINE_ int get_shape_count() const { return shapes.size(); } - _FORCE_INLINE_ Shape2DSW *get_shape(int p_index) const { + _FORCE_INLINE_ GodotShape2D *get_shape(int p_index) const { CRASH_BAD_INDEX(p_index, shapes.size()); return shapes[p_index].shape; } @@ -130,7 +131,7 @@ public: _FORCE_INLINE_ const Transform2D &get_transform() const { return transform; } _FORCE_INLINE_ const Transform2D &get_inv_transform() const { return inv_transform; } - _FORCE_INLINE_ Space2DSW *get_space() const { return space; } + _FORCE_INLINE_ GodotSpace2D *get_space() const { return space; } void set_shape_disabled(int p_idx, bool p_disabled); _FORCE_INLINE_ bool is_shape_disabled(int p_idx) const { @@ -165,25 +166,25 @@ public: } _FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; } - void remove_shape(Shape2DSW *p_shape); + void remove_shape(GodotShape2D *p_shape); void remove_shape(int p_index); - virtual void set_space(Space2DSW *p_space) = 0; + virtual void set_space(GodotSpace2D *p_space) = 0; _FORCE_INLINE_ bool is_static() const { return _static; } void set_pickable(bool p_pickable) { pickable = p_pickable; } _FORCE_INLINE_ bool is_pickable() const { return pickable; } - _FORCE_INLINE_ bool collides_with(CollisionObject2DSW *p_other) const { + _FORCE_INLINE_ bool collides_with(GodotCollisionObject2D *p_other) const { return p_other->collision_layer & collision_mask; } - _FORCE_INLINE_ bool interacts_with(CollisionObject2DSW *p_other) const { + _FORCE_INLINE_ bool interacts_with(GodotCollisionObject2D *p_other) const { return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask; } - virtual ~CollisionObject2DSW() {} + virtual ~GodotCollisionObject2D() {} }; -#endif // COLLISION_OBJECT_2D_SW_H +#endif // GODOT_COLLISION_OBJECT_2D_H diff --git a/servers/physics_2d/collision_solver_2d_sw.cpp b/servers/physics_2d/godot_collision_solver_2d.cpp similarity index 81% rename from servers/physics_2d/collision_solver_2d_sw.cpp rename to servers/physics_2d/godot_collision_solver_2d.cpp index 527bb1b0b2..25371b9885 100644 --- a/servers/physics_2d/collision_solver_2d_sw.cpp +++ b/servers/physics_2d/godot_collision_solver_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_2d_sw.cpp */ +/* godot_collision_solver_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,14 +28,14 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_solver_2d_sw.h" -#include "collision_solver_2d_sat.h" +#include "godot_collision_solver_2d.h" +#include "godot_collision_solver_2d_sat.h" #define collision_solver sat_2d_calculate_penetration //#define collision_solver gjk_epa_calculate_penetration -bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { - const WorldBoundaryShape2DSW *world_boundary = static_cast(p_shape_A); +bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const GodotWorldBoundaryShape2D *world_boundary = static_cast(p_shape_A); if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) { return false; } @@ -73,8 +73,8 @@ bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A return found; } -bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) { - const SeparationRayShape2DSW *ray = static_cast(p_shape_A); +bool GodotCollisionSolver2D::solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) { + const GodotSeparationRayShape2D *ray = static_cast(p_shape_A); if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY) { return false; } @@ -134,13 +134,13 @@ bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const struct _ConcaveCollisionInfo2D { const Transform2D *transform_A = nullptr; - const Shape2DSW *shape_A = nullptr; + const GodotShape2D *shape_A = nullptr; const Transform2D *transform_B = nullptr; Vector2 motion_A; Vector2 motion_B; real_t margin_A = 0.0; real_t margin_B = 0.0; - CollisionSolver2DSW::CallbackResult result_callback; + GodotCollisionSolver2D::CallbackResult result_callback; void *userdata = nullptr; bool swap_result = false; bool collided = false; @@ -149,7 +149,7 @@ struct _ConcaveCollisionInfo2D { Vector2 *sep_axis = nullptr; }; -bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) { +bool GodotCollisionSolver2D::concave_callback(void *p_userdata, GodotShape2D *p_convex) { _ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata); cinfo.aabb_tests++; @@ -165,8 +165,8 @@ bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex return !cinfo.result_callback; } -bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { - const ConcaveShape2DSW *concave_B = static_cast(p_shape_B); +bool GodotCollisionSolver2D::solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { + const GodotConcaveShape2D *concave_B = static_cast(p_shape_B); _ConcaveCollisionInfo2D cinfo; cinfo.transform_A = &p_transform_A; @@ -209,7 +209,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf return cinfo.collided; } -bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { +bool GodotCollisionSolver2D::solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer2D::ShapeType type_A = p_shape_A->get_type(); PhysicsServer2D::ShapeType type_B = p_shape_B->get_type(); bool concave_A = p_shape_A->is_concave(); diff --git a/servers/physics_2d/collision_solver_2d_sw.h b/servers/physics_2d/godot_collision_solver_2d.h similarity index 59% rename from servers/physics_2d/collision_solver_2d_sw.h rename to servers/physics_2d/godot_collision_solver_2d.h index b87247b89a..f10815a444 100644 --- a/servers/physics_2d/collision_solver_2d_sw.h +++ b/servers/physics_2d/godot_collision_solver_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_2d_sw.h */ +/* godot_collision_solver_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,23 +28,23 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_SOLVER_2D_SW_H -#define COLLISION_SOLVER_2D_SW_H +#ifndef GODOT_COLLISION_SOLVER_2D_H +#define GODOT_COLLISION_SOLVER_2D_H -#include "shape_2d_sw.h" +#include "godot_shape_2d.h" -class CollisionSolver2DSW { +class GodotCollisionSolver2D { public: typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata); private: - static bool solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); - static bool concave_callback(void *p_userdata, Shape2DSW *p_convex); - static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); - static bool solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0); + static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool concave_callback(void *p_userdata, GodotShape2D *p_convex); + static bool solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); + static bool solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0); public: - static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); + static bool solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); }; -#endif // COLLISION_SOLVER_2D_SW_H +#endif // GODOT_COLLISION_SOLVER_2D_H diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/godot_collision_solver_2d_sat.cpp similarity index 79% rename from servers/physics_2d/collision_solver_2d_sat.cpp rename to servers/physics_2d/godot_collision_solver_2d_sat.cpp index 2e67cc6520..63053e8259 100644 --- a/servers/physics_2d/collision_solver_2d_sat.cpp +++ b/servers/physics_2d/godot_collision_solver_2d_sat.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_2d_sat.cpp */ +/* godot_collision_solver_2d_sat.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,12 +28,12 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_solver_2d_sat.h" +#include "godot_collision_solver_2d_sat.h" #include "core/math/geometry_2d.h" struct _CollectorCallback2D { - CollisionSolver2DSW::CallbackResult callback; + GodotCollisionSolver2D::CallbackResult callback; void *userdata = nullptr; bool swap = false; bool collided = false; @@ -384,14 +384,14 @@ public: (castB && !separator.test_axis(((m_a) - ((m_b) + p_motion_b)).normalized())) || \ (castA && castB && !separator.test_axis(((m_a) + p_motion_a - ((m_b) + p_motion_b)).normalized()))) -typedef void (*CollisionFunc)(const Shape2DSW *, const Transform2D &, const Shape2DSW *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t); +typedef void (*CollisionFunc)(const GodotShape2D *, const Transform2D &, const GodotShape2D *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t); template -static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast(p_a); - const SegmentShape2DSW *segment_B = static_cast(p_b); +static void _collision_segment_segment(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast(p_a); + const GodotSegmentShape2D *segment_B = static_cast(p_b); - SeparatorAxisTest2D separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -430,11 +430,11 @@ static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D & } template -static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast(p_a); - const CircleShape2DSW *circle_B = static_cast(p_b); +static void _collision_segment_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast(p_a); + const GodotCircleShape2D *circle_B = static_cast(p_b); - SeparatorAxisTest2D separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -463,11 +463,11 @@ static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p } template -static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast(p_a); - const RectangleShape2DSW *rectangle_B = static_cast(p_b); +static void _collision_segment_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast(p_a); + const GodotRectangleShape2D *rectangle_B = static_cast(p_b); - SeparatorAxisTest2D separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -534,11 +534,11 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D } template -static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast(p_a); - const CapsuleShape2DSW *capsule_B = static_cast(p_b); +static void _collision_segment_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast(p_b); - SeparatorAxisTest2D separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -575,11 +575,11 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D & } template -static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const SegmentShape2DSW *segment_A = static_cast(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast(p_b); +static void _collision_segment_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotSegmentShape2D *segment_A = static_cast(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast(p_b); - SeparatorAxisTest2D separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -614,11 +614,11 @@ static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transf ///////// template -static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast(p_a); - const CircleShape2DSW *circle_B = static_cast(p_b); +static void _collision_circle_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast(p_a); + const GodotCircleShape2D *circle_B = static_cast(p_b); - SeparatorAxisTest2D separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -636,11 +636,11 @@ static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_ } template -static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast(p_a); - const RectangleShape2DSW *rectangle_B = static_cast(p_b); +static void _collision_circle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast(p_a); + const GodotRectangleShape2D *rectangle_B = static_cast(p_b); - SeparatorAxisTest2D separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -694,11 +694,11 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D } template -static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast(p_a); - const CapsuleShape2DSW *capsule_B = static_cast(p_b); +static void _collision_circle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast(p_b); - SeparatorAxisTest2D separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -727,11 +727,11 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p } template -static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CircleShape2DSW *circle_A = static_cast(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast(p_b); +static void _collision_circle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCircleShape2D *circle_A = static_cast(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast(p_b); - SeparatorAxisTest2D separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -758,11 +758,11 @@ static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transfo ///////// template -static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast(p_a); - const RectangleShape2DSW *rectangle_B = static_cast(p_b); +static void _collision_rectangle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotRectangleShape2D *rectangle_A = static_cast(p_a); + const GodotRectangleShape2D *rectangle_B = static_cast(p_b); - SeparatorAxisTest2D separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -832,11 +832,11 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform } template -static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast(p_a); - const CapsuleShape2DSW *capsule_B = static_cast(p_b); +static void _collision_rectangle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotRectangleShape2D *rectangle_A = static_cast(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast(p_b); - SeparatorAxisTest2D separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -910,11 +910,11 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D } template -static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const RectangleShape2DSW *rectangle_A = static_cast(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast(p_b); +static void _collision_rectangle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotRectangleShape2D *rectangle_A = static_cast(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast(p_b); - SeparatorAxisTest2D separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -972,11 +972,11 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran ///////// template -static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CapsuleShape2DSW *capsule_A = static_cast(p_a); - const CapsuleShape2DSW *capsule_B = static_cast(p_b); +static void _collision_capsule_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCapsuleShape2D *capsule_A = static_cast(p_a); + const GodotCapsuleShape2D *capsule_B = static_cast(p_b); - SeparatorAxisTest2D separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -1020,11 +1020,11 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D & } template -static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const CapsuleShape2DSW *capsule_A = static_cast(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast(p_b); +static void _collision_capsule_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotCapsuleShape2D *capsule_A = static_cast(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast(p_b); - SeparatorAxisTest2D separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -1066,11 +1066,11 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf ///////// template -static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { - const ConvexPolygonShape2DSW *convex_A = static_cast(p_a); - const ConvexPolygonShape2DSW *convex_B = static_cast(p_b); +static void _collision_convex_polygon_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { + const GodotConvexPolygonShape2D *convex_A = static_cast(p_a); + const GodotConvexPolygonShape2D *convex_B = static_cast(p_b); - SeparatorAxisTest2D separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); + SeparatorAxisTest2D separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B); if (!separator.test_previous_axis()) { return; @@ -1107,7 +1107,7 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const //////// -bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { +bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer2D::ShapeType type_A = p_shape_A->get_type(); ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false); @@ -1359,8 +1359,8 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D callback.collided = false; callback.sep_axis = sep_axis; - const Shape2DSW *A = p_shape_A; - const Shape2DSW *B = p_shape_B; + const GodotShape2D *A = p_shape_A; + const GodotShape2D *B = p_shape_B; const Transform2D *transform_A = &p_transform_A; const Transform2D *transform_B = &p_transform_B; const Vector2 *motion_A = &p_motion_A; diff --git a/servers/physics_2d/collision_solver_2d_sat.h b/servers/physics_2d/godot_collision_solver_2d_sat.h similarity index 77% rename from servers/physics_2d/collision_solver_2d_sat.h rename to servers/physics_2d/godot_collision_solver_2d_sat.h index 49cc5176f9..1517b90a19 100644 --- a/servers/physics_2d/collision_solver_2d_sat.h +++ b/servers/physics_2d/godot_collision_solver_2d_sat.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_2d_sat.h */ +/* godot_collision_solver_2d_sat.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_SOLVER_2D_SAT_H -#define COLLISION_SOLVER_2D_SAT_H +#ifndef GODOT_COLLISION_SOLVER_2D_SAT_H +#define GODOT_COLLISION_SOLVER_2D_SAT_H -#include "collision_solver_2d_sw.h" +#include "godot_collision_solver_2d.h" -bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); +bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); -#endif // COLLISION_SOLVER_2D_SAT_H +#endif // GODOT_COLLISION_SOLVER_2D_SAT_H diff --git a/servers/physics_2d/constraint_2d_sw.h b/servers/physics_2d/godot_constraint_2d.h similarity index 87% rename from servers/physics_2d/constraint_2d_sw.h rename to servers/physics_2d/godot_constraint_2d.h index df300d666d..84f975e583 100644 --- a/servers/physics_2d/constraint_2d_sw.h +++ b/servers/physics_2d/godot_constraint_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* constraint_2d_sw.h */ +/* godot_constraint_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,13 +28,13 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef CONSTRAINT_2D_SW_H -#define CONSTRAINT_2D_SW_H +#ifndef GODOT_CONSTRAINT_2D_H +#define GODOT_CONSTRAINT_2D_H -#include "body_2d_sw.h" +#include "godot_body_2d.h" -class Constraint2DSW { - Body2DSW **_body_ptr; +class GodotConstraint2D { + GodotBody2D **_body_ptr; int _body_count; uint64_t island_step = 0; bool disabled_collisions_between_bodies = true; @@ -42,7 +42,7 @@ class Constraint2DSW { RID self; protected: - Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) { + GodotConstraint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) { _body_ptr = p_body_ptr; _body_count = p_body_count; } @@ -54,7 +54,7 @@ public: _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_body_ptr() const { return _body_ptr; } + _FORCE_INLINE_ GodotBody2D **get_body_ptr() const { return _body_ptr; } _FORCE_INLINE_ int get_body_count() const { return _body_count; } _FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; } @@ -64,7 +64,7 @@ public: virtual bool pre_solve(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; - virtual ~Constraint2DSW() {} + virtual ~GodotConstraint2D() {} }; -#endif // CONSTRAINT_2D_SW_H +#endif // GODOT_CONSTRAINT_2D_H diff --git a/servers/physics_2d/joints_2d_sw.cpp b/servers/physics_2d/godot_joints_2d.cpp similarity index 86% rename from servers/physics_2d/joints_2d_sw.cpp rename to servers/physics_2d/godot_joints_2d.cpp index b46397b8e6..7c08c2f4b4 100644 --- a/servers/physics_2d/joints_2d_sw.cpp +++ b/servers/physics_2d/godot_joints_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* joints_2d_sw.cpp */ +/* godot_joints_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,9 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "joints_2d_sw.h" +#include "godot_joints_2d.h" -#include "space_2d_sw.h" +#include "godot_space_2d.h" //based on chipmunk joint constraints @@ -55,7 +55,7 @@ * SOFTWARE. */ -void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) { +void GodotJoint2D::copy_settings_from(GodotJoint2D *p_joint) { set_self(p_joint->get_self()); set_max_force(p_joint->get_max_force()); set_bias(p_joint->get_bias()); @@ -63,7 +63,7 @@ void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) { disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies()); } -static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { +static inline real_t k_scalar(GodotBody2D *a, GodotBody2D *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) { real_t value = 0.0; { @@ -82,7 +82,7 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const } static inline Vector2 -relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) { +relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB) { Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity(); if (b) { return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum; @@ -92,11 +92,11 @@ relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) { } static inline real_t -normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n) { +normal_relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB, Vector2 n) { return relative_velocity(a, b, rA, rB).dot(n); } -bool PinJoint2DSW::setup(real_t p_step) { +bool GodotPinJoint2D::setup(real_t p_step) { dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); @@ -104,7 +104,7 @@ bool PinJoint2DSW::setup(real_t p_step) { return false; } - Space2DSW *space = A->get_space(); + GodotSpace2D *space = A->get_space(); ERR_FAIL_COND_V(!space, false); rA = A->get_transform().basis_xform(anchor_A); @@ -158,7 +158,7 @@ inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) { return Vector2(p_other * p_vec.y, -p_other * p_vec.x); } -bool PinJoint2DSW::pre_solve(real_t p_step) { +bool GodotPinJoint2D::pre_solve(real_t p_step) { // Apply accumulated impulse. if (dynamic_A) { A->apply_impulse(-P, rA); @@ -170,7 +170,7 @@ bool PinJoint2DSW::pre_solve(real_t p_step) { return true; } -void PinJoint2DSW::solve(real_t p_step) { +void GodotPinJoint2D::solve(real_t p_step) { // compute relative velocity Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity()); @@ -193,21 +193,21 @@ void PinJoint2DSW::solve(real_t p_step) { P += impulse; } -void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) { +void GodotPinJoint2D::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) { if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) { softness = p_value; } } -real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const { +real_t GodotPinJoint2D::get_param(PhysicsServer2D::PinJointParam p_param) const { if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) { return softness; } ERR_FAIL_V(0); } -PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b) : - Joint2DSW(_arr, p_body_b ? 2 : 1) { +GodotPinJoint2D::GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b) : + GodotJoint2D(_arr, p_body_b ? 2 : 1) { A = p_body_a; B = p_body_b; anchor_A = p_body_a->get_inv_transform().xform(p_pos); @@ -224,7 +224,7 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p ////////////////////////////////////////////// static inline void -k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) { +k_tensor(GodotBody2D *a, GodotBody2D *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) { // calculate mass matrix // If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross... real_t k11, k12, k21, k22; @@ -273,7 +273,7 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) { return Vector2(vr.dot(k1), vr.dot(k2)); } -bool GrooveJoint2DSW::setup(real_t p_step) { +bool GodotGrooveJoint2D::setup(real_t p_step) { dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); @@ -281,7 +281,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) { return false; } - Space2DSW *space = A->get_space(); + GodotSpace2D *space = A->get_space(); ERR_FAIL_COND_V(!space, false); // calculate endpoints in worldspace @@ -329,7 +329,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) { return true; } -bool GrooveJoint2DSW::pre_solve(real_t p_step) { +bool GodotGrooveJoint2D::pre_solve(real_t p_step) { // Apply accumulated impulse. if (dynamic_A) { A->apply_impulse(-jn_acc, rA); @@ -341,7 +341,7 @@ bool GrooveJoint2DSW::pre_solve(real_t p_step) { return true; } -void GrooveJoint2DSW::solve(real_t p_step) { +void GodotGrooveJoint2D::solve(real_t p_step) { // compute impulse Vector2 vr = relative_velocity(A, B, rA, rB); @@ -361,8 +361,8 @@ void GrooveJoint2DSW::solve(real_t p_step) { } } -GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) : - Joint2DSW(_arr, 2) { +GodotGrooveJoint2D::GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b) : + GodotJoint2D(_arr, 2) { A = p_body_a; B = p_body_b; @@ -379,7 +379,7 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_ ////////////////////////////////////////////// ////////////////////////////////////////////// -bool DampedSpringJoint2DSW::setup(real_t p_step) { +bool GodotDampedSpringJoint2D::setup(real_t p_step) { dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC); @@ -412,7 +412,7 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) { return true; } -bool DampedSpringJoint2DSW::pre_solve(real_t p_step) { +bool GodotDampedSpringJoint2D::pre_solve(real_t p_step) { // Apply spring force. if (dynamic_A) { A->apply_impulse(-j, rA); @@ -424,7 +424,7 @@ bool DampedSpringJoint2DSW::pre_solve(real_t p_step) { return true; } -void DampedSpringJoint2DSW::solve(real_t p_step) { +void GodotDampedSpringJoint2D::solve(real_t p_step) { // compute relative velocity real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn; @@ -442,7 +442,7 @@ void DampedSpringJoint2DSW::solve(real_t p_step) { } } -void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) { +void GodotDampedSpringJoint2D::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: { rest_length = p_value; @@ -456,7 +456,7 @@ void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param } } -real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_param) const { +real_t GodotDampedSpringJoint2D::get_param(PhysicsServer2D::DampedSpringParam p_param) const { switch (p_param) { case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: { return rest_length; @@ -472,8 +472,8 @@ real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_par ERR_FAIL_V(0); } -DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b) : - Joint2DSW(_arr, 2) { +GodotDampedSpringJoint2D::GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b) : + GodotJoint2D(_arr, 2) { A = p_body_a; B = p_body_b; anchor_A = A->get_inv_transform().xform(p_anchor_a); diff --git a/servers/physics_2d/joints_2d_sw.h b/servers/physics_2d/godot_joints_2d.h similarity index 79% rename from servers/physics_2d/joints_2d_sw.h rename to servers/physics_2d/godot_joints_2d.h index e2a7c0c91e..4c97190d01 100644 --- a/servers/physics_2d/joints_2d_sw.h +++ b/servers/physics_2d/godot_joints_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* joints_2d_sw.h */ +/* godot_joints_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,13 +28,13 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef JOINTS_2D_SW_H -#define JOINTS_2D_SW_H +#ifndef GODOT_JOINTS_2D_H +#define GODOT_JOINTS_2D_H -#include "body_2d_sw.h" -#include "constraint_2d_sw.h" +#include "godot_body_2d.h" +#include "godot_constraint_2d.h" -class Joint2DSW : public Constraint2DSW { +class GodotJoint2D : public GodotConstraint2D { real_t bias = 0; real_t max_bias = 3.40282e+38; real_t max_force = 3.40282e+38; @@ -57,15 +57,15 @@ public: virtual bool pre_solve(real_t p_step) override { return false; } virtual void solve(real_t p_step) override {} - void copy_settings_from(Joint2DSW *p_joint); + void copy_settings_from(GodotJoint2D *p_joint); virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; } - Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) : - Constraint2DSW(p_body_ptr, p_body_count) {} + GodotJoint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) : + GodotConstraint2D(p_body_ptr, p_body_count) {} - virtual ~Joint2DSW() { + virtual ~GodotJoint2D() { for (int i = 0; i < get_body_count(); i++) { - Body2DSW *body = get_body_ptr()[i]; + GodotBody2D *body = get_body_ptr()[i]; if (body) { body->remove_constraint(this, i); } @@ -73,14 +73,14 @@ public: }; }; -class PinJoint2DSW : public Joint2DSW { +class GodotPinJoint2D : public GodotJoint2D { union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2] = { nullptr, nullptr }; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; Transform2D M; @@ -101,17 +101,17 @@ public: void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value); real_t get_param(PhysicsServer2D::PinJointParam p_param) const; - PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b = nullptr); + GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b = nullptr); }; -class GrooveJoint2DSW : public Joint2DSW { +class GodotGrooveJoint2D : public GodotJoint2D { union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2] = { nullptr, nullptr }; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; Vector2 A_groove_1; @@ -135,17 +135,17 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b); + GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b); }; -class DampedSpringJoint2DSW : public Joint2DSW { +class GodotDampedSpringJoint2D : public GodotJoint2D { union { struct { - Body2DSW *A; - Body2DSW *B; + GodotBody2D *A; + GodotBody2D *B; }; - Body2DSW *_arr[2] = { nullptr, nullptr }; + GodotBody2D *_arr[2] = { nullptr, nullptr }; }; Vector2 anchor_A; @@ -172,7 +172,7 @@ public: void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value); real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const; - DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b); + GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b); }; -#endif // JOINTS_2D_SW_H +#endif // GODOT_JOINTS_2D_H diff --git a/servers/physics_2d/godot_physics_server_2d.cpp b/servers/physics_2d/godot_physics_server_2d.cpp new file mode 100644 index 0000000000..c86f87fc03 --- /dev/null +++ b/servers/physics_2d/godot_physics_server_2d.cpp @@ -0,0 +1,1350 @@ +/*************************************************************************/ +/* godot_physics_server_2d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 "godot_physics_server_2d.h" + +#include "godot_body_direct_state_2d.h" +#include "godot_broad_phase_2d_bvh.h" +#include "godot_collision_solver_2d.h" + +#include "core/config/project_settings.h" +#include "core/debugger/engine_debugger.h" +#include "core/os/os.h" + +#define FLUSH_QUERY_CHECK(m_object) \ + ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); + +RID GodotPhysicsServer2D::_shape_create(ShapeType p_shape) { + GodotShape2D *shape = nullptr; + switch (p_shape) { + case SHAPE_WORLD_BOUNDARY: { + shape = memnew(GodotWorldBoundaryShape2D); + } break; + case SHAPE_SEPARATION_RAY: { + shape = memnew(GodotSeparationRayShape2D); + } break; + case SHAPE_SEGMENT: { + shape = memnew(GodotSegmentShape2D); + } break; + case SHAPE_CIRCLE: { + shape = memnew(GodotCircleShape2D); + } break; + case SHAPE_RECTANGLE: { + shape = memnew(GodotRectangleShape2D); + } break; + case SHAPE_CAPSULE: { + shape = memnew(GodotCapsuleShape2D); + } break; + case SHAPE_CONVEX_POLYGON: { + shape = memnew(GodotConvexPolygonShape2D); + } break; + case SHAPE_CONCAVE_POLYGON: { + shape = memnew(GodotConcavePolygonShape2D); + } break; + case SHAPE_CUSTOM: { + ERR_FAIL_V(RID()); + + } break; + } + + RID id = shape_owner.make_rid(shape); + shape->set_self(id); + + return id; +} + +RID GodotPhysicsServer2D::world_boundary_shape_create() { + return _shape_create(SHAPE_WORLD_BOUNDARY); +} + +RID GodotPhysicsServer2D::separation_ray_shape_create() { + return _shape_create(SHAPE_SEPARATION_RAY); +} + +RID GodotPhysicsServer2D::segment_shape_create() { + return _shape_create(SHAPE_SEGMENT); +} + +RID GodotPhysicsServer2D::circle_shape_create() { + return _shape_create(SHAPE_CIRCLE); +} + +RID GodotPhysicsServer2D::rectangle_shape_create() { + return _shape_create(SHAPE_RECTANGLE); +} + +RID GodotPhysicsServer2D::capsule_shape_create() { + return _shape_create(SHAPE_CAPSULE); +} + +RID GodotPhysicsServer2D::convex_polygon_shape_create() { + return _shape_create(SHAPE_CONVEX_POLYGON); +} + +RID GodotPhysicsServer2D::concave_polygon_shape_create() { + return _shape_create(SHAPE_CONCAVE_POLYGON); +} + +void GodotPhysicsServer2D::shape_set_data(RID p_shape, const Variant &p_data) { + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + shape->set_data(p_data); +}; + +void GodotPhysicsServer2D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + shape->set_custom_bias(p_bias); +} + +PhysicsServer2D::ShapeType GodotPhysicsServer2D::shape_get_type(RID p_shape) const { + const GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); + return shape->get_type(); +}; + +Variant GodotPhysicsServer2D::shape_get_data(RID p_shape) const { + const GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, Variant()); + ERR_FAIL_COND_V(!shape->is_configured(), Variant()); + return shape->get_data(); +}; + +real_t GodotPhysicsServer2D::shape_get_custom_solver_bias(RID p_shape) const { + const GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, 0); + return shape->get_custom_bias(); +} + +void GodotPhysicsServer2D::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { + CollCbkData *cbk = (CollCbkData *)p_userdata; + + if (cbk->max == 0) { + return; + } + + Vector2 rel_dir = (p_point_A - p_point_B); + real_t rel_length2 = rel_dir.length_squared(); + if (cbk->valid_dir != Vector2()) { + if (cbk->valid_depth < 10e20) { + if (rel_length2 > cbk->valid_depth * cbk->valid_depth || + (rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) { + cbk->invalid_by_dir++; + return; + } + } else { + if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) { + return; + } + } + } + + if (cbk->amount == cbk->max) { + //find least deep + real_t min_depth = 1e20; + int min_depth_idx = 0; + for (int i = 0; i < cbk->amount; i++) { + real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]); + if (d < min_depth) { + min_depth = d; + min_depth_idx = i; + } + } + + if (rel_length2 < min_depth) { + return; + } + cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; + cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; + cbk->passed++; + + } else { + cbk->ptr[cbk->amount * 2 + 0] = p_point_A; + cbk->ptr[cbk->amount * 2 + 1] = p_point_B; + cbk->amount++; + cbk->passed++; + } +} + +bool GodotPhysicsServer2D::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) { + GodotShape2D *shape_A = shape_owner.get_or_null(p_shape_A); + ERR_FAIL_COND_V(!shape_A, false); + GodotShape2D *shape_B = shape_owner.get_or_null(p_shape_B); + ERR_FAIL_COND_V(!shape_B, false); + + if (p_result_max == 0) { + return GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr); + } + + CollCbkData cbk; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.passed = 0; + cbk.ptr = r_results; + + bool res = GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk); + r_result_count = cbk.amount; + return res; +} + +RID GodotPhysicsServer2D::space_create() { + GodotSpace2D *space = memnew(GodotSpace2D); + RID id = space_owner.make_rid(space); + space->set_self(id); + RID area_id = area_create(); + GodotArea2D *area = area_owner.get_or_null(area_id); + ERR_FAIL_COND_V(!area, RID()); + space->set_default_area(area); + area->set_space(space); + area->set_priority(-1); + + return id; +}; + +void GodotPhysicsServer2D::space_set_active(RID p_space, bool p_active) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + if (p_active) { + active_spaces.insert(space); + } else { + active_spaces.erase(space); + } +} + +bool GodotPhysicsServer2D::space_is_active(RID p_space) const { + const GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, false); + + return active_spaces.has(space); +} + +void GodotPhysicsServer2D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + + space->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer2D::space_get_param(RID p_space, SpaceParameter p_param) const { + const GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_param(p_param); +} + +void GodotPhysicsServer2D::space_set_debug_contacts(RID p_space, int p_max_contacts) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + space->set_debug_contacts(p_max_contacts); +} + +Vector GodotPhysicsServer2D::space_get_contacts(RID p_space) const { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, Vector()); + return space->get_debug_contacts(); +} + +int GodotPhysicsServer2D::space_get_contact_count(RID p_space) const { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_debug_contact_count(); +} + +PhysicsDirectSpaceState2D *GodotPhysicsServer2D::space_get_direct_state(RID p_space) { + GodotSpace2D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, nullptr); + ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); + + return space->get_direct_state(); +} + +RID GodotPhysicsServer2D::area_create() { + GodotArea2D *area = memnew(GodotArea2D); + RID rid = area_owner.make_rid(area); + area->set_self(rid); + return rid; +}; + +void GodotPhysicsServer2D::area_set_space(RID p_area, RID p_space) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotSpace2D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (area->get_space() == space) { + return; //pointless + } + + area->clear_constraints(); + area->set_space(space); +}; + +RID GodotPhysicsServer2D::area_get_space(RID p_area) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, RID()); + + GodotSpace2D *space = area->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +}; + +void GodotPhysicsServer2D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_space_override_mode(p_mode); +} + +PhysicsServer2D::AreaSpaceOverrideMode GodotPhysicsServer2D::area_get_space_override_mode(RID p_area) const { + const GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED); + + return area->get_space_override_mode(); +} + +void GodotPhysicsServer2D::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + + area->add_shape(shape, p_transform, p_disabled); +} + +void GodotPhysicsServer2D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + ERR_FAIL_COND(!shape->is_configured()); + + area->set_shape(p_shape_idx, shape); +} + +void GodotPhysicsServer2D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_transform(p_shape_idx, p_transform); +} + +void GodotPhysicsServer2D::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + ERR_FAIL_INDEX(p_shape, area->get_shape_count()); + FLUSH_QUERY_CHECK(area); + + area->set_shape_disabled(p_shape, p_disabled); +} + +int GodotPhysicsServer2D::area_get_shape_count(RID p_area) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, -1); + + return area->get_shape_count(); +} + +RID GodotPhysicsServer2D::area_get_shape(RID p_area, int p_shape_idx) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, RID()); + + GodotShape2D *shape = area->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform2D GodotPhysicsServer2D::area_get_shape_transform(RID p_area, int p_shape_idx) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Transform2D()); + + return area->get_shape_transform(p_shape_idx); +} + +void GodotPhysicsServer2D::area_remove_shape(RID p_area, int p_shape_idx) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->remove_shape(p_shape_idx); +} + +void GodotPhysicsServer2D::area_clear_shapes(RID p_area) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + while (area->get_shape_count()) { + area->remove_shape(0); + } +} + +void GodotPhysicsServer2D::area_attach_object_instance_id(RID p_area, ObjectID p_id) { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_instance_id(p_id); +} + +ObjectID GodotPhysicsServer2D::area_get_object_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_instance_id(); +} + +void GodotPhysicsServer2D::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_canvas_instance_id(p_id); +} + +ObjectID GodotPhysicsServer2D::area_get_canvas_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_canvas_instance_id(); +} + +void GodotPhysicsServer2D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_param(p_param, p_value); +}; + +void GodotPhysicsServer2D::area_set_transform(RID p_area, const Transform2D &p_transform) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_transform(p_transform); +}; + +Variant GodotPhysicsServer2D::area_get_param(RID p_area, AreaParameter p_param) const { + if (space_owner.owns(p_area)) { + GodotSpace2D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Variant()); + + return area->get_param(p_param); +}; + +Transform2D GodotPhysicsServer2D::area_get_transform(RID p_area) const { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Transform2D()); + + return area->get_transform(); +}; + +void GodotPhysicsServer2D::area_set_pickable(RID p_area, bool p_pickable) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_pickable(p_pickable); +} + +void GodotPhysicsServer2D::area_set_monitorable(RID p_area, bool p_monitorable) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + FLUSH_QUERY_CHECK(area); + + area->set_monitorable(p_monitorable); +} + +void GodotPhysicsServer2D::area_set_collision_mask(RID p_area, uint32_t p_mask) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_collision_mask(p_mask); +} + +void GodotPhysicsServer2D::area_set_collision_layer(RID p_area, uint32_t p_layer) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_collision_layer(p_layer); +} + +void GodotPhysicsServer2D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); +} + +void GodotPhysicsServer2D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + GodotArea2D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); +} + +/* BODY API */ + +RID GodotPhysicsServer2D::body_create() { + GodotBody2D *body = memnew(GodotBody2D); + RID rid = body_owner.make_rid(body); + body->set_self(rid); + return rid; +} + +void GodotPhysicsServer2D::body_set_space(RID p_body, RID p_space) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + GodotSpace2D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) { + return; //pointless + } + + body->clear_constraint_list(); + body->set_space(space); +}; + +RID GodotPhysicsServer2D::body_get_space(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, RID()); + + GodotSpace2D *space = body->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +}; + +void GodotPhysicsServer2D::body_set_mode(RID p_body, BodyMode p_mode) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + FLUSH_QUERY_CHECK(body); + + body->set_mode(p_mode); +}; + +PhysicsServer2D::BodyMode GodotPhysicsServer2D::body_get_mode(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); + + return body->get_mode(); +}; + +void GodotPhysicsServer2D::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + + body->add_shape(shape, p_transform, p_disabled); +} + +void GodotPhysicsServer2D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotShape2D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + ERR_FAIL_COND(!shape->is_configured()); + + body->set_shape(p_shape_idx, shape); +} + +void GodotPhysicsServer2D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_transform(p_shape_idx, p_transform); +} + +int GodotPhysicsServer2D::body_get_shape_count(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, -1); + + return body->get_shape_count(); +} + +RID GodotPhysicsServer2D::body_get_shape(RID p_body, int p_shape_idx) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, RID()); + + GodotShape2D *shape = body->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform2D GodotPhysicsServer2D::body_get_shape_transform(RID p_body, int p_shape_idx) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Transform2D()); + + return body->get_shape_transform(p_shape_idx); +} + +void GodotPhysicsServer2D::body_remove_shape(RID p_body, int p_shape_idx) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->remove_shape(p_shape_idx); +} + +void GodotPhysicsServer2D::body_clear_shapes(RID p_body) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + while (body->get_shape_count()) { + body->remove_shape(0); + } +} + +void GodotPhysicsServer2D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); + FLUSH_QUERY_CHECK(body); + + body->set_shape_disabled(p_shape_idx, p_disabled); +} + +void GodotPhysicsServer2D::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); + FLUSH_QUERY_CHECK(body); + + body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin); +} + +void GodotPhysicsServer2D::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_continuous_collision_detection_mode(p_mode); +} + +GodotPhysicsServer2D::CCDMode GodotPhysicsServer2D::body_get_continuous_collision_detection_mode(RID p_body) const { + const GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED); + + return body->get_continuous_collision_detection_mode(); +} + +void GodotPhysicsServer2D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_instance_id(p_id); +}; + +ObjectID GodotPhysicsServer2D::body_get_object_instance_id(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, ObjectID()); + + return body->get_instance_id(); +}; + +void GodotPhysicsServer2D::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_canvas_instance_id(p_id); +}; + +ObjectID GodotPhysicsServer2D::body_get_canvas_instance_id(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, ObjectID()); + + return body->get_canvas_instance_id(); +}; + +void GodotPhysicsServer2D::body_set_collision_layer(RID p_body, uint32_t p_layer) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_collision_layer(p_layer); +}; + +uint32_t GodotPhysicsServer2D::body_get_collision_layer(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +}; + +void GodotPhysicsServer2D::body_set_collision_mask(RID p_body, uint32_t p_mask) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_collision_mask(p_mask); +}; + +uint32_t GodotPhysicsServer2D::body_get_collision_mask(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +}; + +void GodotPhysicsServer2D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_param(p_param, p_value); +}; + +Variant GodotPhysicsServer2D::body_get_param(RID p_body, BodyParameter p_param) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_param(p_param); +}; + +void GodotPhysicsServer2D::body_reset_mass_properties(RID p_body) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + return body->reset_mass_properties(); +} + +void GodotPhysicsServer2D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_state(p_state, p_variant); +}; + +Variant GodotPhysicsServer2D::body_get_state(RID p_body, BodyState p_state) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Variant()); + + return body->get_state(p_state); +}; + +void GodotPhysicsServer2D::body_set_applied_force(RID p_body, const Vector2 &p_force) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_force(p_force); + body->wakeup(); +}; + +Vector2 GodotPhysicsServer2D::body_get_applied_force(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Vector2()); + return body->get_applied_force(); +}; + +void GodotPhysicsServer2D::body_set_applied_torque(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_torque(p_torque); + body->wakeup(); +}; + +real_t GodotPhysicsServer2D::body_get_applied_torque(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_applied_torque(); +}; + +void GodotPhysicsServer2D::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->apply_central_impulse(p_impulse); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_torque_impulse(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_torque_impulse(p_torque); + body->wakeup(); +} + +void GodotPhysicsServer2D::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_impulse(p_impulse, p_position); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_add_central_force(RID p_body, const Vector2 &p_force) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_central_force(p_force); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_force(p_force, p_position); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_add_torque(RID p_body, real_t p_torque) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_torque(p_torque); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + Vector2 v = body->get_linear_velocity(); + Vector2 axis = p_axis_velocity.normalized(); + v -= axis * axis.dot(v); + v += p_axis_velocity; + body->set_linear_velocity(v); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_add_collision_exception(RID p_body, RID p_body_b) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_exception(p_body_b); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_remove_collision_exception(RID p_body, RID p_body_b) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->remove_exception(p_body_b); + body->wakeup(); +}; + +void GodotPhysicsServer2D::body_get_collision_exceptions(RID p_body, List *p_exceptions) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +}; + +void GodotPhysicsServer2D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); +}; + +real_t GodotPhysicsServer2D::body_get_contacts_reported_depth_threshold(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + return 0; +}; + +void GodotPhysicsServer2D::body_set_omit_force_integration(RID p_body, bool p_omit) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_omit_force_integration(p_omit); +}; + +bool GodotPhysicsServer2D::body_is_omitting_force_integration(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + return body->get_omit_force_integration(); +}; + +void GodotPhysicsServer2D::body_set_max_contacts_reported(RID p_body, int p_contacts) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_max_contacts_reported(p_contacts); +} + +int GodotPhysicsServer2D::body_get_max_contacts_reported(RID p_body) const { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, -1); + return body->get_max_contacts_reported(); +} + +void GodotPhysicsServer2D::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_state_sync_callback(p_instance, p_callback); +} + +void GodotPhysicsServer2D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_force_integration_callback(p_callable, p_udata); +} + +bool GodotPhysicsServer2D::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false); + + return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count); +} + +void GodotPhysicsServer2D::body_set_pickable(RID p_body, bool p_pickable) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_pickable(p_pickable); +} + +bool GodotPhysicsServer2D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) { + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_COND_V(!body->get_space(), false); + ERR_FAIL_COND_V(body->get_space()->is_locked(), false); + + _update_shapes(); + + return body->get_space()->test_body_motion(body, p_parameters, r_result); +} + +PhysicsDirectBodyState2D *GodotPhysicsServer2D::body_get_direct_state(RID p_body) { + ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); + + GodotBody2D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, nullptr); + + ERR_FAIL_COND_V(!body->get_space(), nullptr); + ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); + + return body->get_direct_state(); +} + +/* JOINT API */ + +RID GodotPhysicsServer2D::joint_create() { + GodotJoint2D *joint = memnew(GodotJoint2D); + RID joint_rid = joint_owner.make_rid(joint); + joint->set_self(joint_rid); + return joint_rid; +} + +void GodotPhysicsServer2D::joint_clear(RID p_joint) { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + if (joint->get_type() != JOINT_TYPE_MAX) { + GodotJoint2D *empty_joint = memnew(GodotJoint2D); + empty_joint->copy_settings_from(joint); + + joint_owner.replace(p_joint, empty_joint); + memdelete(joint); + } +} + +void GodotPhysicsServer2D::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + + switch (p_param) { + case JOINT_PARAM_BIAS: + joint->set_bias(p_value); + break; + case JOINT_PARAM_MAX_BIAS: + joint->set_max_bias(p_value); + break; + case JOINT_PARAM_MAX_FORCE: + joint->set_max_force(p_value); + break; + } +} + +real_t GodotPhysicsServer2D::joint_get_param(RID p_joint, JointParam p_param) const { + const GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, -1); + + switch (p_param) { + case JOINT_PARAM_BIAS: + return joint->get_bias(); + break; + case JOINT_PARAM_MAX_BIAS: + return joint->get_max_bias(); + break; + case JOINT_PARAM_MAX_FORCE: + return joint->get_max_force(); + break; + } + + return 0; +} + +void GodotPhysicsServer2D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + GodotBody2D *body_a = *joint->get_body_ptr(); + GodotBody2D *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool GodotPhysicsServer2D::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + const GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + +void GodotPhysicsServer2D::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) { + GodotBody2D *A = body_owner.get_or_null(p_body_a); + ERR_FAIL_COND(!A); + GodotBody2D *B = nullptr; + if (body_owner.owns(p_body_b)) { + B = body_owner.get_or_null(p_body_b); + ERR_FAIL_COND(!B); + } + + GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint2D *joint = memnew(GodotPinJoint2D(p_pos, A, B)); + + joint_owner.replace(p_joint, joint); + joint->copy_settings_from(prev_joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer2D::joint_make_groove(RID p_joint, const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) { + GodotBody2D *A = body_owner.get_or_null(p_body_a); + ERR_FAIL_COND(!A); + + GodotBody2D *B = body_owner.get_or_null(p_body_b); + ERR_FAIL_COND(!B); + + GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint2D *joint = memnew(GodotGrooveJoint2D(p_a_groove1, p_a_groove2, p_b_anchor, A, B)); + + joint_owner.replace(p_joint, joint); + joint->copy_settings_from(prev_joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer2D::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) { + GodotBody2D *A = body_owner.get_or_null(p_body_a); + ERR_FAIL_COND(!A); + + GodotBody2D *B = body_owner.get_or_null(p_body_b); + ERR_FAIL_COND(!B); + + GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint2D *joint = memnew(GodotDampedSpringJoint2D(p_anchor_a, p_anchor_b, A, B)); + + joint_owner.replace(p_joint, joint); + joint->copy_settings_from(prev_joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer2D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!j); + ERR_FAIL_COND(j->get_type() != JOINT_TYPE_PIN); + + GodotPinJoint2D *pin_joint = static_cast(j); + pin_joint->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer2D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!j, 0); + ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_PIN, 0); + + GodotPinJoint2D *pin_joint = static_cast(j); + return pin_joint->get_param(p_param); +} + +void GodotPhysicsServer2D::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!j); + ERR_FAIL_COND(j->get_type() != JOINT_TYPE_DAMPED_SPRING); + + GodotDampedSpringJoint2D *dsj = static_cast(j); + dsj->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer2D::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const { + GodotJoint2D *j = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!j, 0); + ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_DAMPED_SPRING, 0); + + GodotDampedSpringJoint2D *dsj = static_cast(j); + return dsj->get_param(p_param); +} + +PhysicsServer2D::JointType GodotPhysicsServer2D::joint_get_type(RID p_joint) const { + GodotJoint2D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); + + return joint->get_type(); +} + +void GodotPhysicsServer2D::free(RID p_rid) { + _update_shapes(); // just in case + + if (shape_owner.owns(p_rid)) { + GodotShape2D *shape = shape_owner.get_or_null(p_rid); + + while (shape->get_owners().size()) { + GodotShapeOwner2D *so = shape->get_owners().front()->key(); + so->remove_shape(shape); + } + + shape_owner.free(p_rid); + memdelete(shape); + } else if (body_owner.owns(p_rid)) { + GodotBody2D *body = body_owner.get_or_null(p_rid); + + /* + if (body->get_state_query()) + _clear_query(body->get_state_query()); + + if (body->get_direct_state_query()) + _clear_query(body->get_direct_state_query()); + */ + + body_set_space(p_rid, RID()); + + while (body->get_shape_count()) { + body->remove_shape(0); + } + + body_owner.free(p_rid); + memdelete(body); + + } else if (area_owner.owns(p_rid)) { + GodotArea2D *area = area_owner.get_or_null(p_rid); + + /* + if (area->get_monitor_query()) + _clear_query(area->get_monitor_query()); + */ + + area->set_space(nullptr); + + while (area->get_shape_count()) { + area->remove_shape(0); + } + + area_owner.free(p_rid); + memdelete(area); + } else if (space_owner.owns(p_rid)) { + GodotSpace2D *space = space_owner.get_or_null(p_rid); + + while (space->get_objects().size()) { + GodotCollisionObject2D *co = (GodotCollisionObject2D *)space->get_objects().front()->get(); + co->set_space(nullptr); + } + + active_spaces.erase(space); + free(space->get_default_area()->get_self()); + space_owner.free(p_rid); + memdelete(space); + } else if (joint_owner.owns(p_rid)) { + GodotJoint2D *joint = joint_owner.get_or_null(p_rid); + + joint_owner.free(p_rid); + memdelete(joint); + + } else { + ERR_FAIL_MSG("Invalid ID."); + } +}; + +void GodotPhysicsServer2D::set_active(bool p_active) { + active = p_active; +}; + +void GodotPhysicsServer2D::set_collision_iterations(int p_iterations) { + iterations = p_iterations; +}; + +void GodotPhysicsServer2D::init() { + doing_sync = false; + iterations = 8; // 8? + stepper = memnew(GodotStep2D); +}; + +void GodotPhysicsServer2D::step(real_t p_step) { + if (!active) { + return; + } + + _update_shapes(); + + island_count = 0; + active_objects = 0; + collision_pairs = 0; + for (Set::Element *E = active_spaces.front(); E; E = E->next()) { + stepper->step((GodotSpace2D *)E->get(), p_step, iterations); + island_count += E->get()->get_island_count(); + active_objects += E->get()->get_active_objects(); + collision_pairs += E->get()->get_collision_pairs(); + } +}; + +void GodotPhysicsServer2D::sync() { + doing_sync = true; +}; + +void GodotPhysicsServer2D::flush_queries() { + if (!active) { + return; + } + + flushing_queries = true; + + uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); + + for (Set::Element *E = active_spaces.front(); E; E = E->next()) { + GodotSpace2D *space = (GodotSpace2D *)E->get(); + space->call_queries(); + } + + flushing_queries = false; + + if (EngineDebugger::is_profiling("servers")) { + uint64_t total_time[GodotSpace2D::ELAPSED_TIME_MAX]; + static const char *time_name[GodotSpace2D::ELAPSED_TIME_MAX] = { + "integrate_forces", + "generate_islands", + "setup_constraints", + "solve_constraints", + "integrate_velocities" + }; + + for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { + total_time[i] = 0; + } + + for (Set::Element *E = active_spaces.front(); E; E = E->next()) { + for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { + total_time[i] += E->get()->get_elapsed_time(GodotSpace2D::ElapsedTime(i)); + } + } + + Array values; + values.resize(GodotSpace2D::ELAPSED_TIME_MAX * 2); + for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) { + values[i * 2 + 0] = time_name[i]; + values[i * 2 + 1] = USEC_TO_SEC(total_time[i]); + } + values.push_back("flush_queries"); + values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg)); + + values.push_front("physics_2d"); + EngineDebugger::profiler_add_frame_data("servers", values); + } +} + +void GodotPhysicsServer2D::end_sync() { + doing_sync = false; +} + +void GodotPhysicsServer2D::finish() { + memdelete(stepper); +}; + +void GodotPhysicsServer2D::_update_shapes() { + while (pending_shape_update_list.first()) { + pending_shape_update_list.first()->self()->_shape_changed(); + pending_shape_update_list.remove(pending_shape_update_list.first()); + } +} + +int GodotPhysicsServer2D::get_process_info(ProcessInfo p_info) { + switch (p_info) { + case INFO_ACTIVE_OBJECTS: { + return active_objects; + } break; + case INFO_COLLISION_PAIRS: { + return collision_pairs; + } break; + case INFO_ISLAND_COUNT: { + return island_count; + } break; + } + + return 0; +} + +GodotPhysicsServer2D *GodotPhysicsServer2D::godot_singleton = nullptr; + +GodotPhysicsServer2D::GodotPhysicsServer2D(bool p_using_threads) { + godot_singleton = this; + GodotBroadPhase2D::create_func = GodotBroadPhase2DBVH::_create; + + using_threads = p_using_threads; +}; diff --git a/servers/physics_2d/physics_server_2d_sw.h b/servers/physics_2d/godot_physics_server_2d.h similarity index 92% rename from servers/physics_2d/physics_server_2d_sw.h rename to servers/physics_2d/godot_physics_server_2d.h index b8e375a087..a8a1e71d13 100644 --- a/servers/physics_2d/physics_server_2d_sw.h +++ b/servers/physics_2d/godot_physics_server_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* physics_server_2d_sw.h */ +/* godot_physics_server_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,21 +28,22 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS_2D_SERVER_SW -#define PHYSICS_2D_SERVER_SW +#ifndef GODOT_PHYSICS_SERVER_2D_H +#define GODOT_PHYSICS_SERVER_2D_H + +#include "godot_joints_2d.h" +#include "godot_shape_2d.h" +#include "godot_space_2d.h" +#include "godot_step_2d.h" #include "core/templates/rid_owner.h" -#include "joints_2d_sw.h" #include "servers/physics_server_2d.h" -#include "shape_2d_sw.h" -#include "space_2d_sw.h" -#include "step_2d_sw.h" -class PhysicsServer2DSW : public PhysicsServer2D { - GDCLASS(PhysicsServer2DSW, PhysicsServer2D); +class GodotPhysicsServer2D : public PhysicsServer2D { + GDCLASS(GodotPhysicsServer2D, PhysicsServer2D); - friend class PhysicsDirectSpaceState2DSW; - friend class PhysicsDirectBodyState2DSW; + friend class GodotPhysicsDirectSpaceState2D; + friend class GodotPhysicsDirectBodyState2D; bool active = true; int iterations = 0; bool doing_sync = false; @@ -55,20 +56,19 @@ class PhysicsServer2DSW : public PhysicsServer2D { bool flushing_queries = false; - Step2DSW *stepper = nullptr; - Set active_spaces; + GodotStep2D *stepper = nullptr; + Set active_spaces; - mutable RID_PtrOwner shape_owner; - mutable RID_PtrOwner space_owner; - mutable RID_PtrOwner area_owner; - mutable RID_PtrOwner body_owner; - mutable RID_PtrOwner joint_owner; + mutable RID_PtrOwner shape_owner; + mutable RID_PtrOwner space_owner; + mutable RID_PtrOwner area_owner; + mutable RID_PtrOwner body_owner; + mutable RID_PtrOwner joint_owner; - static PhysicsServer2DSW *singletonsw; + static GodotPhysicsServer2D *godot_singleton; - //void _clear_query(Query2DSW *p_query); - friend class CollisionObject2DSW; - SelfList::List pending_shape_update_list; + friend class GodotCollisionObject2D; + SelfList::List pending_shape_update_list; void _update_shapes(); RID _shape_create(ShapeType p_shape); @@ -292,8 +292,8 @@ public: int get_process_info(ProcessInfo p_info) override; - PhysicsServer2DSW(bool p_using_threads = false); - ~PhysicsServer2DSW() {} + GodotPhysicsServer2D(bool p_using_threads = false); + ~GodotPhysicsServer2D() {} }; -#endif +#endif // GODOT_PHYSICS_SERVER_2D_H diff --git a/servers/physics_2d/shape_2d_sw.cpp b/servers/physics_2d/godot_shape_2d.cpp similarity index 80% rename from servers/physics_2d/shape_2d_sw.cpp rename to servers/physics_2d/godot_shape_2d.cpp index bde882ac24..3604004324 100644 --- a/servers/physics_2d/shape_2d_sw.cpp +++ b/servers/physics_2d/godot_shape_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* shape_2d_sw.cpp */ +/* godot_shape_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,29 +28,29 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "shape_2d_sw.h" +#include "godot_shape_2d.h" #include "core/math/geometry_2d.h" #include "core/templates/sort_array.h" -void Shape2DSW::configure(const Rect2 &p_aabb) { +void GodotShape2D::configure(const Rect2 &p_aabb) { aabb = p_aabb; configured = true; - for (const KeyValue &E : owners) { - ShapeOwner2DSW *co = (ShapeOwner2DSW *)E.key; + for (const KeyValue &E : owners) { + GodotShapeOwner2D *co = (GodotShapeOwner2D *)E.key; co->_shape_changed(); } } -Vector2 Shape2DSW::get_support(const Vector2 &p_normal) const { +Vector2 GodotShape2D::get_support(const Vector2 &p_normal) const { Vector2 res[2]; int amnt; get_supports(p_normal, res, amnt); return res[0]; } -void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) { - Map::Element *E = owners.find(p_owner); +void GodotShape2D::add_owner(GodotShapeOwner2D *p_owner) { + Map::Element *E = owners.find(p_owner); if (E) { E->get()++; } else { @@ -58,8 +58,8 @@ void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) { } } -void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) { - Map::Element *E = owners.find(p_owner); +void GodotShape2D::remove_owner(GodotShapeOwner2D *p_owner) { + Map::Element *E = owners.find(p_owner); ERR_FAIL_COND(!E); E->get()--; if (E->get() == 0) { @@ -67,15 +67,15 @@ void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) { } } -bool Shape2DSW::is_owner(ShapeOwner2DSW *p_owner) const { +bool GodotShape2D::is_owner(GodotShapeOwner2D *p_owner) const { return owners.has(p_owner); } -const Map &Shape2DSW::get_owners() const { +const Map &GodotShape2D::get_owners() const { return owners; } -Shape2DSW::~Shape2DSW() { +GodotShape2D::~GodotShape2D() { ERR_FAIL_COND(owners.size()); } @@ -83,15 +83,15 @@ Shape2DSW::~Shape2DSW() { /*********************************************************/ /*********************************************************/ -void WorldBoundaryShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotWorldBoundaryShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 0; } -bool WorldBoundaryShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotWorldBoundaryShape2D::contains_point(const Vector2 &p_point) const { return normal.dot(p_point) < d; } -bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotWorldBoundaryShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 segment = p_begin - p_end; real_t den = normal.dot(segment); @@ -113,11 +113,11 @@ bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec return true; } -real_t WorldBoundaryShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotWorldBoundaryShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; } -void WorldBoundaryShape2DSW::set_data(const Variant &p_data) { +void GodotWorldBoundaryShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY); Array arr = p_data; ERR_FAIL_COND(arr.size() != 2); @@ -126,7 +126,7 @@ void WorldBoundaryShape2DSW::set_data(const Variant &p_data) { configure(Rect2(Vector2(-1e4, -1e4), Vector2(1e4 * 2, 1e4 * 2))); } -Variant WorldBoundaryShape2DSW::get_data() const { +Variant GodotWorldBoundaryShape2D::get_data() const { Array arr; arr.resize(2); arr[0] = normal; @@ -138,7 +138,7 @@ Variant WorldBoundaryShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void SeparationRayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotSeparationRayShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 1; if (p_normal.y > 0) { @@ -148,26 +148,26 @@ void SeparationRayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su } } -bool SeparationRayShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotSeparationRayShape2D::contains_point(const Vector2 &p_point) const { return false; } -bool SeparationRayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotSeparationRayShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { return false; //rays can't be intersected } -real_t SeparationRayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotSeparationRayShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return 0; //rays are mass-less } -void SeparationRayShape2DSW::set_data(const Variant &p_data) { +void GodotSeparationRayShape2D::set_data(const Variant &p_data) { Dictionary d = p_data; length = d["length"]; slide_on_slope = d["slide_on_slope"]; configure(Rect2(0, 0, 0.001, length)); } -Variant SeparationRayShape2DSW::get_data() const { +Variant GodotSeparationRayShape2D::get_data() const { Dictionary d; d["length"] = length; d["slide_on_slope"] = slide_on_slope; @@ -178,7 +178,7 @@ Variant SeparationRayShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotSegmentShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) { r_supports[0] = a; r_supports[1] = b; @@ -195,11 +195,11 @@ void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports r_amount = 1; } -bool SegmentShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotSegmentShape2D::contains_point(const Vector2 &p_point) const { return false; } -bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotSegmentShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { if (!Geometry2D::segment_intersects_segment(p_begin, p_end, a, b, &r_point)) { return false; } @@ -213,11 +213,11 @@ bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 & return true; } -real_t SegmentShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotSegmentShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { return p_mass * ((a * p_scale).distance_squared_to(b * p_scale)) / 12; } -void SegmentShape2DSW::set_data(const Variant &p_data) { +void GodotSegmentShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::RECT2); Rect2 r = p_data; @@ -237,7 +237,7 @@ void SegmentShape2DSW::set_data(const Variant &p_data) { configure(aabb); } -Variant SegmentShape2DSW::get_data() const { +Variant GodotSegmentShape2D::get_data() const { Rect2 r; r.position = a; r.size = b; @@ -248,16 +248,16 @@ Variant SegmentShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void CircleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotCircleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { r_amount = 1; *r_supports = p_normal * radius; } -bool CircleShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotCircleShape2D::contains_point(const Vector2 &p_point) const { return p_point.length_squared() < radius * radius; } -bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotCircleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 line_vec = p_end - p_begin; real_t a, b, c; @@ -283,19 +283,19 @@ bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p return true; } -real_t CircleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotCircleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { real_t a = radius * p_scale.x; real_t b = radius * p_scale.y; return p_mass * (a * a + b * b) / 4; } -void CircleShape2DSW::set_data(const Variant &p_data) { +void GodotCircleShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(!p_data.is_num()); radius = p_data; configure(Rect2(-radius, -radius, radius * 2, radius * 2)); } -Variant CircleShape2DSW::get_data() const { +Variant GodotCircleShape2D::get_data() const { return radius; } @@ -303,7 +303,7 @@ Variant CircleShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotRectangleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { for (int i = 0; i < 2; i++) { Vector2 ag; ag[i] = 1.0; @@ -333,7 +333,7 @@ void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_suppor (p_normal.y < 0) ? -half_extents.y : half_extents.y); } -bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotRectangleShape2D::contains_point(const Vector2 &p_point) const { real_t x = p_point.x; real_t y = p_point.y; real_t edge_x = half_extents.x; @@ -341,23 +341,23 @@ bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const { return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y); } -bool RectangleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotRectangleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { return get_aabb().intersects_segment(p_begin, p_end, &r_point, &r_normal); } -real_t RectangleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotRectangleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { Vector2 he2 = half_extents * 2 * p_scale; return p_mass * he2.dot(he2) / 12.0; } -void RectangleShape2DSW::set_data(const Variant &p_data) { +void GodotRectangleShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::VECTOR2); half_extents = p_data; configure(Rect2(-half_extents, half_extents * 2.0)); } -Variant RectangleShape2DSW::get_data() const { +Variant GodotRectangleShape2D::get_data() const { return half_extents; } @@ -365,7 +365,7 @@ Variant RectangleShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { Vector2 n = p_normal; real_t d = n.y; @@ -392,7 +392,7 @@ void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports } } -bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotCapsuleShape2D::contains_point(const Vector2 &p_point) const { Vector2 p = p_point; p.y = Math::abs(p.y); p.y -= height * 0.5 - radius; @@ -403,7 +403,7 @@ bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const { return p.length_squared() < radius * radius; } -bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotCapsuleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { real_t d = 1e10; Vector2 n = (p_end - p_begin).normalized(); bool collided = false; @@ -463,12 +463,12 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 & return collided; //todo } -real_t CapsuleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotCapsuleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { Vector2 he2 = Vector2(radius * 2, height) * p_scale; return p_mass * he2.dot(he2) / 12.0; } -void CapsuleShape2DSW::set_data(const Variant &p_data) { +void GodotCapsuleShape2D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY && p_data.get_type() != Variant::VECTOR2); if (p_data.get_type() == Variant::ARRAY) { @@ -486,7 +486,7 @@ void CapsuleShape2DSW::set_data(const Variant &p_data) { configure(Rect2(-he, he * 2)); } -Variant CapsuleShape2DSW::get_data() const { +Variant GodotCapsuleShape2D::get_data() const { return Point2(height, radius); } @@ -494,7 +494,7 @@ Variant CapsuleShape2DSW::get_data() const { /*********************************************************/ /*********************************************************/ -void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotConvexPolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { int support_idx = -1; real_t d = -1e10; r_amount = 0; @@ -522,7 +522,7 @@ void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su r_supports[0] = points[support_idx].pos; } -bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotConvexPolygonShape2D::contains_point(const Vector2 &p_point) const { bool out = false; bool in = false; @@ -538,7 +538,7 @@ bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const { return in != out; } -bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotConvexPolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { Vector2 n = (p_end - p_begin).normalized(); real_t d = 1e10; bool inters = false; @@ -568,7 +568,7 @@ bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec return inters; } -real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { +real_t GodotConvexPolygonShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const { ERR_FAIL_COND_V_MSG(point_count == 0, 0, "Convex polygon shape has no points."); Rect2 aabb; aabb.position = points[0].pos * p_scale; @@ -579,7 +579,7 @@ real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 return p_mass * aabb.size.dot(aabb.size) / 12.0; } -void ConvexPolygonShape2DSW::set_data(const Variant &p_data) { +void GodotConvexPolygonShape2D::set_data(const Variant &p_data) { #ifdef REAL_T_IS_DOUBLE ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY); #else @@ -635,7 +635,7 @@ void ConvexPolygonShape2DSW::set_data(const Variant &p_data) { configure(aabb); } -Variant ConvexPolygonShape2DSW::get_data() const { +Variant GodotConvexPolygonShape2D::get_data() const { Vector dvr; dvr.resize(point_count); @@ -647,7 +647,7 @@ Variant ConvexPolygonShape2DSW::get_data() const { return dvr; } -ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() { +GodotConvexPolygonShape2D::~GodotConvexPolygonShape2D() { if (points) { memdelete_arr(points); } @@ -655,7 +655,7 @@ ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() { ////////////////////////////////////////////////// -void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { +void GodotConcavePolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const { real_t d = -1e10; int idx = -1; for (int i = 0; i < points.size(); i++) { @@ -671,11 +671,11 @@ void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_s *r_supports = points[idx]; } -bool ConcavePolygonShape2DSW::contains_point(const Vector2 &p_point) const { +bool GodotConcavePolygonShape2D::contains_point(const Vector2 &p_point) const { return false; //sorry } -bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { +bool GodotConcavePolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const { if (segments.size() == 0 || points.size() == 0) { return false; } @@ -783,7 +783,7 @@ bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Ve return inters; } -int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { +int GodotConcavePolygonShape2D::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { if (p_len == 1) { bvh_depth = MAX(p_depth, bvh_depth); bvh.push_back(*p_bvh); @@ -821,7 +821,7 @@ int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) { return node_idx; } -void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { +void GodotConcavePolygonShape2D::set_data(const Variant &p_data) { #ifdef REAL_T_IS_DOUBLE ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY); #else @@ -898,7 +898,7 @@ void ConcavePolygonShape2DSW::set_data(const Variant &p_data) { configure(aabb); } -Variant ConcavePolygonShape2DSW::get_data() const { +Variant GodotConcavePolygonShape2D::get_data() const { Vector rsegments; int len = segments.size(); rsegments.resize(len * 2); @@ -911,7 +911,7 @@ Variant ConcavePolygonShape2DSW::get_data() const { return rsegments; } -void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { +void GodotConcavePolygonShape2D::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth); enum { @@ -957,7 +957,7 @@ void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_ca Vector2 a = pointptr[s.points[0]]; Vector2 b = pointptr[s.points[1]]; - SegmentShape2DSW ss(a, b, (b - a).orthogonal().normalized()); + GodotSegmentShape2D ss(a, b, (b - a).orthogonal().normalized()); if (p_callback(p_userdata, &ss)) { return; diff --git a/servers/physics_2d/shape_2d_sw.h b/servers/physics_2d/godot_shape_2d.h similarity index 92% rename from servers/physics_2d/shape_2d_sw.h rename to servers/physics_2d/godot_shape_2d.h index c118826284..25d113aafb 100644 --- a/servers/physics_2d/shape_2d_sw.h +++ b/servers/physics_2d/godot_shape_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* shape_2d_sw.h */ +/* godot_shape_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,29 +28,29 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef SHAPE_2D_2DSW_H -#define SHAPE_2D_2DSW_H +#ifndef GODOT_SHAPE_2D_H +#define GODOT_SHAPE_2D_H #include "servers/physics_server_2d.h" #define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998 -class Shape2DSW; +class GodotShape2D; -class ShapeOwner2DSW { +class GodotShapeOwner2D { public: virtual void _shape_changed() = 0; - virtual void remove_shape(Shape2DSW *p_shape) = 0; + virtual void remove_shape(GodotShape2D *p_shape) = 0; - virtual ~ShapeOwner2DSW() {} + virtual ~GodotShapeOwner2D() {} }; -class Shape2DSW { +class GodotShape2D { RID self; Rect2 aabb; bool configured = false; real_t custom_bias = 0.0; - Map owners; + Map owners; protected: void configure(const Rect2 &p_aabb); @@ -83,10 +83,10 @@ public: _FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; } _FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; } - void add_owner(ShapeOwner2DSW *p_owner); - void remove_owner(ShapeOwner2DSW *p_owner); - bool is_owner(ShapeOwner2DSW *p_owner) const; - const Map &get_owners() const; + void add_owner(GodotShapeOwner2D *p_owner); + void remove_owner(GodotShapeOwner2D *p_owner); + bool is_owner(GodotShapeOwner2D *p_owner) const; + const Map &get_owners() const; _FORCE_INLINE_ void get_supports_transformed_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_xform, Vector2 *r_supports, int &r_amount) const { get_supports(p_xform.basis_xform_inv(p_normal).normalized(), r_supports, r_amount); @@ -121,8 +121,8 @@ public: } } } - Shape2DSW() {} - virtual ~Shape2DSW(); + GodotShape2D() {} + virtual ~GodotShape2D(); }; //let the optimizer do the magic @@ -141,7 +141,7 @@ public: r_max = MAX(maxa, maxb); \ } -class WorldBoundaryShape2DSW : public Shape2DSW { +class GodotWorldBoundaryShape2D : public GodotShape2D { Vector2 normal; real_t d = 0.0; @@ -178,7 +178,7 @@ public: } }; -class SeparationRayShape2DSW : public Shape2DSW { +class GodotSeparationRayShape2D : public GodotShape2D { real_t length = 0.0; bool slide_on_slope = false; @@ -211,11 +211,11 @@ public: DEFAULT_PROJECT_RANGE_CAST - _FORCE_INLINE_ SeparationRayShape2DSW() {} - _FORCE_INLINE_ SeparationRayShape2DSW(real_t p_length) { length = p_length; } + _FORCE_INLINE_ GodotSeparationRayShape2D() {} + _FORCE_INLINE_ GodotSeparationRayShape2D(real_t p_length) { length = p_length; } }; -class SegmentShape2DSW : public Shape2DSW { +class GodotSegmentShape2D : public GodotShape2D { Vector2 a; Vector2 b; Vector2 n; @@ -251,15 +251,15 @@ public: DEFAULT_PROJECT_RANGE_CAST - _FORCE_INLINE_ SegmentShape2DSW() {} - _FORCE_INLINE_ SegmentShape2DSW(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) { + _FORCE_INLINE_ GodotSegmentShape2D() {} + _FORCE_INLINE_ GodotSegmentShape2D(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) { a = p_a; b = p_b; n = p_n; } }; -class CircleShape2DSW : public Shape2DSW { +class GodotCircleShape2D : public GodotShape2D { real_t radius; public: @@ -292,7 +292,7 @@ public: DEFAULT_PROJECT_RANGE_CAST }; -class RectangleShape2DSW : public Shape2DSW { +class GodotRectangleShape2D : public GodotShape2D { Vector2 half_extents; public: @@ -336,7 +336,7 @@ public: return (p_xform.xform(he) - p_circle).normalized(); } - _FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const RectangleShape2DSW *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const { + _FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const GodotRectangleShape2D *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const { Vector2 a, b; { @@ -364,7 +364,7 @@ public: DEFAULT_PROJECT_RANGE_CAST }; -class CapsuleShape2DSW : public Shape2DSW { +class GodotCapsuleShape2D : public GodotShape2D { real_t radius = 0.0; real_t height = 0.0; @@ -405,7 +405,7 @@ public: DEFAULT_PROJECT_RANGE_CAST }; -class ConvexPolygonShape2DSW : public Shape2DSW { +class GodotConvexPolygonShape2D : public GodotShape2D { struct Point { Vector2 pos; Vector2 normal; //normal to next segment @@ -457,21 +457,21 @@ public: DEFAULT_PROJECT_RANGE_CAST - ConvexPolygonShape2DSW() {} - ~ConvexPolygonShape2DSW(); + GodotConvexPolygonShape2D() {} + ~GodotConvexPolygonShape2D(); }; -class ConcaveShape2DSW : public Shape2DSW { +class GodotConcaveShape2D : public GodotShape2D { public: virtual bool is_concave() const override { return true; } // Returns true to stop the query. - typedef bool (*QueryCallback)(void *p_userdata, Shape2DSW *p_convex); + typedef bool (*QueryCallback)(void *p_userdata, GodotShape2D *p_convex); virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0; }; -class ConcavePolygonShape2DSW : public ConcaveShape2DSW { +class GodotConcavePolygonShape2D : public GodotConcaveShape2D { struct Segment { int points[2] = {}; }; @@ -507,13 +507,13 @@ public: virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override { r_min = 0; r_max = 0; - ERR_FAIL_MSG("Unsupported call to project_rangev in ConcavePolygonShape2DSW"); + ERR_FAIL_MSG("Unsupported call to project_rangev in GodotConcavePolygonShape2D"); } void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const { r_min = 0; r_max = 0; - ERR_FAIL_MSG("Unsupported call to project_range in ConcavePolygonShape2DSW"); + ERR_FAIL_MSG("Unsupported call to project_range in GodotConcavePolygonShape2D"); } virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override; @@ -533,4 +533,4 @@ public: #undef DEFAULT_PROJECT_RANGE_CAST -#endif // SHAPE_2D_2DSW_H +#endif // GODOT_SHAPE_2D_H diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/godot_space_2d.cpp similarity index 71% rename from servers/physics_2d/space_2d_sw.cpp rename to servers/physics_2d/godot_space_2d.cpp index dd0780b5ff..d72014a8ed 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/godot_space_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* space_2d_sw.cpp */ +/* godot_space_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,32 +28,33 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "space_2d_sw.h" +#include "godot_space_2d.h" + +#include "godot_collision_solver_2d.h" +#include "godot_physics_server_2d.h" -#include "collision_solver_2d_sw.h" #include "core/os/os.h" #include "core/templates/pair.h" -#include "physics_server_2d_sw.h" #define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 -_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (!(p_object->get_collision_layer() & p_collision_mask)) { return false; } - if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA && !p_collide_with_areas) { + if (p_object->get_type() == GodotCollisionObject2D::TYPE_AREA && !p_collide_with_areas) { return false; } - if (p_object->get_type() == CollisionObject2DSW::TYPE_BODY && !p_collide_with_bodies) { + if (p_object->get_type() == GodotCollisionObject2D::TYPE_BODY && !p_collide_with_bodies) { return false; } return true; } -int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) { +int GodotPhysicsDirectSpaceState2D::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) { if (p_result_max <= 0) { return 0; } @@ -62,7 +63,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S aabb.position = p_point - Vector2(0.00001, 0.00001); aabb.size = Vector2(0.00002, 0.00002); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; @@ -75,7 +76,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S continue; } - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; if (p_pick_point && !col_obj->is_pickable()) { continue; @@ -87,7 +88,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S int shape_idx = space->intersection_query_subindex_results[i]; - Shape2DSW *shape = col_obj->get_shape(shape_idx); + GodotShape2D *shape = col_obj->get_shape(shape_idx); Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point); @@ -112,15 +113,15 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S return cc; } -int PhysicsDirectSpaceState2DSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { +int GodotPhysicsDirectSpaceState2D::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point); } -int PhysicsDirectSpaceState2DSW::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { +int GodotPhysicsDirectSpaceState2D::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) { return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id); } -bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool GodotPhysicsDirectSpaceState2D::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ERR_FAIL_COND_V(space->locked, false); Vector2 begin, end; @@ -129,14 +130,14 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec end = p_to; normal = (end - begin).normalized(); - int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); //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 bool collided = false; Vector2 res_point, res_normal; int res_shape; - const CollisionObject2DSW *res_obj; + const GodotCollisionObject2D *res_obj; real_t min_d = 1e10; for (int i = 0; i < amount; i++) { @@ -148,7 +149,7 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec continue; } - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); @@ -162,7 +163,7 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec local_to = col_obj->get_inv_transform().xform(end); local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/ - const Shape2DSW *shape = col_obj->get_shape(shape_idx); + const GodotShape2D *shape = col_obj->get_shape(shape_idx); Vector2 shape_point, shape_normal; @@ -199,18 +200,18 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec return true; } -int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int GodotPhysicsDirectSpaceState2D::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return 0; } - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape); + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); Rect2 aabb = p_xform.xform(shape->get_aabb()); aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; @@ -227,10 +228,10 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans continue; } - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; - if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) { + if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) { continue; } @@ -247,15 +248,15 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans return cc; } -bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape); +bool GodotPhysicsDirectSpaceState2D::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, false); Rect2 aabb = p_xform.xform(shape->get_aabb()); aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); real_t best_safe = 1; real_t best_unsafe = 1; @@ -269,17 +270,17 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor continue; //ignore excluded } - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform2D 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 (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { + if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { continue; } //test initial overlap, ignore objects it's inside of. - if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { + if (GodotCollisionSolver2D::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) { continue; } @@ -293,7 +294,7 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor real_t fraction = low + (hi - low) * fraction_coeff; Vector2 sep = mnormal; //important optimization for this to work fast enough - bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin); + bool collided = GodotCollisionSolver2D::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin); if (collided) { hi = fraction; @@ -330,38 +331,38 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor return true; } -bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool GodotPhysicsDirectSpaceState2D::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return false; } - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape); + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); Rect2 aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); bool collided = false; r_result_count = 0; - PhysicsServer2DSW::CollCbkData cbk; + GodotPhysicsServer2D::CollCbkData cbk; cbk.max = p_result_max; cbk.amount = 0; cbk.passed = 0; cbk.ptr = r_results; - CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk; + GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk; - PhysicsServer2DSW::CollCbkData *cbkptr = &cbk; + GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { continue; } - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; if (p_exclude.has(col_obj->get_self())) { continue; @@ -372,7 +373,7 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D & cbk.valid_dir = Vector2(); cbk.valid_depth = 0; - if (CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_margin)) { + if (GodotCollisionSolver2D::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, nullptr, p_margin)) { collided = cbk.amount > 0; } } @@ -383,8 +384,8 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D & } struct _RestCallbackData2D { - const CollisionObject2DSW *object = nullptr; - const CollisionObject2DSW *best_object = nullptr; + const GodotCollisionObject2D *object = nullptr; + const GodotCollisionObject2D *best_object = nullptr; int local_shape = 0; int best_local_shape = 0; int shape = 0; @@ -431,8 +432,8 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, rd->best_local_shape = rd->local_shape; } -bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape); +bool GodotPhysicsDirectSpaceState2D::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; @@ -441,7 +442,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh aabb = aabb.merge(Rect2(aabb.position + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData2D rcd; rcd.best_len = 0; @@ -454,7 +455,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh continue; } - const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = space->intersection_query_results[i]; if (p_exclude.has(col_obj->get_self())) { continue; @@ -466,7 +467,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh rcd.object = col_obj; rcd.shape = shape_idx; rcd.local_shape = 0; - bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin); + bool sc = GodotCollisionSolver2D::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, nullptr, p_margin); if (!sc) { continue; } @@ -481,8 +482,8 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh 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() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *body = static_cast(rcd.best_object); + if (rcd.best_object->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *body = static_cast(rcd.best_object); Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass()); r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); @@ -495,7 +496,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh //////////////////////////////////////////////////////////////////////////////////////////////////////////// -int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { +int GodotSpace2D::_cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &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++) { @@ -503,11 +504,11 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { if (intersection_query_results[i] == p_body) { keep = false; - } else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) { + } else if (intersection_query_results[i]->get_type() == GodotCollisionObject2D::TYPE_AREA) { keep = false; - } else if (!p_body->collides_with(static_cast(intersection_query_results[i]))) { + } else if (!p_body->collides_with(static_cast(intersection_query_results[i]))) { keep = false; - } else if (static_cast(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { + } else if (static_cast(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { keep = false; } @@ -525,7 +526,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) { return amount; } -bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) { +bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) { //give me back regular physics engine logic //this is madness //and most people using this function will think @@ -587,7 +588,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion Vector2 sr[max_results * 2]; do { - PhysicsServer2DSW::CollCbkData cbk; + GodotPhysicsServer2D::CollCbkData cbk; cbk.max = max_results; cbk.amount = 0; cbk.passed = 0; @@ -595,8 +596,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion cbk.invalid_by_dir = 0; excluded_shape_pair_count = 0; //last step is the one valid - PhysicsServer2DSW::CollCbkData *cbkptr = &cbk; - CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk; + GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk; + GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk; bool collided = false; @@ -607,11 +608,11 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion continue; } - Shape2DSW *body_shape = p_body->get_shape(j); + GodotShape2D *body_shape = p_body->get_shape(j); Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j); for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } @@ -630,8 +631,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion cbk.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work cbk.invalid_by_dir = 0; - if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *b = static_cast(col_obj); + if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *b = static_cast(col_obj); if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) { //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction Vector2 lv = b->get_linear_velocity(); @@ -651,8 +652,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion int current_passed = cbk.passed; //save how many points passed collision bool did_collide = false; - Shape2DSW *against_shape = col_obj->get_shape(shape_idx); - if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) { + GodotShape2D *against_shape = col_obj->get_shape(shape_idx); + if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) { did_collide = cbk.passed > current_passed; //more passed, so collision actually existed } @@ -727,13 +728,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion continue; } - Shape2DSW *body_shape = p_body->get_shape(body_shape_idx); + GodotShape2D *body_shape = p_body->get_shape(body_shape_idx); // Colliding separation rays allows to properly snap to the ground, // otherwise it's not needed in regular motion. if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) { // When slide on slope is on, separation ray shape acts like a regular shape. - if (!static_cast(body_shape)->get_slide_on_slope()) { + if (!static_cast(body_shape)->get_slide_on_slope()) { continue; } } @@ -746,7 +747,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion real_t best_unsafe = 1; for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } @@ -755,7 +756,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion } int col_shape_idx = intersection_query_subindex_results[i]; - Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx); + GodotShape2D *against_shape = col_obj->get_shape(col_shape_idx); bool excluded = false; @@ -772,12 +773,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx); //test initial overlap, does it collide if going all the way? - if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { + if (!GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { continue; } //test initial overlap - if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { + if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) { if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { Vector2 direction = col_obj_shape_xform.get_axis(1).normalized(); if (motion_normal.dot(direction) < 0) { @@ -797,7 +798,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion real_t fraction = low + (hi - low) * fraction_coeff; Vector2 sep = motion_normal; //important optimization for this to work fast enough - bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0); + bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0); if (collided) { hi = fraction; @@ -824,7 +825,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) { Vector2 cd[2]; - PhysicsServer2DSW::CollCbkData cbk; + GodotPhysicsServer2D::CollCbkData cbk; cbk.max = 1; cbk.amount = 0; cbk.passed = 0; @@ -834,7 +835,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion cbk.valid_depth = 10e20; Vector2 sep = motion_normal; //important optimization for this to work fast enough - bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0); + bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), GodotPhysicsServer2D::_shape_col_cbk, &cbk, &sep, 0); if (!collided || cbk.amount == 0) { continue; } @@ -891,14 +892,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion } Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j); - Shape2DSW *body_shape = p_body->get_shape(j); + GodotShape2D *body_shape = p_body->get_shape(j); body_aabb.position += p_parameters.motion * unsafe; int amount = _cull_aabb_for_body(p_body, body_aabb); for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj = intersection_query_results[i]; + const GodotCollisionObject2D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } @@ -908,7 +909,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion int shape_idx = intersection_query_subindex_results[i]; - Shape2DSW *against_shape = col_obj->get_shape(shape_idx); + GodotShape2D *against_shape = col_obj->get_shape(shape_idx); bool excluded = false; for (int k = 0; k < excluded_shape_pair_count; k++) { @@ -929,8 +930,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx); rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work - if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *b = static_cast(col_obj); + if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) { + const GodotBody2D *b = static_cast(col_obj); if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) { //fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction Vector2 lv = b->get_linear_velocity(); @@ -949,7 +950,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion rcd.object = col_obj; rcd.shape = shape_idx; rcd.local_shape = j; - bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin); + bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin); if (!sc) { continue; } @@ -968,7 +969,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion r_result->collision_safe_fraction = safe; r_result->collision_unsafe_fraction = unsafe; - const Body2DSW *body = static_cast(rcd.best_object); + const GodotBody2D *body = static_cast(rcd.best_object); Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass()); r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity(); @@ -990,134 +991,134 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion return collided; } -void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) { +void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) { if (!A->interacts_with(B)) { return nullptr; } - CollisionObject2DSW::Type type_A = A->get_type(); - CollisionObject2DSW::Type type_B = B->get_type(); + GodotCollisionObject2D::Type type_A = A->get_type(); + GodotCollisionObject2D::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); } - Space2DSW *self = (Space2DSW *)p_self; + GodotSpace2D *self = (GodotSpace2D *)p_self; self->collision_pairs++; - if (type_A == CollisionObject2DSW::TYPE_AREA) { - Area2DSW *area = static_cast(A); - if (type_B == CollisionObject2DSW::TYPE_AREA) { - Area2DSW *area_b = static_cast(B); - Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A)); + if (type_A == GodotCollisionObject2D::TYPE_AREA) { + GodotArea2D *area = static_cast(A); + if (type_B == GodotCollisionObject2D::TYPE_AREA) { + GodotArea2D *area_b = static_cast(B); + GodotArea2Pair2D *area2_pair = memnew(GodotArea2Pair2D(area_b, p_subindex_B, area, p_subindex_A)); return area2_pair; } else { - Body2DSW *body = static_cast(B); - AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A)); + GodotBody2D *body = static_cast(B); + GodotAreaPair2D *area_pair = memnew(GodotAreaPair2D(body, p_subindex_B, area, p_subindex_A)); return area_pair; } } else { - BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B)); + GodotBodyPair2D *b = memnew(GodotBodyPair2D((GodotBody2D *)A, p_subindex_A, (GodotBody2D *)B, p_subindex_B)); return b; } return nullptr; } -void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) { +void GodotSpace2D::_broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self) { if (!p_data) { return; } - Space2DSW *self = (Space2DSW *)p_self; + GodotSpace2D *self = (GodotSpace2D *)p_self; self->collision_pairs--; - Constraint2DSW *c = (Constraint2DSW *)p_data; + GodotConstraint2D *c = (GodotConstraint2D *)p_data; memdelete(c); } -const SelfList::List &Space2DSW::get_active_body_list() const { +const SelfList::List &GodotSpace2D::get_active_body_list() const { return active_list; } -void Space2DSW::body_add_to_active_list(SelfList *p_body) { +void GodotSpace2D::body_add_to_active_list(SelfList *p_body) { active_list.add(p_body); } -void Space2DSW::body_remove_from_active_list(SelfList *p_body) { +void GodotSpace2D::body_remove_from_active_list(SelfList *p_body) { active_list.remove(p_body); } -void Space2DSW::body_add_to_mass_properties_update_list(SelfList *p_body) { +void GodotSpace2D::body_add_to_mass_properties_update_list(SelfList *p_body) { mass_properties_update_list.add(p_body); } -void Space2DSW::body_remove_from_mass_properties_update_list(SelfList *p_body) { +void GodotSpace2D::body_remove_from_mass_properties_update_list(SelfList *p_body) { mass_properties_update_list.remove(p_body); } -BroadPhase2DSW *Space2DSW::get_broadphase() { +GodotBroadPhase2D *GodotSpace2D::get_broadphase() { return broadphase; } -void Space2DSW::add_object(CollisionObject2DSW *p_object) { +void GodotSpace2D::add_object(GodotCollisionObject2D *p_object) { ERR_FAIL_COND(objects.has(p_object)); objects.insert(p_object); } -void Space2DSW::remove_object(CollisionObject2DSW *p_object) { +void GodotSpace2D::remove_object(GodotCollisionObject2D *p_object) { ERR_FAIL_COND(!objects.has(p_object)); objects.erase(p_object); } -const Set &Space2DSW::get_objects() const { +const Set &GodotSpace2D::get_objects() const { return objects; } -void Space2DSW::body_add_to_state_query_list(SelfList *p_body) { +void GodotSpace2D::body_add_to_state_query_list(SelfList *p_body) { state_query_list.add(p_body); } -void Space2DSW::body_remove_from_state_query_list(SelfList *p_body) { +void GodotSpace2D::body_remove_from_state_query_list(SelfList *p_body) { state_query_list.remove(p_body); } -void Space2DSW::area_add_to_monitor_query_list(SelfList *p_area) { +void GodotSpace2D::area_add_to_monitor_query_list(SelfList *p_area) { monitor_query_list.add(p_area); } -void Space2DSW::area_remove_from_monitor_query_list(SelfList *p_area) { +void GodotSpace2D::area_remove_from_monitor_query_list(SelfList *p_area) { monitor_query_list.remove(p_area); } -void Space2DSW::area_add_to_moved_list(SelfList *p_area) { +void GodotSpace2D::area_add_to_moved_list(SelfList *p_area) { area_moved_list.add(p_area); } -void Space2DSW::area_remove_from_moved_list(SelfList *p_area) { +void GodotSpace2D::area_remove_from_moved_list(SelfList *p_area) { area_moved_list.remove(p_area); } -const SelfList::List &Space2DSW::get_moved_area_list() const { +const SelfList::List &GodotSpace2D::get_moved_area_list() const { return area_moved_list; } -void Space2DSW::call_queries() { +void GodotSpace2D::call_queries() { while (state_query_list.first()) { - Body2DSW *b = state_query_list.first()->self(); + GodotBody2D *b = state_query_list.first()->self(); state_query_list.remove(state_query_list.first()); b->call_queries(); } while (monitor_query_list.first()) { - Area2DSW *a = monitor_query_list.first()->self(); + GodotArea2D *a = monitor_query_list.first()->self(); monitor_query_list.remove(monitor_query_list.first()); a->call_queries(); } } -void Space2DSW::setup() { +void GodotSpace2D::setup() { contact_debug_count = 0; while (mass_properties_update_list.first()) { @@ -1126,11 +1127,11 @@ void Space2DSW::setup() { } } -void Space2DSW::update() { +void GodotSpace2D::update() { broadphase->update(); } -void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) { +void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) { switch (p_param) { case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; @@ -1156,7 +1157,7 @@ void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_valu } } -real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const { +real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const { switch (p_param) { case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius; @@ -1176,37 +1177,37 @@ real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const { return 0; } -void Space2DSW::lock() { +void GodotSpace2D::lock() { locked = true; } -void Space2DSW::unlock() { +void GodotSpace2D::unlock() { locked = false; } -bool Space2DSW::is_locked() const { +bool GodotSpace2D::is_locked() const { return locked; } -PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() { +GodotPhysicsDirectSpaceState2D *GodotSpace2D::get_direct_state() { return direct_access; } -Space2DSW::Space2DSW() { +GodotSpace2D::GodotSpace2D() { body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0); body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0)); body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5); ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater")); - broadphase = BroadPhase2DSW::create_func(); + broadphase = GodotBroadPhase2D::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - direct_access = memnew(PhysicsDirectSpaceState2DSW); + direct_access = memnew(GodotPhysicsDirectSpaceState2D); direct_access->space = this; } -Space2DSW::~Space2DSW() { +GodotSpace2D::~GodotSpace2D() { memdelete(broadphase); memdelete(direct_access); } diff --git a/servers/physics_2d/space_2d_sw.h b/servers/physics_2d/godot_space_2d.h similarity index 73% rename from servers/physics_2d/space_2d_sw.h rename to servers/physics_2d/godot_space_2d.h index 746b5c6c9a..97e2928a9d 100644 --- a/servers/physics_2d/space_2d_sw.h +++ b/servers/physics_2d/godot_space_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* space_2d_sw.h */ +/* godot_space_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,26 +28,27 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef SPACE_2D_SW_H -#define SPACE_2D_SW_H +#ifndef GODOT_SPACE_2D_H +#define GODOT_SPACE_2D_H + +#include "godot_area_2d.h" +#include "godot_area_pair_2d.h" +#include "godot_body_2d.h" +#include "godot_body_pair_2d.h" +#include "godot_broad_phase_2d.h" +#include "godot_collision_object_2d.h" -#include "area_2d_sw.h" -#include "area_pair_2d_sw.h" -#include "body_2d_sw.h" -#include "body_pair_2d_sw.h" -#include "broad_phase_2d_sw.h" -#include "collision_object_2d_sw.h" #include "core/config/project_settings.h" #include "core/templates/hash_map.h" #include "core/typedefs.h" -class PhysicsDirectSpaceState2DSW : public PhysicsDirectSpaceState2D { - GDCLASS(PhysicsDirectSpaceState2DSW, PhysicsDirectSpaceState2D); +class GodotPhysicsDirectSpaceState2D : public PhysicsDirectSpaceState2D { + GDCLASS(GodotPhysicsDirectSpaceState2D, PhysicsDirectSpaceState2D); int _intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas = false, ObjectID p_canvas_instance_id = ObjectID()); public: - Space2DSW *space = nullptr; + GodotSpace2D *space = nullptr; virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override; @@ -57,10 +58,10 @@ public: virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; - PhysicsDirectSpaceState2DSW() {} + GodotPhysicsDirectSpaceState2D() {} }; -class Space2DSW { +class GodotSpace2D { public: enum ElapsedTime { ELAPSED_TIME_INTEGRATE_FORCES, @@ -74,29 +75,29 @@ public: private: struct ExcludedShapeSW { - Shape2DSW *local_shape = nullptr; - const CollisionObject2DSW *against_object = nullptr; + GodotShape2D *local_shape = nullptr; + const GodotCollisionObject2D *against_object = nullptr; int against_shape_index = 0; }; uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; - PhysicsDirectSpaceState2DSW *direct_access = nullptr; + GodotPhysicsDirectSpaceState2D *direct_access = nullptr; RID self; - BroadPhase2DSW *broadphase; - SelfList::List active_list; - SelfList::List mass_properties_update_list; - SelfList::List state_query_list; - SelfList::List monitor_query_list; - SelfList::List area_moved_list; + GodotBroadPhase2D *broadphase; + SelfList::List active_list; + SelfList::List mass_properties_update_list; + SelfList::List state_query_list; + SelfList::List monitor_query_list; + SelfList::List area_moved_list; - static void *_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self); - static void _broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self); + static void *_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self); + static void _broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self); - Set objects; + Set objects; - Area2DSW *area = nullptr; + GodotArea2D *area = nullptr; real_t contact_recycle_radius = 1.0; real_t contact_max_separation = 1.5; @@ -107,7 +108,7 @@ private: INTERSECTION_QUERY_MAX = 2048 }; - CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX]; + GodotCollisionObject2D *intersection_query_results[INTERSECTION_QUERY_MAX]; int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; real_t body_linear_velocity_sleep_threshold = 0.0; @@ -122,40 +123,40 @@ private: int active_objects = 0; int collision_pairs = 0; - int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb); + int _cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &p_aabb); Vector contact_debug; int contact_debug_count = 0; - friend class PhysicsDirectSpaceState2DSW; + friend class GodotPhysicsDirectSpaceState2D; 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(Area2DSW *p_area) { area = p_area; } - Area2DSW *get_default_area() const { return area; } + void set_default_area(GodotArea2D *p_area) { area = p_area; } + GodotArea2D *get_default_area() const { return area; } - const SelfList::List &get_active_body_list() const; - void body_add_to_active_list(SelfList *p_body); - void body_remove_from_active_list(SelfList *p_body); - void body_add_to_mass_properties_update_list(SelfList *p_body); - void body_remove_from_mass_properties_update_list(SelfList *p_body); - void area_add_to_moved_list(SelfList *p_area); - void area_remove_from_moved_list(SelfList *p_area); - const SelfList::List &get_moved_area_list() const; + const SelfList::List &get_active_body_list() const; + void body_add_to_active_list(SelfList *p_body); + void body_remove_from_active_list(SelfList *p_body); + void body_add_to_mass_properties_update_list(SelfList *p_body); + void body_remove_from_mass_properties_update_list(SelfList *p_body); + void area_add_to_moved_list(SelfList *p_area); + void area_remove_from_moved_list(SelfList *p_area); + const SelfList::List &get_moved_area_list() const; - void body_add_to_state_query_list(SelfList *p_body); - void body_remove_from_state_query_list(SelfList *p_body); + void body_add_to_state_query_list(SelfList *p_body); + void body_remove_from_state_query_list(SelfList *p_body); - void area_add_to_monitor_query_list(SelfList *p_area); - void area_remove_from_monitor_query_list(SelfList *p_area); + void area_add_to_monitor_query_list(SelfList *p_area); + void area_remove_from_monitor_query_list(SelfList *p_area); - BroadPhase2DSW *get_broadphase(); + GodotBroadPhase2D *get_broadphase(); - void add_object(CollisionObject2DSW *p_object); - void remove_object(CollisionObject2DSW *p_object); - const Set &get_objects() const; + void add_object(GodotCollisionObject2D *p_object); + void remove_object(GodotCollisionObject2D *p_object); + const Set &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; } @@ -187,7 +188,7 @@ public: int get_collision_pairs() const { return collision_pairs; } - bool test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result); + bool test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result); void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); } _FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); } @@ -199,13 +200,13 @@ public: _FORCE_INLINE_ Vector get_debug_contacts() { return contact_debug; } _FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; } - PhysicsDirectSpaceState2DSW *get_direct_state(); + GodotPhysicsDirectSpaceState2D *get_direct_state(); 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]; } - Space2DSW(); - ~Space2DSW(); + GodotSpace2D(); + ~GodotSpace2D(); }; -#endif // SPACE_2D_SW_H +#endif // GODOT_SPACE_2D_H diff --git a/servers/physics_2d/step_2d_sw.cpp b/servers/physics_2d/godot_step_2d.cpp similarity index 73% rename from servers/physics_2d/step_2d_sw.cpp rename to servers/physics_2d/godot_step_2d.cpp index a03e30f850..3010315571 100644 --- a/servers/physics_2d/step_2d_sw.cpp +++ b/servers/physics_2d/godot_step_2d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* step_2d_sw.cpp */ +/* godot_step_2d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,7 +28,7 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "step_2d_sw.h" +#include "godot_step_2d.h" #include "core/os/os.h" @@ -38,7 +38,7 @@ #define ISLAND_SIZE_RESERVE 512 #define CONSTRAINT_COUNT_RESERVE 1024 -void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island) { +void GodotStep2D::_populate_island(GodotBody2D *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island) { p_body->set_island_step(_step); if (p_body->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) { @@ -46,8 +46,8 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector &p_bod p_body_island.push_back(p_body); } - for (const Pair &E : p_body->get_constraint_list()) { - Constraint2DSW *constraint = (Constraint2DSW *)E.first; + for (const Pair &E : p_body->get_constraint_list()) { + GodotConstraint2D *constraint = (GodotConstraint2D *)E.first; if (constraint->get_island_step() == _step) { continue; // Already processed. } @@ -59,7 +59,7 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector &p_bod if (i == E.second) { continue; } - Body2DSW *other_body = constraint->get_body_ptr()[i]; + GodotBody2D *other_body = constraint->get_body_ptr()[i]; if (other_body->get_island_step() == _step) { continue; // Already processed. } @@ -71,16 +71,16 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector &p_bod } } -void Step2DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) { - Constraint2DSW *constraint = all_constraints[p_constraint_index]; +void GodotStep2D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) { + GodotConstraint2D *constraint = all_constraints[p_constraint_index]; constraint->setup(delta); } -void Step2DSW::_pre_solve_island(LocalVector &p_constraint_island) const { +void GodotStep2D::_pre_solve_island(LocalVector &p_constraint_island) const { uint32_t constraint_count = p_constraint_island.size(); uint32_t valid_constraint_count = 0; for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { - Constraint2DSW *constraint = p_constraint_island[constraint_index]; + GodotConstraint2D *constraint = p_constraint_island[constraint_index]; if (p_constraint_island[constraint_index]->pre_solve(delta)) { // Keep this constraint for solving. p_constraint_island[valid_constraint_count++] = constraint; @@ -89,8 +89,8 @@ void Step2DSW::_pre_solve_island(LocalVector &p_constraint_isl p_constraint_island.resize(valid_constraint_count); } -void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const { - const LocalVector &constraint_island = constraint_islands[p_island_index]; +void GodotStep2D::_solve_island(uint32_t p_island_index, void *p_userdata) const { + const LocalVector &constraint_island = constraint_islands[p_island_index]; for (int i = 0; i < iterations; i++) { uint32_t constraint_count = constraint_island.size(); @@ -100,12 +100,12 @@ void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const { } } -void Step2DSW::_check_suspend(LocalVector &p_body_island) const { +void GodotStep2D::_check_suspend(LocalVector &p_body_island) const { bool can_sleep = true; uint32_t body_count = p_body_island.size(); for (uint32_t body_index = 0; body_index < body_count; ++body_index) { - Body2DSW *body = p_body_island[body_index]; + GodotBody2D *body = p_body_island[body_index]; if (!body->sleep_test(delta)) { can_sleep = false; @@ -114,7 +114,7 @@ void Step2DSW::_check_suspend(LocalVector &p_body_island) const { // Put all to sleep or wake up everyone. for (uint32_t body_index = 0; body_index < body_count; ++body_index) { - Body2DSW *body = p_body_island[body_index]; + GodotBody2D *body = p_body_island[body_index]; bool active = body->is_active(); @@ -124,7 +124,7 @@ void Step2DSW::_check_suspend(LocalVector &p_body_island) const { } } -void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { +void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta, int p_iterations) { p_space->lock(); // can't access space during this p_space->setup(); //update inertias, etc @@ -134,7 +134,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { iterations = p_iterations; delta = p_delta; - const SelfList::List *body_list = &p_space->get_active_body_list(); + const SelfList::List *body_list = &p_space->get_active_body_list(); /* INTEGRATE FORCES */ @@ -143,7 +143,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { int active_count = 0; - const SelfList *b = body_list->first(); + const SelfList *b = body_list->first(); while (b) { b->self()->integrate_forces(p_delta); b = b->next(); @@ -154,7 +154,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -162,11 +162,11 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { uint32_t island_count = 0; - const SelfList::List &aml = p_space->get_moved_area_list(); + const SelfList::List &aml = p_space->get_moved_area_list(); while (aml.first()) { - for (const Set::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) { - Constraint2DSW *constraint = E->get(); + for (const Set::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) { + GodotConstraint2D *constraint = E->get(); if (constraint->get_island_step() == _step) { continue; } @@ -177,13 +177,13 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { if (constraint_islands.size() < island_count) { constraint_islands.resize(island_count); } - LocalVector &constraint_island = constraint_islands[island_count - 1]; + LocalVector &constraint_island = constraint_islands[island_count - 1]; constraint_island.clear(); all_constraints.push_back(constraint); constraint_island.push_back(constraint); } - p_space->area_remove_from_moved_list((SelfList *)aml.first()); //faster to remove here + p_space->area_remove_from_moved_list((SelfList *)aml.first()); //faster to remove here } /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */ @@ -193,14 +193,14 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { uint32_t body_island_count = 0; while (b) { - Body2DSW *body = b->self(); + GodotBody2D *body = b->self(); if (body->get_island_step() != _step) { ++body_island_count; if (body_islands.size() < body_island_count) { body_islands.resize(body_island_count); } - LocalVector &body_island = body_islands[body_island_count - 1]; + LocalVector &body_island = body_islands[body_island_count - 1]; body_island.clear(); body_island.reserve(BODY_ISLAND_SIZE_RESERVE); @@ -208,7 +208,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { if (constraint_islands.size() < island_count) { constraint_islands.resize(island_count); } - LocalVector &constraint_island = constraint_islands[island_count - 1]; + LocalVector &constraint_island = constraint_islands[island_count - 1]; constraint_island.clear(); constraint_island.reserve(ISLAND_SIZE_RESERVE); @@ -229,18 +229,18 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } /* SETUP CONSTRAINTS / PROCESS COLLISIONS */ uint32_t total_contraint_count = all_constraints.size(); - work_pool.do_work(total_contraint_count, this, &Step2DSW::_setup_contraint, nullptr); + work_pool.do_work(total_contraint_count, this, &GodotStep2D::_setup_contraint, nullptr); { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -256,14 +256,14 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { // Warning: _solve_island modifies the constraint islands for optimization purpose, // their content is not reliable after these calls and shouldn't be used anymore. if (island_count > 1) { - work_pool.do_work(island_count, this, &Step2DSW::_solve_island, nullptr); + work_pool.do_work(island_count, this, &GodotStep2D::_solve_island, nullptr); } else if (island_count > 0) { _solve_island(0); } { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -271,7 +271,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { b = body_list->first(); while (b) { - const SelfList *n = b->next(); + const SelfList *n = b->next(); b->self()->integrate_velocities(p_delta); b = n; // in case it shuts itself down } @@ -284,7 +284,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); //profile_begtime=profile_endtime; } @@ -295,7 +295,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) { _step++; } -Step2DSW::Step2DSW() { +GodotStep2D::GodotStep2D() { body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); constraint_islands.reserve(ISLAND_COUNT_RESERVE); all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); @@ -303,6 +303,6 @@ Step2DSW::Step2DSW() { work_pool.init(); } -Step2DSW::~Step2DSW() { +GodotStep2D::~GodotStep2D() { work_pool.finish(); } diff --git a/servers/physics_2d/step_2d_sw.h b/servers/physics_2d/godot_step_2d.h similarity index 76% rename from servers/physics_2d/step_2d_sw.h rename to servers/physics_2d/godot_step_2d.h index de8e76cc99..efec243632 100644 --- a/servers/physics_2d/step_2d_sw.h +++ b/servers/physics_2d/godot_step_2d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* step_2d_sw.h */ +/* godot_step_2d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,15 +28,15 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef STEP_2D_SW_H -#define STEP_2D_SW_H +#ifndef GODOT_STEP_2D_H +#define GODOT_STEP_2D_H -#include "space_2d_sw.h" +#include "godot_space_2d.h" #include "core/templates/local_vector.h" #include "core/templates/thread_work_pool.h" -class Step2DSW { +class GodotStep2D { uint64_t _step = 1; int iterations = 0; @@ -44,20 +44,20 @@ class Step2DSW { ThreadWorkPool work_pool; - LocalVector> body_islands; - LocalVector> constraint_islands; - LocalVector all_constraints; + LocalVector> body_islands; + LocalVector> constraint_islands; + LocalVector all_constraints; - void _populate_island(Body2DSW *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island); + void _populate_island(GodotBody2D *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island); void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr); - void _pre_solve_island(LocalVector &p_constraint_island) const; + void _pre_solve_island(LocalVector &p_constraint_island) const; void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr) const; - void _check_suspend(LocalVector &p_body_island) const; + void _check_suspend(LocalVector &p_body_island) const; public: - void step(Space2DSW *p_space, real_t p_delta, int p_iterations); - Step2DSW(); - ~Step2DSW(); + void step(GodotSpace2D *p_space, real_t p_delta, int p_iterations); + GodotStep2D(); + ~GodotStep2D(); }; -#endif // STEP_2D_SW_H +#endif // GODOT_STEP_2D_H diff --git a/servers/physics_2d/physics_server_2d_sw.cpp b/servers/physics_2d/physics_server_2d_sw.cpp deleted file mode 100644 index c2205e33b0..0000000000 --- a/servers/physics_2d/physics_server_2d_sw.cpp +++ /dev/null @@ -1,1349 +0,0 @@ -/*************************************************************************/ -/* physics_server_2d_sw.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 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 "physics_server_2d_sw.h" - -#include "body_direct_state_2d_sw.h" -#include "broad_phase_2d_bvh.h" -#include "collision_solver_2d_sw.h" -#include "core/config/project_settings.h" -#include "core/debugger/engine_debugger.h" -#include "core/os/os.h" - -#define FLUSH_QUERY_CHECK(m_object) \ - ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); - -RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) { - Shape2DSW *shape = nullptr; - switch (p_shape) { - case SHAPE_WORLD_BOUNDARY: { - shape = memnew(WorldBoundaryShape2DSW); - } break; - case SHAPE_SEPARATION_RAY: { - shape = memnew(SeparationRayShape2DSW); - } break; - case SHAPE_SEGMENT: { - shape = memnew(SegmentShape2DSW); - } break; - case SHAPE_CIRCLE: { - shape = memnew(CircleShape2DSW); - } break; - case SHAPE_RECTANGLE: { - shape = memnew(RectangleShape2DSW); - } break; - case SHAPE_CAPSULE: { - shape = memnew(CapsuleShape2DSW); - } break; - case SHAPE_CONVEX_POLYGON: { - shape = memnew(ConvexPolygonShape2DSW); - } break; - case SHAPE_CONCAVE_POLYGON: { - shape = memnew(ConcavePolygonShape2DSW); - } break; - case SHAPE_CUSTOM: { - ERR_FAIL_V(RID()); - - } break; - } - - RID id = shape_owner.make_rid(shape); - shape->set_self(id); - - return id; -} - -RID PhysicsServer2DSW::world_boundary_shape_create() { - return _shape_create(SHAPE_WORLD_BOUNDARY); -} - -RID PhysicsServer2DSW::separation_ray_shape_create() { - return _shape_create(SHAPE_SEPARATION_RAY); -} - -RID PhysicsServer2DSW::segment_shape_create() { - return _shape_create(SHAPE_SEGMENT); -} - -RID PhysicsServer2DSW::circle_shape_create() { - return _shape_create(SHAPE_CIRCLE); -} - -RID PhysicsServer2DSW::rectangle_shape_create() { - return _shape_create(SHAPE_RECTANGLE); -} - -RID PhysicsServer2DSW::capsule_shape_create() { - return _shape_create(SHAPE_CAPSULE); -} - -RID PhysicsServer2DSW::convex_polygon_shape_create() { - return _shape_create(SHAPE_CONVEX_POLYGON); -} - -RID PhysicsServer2DSW::concave_polygon_shape_create() { - return _shape_create(SHAPE_CONCAVE_POLYGON); -} - -void PhysicsServer2DSW::shape_set_data(RID p_shape, const Variant &p_data) { - Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - shape->set_data(p_data); -}; - -void PhysicsServer2DSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { - Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - shape->set_custom_bias(p_bias); -} - -PhysicsServer2D::ShapeType PhysicsServer2DSW::shape_get_type(RID p_shape) const { - const Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); - return shape->get_type(); -}; - -Variant PhysicsServer2DSW::shape_get_data(RID p_shape) const { - const Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, Variant()); - ERR_FAIL_COND_V(!shape->is_configured(), Variant()); - return shape->get_data(); -}; - -real_t PhysicsServer2DSW::shape_get_custom_solver_bias(RID p_shape) const { - const Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, 0); - return shape->get_custom_bias(); -} - -void PhysicsServer2DSW::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { - CollCbkData *cbk = (CollCbkData *)p_userdata; - - if (cbk->max == 0) { - return; - } - - Vector2 rel_dir = (p_point_A - p_point_B); - real_t rel_length2 = rel_dir.length_squared(); - if (cbk->valid_dir != Vector2()) { - if (cbk->valid_depth < 10e20) { - if (rel_length2 > cbk->valid_depth * cbk->valid_depth || - (rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) { - cbk->invalid_by_dir++; - return; - } - } else { - if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) { - return; - } - } - } - - if (cbk->amount == cbk->max) { - //find least deep - real_t min_depth = 1e20; - int min_depth_idx = 0; - for (int i = 0; i < cbk->amount; i++) { - real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]); - if (d < min_depth) { - min_depth = d; - min_depth_idx = i; - } - } - - if (rel_length2 < min_depth) { - return; - } - cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; - cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; - cbk->passed++; - - } else { - cbk->ptr[cbk->amount * 2 + 0] = p_point_A; - cbk->ptr[cbk->amount * 2 + 1] = p_point_B; - cbk->amount++; - cbk->passed++; - } -} - -bool PhysicsServer2DSW::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) { - Shape2DSW *shape_A = shape_owner.get_or_null(p_shape_A); - ERR_FAIL_COND_V(!shape_A, false); - Shape2DSW *shape_B = shape_owner.get_or_null(p_shape_B); - ERR_FAIL_COND_V(!shape_B, false); - - if (p_result_max == 0) { - return CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr); - } - - CollCbkData cbk; - cbk.max = p_result_max; - cbk.amount = 0; - cbk.passed = 0; - cbk.ptr = r_results; - - bool res = CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk); - r_result_count = cbk.amount; - return res; -} - -RID PhysicsServer2DSW::space_create() { - Space2DSW *space = memnew(Space2DSW); - RID id = space_owner.make_rid(space); - space->set_self(id); - RID area_id = area_create(); - Area2DSW *area = area_owner.get_or_null(area_id); - ERR_FAIL_COND_V(!area, RID()); - space->set_default_area(area); - area->set_space(space); - area->set_priority(-1); - - return id; -}; - -void PhysicsServer2DSW::space_set_active(RID p_space, bool p_active) { - Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - if (p_active) { - active_spaces.insert(space); - } else { - active_spaces.erase(space); - } -} - -bool PhysicsServer2DSW::space_is_active(RID p_space) const { - const Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, false); - - return active_spaces.has(space); -} - -void PhysicsServer2DSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { - Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - - space->set_param(p_param, p_value); -} - -real_t PhysicsServer2DSW::space_get_param(RID p_space, SpaceParameter p_param) const { - const Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_param(p_param); -} - -void PhysicsServer2DSW::space_set_debug_contacts(RID p_space, int p_max_contacts) { - Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - space->set_debug_contacts(p_max_contacts); -} - -Vector PhysicsServer2DSW::space_get_contacts(RID p_space) const { - Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, Vector()); - return space->get_debug_contacts(); -} - -int PhysicsServer2DSW::space_get_contact_count(RID p_space) const { - Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_debug_contact_count(); -} - -PhysicsDirectSpaceState2D *PhysicsServer2DSW::space_get_direct_state(RID p_space) { - Space2DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, nullptr); - ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); - - return space->get_direct_state(); -} - -RID PhysicsServer2DSW::area_create() { - Area2DSW *area = memnew(Area2DSW); - RID rid = area_owner.make_rid(area); - area->set_self(rid); - return rid; -}; - -void PhysicsServer2DSW::area_set_space(RID p_area, RID p_space) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - Space2DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - } - - if (area->get_space() == space) { - return; //pointless - } - - area->clear_constraints(); - area->set_space(space); -}; - -RID PhysicsServer2DSW::area_get_space(RID p_area) const { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, RID()); - - Space2DSW *space = area->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -}; - -void PhysicsServer2DSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_space_override_mode(p_mode); -} - -PhysicsServer2D::AreaSpaceOverrideMode PhysicsServer2DSW::area_get_space_override_mode(RID p_area) const { - const Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED); - - return area->get_space_override_mode(); -} - -void PhysicsServer2DSW::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - area->add_shape(shape, p_transform, p_disabled); -} - -void PhysicsServer2DSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - ERR_FAIL_COND(!shape->is_configured()); - - area->set_shape(p_shape_idx, shape); -} - -void PhysicsServer2DSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_shape_transform(p_shape_idx, p_transform); -} - -void PhysicsServer2DSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - ERR_FAIL_INDEX(p_shape, area->get_shape_count()); - FLUSH_QUERY_CHECK(area); - - area->set_shape_disabled(p_shape, p_disabled); -} - -int PhysicsServer2DSW::area_get_shape_count(RID p_area) const { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, -1); - - return area->get_shape_count(); -} - -RID PhysicsServer2DSW::area_get_shape(RID p_area, int p_shape_idx) const { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, RID()); - - Shape2DSW *shape = area->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -Transform2D PhysicsServer2DSW::area_get_shape_transform(RID p_area, int p_shape_idx) const { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Transform2D()); - - return area->get_shape_transform(p_shape_idx); -} - -void PhysicsServer2DSW::area_remove_shape(RID p_area, int p_shape_idx) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->remove_shape(p_shape_idx); -} - -void PhysicsServer2DSW::area_clear_shapes(RID p_area) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - while (area->get_shape_count()) { - area->remove_shape(0); - } -} - -void PhysicsServer2DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_instance_id(p_id); -} - -ObjectID PhysicsServer2DSW::area_get_object_instance_id(RID p_area) const { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, ObjectID()); - return area->get_instance_id(); -} - -void PhysicsServer2DSW::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_canvas_instance_id(p_id); -} - -ObjectID PhysicsServer2DSW::area_get_canvas_instance_id(RID p_area) const { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, ObjectID()); - return area->get_canvas_instance_id(); -} - -void PhysicsServer2DSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_param(p_param, p_value); -}; - -void PhysicsServer2DSW::area_set_transform(RID p_area, const Transform2D &p_transform) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_transform(p_transform); -}; - -Variant PhysicsServer2DSW::area_get_param(RID p_area, AreaParameter p_param) const { - if (space_owner.owns(p_area)) { - Space2DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Variant()); - - return area->get_param(p_param); -}; - -Transform2D PhysicsServer2DSW::area_get_transform(RID p_area) const { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Transform2D()); - - return area->get_transform(); -}; - -void PhysicsServer2DSW::area_set_pickable(RID p_area, bool p_pickable) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_pickable(p_pickable); -} - -void PhysicsServer2DSW::area_set_monitorable(RID p_area, bool p_monitorable) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - FLUSH_QUERY_CHECK(area); - - area->set_monitorable(p_monitorable); -} - -void PhysicsServer2DSW::area_set_collision_mask(RID p_area, uint32_t p_mask) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_collision_mask(p_mask); -} - -void PhysicsServer2DSW::area_set_collision_layer(RID p_area, uint32_t p_layer) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_collision_layer(p_layer); -} - -void PhysicsServer2DSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); -} - -void PhysicsServer2DSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { - Area2DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); -} - -/* BODY API */ - -RID PhysicsServer2DSW::body_create() { - Body2DSW *body = memnew(Body2DSW); - RID rid = body_owner.make_rid(body); - body->set_self(rid); - return rid; -} - -void PhysicsServer2DSW::body_set_space(RID p_body, RID p_space) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - Space2DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - } - - if (body->get_space() == space) { - return; //pointless - } - - body->clear_constraint_list(); - body->set_space(space); -}; - -RID PhysicsServer2DSW::body_get_space(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - Space2DSW *space = body->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -}; - -void PhysicsServer2DSW::body_set_mode(RID p_body, BodyMode p_mode) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - FLUSH_QUERY_CHECK(body); - - body->set_mode(p_mode); -}; - -PhysicsServer2D::BodyMode PhysicsServer2DSW::body_get_mode(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); - - return body->get_mode(); -}; - -void PhysicsServer2DSW::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - body->add_shape(shape, p_transform, p_disabled); -} - -void PhysicsServer2DSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - Shape2DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - ERR_FAIL_COND(!shape->is_configured()); - - body->set_shape(p_shape_idx, shape); -} - -void PhysicsServer2DSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_shape_transform(p_shape_idx, p_transform); -} - -int PhysicsServer2DSW::body_get_shape_count(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, -1); - - return body->get_shape_count(); -} - -RID PhysicsServer2DSW::body_get_shape(RID p_body, int p_shape_idx) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - Shape2DSW *shape = body->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -Transform2D PhysicsServer2DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Transform2D()); - - return body->get_shape_transform(p_shape_idx); -} - -void PhysicsServer2DSW::body_remove_shape(RID p_body, int p_shape_idx) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->remove_shape(p_shape_idx); -} - -void PhysicsServer2DSW::body_clear_shapes(RID p_body) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - while (body->get_shape_count()) { - body->remove_shape(0); - } -} - -void PhysicsServer2DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); - FLUSH_QUERY_CHECK(body); - - body->set_shape_disabled(p_shape_idx, p_disabled); -} - -void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); - FLUSH_QUERY_CHECK(body); - - body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin); -} - -void PhysicsServer2DSW::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_continuous_collision_detection_mode(p_mode); -} - -PhysicsServer2DSW::CCDMode PhysicsServer2DSW::body_get_continuous_collision_detection_mode(RID p_body) const { - const Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED); - - return body->get_continuous_collision_detection_mode(); -} - -void PhysicsServer2DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_instance_id(p_id); -}; - -ObjectID PhysicsServer2DSW::body_get_object_instance_id(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, ObjectID()); - - return body->get_instance_id(); -}; - -void PhysicsServer2DSW::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_canvas_instance_id(p_id); -}; - -ObjectID PhysicsServer2DSW::body_get_canvas_instance_id(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, ObjectID()); - - return body->get_canvas_instance_id(); -}; - -void PhysicsServer2DSW::body_set_collision_layer(RID p_body, uint32_t p_layer) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_collision_layer(p_layer); -}; - -uint32_t PhysicsServer2DSW::body_get_collision_layer(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_layer(); -}; - -void PhysicsServer2DSW::body_set_collision_mask(RID p_body, uint32_t p_mask) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_collision_mask(p_mask); -}; - -uint32_t PhysicsServer2DSW::body_get_collision_mask(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_mask(); -}; - -void PhysicsServer2DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_param(p_param, p_value); -}; - -Variant PhysicsServer2DSW::body_get_param(RID p_body, BodyParameter p_param) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_param(p_param); -}; - -void PhysicsServer2DSW::body_reset_mass_properties(RID p_body) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - return body->reset_mass_properties(); -} - -void PhysicsServer2DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_state(p_state, p_variant); -}; - -Variant PhysicsServer2DSW::body_get_state(RID p_body, BodyState p_state) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Variant()); - - return body->get_state(p_state); -}; - -void PhysicsServer2DSW::body_set_applied_force(RID p_body, const Vector2 &p_force) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_force(p_force); - body->wakeup(); -}; - -Vector2 PhysicsServer2DSW::body_get_applied_force(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector2()); - return body->get_applied_force(); -}; - -void PhysicsServer2DSW::body_set_applied_torque(RID p_body, real_t p_torque) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_torque(p_torque); - body->wakeup(); -}; - -real_t PhysicsServer2DSW::body_get_applied_torque(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_applied_torque(); -}; - -void PhysicsServer2DSW::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->apply_central_impulse(p_impulse); - body->wakeup(); -} - -void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_torque_impulse(p_torque); - body->wakeup(); -} - -void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_impulse(p_impulse, p_position); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_central_force(RID p_body, const Vector2 &p_force) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_central_force(p_force); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_force(p_force, p_position); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_torque(RID p_body, real_t p_torque) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_torque(p_torque); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - Vector2 v = body->get_linear_velocity(); - Vector2 axis = p_axis_velocity.normalized(); - v -= axis * axis.dot(v); - v += p_axis_velocity; - body->set_linear_velocity(v); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_add_collision_exception(RID p_body, RID p_body_b) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_exception(p_body_b); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_remove_collision_exception(RID p_body, RID p_body_b) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->remove_exception(p_body_b); - body->wakeup(); -}; - -void PhysicsServer2DSW::body_get_collision_exceptions(RID p_body, List *p_exceptions) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - for (int i = 0; i < body->get_exceptions().size(); i++) { - p_exceptions->push_back(body->get_exceptions()[i]); - } -}; - -void PhysicsServer2DSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); -}; - -real_t PhysicsServer2DSW::body_get_contacts_reported_depth_threshold(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - return 0; -}; - -void PhysicsServer2DSW::body_set_omit_force_integration(RID p_body, bool p_omit) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_omit_force_integration(p_omit); -}; - -bool PhysicsServer2DSW::body_is_omitting_force_integration(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - return body->get_omit_force_integration(); -}; - -void PhysicsServer2DSW::body_set_max_contacts_reported(RID p_body, int p_contacts) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_max_contacts_reported(p_contacts); -} - -int PhysicsServer2DSW::body_get_max_contacts_reported(RID p_body) const { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, -1); - return body->get_max_contacts_reported(); -} - -void PhysicsServer2DSW::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_state_sync_callback(p_instance, p_callback); -} - -void PhysicsServer2DSW::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_force_integration_callback(p_callable, p_udata); -} - -bool PhysicsServer2DSW::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false); - - return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count); -} - -void PhysicsServer2DSW::body_set_pickable(RID p_body, bool p_pickable) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_pickable(p_pickable); -} - -bool PhysicsServer2DSW::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) { - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_COND_V(!body->get_space(), false); - ERR_FAIL_COND_V(body->get_space()->is_locked(), false); - - _update_shapes(); - - return body->get_space()->test_body_motion(body, p_parameters, r_result); -} - -PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) { - ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - - Body2DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, nullptr); - - ERR_FAIL_COND_V(!body->get_space(), nullptr); - ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - - return body->get_direct_state(); -} - -/* JOINT API */ - -RID PhysicsServer2DSW::joint_create() { - Joint2DSW *joint = memnew(Joint2DSW); - RID joint_rid = joint_owner.make_rid(joint); - joint->set_self(joint_rid); - return joint_rid; -} - -void PhysicsServer2DSW::joint_clear(RID p_joint) { - Joint2DSW *joint = joint_owner.get_or_null(p_joint); - if (joint->get_type() != JOINT_TYPE_MAX) { - Joint2DSW *empty_joint = memnew(Joint2DSW); - empty_joint->copy_settings_from(joint); - - joint_owner.replace(p_joint, empty_joint); - memdelete(joint); - } -} - -void PhysicsServer2DSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) { - Joint2DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - - switch (p_param) { - case JOINT_PARAM_BIAS: - joint->set_bias(p_value); - break; - case JOINT_PARAM_MAX_BIAS: - joint->set_max_bias(p_value); - break; - case JOINT_PARAM_MAX_FORCE: - joint->set_max_force(p_value); - break; - } -} - -real_t PhysicsServer2DSW::joint_get_param(RID p_joint, JointParam p_param) const { - const Joint2DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, -1); - - switch (p_param) { - case JOINT_PARAM_BIAS: - return joint->get_bias(); - break; - case JOINT_PARAM_MAX_BIAS: - return joint->get_max_bias(); - break; - case JOINT_PARAM_MAX_FORCE: - return joint->get_max_force(); - break; - } - - return 0; -} - -void PhysicsServer2DSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { - Joint2DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - - joint->disable_collisions_between_bodies(p_disable); - - if (2 == joint->get_body_count()) { - Body2DSW *body_a = *joint->get_body_ptr(); - Body2DSW *body_b = *(joint->get_body_ptr() + 1); - - if (p_disable) { - body_add_collision_exception(body_a->get_self(), body_b->get_self()); - body_add_collision_exception(body_b->get_self(), body_a->get_self()); - } else { - body_remove_collision_exception(body_a->get_self(), body_b->get_self()); - body_remove_collision_exception(body_b->get_self(), body_a->get_self()); - } - } -} - -bool PhysicsServer2DSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { - const Joint2DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, true); - - return joint->is_disabled_collisions_between_bodies(); -} - -void PhysicsServer2DSW::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) { - Body2DSW *A = body_owner.get_or_null(p_body_a); - ERR_FAIL_COND(!A); - Body2DSW *B = nullptr; - if (body_owner.owns(p_body_b)) { - B = body_owner.get_or_null(p_body_b); - ERR_FAIL_COND(!B); - } - - Joint2DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint2DSW *joint = memnew(PinJoint2DSW(p_pos, A, B)); - - joint_owner.replace(p_joint, joint); - joint->copy_settings_from(prev_joint); - memdelete(prev_joint); -} - -void PhysicsServer2DSW::joint_make_groove(RID p_joint, const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) { - Body2DSW *A = body_owner.get_or_null(p_body_a); - ERR_FAIL_COND(!A); - - Body2DSW *B = body_owner.get_or_null(p_body_b); - ERR_FAIL_COND(!B); - - Joint2DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint2DSW *joint = memnew(GrooveJoint2DSW(p_a_groove1, p_a_groove2, p_b_anchor, A, B)); - - joint_owner.replace(p_joint, joint); - joint->copy_settings_from(prev_joint); - memdelete(prev_joint); -} - -void PhysicsServer2DSW::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) { - Body2DSW *A = body_owner.get_or_null(p_body_a); - ERR_FAIL_COND(!A); - - Body2DSW *B = body_owner.get_or_null(p_body_b); - ERR_FAIL_COND(!B); - - Joint2DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint2DSW *joint = memnew(DampedSpringJoint2DSW(p_anchor_a, p_anchor_b, A, B)); - - joint_owner.replace(p_joint, joint); - joint->copy_settings_from(prev_joint); - memdelete(prev_joint); -} - -void PhysicsServer2DSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { - Joint2DSW *j = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!j); - ERR_FAIL_COND(j->get_type() != JOINT_TYPE_PIN); - - PinJoint2DSW *pin_joint = static_cast(j); - pin_joint->set_param(p_param, p_value); -} - -real_t PhysicsServer2DSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { - Joint2DSW *j = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!j, 0); - ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_PIN, 0); - - PinJoint2DSW *pin_joint = static_cast(j); - return pin_joint->get_param(p_param); -} - -void PhysicsServer2DSW::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) { - Joint2DSW *j = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!j); - ERR_FAIL_COND(j->get_type() != JOINT_TYPE_DAMPED_SPRING); - - DampedSpringJoint2DSW *dsj = static_cast(j); - dsj->set_param(p_param, p_value); -} - -real_t PhysicsServer2DSW::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const { - Joint2DSW *j = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!j, 0); - ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_DAMPED_SPRING, 0); - - DampedSpringJoint2DSW *dsj = static_cast(j); - return dsj->get_param(p_param); -} - -PhysicsServer2D::JointType PhysicsServer2DSW::joint_get_type(RID p_joint) const { - Joint2DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); - - return joint->get_type(); -} - -void PhysicsServer2DSW::free(RID p_rid) { - _update_shapes(); // just in case - - if (shape_owner.owns(p_rid)) { - Shape2DSW *shape = shape_owner.get_or_null(p_rid); - - while (shape->get_owners().size()) { - ShapeOwner2DSW *so = shape->get_owners().front()->key(); - so->remove_shape(shape); - } - - shape_owner.free(p_rid); - memdelete(shape); - } else if (body_owner.owns(p_rid)) { - Body2DSW *body = body_owner.get_or_null(p_rid); - - /* - if (body->get_state_query()) - _clear_query(body->get_state_query()); - - if (body->get_direct_state_query()) - _clear_query(body->get_direct_state_query()); - */ - - body_set_space(p_rid, RID()); - - while (body->get_shape_count()) { - body->remove_shape(0); - } - - body_owner.free(p_rid); - memdelete(body); - - } else if (area_owner.owns(p_rid)) { - Area2DSW *area = area_owner.get_or_null(p_rid); - - /* - if (area->get_monitor_query()) - _clear_query(area->get_monitor_query()); - */ - - area->set_space(nullptr); - - while (area->get_shape_count()) { - area->remove_shape(0); - } - - area_owner.free(p_rid); - memdelete(area); - } else if (space_owner.owns(p_rid)) { - Space2DSW *space = space_owner.get_or_null(p_rid); - - while (space->get_objects().size()) { - CollisionObject2DSW *co = (CollisionObject2DSW *)space->get_objects().front()->get(); - co->set_space(nullptr); - } - - active_spaces.erase(space); - free(space->get_default_area()->get_self()); - space_owner.free(p_rid); - memdelete(space); - } else if (joint_owner.owns(p_rid)) { - Joint2DSW *joint = joint_owner.get_or_null(p_rid); - - joint_owner.free(p_rid); - memdelete(joint); - - } else { - ERR_FAIL_MSG("Invalid ID."); - } -}; - -void PhysicsServer2DSW::set_active(bool p_active) { - active = p_active; -}; - -void PhysicsServer2DSW::set_collision_iterations(int p_iterations) { - iterations = p_iterations; -}; - -void PhysicsServer2DSW::init() { - doing_sync = false; - iterations = 8; // 8? - stepper = memnew(Step2DSW); -}; - -void PhysicsServer2DSW::step(real_t p_step) { - if (!active) { - return; - } - - _update_shapes(); - - island_count = 0; - active_objects = 0; - collision_pairs = 0; - for (Set::Element *E = active_spaces.front(); E; E = E->next()) { - stepper->step((Space2DSW *)E->get(), p_step, iterations); - island_count += E->get()->get_island_count(); - active_objects += E->get()->get_active_objects(); - collision_pairs += E->get()->get_collision_pairs(); - } -}; - -void PhysicsServer2DSW::sync() { - doing_sync = true; -}; - -void PhysicsServer2DSW::flush_queries() { - if (!active) { - return; - } - - flushing_queries = true; - - uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); - - for (Set::Element *E = active_spaces.front(); E; E = E->next()) { - Space2DSW *space = (Space2DSW *)E->get(); - space->call_queries(); - } - - flushing_queries = false; - - if (EngineDebugger::is_profiling("servers")) { - uint64_t total_time[Space2DSW::ELAPSED_TIME_MAX]; - static const char *time_name[Space2DSW::ELAPSED_TIME_MAX] = { - "integrate_forces", - "generate_islands", - "setup_constraints", - "solve_constraints", - "integrate_velocities" - }; - - for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) { - total_time[i] = 0; - } - - for (Set::Element *E = active_spaces.front(); E; E = E->next()) { - for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) { - total_time[i] += E->get()->get_elapsed_time(Space2DSW::ElapsedTime(i)); - } - } - - Array values; - values.resize(Space2DSW::ELAPSED_TIME_MAX * 2); - for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) { - values[i * 2 + 0] = time_name[i]; - values[i * 2 + 1] = USEC_TO_SEC(total_time[i]); - } - values.push_back("flush_queries"); - values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg)); - - values.push_front("physics_2d"); - EngineDebugger::profiler_add_frame_data("servers", values); - } -} - -void PhysicsServer2DSW::end_sync() { - doing_sync = false; -} - -void PhysicsServer2DSW::finish() { - memdelete(stepper); -}; - -void PhysicsServer2DSW::_update_shapes() { - while (pending_shape_update_list.first()) { - pending_shape_update_list.first()->self()->_shape_changed(); - pending_shape_update_list.remove(pending_shape_update_list.first()); - } -} - -int PhysicsServer2DSW::get_process_info(ProcessInfo p_info) { - switch (p_info) { - case INFO_ACTIVE_OBJECTS: { - return active_objects; - } break; - case INFO_COLLISION_PAIRS: { - return collision_pairs; - } break; - case INFO_ISLAND_COUNT: { - return island_count; - } break; - } - - return 0; -} - -PhysicsServer2DSW *PhysicsServer2DSW::singletonsw = nullptr; - -PhysicsServer2DSW::PhysicsServer2DSW(bool p_using_threads) { - singletonsw = this; - BroadPhase2DSW::create_func = BroadPhase2DBVH::_create; - - using_threads = p_using_threads; -}; diff --git a/servers/physics_3d/gjk_epa.cpp b/servers/physics_3d/gjk_epa.cpp index a1dbdd0a70..ef6535a878 100644 --- a/servers/physics_3d/gjk_epa.cpp +++ b/servers/physics_3d/gjk_epa.cpp @@ -105,7 +105,7 @@ typedef unsigned char U1; // MinkowskiDiff struct MinkowskiDiff { - const Shape3DSW* m_shapes[2]; + const GodotShape3D* m_shapes[2]; Transform3D transform_A; Transform3D transform_B; @@ -113,10 +113,10 @@ struct MinkowskiDiff { real_t margin_A = 0.0; real_t margin_B = 0.0; - Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t); + Vector3 (*get_support)(const GodotShape3D*, const Vector3&, real_t); - void Initialize(const Shape3DSW* shape0, const Transform3D& wtrs0, const real_t margin0, - const Shape3DSW* shape1, const Transform3D& wtrs1, const real_t margin1) { + void Initialize(const GodotShape3D* shape0, const Transform3D& wtrs0, const real_t margin0, + const GodotShape3D* shape1, const Transform3D& wtrs1, const real_t margin1) { m_shapes[0] = shape0; m_shapes[1] = shape1; transform_A = wtrs0; @@ -131,11 +131,11 @@ struct MinkowskiDiff { } } - static Vector3 get_support_without_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) { + static Vector3 get_support_without_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) { return p_shape->get_support(p_dir.normalized()); } - static Vector3 get_support_with_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) { + static Vector3 get_support_with_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) { Vector3 local_dir_norm = p_dir; if (local_dir_norm.length_squared() < CMP_EPSILON2) { local_dir_norm = Vector3(-1.0, -1.0, -1.0); @@ -862,8 +862,8 @@ struct GJK }; // - static void Initialize( const Shape3DSW* shape0, const Transform3D& wtrs0, real_t margin0, - const Shape3DSW* shape1, const Transform3D& wtrs1, real_t margin1, + static void Initialize( const GodotShape3D* shape0, const Transform3D& wtrs0, real_t margin0, + const GodotShape3D* shape1, const Transform3D& wtrs1, real_t margin1, sResults& results, tShape& shape) { @@ -884,10 +884,10 @@ struct GJK // // -bool Distance( const Shape3DSW* shape0, +bool Distance( const GodotShape3D* shape0, const Transform3D& wtrs0, real_t margin0, - const Shape3DSW* shape1, + const GodotShape3D* shape1, const Transform3D& wtrs1, real_t margin1, const Vector3& guess, @@ -925,10 +925,10 @@ bool Distance( const Shape3DSW* shape0, // -bool Penetration( const Shape3DSW* shape0, +bool Penetration( const GodotShape3D* shape0, const Transform3D& wtrs0, real_t margin0, - const Shape3DSW* shape1, + const GodotShape3D* shape1, const Transform3D& wtrs1, real_t margin1, const Vector3& guess, @@ -993,7 +993,7 @@ bool Penetration( const Shape3DSW* shape0, /* clang-format on */ -bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) { +bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) { GjkEpa2::sResults res; if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) { @@ -1005,7 +1005,7 @@ bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p return false; } -bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) { +bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) { GjkEpa2::sResults res; if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_B, p_transform_B.origin - p_transform_A.origin, res)) { diff --git a/servers/physics_3d/gjk_epa.h b/servers/physics_3d/gjk_epa.h index 69e85d2bc0..39a7d03435 100644 --- a/servers/physics_3d/gjk_epa.h +++ b/servers/physics_3d/gjk_epa.h @@ -31,10 +31,10 @@ #ifndef GJK_EPA_H #define GJK_EPA_H -#include "collision_solver_3d_sw.h" -#include "shape_3d_sw.h" +#include "godot_collision_solver_3d.h" +#include "godot_shape_3d.h" -bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0); -bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B); +bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0); +bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B); #endif diff --git a/servers/physics_3d/area_3d_sw.cpp b/servers/physics_3d/godot_area_3d.cpp similarity index 87% rename from servers/physics_3d/area_3d_sw.cpp rename to servers/physics_3d/godot_area_3d.cpp index 630ab7e229..e115e17061 100644 --- a/servers/physics_3d/area_3d_sw.cpp +++ b/servers/physics_3d/godot_area_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_3d_sw.cpp */ +/* godot_area_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,39 +28,40 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "area_3d_sw.h" -#include "body_3d_sw.h" -#include "soft_body_3d_sw.h" -#include "space_3d_sw.h" +#include "godot_area_3d.h" -Area3DSW::BodyKey::BodyKey(SoftBody3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +#include "godot_body_3d.h" +#include "godot_soft_body_3d.h" +#include "godot_space_3d.h" + +GodotArea3D::BodyKey::BodyKey(GodotSoftBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { rid = p_body->get_self(); instance_id = p_body->get_instance_id(); body_shape = p_body_shape; area_shape = p_area_shape; } -Area3DSW::BodyKey::BodyKey(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +GodotArea3D::BodyKey::BodyKey(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { rid = p_body->get_self(); instance_id = p_body->get_instance_id(); body_shape = p_body_shape; area_shape = p_area_shape; } -Area3DSW::BodyKey::BodyKey(Area3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +GodotArea3D::BodyKey::BodyKey(GodotArea3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { rid = p_body->get_self(); instance_id = p_body->get_instance_id(); body_shape = p_body_shape; area_shape = p_area_shape; } -void Area3DSW::_shapes_changed() { +void GodotArea3D::_shapes_changed() { if (!moved_list.in_list() && get_space()) { get_space()->area_add_to_moved_list(&moved_list); } } -void Area3DSW::set_transform(const Transform3D &p_transform) { +void GodotArea3D::set_transform(const Transform3D &p_transform) { if (!moved_list.in_list() && get_space()) { get_space()->area_add_to_moved_list(&moved_list); } @@ -69,7 +70,7 @@ void Area3DSW::set_transform(const Transform3D &p_transform) { _set_inv_transform(p_transform.affine_inverse()); } -void Area3DSW::set_space(Space3DSW *p_space) { +void GodotArea3D::set_space(GodotSpace3D *p_space) { if (get_space()) { if (monitor_query_list.in_list()) { get_space()->area_remove_from_monitor_query_list(&monitor_query_list); @@ -85,7 +86,7 @@ void Area3DSW::set_space(Space3DSW *p_space) { _set_space(p_space); } -void Area3DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) { +void GodotArea3D::set_monitor_callback(ObjectID p_id, const StringName &p_method) { if (p_id == monitor_callback_id) { monitor_callback_method = p_method; return; @@ -106,7 +107,7 @@ void Area3DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) { } } -void Area3DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) { +void GodotArea3D::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) { if (p_id == area_monitor_callback_id) { area_monitor_callback_method = p_method; return; @@ -127,7 +128,7 @@ void Area3DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_meth } } -void Area3DSW::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) { +void GodotArea3D::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) { bool do_override = p_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; if (do_override == (space_override_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED)) { return; @@ -137,7 +138,7 @@ void Area3DSW::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_ _shape_changed(); } -void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) { +void GodotArea3D::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer3D::AREA_PARAM_GRAVITY: gravity = p_value; @@ -180,7 +181,7 @@ void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant & } } -Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const { +Variant GodotArea3D::get_param(PhysicsServer3D::AreaParameter p_param) const { switch (p_param) { case PhysicsServer3D::AREA_PARAM_GRAVITY: return gravity; @@ -211,7 +212,7 @@ Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const { return Variant(); } -void Area3DSW::_queue_monitor_update() { +void GodotArea3D::_queue_monitor_update() { ERR_FAIL_COND(!get_space()); if (!monitor_query_list.in_list()) { @@ -219,7 +220,7 @@ void Area3DSW::_queue_monitor_update() { } } -void Area3DSW::set_monitorable(bool p_monitorable) { +void GodotArea3D::set_monitorable(bool p_monitorable) { if (monitorable == p_monitorable) { return; } @@ -228,7 +229,7 @@ void Area3DSW::set_monitorable(bool p_monitorable) { _set_static(!monitorable); } -void Area3DSW::call_queries() { +void GodotArea3D::call_queries() { if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) { Variant res[5]; Variant *resptr[5]; @@ -304,7 +305,7 @@ void Area3DSW::call_queries() { } } -void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const { +void GodotArea3D::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const { if (is_gravity_point()) { const real_t gravity_distance_scale = get_gravity_distance_scale(); Vector3 v = get_transform().xform(get_gravity_vector()) - p_position; @@ -324,13 +325,13 @@ void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) co } } -Area3DSW::Area3DSW() : - CollisionObject3DSW(TYPE_AREA), +GodotArea3D::GodotArea3D() : + GodotCollisionObject3D(TYPE_AREA), monitor_query_list(this), moved_list(this) { _set_static(true); //areas are never active set_ray_pickable(false); } -Area3DSW::~Area3DSW() { +GodotArea3D::~GodotArea3D() { } diff --git a/servers/physics_3d/area_3d_sw.h b/servers/physics_3d/godot_area_3d.h similarity index 76% rename from servers/physics_3d/area_3d_sw.h rename to servers/physics_3d/godot_area_3d.h index af5c23949c..e8caa9221b 100644 --- a/servers/physics_3d/area_3d_sw.h +++ b/servers/physics_3d/godot_area_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_3d_sw.h */ +/* godot_area_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,19 +28,20 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef AREA_SW_H -#define AREA_SW_H +#ifndef GODOT_AREA_3D_H +#define GODOT_AREA_3D_H + +#include "godot_collision_object_3d.h" -#include "collision_object_3d_sw.h" #include "core/templates/self_list.h" #include "servers/physics_server_3d.h" -class Space3DSW; -class Body3DSW; -class SoftBody3DSW; -class Constraint3DSW; +class GodotSpace3D; +class GodotBody3D; +class GodotSoftBody3D; +class GodotConstraint3D; -class Area3DSW : public CollisionObject3DSW { +class GodotArea3D : public GodotCollisionObject3D { PhysicsServer3D::AreaSpaceOverrideMode space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED; real_t gravity = 9.80665; Vector3 gravity_vector = Vector3(0, -1, 0); @@ -62,8 +63,8 @@ class Area3DSW : public CollisionObject3DSW { ObjectID area_monitor_callback_id; StringName area_monitor_callback_method; - SelfList monitor_query_list; - SelfList moved_list; + SelfList monitor_query_list; + SelfList moved_list; struct BodyKey { RID rid; @@ -84,9 +85,9 @@ class Area3DSW : public CollisionObject3DSW { } _FORCE_INLINE_ BodyKey() {} - BodyKey(SoftBody3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - BodyKey(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - BodyKey(Area3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotSoftBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + BodyKey(GodotArea3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); }; struct BodyState { @@ -99,7 +100,7 @@ class Area3DSW : public CollisionObject3DSW { Map monitored_bodies; Map monitored_areas; - Set constraints; + Set constraints; virtual void _shapes_changed(); void _queue_monitor_update(); @@ -111,14 +112,14 @@ public: void set_area_monitor_callback(ObjectID p_id, const StringName &p_method); _FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); } - _FORCE_INLINE_ void add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void add_body_to_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void remove_body_from_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void add_soft_body_to_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape); + _FORCE_INLINE_ void remove_soft_body_from_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape); - _FORCE_INLINE_ void add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape); - _FORCE_INLINE_ void remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape); + _FORCE_INLINE_ void add_area_to_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape); + _FORCE_INLINE_ void remove_area_from_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape); void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value); Variant get_param(PhysicsServer3D::AreaParameter p_param) const; @@ -162,9 +163,9 @@ public: _FORCE_INLINE_ void set_wind_direction(const Vector3 &p_wind_direction) { wind_direction = p_wind_direction; } _FORCE_INLINE_ const Vector3 &get_wind_direction() const { return wind_direction; } - _FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); } - _FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); } - _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } + _FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); } + _FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); } + _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } _FORCE_INLINE_ void clear_constraints() { constraints.clear(); } void set_monitorable(bool p_monitorable); @@ -172,17 +173,17 @@ public: void set_transform(const Transform3D &p_transform); - void set_space(Space3DSW *p_space); + void set_space(GodotSpace3D *p_space); void call_queries(); void compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const; - Area3DSW(); - ~Area3DSW(); + GodotArea3D(); + ~GodotArea3D(); }; -void Area3DSW::add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) { +void GodotArea3D::add_soft_body_to_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) { BodyKey bk(p_soft_body, p_soft_body_shape, p_area_shape); monitored_soft_bodies[bk].inc(); if (!monitor_query_list.in_list()) { @@ -190,7 +191,7 @@ void Area3DSW::add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft } } -void Area3DSW::remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) { +void GodotArea3D::remove_soft_body_from_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) { BodyKey bk(p_soft_body, p_soft_body_shape, p_area_shape); monitored_soft_bodies[bk].dec(); if (!monitor_query_list.in_list()) { @@ -198,7 +199,7 @@ void Area3DSW::remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p } } -void Area3DSW::add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +void GodotArea3D::add_body_to_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { BodyKey bk(p_body, p_body_shape, p_area_shape); monitored_bodies[bk].inc(); if (!monitor_query_list.in_list()) { @@ -206,7 +207,7 @@ void Area3DSW::add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32 } } -void Area3DSW::remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { +void GodotArea3D::remove_body_from_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) { BodyKey bk(p_body, p_body_shape, p_area_shape); monitored_bodies[bk].dec(); if (!monitor_query_list.in_list()) { @@ -214,7 +215,7 @@ void Area3DSW::remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, u } } -void Area3DSW::add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { +void GodotArea3D::add_area_to_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { BodyKey bk(p_area, p_area_shape, p_self_shape); monitored_areas[bk].inc(); if (!monitor_query_list.in_list()) { @@ -222,7 +223,7 @@ void Area3DSW::add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32 } } -void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { +void GodotArea3D::remove_area_from_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) { BodyKey bk(p_area, p_area_shape, p_self_shape); monitored_areas[bk].dec(); if (!monitor_query_list.in_list()) { @@ -231,15 +232,15 @@ void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, u } struct AreaCMP { - Area3DSW *area = nullptr; + GodotArea3D *area = nullptr; int refCount = 0; _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(Area3DSW *p_area) { + _FORCE_INLINE_ AreaCMP(GodotArea3D *p_area) { area = p_area; refCount = 1; } }; -#endif // AREA__SW_H +#endif // GODOT_AREA_3D_H diff --git a/servers/physics_3d/area_pair_3d_sw.cpp b/servers/physics_3d/godot_area_pair_3d.cpp similarity index 81% rename from servers/physics_3d/area_pair_3d_sw.cpp rename to servers/physics_3d/godot_area_pair_3d.cpp index bf4f0035b4..7453153de6 100644 --- a/servers/physics_3d/area_pair_3d_sw.cpp +++ b/servers/physics_3d/godot_area_pair_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_pair_3d_sw.cpp */ +/* godot_area_pair_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,12 +28,13 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "area_pair_3d_sw.h" -#include "collision_solver_3d_sw.h" +#include "godot_area_pair_3d.h" -bool AreaPair3DSW::setup(real_t p_step) { +#include "godot_collision_solver_3d.h" + +bool GodotAreaPair3D::setup(real_t p_step) { bool result = false; - if (area->collides_with(body) && CollisionSolver3DSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) { + if (area->collides_with(body) && GodotCollisionSolver3D::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) { result = true; } @@ -51,7 +52,7 @@ bool AreaPair3DSW::setup(real_t p_step) { return process_collision; } -bool AreaPair3DSW::pre_solve(real_t p_step) { +bool GodotAreaPair3D::pre_solve(real_t p_step) { if (!process_collision) { return false; } @@ -77,11 +78,11 @@ bool AreaPair3DSW::pre_solve(real_t p_step) { return false; // Never do any post solving. } -void AreaPair3DSW::solve(real_t p_step) { +void GodotAreaPair3D::solve(real_t p_step) { // Nothing to do. } -AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape) { +GodotAreaPair3D::GodotAreaPair3D(GodotBody3D *p_body, int p_body_shape, GodotArea3D *p_area, int p_area_shape) { body = p_body; area = p_area; body_shape = p_body_shape; @@ -93,7 +94,7 @@ AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, } } -AreaPair3DSW::~AreaPair3DSW() { +GodotAreaPair3D::~GodotAreaPair3D() { if (colliding) { if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) { body->remove_area(area); @@ -108,10 +109,10 @@ AreaPair3DSW::~AreaPair3DSW() { //////////////////////////////////////////////////// -bool Area2Pair3DSW::setup(real_t p_step) { +bool GodotArea2Pair3D::setup(real_t p_step) { bool result_a = area_a->collides_with(area_b); bool result_b = area_b->collides_with(area_a); - if ((result_a || result_b) && !CollisionSolver3DSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) { + if ((result_a || result_b) && !GodotCollisionSolver3D::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) { result_a = false; result_b = false; } @@ -139,7 +140,7 @@ bool Area2Pair3DSW::setup(real_t p_step) { return process_collision; } -bool Area2Pair3DSW::pre_solve(real_t p_step) { +bool GodotArea2Pair3D::pre_solve(real_t p_step) { if (process_collision_a) { if (colliding_a) { area_a->add_area_to_query(area_b, shape_b, shape_a); @@ -159,11 +160,11 @@ bool Area2Pair3DSW::pre_solve(real_t p_step) { return false; // Never do any post solving. } -void Area2Pair3DSW::solve(real_t p_step) { +void GodotArea2Pair3D::solve(real_t p_step) { // Nothing to do. } -Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b) { +GodotArea2Pair3D::GodotArea2Pair3D(GodotArea3D *p_area_a, int p_shape_a, GodotArea3D *p_area_b, int p_shape_b) { area_a = p_area_a; area_b = p_area_b; shape_a = p_shape_a; @@ -172,7 +173,7 @@ Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area area_b->add_constraint(this); } -Area2Pair3DSW::~Area2Pair3DSW() { +GodotArea2Pair3D::~GodotArea2Pair3D() { if (colliding_a) { if (area_a->has_area_monitor_callback()) { area_a->remove_area_from_query(area_b, shape_b, shape_a); @@ -191,11 +192,11 @@ Area2Pair3DSW::~Area2Pair3DSW() { //////////////////////////////////////////////////// -bool AreaSoftBodyPair3DSW::setup(real_t p_step) { +bool GodotAreaSoftBodyPair3D::setup(real_t p_step) { bool result = false; if ( area->collides_with(soft_body) && - CollisionSolver3DSW::solve_static( + GodotCollisionSolver3D::solve_static( soft_body->get_shape(soft_body_shape), soft_body->get_transform() * soft_body->get_shape_transform(soft_body_shape), area->get_shape(area_shape), @@ -219,7 +220,7 @@ bool AreaSoftBodyPair3DSW::setup(real_t p_step) { return process_collision; } -bool AreaSoftBodyPair3DSW::pre_solve(real_t p_step) { +bool GodotAreaSoftBodyPair3D::pre_solve(real_t p_step) { if (!process_collision) { return false; } @@ -245,11 +246,11 @@ bool AreaSoftBodyPair3DSW::pre_solve(real_t p_step) { return false; // Never do any post solving. } -void AreaSoftBodyPair3DSW::solve(real_t p_step) { +void GodotAreaSoftBodyPair3D::solve(real_t p_step) { // Nothing to do. } -AreaSoftBodyPair3DSW::AreaSoftBodyPair3DSW(SoftBody3DSW *p_soft_body, int p_soft_body_shape, Area3DSW *p_area, int p_area_shape) { +GodotAreaSoftBodyPair3D::GodotAreaSoftBodyPair3D(GodotSoftBody3D *p_soft_body, int p_soft_body_shape, GodotArea3D *p_area, int p_area_shape) { soft_body = p_soft_body; area = p_area; soft_body_shape = p_soft_body_shape; @@ -258,7 +259,7 @@ AreaSoftBodyPair3DSW::AreaSoftBodyPair3DSW(SoftBody3DSW *p_soft_body, int p_soft area->add_constraint(this); } -AreaSoftBodyPair3DSW::~AreaSoftBodyPair3DSW() { +GodotAreaSoftBodyPair3D::~GodotAreaSoftBodyPair3D() { if (colliding) { if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) { soft_body->remove_area(area); diff --git a/servers/physics_3d/area_pair_3d_sw.h b/servers/physics_3d/godot_area_pair_3d.h similarity index 75% rename from servers/physics_3d/area_pair_3d_sw.h rename to servers/physics_3d/godot_area_pair_3d.h index 4572dcbb23..f55c03be03 100644 --- a/servers/physics_3d/area_pair_3d_sw.h +++ b/servers/physics_3d/godot_area_pair_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* area_pair_3d_sw.h */ +/* godot_area_pair_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,17 +28,17 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef AREA_PAIR_SW_H -#define AREA_PAIR_SW_H +#ifndef GODOT_AREA_PAIR_3D_H +#define GODOT_AREA_PAIR_3D_H -#include "area_3d_sw.h" -#include "body_3d_sw.h" -#include "constraint_3d_sw.h" -#include "soft_body_3d_sw.h" +#include "godot_area_3d.h" +#include "godot_body_3d.h" +#include "godot_constraint_3d.h" +#include "godot_soft_body_3d.h" -class AreaPair3DSW : public Constraint3DSW { - Body3DSW *body; - Area3DSW *area; +class GodotAreaPair3D : public GodotConstraint3D { + GodotBody3D *body; + GodotArea3D *area; int body_shape; int area_shape; bool colliding = false; @@ -49,13 +49,13 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape); - ~AreaPair3DSW(); + GodotAreaPair3D(GodotBody3D *p_body, int p_body_shape, GodotArea3D *p_area, int p_area_shape); + ~GodotAreaPair3D(); }; -class Area2Pair3DSW : public Constraint3DSW { - Area3DSW *area_a; - Area3DSW *area_b; +class GodotArea2Pair3D : public GodotConstraint3D { + GodotArea3D *area_a; + GodotArea3D *area_b; int shape_a; int shape_b; bool colliding_a = false; @@ -68,13 +68,13 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b); - ~Area2Pair3DSW(); + GodotArea2Pair3D(GodotArea3D *p_area_a, int p_shape_a, GodotArea3D *p_area_b, int p_shape_b); + ~GodotArea2Pair3D(); }; -class AreaSoftBodyPair3DSW : public Constraint3DSW { - SoftBody3DSW *soft_body; - Area3DSW *area; +class GodotAreaSoftBodyPair3D : public GodotConstraint3D { + GodotSoftBody3D *soft_body; + GodotArea3D *area; int soft_body_shape; int area_shape; bool colliding = false; @@ -85,8 +85,8 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - AreaSoftBodyPair3DSW(SoftBody3DSW *p_sof_body, int p_soft_body_shape, Area3DSW *p_area, int p_area_shape); - ~AreaSoftBodyPair3DSW(); + GodotAreaSoftBodyPair3D(GodotSoftBody3D *p_sof_body, int p_soft_body_shape, GodotArea3D *p_area, int p_area_shape); + ~GodotAreaSoftBodyPair3D(); }; -#endif // AREA_PAIR__SW_H +#endif // GODOT_AREA_PAIR_3D_H diff --git a/servers/physics_3d/body_3d_sw.cpp b/servers/physics_3d/godot_body_3d.cpp similarity index 86% rename from servers/physics_3d/body_3d_sw.cpp rename to servers/physics_3d/godot_body_3d.cpp index 069374d122..6df6a0c45b 100644 --- a/servers/physics_3d/body_3d_sw.cpp +++ b/servers/physics_3d/godot_body_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_3d_sw.cpp */ +/* godot_body_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,19 +28,19 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_3d_sw.h" +#include "godot_body_3d.h" -#include "area_3d_sw.h" -#include "body_direct_state_3d_sw.h" -#include "space_3d_sw.h" +#include "godot_area_3d.h" +#include "godot_body_direct_state_3d.h" +#include "godot_space_3d.h" -void Body3DSW::_mass_properties_changed() { +void GodotBody3D::_mass_properties_changed() { if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) { get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list); } } -void Body3DSW::_update_transform_dependant() { +void GodotBody3D::_update_transform_dependant() { center_of_mass = get_transform().basis.xform(center_of_mass_local); principal_inertia_axes = get_transform().basis * principal_inertia_axes_local; @@ -52,7 +52,7 @@ void Body3DSW::_update_transform_dependant() { _inv_inertia_tensor = tb * diag * tbt; } -void Body3DSW::update_mass_properties() { +void GodotBody3D::update_mass_properties() { // Update shapes and motions. switch (mode) { @@ -106,7 +106,7 @@ void Body3DSW::update_mass_properties() { inertia_set = true; - const Shape3DSW *shape = get_shape(i); + const GodotShape3D *shape = get_shape(i); real_t mass = area * this->mass / total_area; @@ -164,13 +164,13 @@ void Body3DSW::update_mass_properties() { _update_transform_dependant(); } -void Body3DSW::reset_mass_properties() { +void GodotBody3D::reset_mass_properties() { calculate_inertia = true; calculate_center_of_mass = true; _mass_properties_changed(); } -void Body3DSW::set_active(bool p_active) { +void GodotBody3D::set_active(bool p_active) { if (active == p_active) { return; } @@ -189,7 +189,7 @@ void Body3DSW::set_active(bool p_active) { } } -void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) { +void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) { switch (p_param) { case PhysicsServer3D::BODY_PARAM_BOUNCE: { bounce = p_value; @@ -240,7 +240,7 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant & } } -Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const { +Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const { switch (p_param) { case PhysicsServer3D::BODY_PARAM_BOUNCE: { return bounce; @@ -278,7 +278,7 @@ Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const { return 0; } -void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) { +void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) { PhysicsServer3D::BodyMode prev = mode; mode = p_mode; @@ -321,15 +321,15 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) { } } -PhysicsServer3D::BodyMode Body3DSW::get_mode() const { +PhysicsServer3D::BodyMode GodotBody3D::get_mode() const { return mode; } -void Body3DSW::_shapes_changed() { +void GodotBody3D::_shapes_changed() { _mass_properties_changed(); } -void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { +void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { switch (p_state) { case PhysicsServer3D::BODY_STATE_TRANSFORM: { if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) { @@ -395,7 +395,7 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va } } -Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const { +Variant GodotBody3D::get_state(PhysicsServer3D::BodyState p_state) const { switch (p_state) { case PhysicsServer3D::BODY_STATE_TRANSFORM: { return get_transform(); @@ -417,7 +417,7 @@ Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const { return Variant(); } -void Body3DSW::set_space(Space3DSW *p_space) { +void GodotBody3D::set_space(GodotSpace3D *p_space) { if (get_space()) { if (mass_properties_update_list.in_list()) { get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list); @@ -440,7 +440,7 @@ void Body3DSW::set_space(Space3DSW *p_space) { } } -void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) { +void GodotBody3D::_compute_area_gravity_and_damping(const GodotArea3D *p_area) { Vector3 area_gravity; p_area->compute_gravity(get_transform().get_origin(), area_gravity); gravity += area_gravity; @@ -449,7 +449,7 @@ void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) { area_angular_damp += p_area->get_angular_damp(); } -void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) { +void GodotBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) { if (lock) { locked_axis |= p_axis; } else { @@ -457,17 +457,16 @@ void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) { } } -bool Body3DSW::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { +bool GodotBody3D::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const { return locked_axis & p_axis; } -void Body3DSW::integrate_forces(real_t p_step) { +void GodotBody3D::integrate_forces(real_t p_step) { if (mode == PhysicsServer3D::BODY_MODE_STATIC) { return; } - Area3DSW *def_area = get_space()->get_default_area(); - // AreaSW *damp_area = def_area; + GodotArea3D *def_area = get_space()->get_default_area(); ERR_FAIL_COND(!def_area); @@ -591,7 +590,7 @@ void Body3DSW::integrate_forces(real_t p_step) { contact_count = 0; } -void Body3DSW::integrate_velocities(real_t p_step) { +void GodotBody3D::integrate_velocities(real_t p_step) { if (mode == PhysicsServer3D::BODY_MODE_STATIC) { return; } @@ -655,49 +654,17 @@ void Body3DSW::integrate_velocities(real_t p_step) { _update_transform_dependant(); } -/* -void BodySW::simulate_motion(const Transform3D& p_xform,real_t p_step) { - Transform3D inv_xform = p_xform.affine_inverse(); - if (!get_space()) { - _set_transform(p_xform); - _set_inv_transform(inv_xform); - - return; - } - - //compute a FAKE linear velocity - this is easy - - linear_velocity=(p_xform.origin - get_transform().origin)/p_step; - - //compute a FAKE angular velocity, not so easy - Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized(); - Vector3 axis; - real_t angle; - - rot.get_axis_angle(axis,angle); - axis.normalize(); - angular_velocity=axis.normalized() * (angle/p_step); - linear_velocity = (p_xform.origin - get_transform().origin)/p_step; - - if (!direct_state_query_list.in_list())// - callalways, so lv and av are cleared && (state_query || direct_state_query)) - get_space()->body_add_to_state_query_list(&direct_state_query_list); - simulated_motion=true; - _set_transform(p_xform); -} - -*/ - -void Body3DSW::wakeup_neighbours() { - for (const KeyValue &E : constraint_map) { - const Constraint3DSW *c = E.key; - Body3DSW **n = c->get_body_ptr(); +void GodotBody3D::wakeup_neighbours() { + for (const KeyValue &E : constraint_map) { + const GodotConstraint3D *c = E.key; + GodotBody3D **n = c->get_body_ptr(); int bc = c->get_body_count(); for (int i = 0; i < bc; i++) { if (i == E.value) { continue; } - Body3DSW *b = n[i]; + GodotBody3D *b = n[i]; if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) { continue; } @@ -709,7 +676,7 @@ void Body3DSW::wakeup_neighbours() { } } -void Body3DSW::call_queries() { +void GodotBody3D::call_queries() { if (fi_callback_data) { if (!fi_callback_data->callable.get_object()) { set_force_integration_callback(Callable()); @@ -729,7 +696,7 @@ void Body3DSW::call_queries() { } } -bool Body3DSW::sleep_test(real_t p_step) { +bool GodotBody3D::sleep_test(real_t p_step) { if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) { return true; } else if (!can_sleep) { @@ -746,12 +713,12 @@ bool Body3DSW::sleep_test(real_t p_step) { } } -void Body3DSW::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) { +void GodotBody3D::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) { body_state_callback_instance = p_instance; body_state_callback = p_callback; } -void Body3DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { +void GodotBody3D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) { if (p_callable.get_object()) { if (!fi_callback_data) { fi_callback_data = memnew(ForceIntegrationCallbackData); @@ -764,23 +731,23 @@ void Body3DSW::set_force_integration_callback(const Callable &p_callable, const } } -PhysicsDirectBodyState3DSW *Body3DSW::get_direct_state() { +GodotPhysicsDirectBodyState3D *GodotBody3D::get_direct_state() { if (!direct_state) { - direct_state = memnew(PhysicsDirectBodyState3DSW); + direct_state = memnew(GodotPhysicsDirectBodyState3D); direct_state->body = this; } return direct_state; } -Body3DSW::Body3DSW() : - CollisionObject3DSW(TYPE_BODY), +GodotBody3D::GodotBody3D() : + GodotCollisionObject3D(TYPE_BODY), active_list(this), mass_properties_update_list(this), direct_state_query_list(this) { _set_static(false); } -Body3DSW::~Body3DSW() { +GodotBody3D::~GodotBody3D() { if (fi_callback_data) { memdelete(fi_callback_data); } diff --git a/servers/physics_3d/body_3d_sw.h b/servers/physics_3d/godot_body_3d.h similarity index 88% rename from servers/physics_3d/body_3d_sw.h rename to servers/physics_3d/godot_body_3d.h index fc47040389..1151a22c96 100644 --- a/servers/physics_3d/body_3d_sw.h +++ b/servers/physics_3d/godot_body_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_3d_sw.h */ +/* godot_body_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,17 +28,18 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_3D_SW_H -#define BODY_3D_SW_H +#ifndef GODOT_BODY_3D_H +#define GODOT_BODY_3D_H + +#include "godot_area_3d.h" +#include "godot_collision_object_3d.h" -#include "area_3d_sw.h" -#include "collision_object_3d_sw.h" #include "core/templates/vset.h" -class Constraint3DSW; -class PhysicsDirectBodyState3DSW; +class GodotConstraint3D; +class GodotPhysicsDirectBodyState3D; -class Body3DSW : public CollisionObject3DSW { +class GodotBody3D : public GodotCollisionObject3D { PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC; Vector3 linear_velocity; @@ -85,9 +86,9 @@ class Body3DSW : public CollisionObject3DSW { real_t area_angular_damp = 0.0; real_t area_linear_damp = 0.0; - SelfList active_list; - SelfList mass_properties_update_list; - SelfList direct_state_query_list; + SelfList active_list; + SelfList mass_properties_update_list; + SelfList direct_state_query_list; VSet exceptions; bool omit_force_integration = false; @@ -101,7 +102,7 @@ class Body3DSW : public CollisionObject3DSW { virtual void _shapes_changed(); Transform3D new_transform; - Map constraint_map; + Map constraint_map; Vector areas; @@ -130,23 +131,23 @@ class Body3DSW : public CollisionObject3DSW { ForceIntegrationCallbackData *fi_callback_data = nullptr; - PhysicsDirectBodyState3DSW *direct_state = nullptr; + GodotPhysicsDirectBodyState3D *direct_state = nullptr; uint64_t island_step = 0; - _FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area); + _FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea3D *p_area); _FORCE_INLINE_ void _update_transform_dependant(); - friend class PhysicsDirectBodyState3DSW; // i give up, too many functions to expose + friend class GodotPhysicsDirectBodyState3D; // i give up, too many functions to expose public: void set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback); void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant()); - PhysicsDirectBodyState3DSW *get_direct_state(); + GodotPhysicsDirectBodyState3D *get_direct_state(); - _FORCE_INLINE_ void add_area(Area3DSW *p_area) { + _FORCE_INLINE_ void add_area(GodotArea3D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount += 1; @@ -155,7 +156,7 @@ public: } } - _FORCE_INLINE_ void remove_area(Area3DSW *p_area) { + _FORCE_INLINE_ void remove_area(GodotArea3D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount -= 1; @@ -185,9 +186,9 @@ public: _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_ void add_constraint(Constraint3DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; } - _FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraint_map.erase(p_constraint); } - const Map &get_constraint_map() const { return constraint_map; } + _FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; } + _FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraint_map.erase(p_constraint); } + const Map &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; } @@ -275,7 +276,7 @@ public: _FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; } _FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; } - void set_space(Space3DSW *p_space); + void set_space(GodotSpace3D *p_space); void update_mass_properties(); void reset_mass_properties(); @@ -317,13 +318,13 @@ public: bool sleep_test(real_t p_step); - Body3DSW(); - ~Body3DSW(); + GodotBody3D(); + ~GodotBody3D(); }; //add contact inline -void Body3DSW::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) { +void GodotBody3D::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) { int c_max = contacts.size(); if (c_max == 0) { @@ -365,4 +366,4 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos; } -#endif // BODY_3D_SW_H +#endif // GODOT_BODY_3D_H diff --git a/servers/physics_3d/body_direct_state_3d_sw.cpp b/servers/physics_3d/godot_body_direct_state_3d.cpp similarity index 60% rename from servers/physics_3d/body_direct_state_3d_sw.cpp rename to servers/physics_3d/godot_body_direct_state_3d.cpp index d61a6ac8e4..db09657f8a 100644 --- a/servers/physics_3d/body_direct_state_3d_sw.cpp +++ b/servers/physics_3d/godot_body_direct_state_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_direct_state_3d_sw.cpp */ +/* godot_body_direct_state_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,163 +28,163 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_direct_state_3d_sw.h" +#include "godot_body_direct_state_3d.h" -#include "body_3d_sw.h" -#include "space_3d_sw.h" +#include "godot_body_3d.h" +#include "godot_space_3d.h" -Vector3 PhysicsDirectBodyState3DSW::get_total_gravity() const { +Vector3 GodotPhysicsDirectBodyState3D::get_total_gravity() const { return body->gravity; } -real_t PhysicsDirectBodyState3DSW::get_total_angular_damp() const { +real_t GodotPhysicsDirectBodyState3D::get_total_angular_damp() const { return body->area_angular_damp; } -real_t PhysicsDirectBodyState3DSW::get_total_linear_damp() const { +real_t GodotPhysicsDirectBodyState3D::get_total_linear_damp() const { return body->area_linear_damp; } -Vector3 PhysicsDirectBodyState3DSW::get_center_of_mass() const { +Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass() const { return body->get_center_of_mass(); } -Basis PhysicsDirectBodyState3DSW::get_principal_inertia_axes() const { +Basis GodotPhysicsDirectBodyState3D::get_principal_inertia_axes() const { return body->get_principal_inertia_axes(); } -real_t PhysicsDirectBodyState3DSW::get_inverse_mass() const { +real_t GodotPhysicsDirectBodyState3D::get_inverse_mass() const { return body->get_inv_mass(); } -Vector3 PhysicsDirectBodyState3DSW::get_inverse_inertia() const { +Vector3 GodotPhysicsDirectBodyState3D::get_inverse_inertia() const { return body->get_inv_inertia(); } -Basis PhysicsDirectBodyState3DSW::get_inverse_inertia_tensor() const { +Basis GodotPhysicsDirectBodyState3D::get_inverse_inertia_tensor() const { return body->get_inv_inertia_tensor(); } -void PhysicsDirectBodyState3DSW::set_linear_velocity(const Vector3 &p_velocity) { +void GodotPhysicsDirectBodyState3D::set_linear_velocity(const Vector3 &p_velocity) { body->wakeup(); body->set_linear_velocity(p_velocity); } -Vector3 PhysicsDirectBodyState3DSW::get_linear_velocity() const { +Vector3 GodotPhysicsDirectBodyState3D::get_linear_velocity() const { return body->get_linear_velocity(); } -void PhysicsDirectBodyState3DSW::set_angular_velocity(const Vector3 &p_velocity) { +void GodotPhysicsDirectBodyState3D::set_angular_velocity(const Vector3 &p_velocity) { body->wakeup(); body->set_angular_velocity(p_velocity); } -Vector3 PhysicsDirectBodyState3DSW::get_angular_velocity() const { +Vector3 GodotPhysicsDirectBodyState3D::get_angular_velocity() const { return body->get_angular_velocity(); } -void PhysicsDirectBodyState3DSW::set_transform(const Transform3D &p_transform) { +void GodotPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) { body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform); } -Transform3D PhysicsDirectBodyState3DSW::get_transform() const { +Transform3D GodotPhysicsDirectBodyState3D::get_transform() const { return body->get_transform(); } -Vector3 PhysicsDirectBodyState3DSW::get_velocity_at_local_position(const Vector3 &p_position) const { +Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const { return body->get_velocity_in_local_point(p_position); } -void PhysicsDirectBodyState3DSW::add_central_force(const Vector3 &p_force) { +void GodotPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) { body->wakeup(); body->add_central_force(p_force); } -void PhysicsDirectBodyState3DSW::add_force(const Vector3 &p_force, const Vector3 &p_position) { +void GodotPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) { body->wakeup(); body->add_force(p_force, p_position); } -void PhysicsDirectBodyState3DSW::add_torque(const Vector3 &p_torque) { +void GodotPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) { body->wakeup(); body->add_torque(p_torque); } -void PhysicsDirectBodyState3DSW::apply_central_impulse(const Vector3 &p_impulse) { +void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) { body->wakeup(); body->apply_central_impulse(p_impulse); } -void PhysicsDirectBodyState3DSW::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { +void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) { body->wakeup(); body->apply_impulse(p_impulse, p_position); } -void PhysicsDirectBodyState3DSW::apply_torque_impulse(const Vector3 &p_impulse) { +void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) { body->wakeup(); body->apply_torque_impulse(p_impulse); } -void PhysicsDirectBodyState3DSW::set_sleep_state(bool p_sleep) { +void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) { body->set_active(!p_sleep); } -bool PhysicsDirectBodyState3DSW::is_sleeping() const { +bool GodotPhysicsDirectBodyState3D::is_sleeping() const { return !body->is_active(); } -int PhysicsDirectBodyState3DSW::get_contact_count() const { +int GodotPhysicsDirectBodyState3D::get_contact_count() const { return body->contact_count; } -Vector3 PhysicsDirectBodyState3DSW::get_contact_local_position(int p_contact_idx) const { +Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_position(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); return body->contacts[p_contact_idx].local_pos; } -Vector3 PhysicsDirectBodyState3DSW::get_contact_local_normal(int p_contact_idx) const { +Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); return body->contacts[p_contact_idx].local_normal; } -real_t PhysicsDirectBodyState3DSW::get_contact_impulse(int p_contact_idx) const { +real_t GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const { return 0.0f; // Only implemented for bullet } -int PhysicsDirectBodyState3DSW::get_contact_local_shape(int p_contact_idx) const { +int GodotPhysicsDirectBodyState3D::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; } -RID PhysicsDirectBodyState3DSW::get_contact_collider(int p_contact_idx) const { +RID GodotPhysicsDirectBodyState3D::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; } -Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_position(int p_contact_idx) const { +Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_position(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); return body->contacts[p_contact_idx].collider_pos; } -ObjectID PhysicsDirectBodyState3DSW::get_contact_collider_id(int p_contact_idx) const { +ObjectID GodotPhysicsDirectBodyState3D::get_contact_collider_id(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID()); return body->contacts[p_contact_idx].collider_instance_id; } -int PhysicsDirectBodyState3DSW::get_contact_collider_shape(int p_contact_idx) const { +int GodotPhysicsDirectBodyState3D::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; } -Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const { +Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3()); return body->contacts[p_contact_idx].collider_velocity_at_pos; } -PhysicsDirectSpaceState3D *PhysicsDirectBodyState3DSW::get_space_state() { +PhysicsDirectSpaceState3D *GodotPhysicsDirectBodyState3D::get_space_state() { return body->get_space()->get_direct_state(); } -real_t PhysicsDirectBodyState3DSW::get_step() const { +real_t GodotPhysicsDirectBodyState3D::get_step() const { return body->get_space()->get_last_step(); } diff --git a/servers/physics_3d/body_direct_state_3d_sw.h b/servers/physics_3d/godot_body_direct_state_3d.h similarity index 92% rename from servers/physics_3d/body_direct_state_3d_sw.h rename to servers/physics_3d/godot_body_direct_state_3d.h index 5132376715..6c584a2634 100644 --- a/servers/physics_3d/body_direct_state_3d_sw.h +++ b/servers/physics_3d/godot_body_direct_state_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_direct_state_3d_sw.h */ +/* godot_body_direct_state_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,18 +28,18 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_DIRECT_STATE_3D_SW_H -#define BODY_DIRECT_STATE_3D_SW_H +#ifndef GODOT_BODY_DIRECT_STATE_3D_H +#define GODOT_BODY_DIRECT_STATE_3D_H #include "servers/physics_server_3d.h" -class Body3DSW; +class GodotBody3D; -class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D { - GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D); +class GodotPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D { + GDCLASS(GodotPhysicsDirectBodyState3D, PhysicsDirectBodyState3D); public: - Body3DSW *body = nullptr; + GodotBody3D *body = nullptr; virtual Vector3 get_total_gravity() const override; virtual real_t get_total_angular_damp() const override; @@ -91,4 +91,4 @@ public: virtual real_t get_step() const override; }; -#endif // BODY_DIRECT_STATE_3D_SW_H +#endif // GODOT_BODY_DIRECT_STATE_3D_H diff --git a/servers/physics_3d/body_pair_3d_sw.cpp b/servers/physics_3d/godot_body_pair_3d.cpp similarity index 91% rename from servers/physics_3d/body_pair_3d_sw.cpp rename to servers/physics_3d/godot_body_pair_3d.cpp index c27a2ecced..457abfb71a 100644 --- a/servers/physics_3d/body_pair_3d_sw.cpp +++ b/servers/physics_3d/godot_body_pair_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_pair_3d_sw.cpp */ +/* godot_body_pair_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,12 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "body_pair_3d_sw.h" +#include "godot_body_pair_3d.h" + +#include "godot_collision_solver_3d.h" +#include "godot_space_3d.h" -#include "collision_solver_3d_sw.h" #include "core/os/os.h" -#include "space_3d_sw.h" /* #define NO_ACCUMULATE_IMPULSES @@ -49,12 +50,12 @@ #define MIN_VELOCITY 0.0001 #define MAX_BIAS_ROTATION (Math_PI / 8) -void BodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { - BodyPair3DSW *pair = (BodyPair3DSW *)p_userdata; +void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { + GodotBodyPair3D *pair = (GodotBodyPair3D *)p_userdata; pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B); } -void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { +void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { // check if we already have the contact //Vector3 local_A = A->get_inv_transform().xform(p_point_A); @@ -135,7 +136,7 @@ void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_ } } -void BodyPair3DSW::validate_contacts() { +void GodotBodyPair3D::validate_contacts() { //make sure to erase contacts that are no longer valid real_t contact_max_separation = space->get_contact_max_separation(); @@ -161,7 +162,7 @@ void BodyPair3DSW::validate_contacts() { } } -bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B) { +bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B) { Vector3 motion = p_A->get_linear_velocity() * p_step; real_t mlen = motion.length(); if (mlen < CMP_EPSILON) { @@ -203,15 +204,15 @@ bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const return true; } -real_t combine_bounce(Body3DSW *A, Body3DSW *B) { +real_t combine_bounce(GodotBody3D *A, GodotBody3D *B) { return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1); } -real_t combine_friction(Body3DSW *A, Body3DSW *B) { +real_t combine_friction(GodotBody3D *A, GodotBody3D *B) { return ABS(MIN(A->get_friction(), B->get_friction())); } -bool BodyPair3DSW::setup(real_t p_step) { +bool GodotBodyPair3D::setup(real_t p_step) { if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) { collided = false; return false; @@ -242,10 +243,10 @@ bool BodyPair3DSW::setup(real_t p_step) { xform_Bu.origin -= offset_A; Transform3D xform_B = xform_Bu * B->get_shape_transform(shape_B); - Shape3DSW *shape_A_ptr = A->get_shape(shape_A); - Shape3DSW *shape_B_ptr = B->get_shape(shape_B); + GodotShape3D *shape_A_ptr = A->get_shape(shape_A); + GodotShape3D *shape_B_ptr = B->get_shape(shape_B); - collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis); + collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis); if (!collided) { //test ccd (currently just a raycast) @@ -264,7 +265,7 @@ bool BodyPair3DSW::setup(real_t p_step) { return true; } -bool BodyPair3DSW::pre_solve(real_t p_step) { +bool GodotBodyPair3D::pre_solve(real_t p_step) { if (!collided) { return false; } @@ -273,8 +274,8 @@ bool BodyPair3DSW::pre_solve(real_t p_step) { real_t bias = (real_t)0.3; - Shape3DSW *shape_A_ptr = A->get_shape(shape_A); - Shape3DSW *shape_B_ptr = B->get_shape(shape_B); + GodotShape3D *shape_A_ptr = A->get_shape(shape_A); + GodotShape3D *shape_B_ptr = B->get_shape(shape_B); if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) { if (shape_A_ptr->get_custom_bias() == 0) { @@ -380,7 +381,7 @@ bool BodyPair3DSW::pre_solve(real_t p_step) { return do_process; } -void BodyPair3DSW::solve(real_t p_step) { +void GodotBodyPair3D::solve(real_t p_step) { if (!collided) { return; } @@ -523,8 +524,8 @@ void BodyPair3DSW::solve(real_t p_step) { } } -BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B) : - BodyContact3DSW(_arr, 2) { +GodotBodyPair3D::GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B) : + GodotBodyContact3D(_arr, 2) { A = p_A; B = p_B; shape_A = p_shape_A; @@ -534,17 +535,17 @@ BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_sh B->add_constraint(this, 1); } -BodyPair3DSW::~BodyPair3DSW() { +GodotBodyPair3D::~GodotBodyPair3D() { A->remove_constraint(this); B->remove_constraint(this); } -void BodySoftBodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { - BodySoftBodyPair3DSW *pair = (BodySoftBodyPair3DSW *)p_userdata; +void GodotBodySoftBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { + GodotBodySoftBodyPair3D *pair = (GodotBodySoftBodyPair3D *)p_userdata; pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B); } -void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { +void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) { Vector3 local_A = body->get_inv_transform().xform(p_point_A); Vector3 local_B = p_point_B - soft_body->get_node_position(p_index_B); @@ -582,7 +583,7 @@ void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int contacts.push_back(contact); } -void BodySoftBodyPair3DSW::validate_contacts() { +void GodotBodySoftBodyPair3D::validate_contacts() { // Make sure to erase contacts that are no longer valid. const Transform3D &transform_A = body->get_transform(); @@ -612,7 +613,7 @@ void BodySoftBodyPair3DSW::validate_contacts() { contacts.resize(contact_count); } -bool BodySoftBodyPair3DSW::setup(real_t p_step) { +bool GodotBodySoftBodyPair3D::setup(real_t p_step) { if (!body->interacts_with(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) { collided = false; return false; @@ -638,15 +639,15 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) { validate_contacts(); - Shape3DSW *shape_A_ptr = body->get_shape(body_shape); - Shape3DSW *shape_B_ptr = soft_body->get_shape(0); + GodotShape3D *shape_A_ptr = body->get_shape(body_shape); + GodotShape3D *shape_B_ptr = soft_body->get_shape(0); - collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis); + collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis); return collided; } -bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) { +bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) { if (!collided) { return false; } @@ -655,7 +656,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) { real_t bias = (real_t)0.3; - Shape3DSW *shape_A_ptr = body->get_shape(body_shape); + GodotShape3D *shape_A_ptr = body->get_shape(body_shape); if (shape_A_ptr->get_custom_bias()) { bias = shape_A_ptr->get_custom_bias(); @@ -753,7 +754,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) { return do_process; } -void BodySoftBodyPair3DSW::solve(real_t p_step) { +void GodotBodySoftBodyPair3D::solve(real_t p_step) { if (!collided) { return; } @@ -891,8 +892,8 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) { } } -BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B) : - BodyContact3DSW(&body, 1) { +GodotBodySoftBodyPair3D::GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B) : + GodotBodyContact3D(&body, 1) { body = p_A; soft_body = p_B; body_shape = p_shape_A; @@ -901,7 +902,7 @@ BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBod soft_body->add_constraint(this); } -BodySoftBodyPair3DSW::~BodySoftBodyPair3DSW() { +GodotBodySoftBodyPair3D::~GodotBodySoftBodyPair3D() { body->remove_constraint(this); soft_body->remove_constraint(this); } diff --git a/servers/physics_3d/body_pair_3d_sw.h b/servers/physics_3d/godot_body_pair_3d.h similarity index 78% rename from servers/physics_3d/body_pair_3d_sw.h rename to servers/physics_3d/godot_body_pair_3d.h index 01afb07e13..c0a2424e05 100644 --- a/servers/physics_3d/body_pair_3d_sw.h +++ b/servers/physics_3d/godot_body_pair_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* body_pair_3d_sw.h */ +/* godot_body_pair_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,15 +28,16 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BODY_PAIR_3D_SW_H -#define BODY_PAIR_3D_SW_H +#ifndef GODOT_BODY_PAIR_3D_H +#define GODOT_BODY_PAIR_3D_H + +#include "godot_body_3d.h" +#include "godot_constraint_3d.h" +#include "godot_soft_body_3d.h" -#include "body_3d_sw.h" -#include "constraint_3d_sw.h" #include "core/templates/local_vector.h" -#include "soft_body_3d_sw.h" -class BodyContact3DSW : public Constraint3DSW { +class GodotBodyContact3D : public GodotConstraint3D { protected: struct Contact { Vector3 position; @@ -59,25 +60,25 @@ protected: Vector3 sep_axis; bool collided = false; - Space3DSW *space = nullptr; + GodotSpace3D *space = nullptr; - BodyContact3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) : - Constraint3DSW(p_body_ptr, p_body_count) { + GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) : + GodotConstraint3D(p_body_ptr, p_body_count) { } }; -class BodyPair3DSW : public BodyContact3DSW { +class GodotBodyPair3D : public GodotBodyContact3D { enum { MAX_CONTACTS = 4 }; union { struct { - Body3DSW *A; - Body3DSW *B; + GodotBody3D *A; + GodotBody3D *B; }; - Body3DSW *_arr[2] = { nullptr, nullptr }; + GodotBody3D *_arr[2] = { nullptr, nullptr }; }; int shape_A = 0; @@ -98,20 +99,20 @@ class BodyPair3DSW : public BodyContact3DSW { void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B); void validate_contacts(); - bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B); + bool _test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B); public: virtual bool setup(real_t p_step) override; virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B); - ~BodyPair3DSW(); + GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B); + ~GodotBodyPair3D(); }; -class BodySoftBodyPair3DSW : public BodyContact3DSW { - Body3DSW *body = nullptr; - SoftBody3DSW *soft_body = nullptr; +class GodotBodySoftBodyPair3D : public GodotBodyContact3D { + GodotBody3D *body = nullptr; + GodotSoftBody3D *soft_body = nullptr; int body_shape = 0; @@ -133,11 +134,11 @@ public: virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; - virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const override { return soft_body; } + virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; } virtual int get_soft_body_count() const override { return 1; } - BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B); - ~BodySoftBodyPair3DSW(); + GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B); + ~GodotBodySoftBodyPair3D(); }; -#endif // BODY_PAIR_3D_SW_H +#endif // GODOT_BODY_PAIR_3D_H diff --git a/servers/physics_3d/broad_phase_3d_sw.cpp b/servers/physics_3d/godot_broad_phase_3d.cpp similarity index 90% rename from servers/physics_3d/broad_phase_3d_sw.cpp rename to servers/physics_3d/godot_broad_phase_3d.cpp index 8aa64034ec..db51dfb2b6 100644 --- a/servers/physics_3d/broad_phase_3d_sw.cpp +++ b/servers/physics_3d/godot_broad_phase_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_3d_sw.cpp */ +/* godot_broad_phase_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,9 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "broad_phase_3d_sw.h" +#include "godot_broad_phase_3d.h" -BroadPhase3DSW::CreateFunction BroadPhase3DSW::create_func = nullptr; +GodotBroadPhase3D::CreateFunction GodotBroadPhase3D::create_func = nullptr; -BroadPhase3DSW::~BroadPhase3DSW() { +GodotBroadPhase3D::~GodotBroadPhase3D() { } diff --git a/servers/physics_3d/broad_phase_3d_sw.h b/servers/physics_3d/godot_broad_phase_3d.h similarity index 70% rename from servers/physics_3d/broad_phase_3d_sw.h rename to servers/physics_3d/godot_broad_phase_3d.h index 98313cb216..65423f293c 100644 --- a/servers/physics_3d/broad_phase_3d_sw.h +++ b/servers/physics_3d/godot_broad_phase_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_3d_sw.h */ +/* godot_broad_phase_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,45 +28,45 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BROAD_PHASE_SW_H -#define BROAD_PHASE_SW_H +#ifndef GODOT_BROAD_PHASE_3D_H +#define GODOT_BROAD_PHASE_3D_H #include "core/math/aabb.h" #include "core/math/math_funcs.h" -class CollisionObject3DSW; +class GodotCollisionObject3D; -class BroadPhase3DSW { +class GodotBroadPhase3D { public: - typedef BroadPhase3DSW *(*CreateFunction)(); + typedef GodotBroadPhase3D *(*CreateFunction)(); static CreateFunction create_func; typedef uint32_t ID; - typedef void *(*PairCallback)(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_userdata); - typedef void (*UnpairCallback)(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_userdata); + typedef void *(*PairCallback)(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_userdata); + typedef void (*UnpairCallback)(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_userdata); // 0 is an invalid ID - virtual ID create(CollisionObject3DSW *p_object_, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false) = 0; + virtual ID create(GodotCollisionObject3D *p_object_, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false) = 0; virtual void move(ID p_id, const AABB &p_aabb) = 0; virtual void set_static(ID p_id, bool p_static) = 0; virtual void remove(ID p_id) = 0; - virtual CollisionObject3DSW *get_object(ID p_id) const = 0; + virtual GodotCollisionObject3D *get_object(ID p_id) const = 0; virtual bool is_static(ID p_id) const = 0; virtual int get_subindex(ID p_id) const = 0; - virtual int cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; - virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; - virtual int cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; + virtual int cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0; virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0; virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0; virtual void update() = 0; - virtual ~BroadPhase3DSW(); + virtual ~GodotBroadPhase3D(); }; -#endif // BROAD_PHASE__SW_H +#endif // GODOT_BROAD_PHASE_3D_H diff --git a/servers/physics_3d/broad_phase_3d_bvh.cpp b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp similarity index 62% rename from servers/physics_3d/broad_phase_3d_bvh.cpp rename to servers/physics_3d/godot_broad_phase_3d_bvh.cpp index d89e0e1f6d..0f2061a1ea 100644 --- a/servers/physics_3d/broad_phase_3d_bvh.cpp +++ b/servers/physics_3d/godot_broad_phase_3d_bvh.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_3d_bvh.cpp */ +/* godot_broad_phase_3d_bvh.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,55 +28,56 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "broad_phase_3d_bvh.h" -#include "collision_object_3d_sw.h" +#include "godot_broad_phase_3d_bvh.h" -BroadPhase3DBVH::ID BroadPhase3DBVH::create(CollisionObject3DSW *p_object, int p_subindex, const AABB &p_aabb, bool p_static) { +#include "godot_collision_object_3d.h" + +GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_object, int p_subindex, const AABB &p_aabb, bool p_static) { ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care? return oid + 1; } -void BroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) { +void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) { bvh.move(p_id - 1, p_aabb); } -void BroadPhase3DBVH::set_static(ID p_id, bool p_static) { - CollisionObject3DSW *it = bvh.get(p_id - 1); +void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) { + GodotCollisionObject3D *it = bvh.get(p_id - 1); bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care? } -void BroadPhase3DBVH::remove(ID p_id) { +void GodotBroadPhase3DBVH::remove(ID p_id) { bvh.erase(p_id - 1); } -CollisionObject3DSW *BroadPhase3DBVH::get_object(ID p_id) const { - CollisionObject3DSW *it = bvh.get(p_id - 1); +GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const { + GodotCollisionObject3D *it = bvh.get(p_id - 1); ERR_FAIL_COND_V(!it, nullptr); return it; } -bool BroadPhase3DBVH::is_static(ID p_id) const { +bool GodotBroadPhase3DBVH::is_static(ID p_id) const { return !bvh.is_pairable(p_id - 1); } -int BroadPhase3DBVH::get_subindex(ID p_id) const { +int GodotBroadPhase3DBVH::get_subindex(ID p_id) const { return bvh.get_subindex(p_id - 1); } -int BroadPhase3DBVH::cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) { +int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) { return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices); } -int BroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) { +int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) { return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices); } -int BroadPhase3DBVH::cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) { +int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) { return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices); } -void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B) { - BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self); +void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) { + GodotBroadPhase3DBVH *bpo = (GodotBroadPhase3DBVH *)(self); if (!bpo->pair_callback) { return nullptr; } @@ -84,8 +85,8 @@ void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3 return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata); } -void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B, void *pairdata) { - BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self); +void GodotBroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B, void *pairdata) { + GodotBroadPhase3DBVH *bpo = (GodotBroadPhase3DBVH *)(self); if (!bpo->unpair_callback) { return; } @@ -93,25 +94,25 @@ void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata); } -void BroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { +void GodotBroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) { pair_callback = p_pair_callback; pair_userdata = p_userdata; } -void BroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { +void GodotBroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) { unpair_callback = p_unpair_callback; unpair_userdata = p_userdata; } -void BroadPhase3DBVH::update() { +void GodotBroadPhase3DBVH::update() { bvh.update(); } -BroadPhase3DSW *BroadPhase3DBVH::_create() { - return memnew(BroadPhase3DBVH); +GodotBroadPhase3D *GodotBroadPhase3DBVH::_create() { + return memnew(GodotBroadPhase3DBVH); } -BroadPhase3DBVH::BroadPhase3DBVH() { +GodotBroadPhase3DBVH::GodotBroadPhase3DBVH() { bvh.set_pair_callback(_pair_callback, this); bvh.set_unpair_callback(_unpair_callback, this); } diff --git a/servers/physics_3d/broad_phase_3d_bvh.h b/servers/physics_3d/godot_broad_phase_3d_bvh.h similarity index 70% rename from servers/physics_3d/broad_phase_3d_bvh.h rename to servers/physics_3d/godot_broad_phase_3d_bvh.h index 03131c9db2..61127e52c1 100644 --- a/servers/physics_3d/broad_phase_3d_bvh.h +++ b/servers/physics_3d/godot_broad_phase_3d_bvh.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* broad_phase_3d_bvh.h */ +/* godot_broad_phase_3d_bvh.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,17 +28,18 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef BROAD_PHASE_3D_BVH_H -#define BROAD_PHASE_3D_BVH_H +#ifndef GODOT_BROAD_PHASE_3D_BVH_H +#define GODOT_BROAD_PHASE_3D_BVH_H + +#include "godot_broad_phase_3d.h" -#include "broad_phase_3d_sw.h" #include "core/math/bvh.h" -class BroadPhase3DBVH : public BroadPhase3DSW { - BVH_Manager bvh; +class GodotBroadPhase3DBVH : public GodotBroadPhase3D { + BVH_Manager bvh; - static void *_pair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int); - static void _unpair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int, void *); + static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int); + static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *); PairCallback pair_callback = nullptr; void *pair_userdata = nullptr; @@ -47,26 +48,26 @@ class BroadPhase3DBVH : public BroadPhase3DSW { public: // 0 is an invalid ID - virtual ID create(CollisionObject3DSW *p_object, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false); + virtual ID create(GodotCollisionObject3D *p_object, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false); virtual void move(ID p_id, const AABB &p_aabb); virtual void set_static(ID p_id, bool p_static); virtual void remove(ID p_id); - virtual CollisionObject3DSW *get_object(ID p_id) const; + virtual GodotCollisionObject3D *get_object(ID p_id) const; virtual bool is_static(ID p_id) const; virtual int get_subindex(ID p_id) const; - virtual int cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr); - virtual int cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr); + virtual int cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr); + virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr); + virtual int cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr); virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata); virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata); virtual void update(); - static BroadPhase3DSW *_create(); - BroadPhase3DBVH(); + static GodotBroadPhase3D *_create(); + GodotBroadPhase3DBVH(); }; -#endif // BROAD_PHASE_3D_BVH_H +#endif // GODOT_BROAD_PHASE_3D_BVH_H diff --git a/servers/physics_3d/collision_object_3d_sw.cpp b/servers/physics_3d/godot_collision_object_3d.cpp similarity index 77% rename from servers/physics_3d/collision_object_3d_sw.cpp rename to servers/physics_3d/godot_collision_object_3d.cpp index 098f627d11..80a3d18ce0 100644 --- a/servers/physics_3d/collision_object_3d_sw.cpp +++ b/servers/physics_3d/godot_collision_object_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_object_3d_sw.cpp */ +/* godot_collision_object_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,12 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_object_3d_sw.h" -#include "servers/physics_3d/physics_server_3d_sw.h" -#include "space_3d_sw.h" +#include "godot_collision_object_3d.h" -void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_transform, bool p_disabled) { +#include "godot_physics_server_3d.h" +#include "godot_space_3d.h" + +void GodotCollisionObject3D::add_shape(GodotShape3D *p_shape, const Transform3D &p_transform, bool p_disabled) { Shape s; s.shape = p_shape; s.xform = p_transform; @@ -43,35 +44,35 @@ void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_tra p_shape->add_owner(this); if (!pending_shape_update_list.in_list()) { - PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject3DSW::set_shape(int p_index, Shape3DSW *p_shape) { +void GodotCollisionObject3D::set_shape(int p_index, GodotShape3D *p_shape) { ERR_FAIL_INDEX(p_index, shapes.size()); shapes[p_index].shape->remove_owner(this); shapes.write[p_index].shape = p_shape; p_shape->add_owner(this); if (!pending_shape_update_list.in_list()) { - PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject3DSW::set_shape_transform(int p_index, const Transform3D &p_transform) { +void GodotCollisionObject3D::set_shape_transform(int p_index, const Transform3D &p_transform) { ERR_FAIL_INDEX(p_index, shapes.size()); shapes.write[p_index].xform = p_transform; shapes.write[p_index].xform_inv = p_transform.affine_inverse(); if (!pending_shape_update_list.in_list()) { - PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) { +void GodotCollisionObject3D::set_shape_disabled(int p_idx, bool p_disabled) { ERR_FAIL_INDEX(p_idx, shapes.size()); - CollisionObject3DSW::Shape &shape = shapes.write[p_idx]; + GodotCollisionObject3D::Shape &shape = shapes.write[p_idx]; if (shape.disabled == p_disabled) { return; } @@ -86,16 +87,16 @@ void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) { space->get_broadphase()->remove(shape.bpid); shape.bpid = 0; if (!pending_shape_update_list.in_list()) { - PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } else if (!p_disabled && shape.bpid == 0) { if (!pending_shape_update_list.in_list()) { - PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } } -void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) { +void GodotCollisionObject3D::remove_shape(GodotShape3D *p_shape) { //remove a shape, all the times it appears for (int i = 0; i < shapes.size(); i++) { if (shapes[i].shape == p_shape) { @@ -105,7 +106,7 @@ void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) { } } -void CollisionObject3DSW::remove_shape(int p_index) { +void GodotCollisionObject3D::remove_shape(int p_index) { //remove anything from shape to be erased to end, so subindices don't change ERR_FAIL_INDEX(p_index, shapes.size()); for (int i = p_index; i < shapes.size(); i++) { @@ -120,11 +121,11 @@ void CollisionObject3DSW::remove_shape(int p_index) { shapes.remove(p_index); if (!pending_shape_update_list.in_list()) { - PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list); + GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list); } } -void CollisionObject3DSW::_set_static(bool p_static) { +void GodotCollisionObject3D::_set_static(bool p_static) { if (_static == p_static) { return; } @@ -141,7 +142,7 @@ void CollisionObject3DSW::_set_static(bool p_static) { } } -void CollisionObject3DSW::_unregister_shapes() { +void GodotCollisionObject3D::_unregister_shapes() { for (int i = 0; i < shapes.size(); i++) { Shape &s = shapes.write[i]; if (s.bpid > 0) { @@ -151,7 +152,7 @@ void CollisionObject3DSW::_unregister_shapes() { } } -void CollisionObject3DSW::_update_shapes() { +void GodotCollisionObject3D::_update_shapes() { if (!space) { return; } @@ -181,7 +182,7 @@ void CollisionObject3DSW::_update_shapes() { } } -void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) { +void GodotCollisionObject3D::_update_shapes_with_motion(const Vector3 &p_motion) { if (!space) { return; } @@ -208,7 +209,7 @@ void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) { } } -void CollisionObject3DSW::_set_space(Space3DSW *p_space) { +void GodotCollisionObject3D::_set_space(GodotSpace3D *p_space) { if (space) { space->remove_object(this); @@ -229,12 +230,12 @@ void CollisionObject3DSW::_set_space(Space3DSW *p_space) { } } -void CollisionObject3DSW::_shape_changed() { +void GodotCollisionObject3D::_shape_changed() { _update_shapes(); _shapes_changed(); } -CollisionObject3DSW::CollisionObject3DSW(Type p_type) : +GodotCollisionObject3D::GodotCollisionObject3D(Type p_type) : pending_shape_update_list(this) { type = p_type; } diff --git a/servers/physics_3d/collision_object_3d_sw.h b/servers/physics_3d/godot_collision_object_3d.h similarity index 83% rename from servers/physics_3d/collision_object_3d_sw.h rename to servers/physics_3d/godot_collision_object_3d.h index 3aa48946b7..43558034e0 100644 --- a/servers/physics_3d/collision_object_3d_sw.h +++ b/servers/physics_3d/godot_collision_object_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_object_3d_sw.h */ +/* godot_collision_object_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,13 +28,14 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_OBJECT_SW_H -#define COLLISION_OBJECT_SW_H +#ifndef GODOT_COLLISION_OBJECT_3D_H +#define GODOT_COLLISION_OBJECT_3D_H + +#include "godot_broad_phase_3d.h" +#include "godot_shape_3d.h" -#include "broad_phase_3d_sw.h" #include "core/templates/self_list.h" #include "servers/physics_server_3d.h" -#include "shape_3d_sw.h" #ifdef DEBUG_ENABLED #define MAX_OBJECT_DISTANCE 3.1622776601683791e+18 @@ -42,9 +43,9 @@ #define MAX_OBJECT_DISTANCE_X2 (MAX_OBJECT_DISTANCE * MAX_OBJECT_DISTANCE) #endif -class Space3DSW; +class GodotSpace3D; -class CollisionObject3DSW : public ShapeOwner3DSW { +class GodotCollisionObject3D : public GodotShapeOwner3D { public: enum Type { TYPE_AREA, @@ -62,20 +63,20 @@ private: struct Shape { Transform3D xform; Transform3D xform_inv; - BroadPhase3DSW::ID bpid; + GodotBroadPhase3D::ID bpid; AABB aabb_cache; //for rayqueries real_t area_cache = 0.0; - Shape3DSW *shape = nullptr; + GodotShape3D *shape = nullptr; bool disabled = false; }; Vector shapes; - Space3DSW *space = nullptr; + GodotSpace3D *space = nullptr; Transform3D transform; Transform3D inv_transform; bool _static = true; - SelfList pending_shape_update_list; + SelfList pending_shape_update_list; void _update_shapes(); @@ -98,11 +99,11 @@ protected: void _set_static(bool p_static); virtual void _shapes_changed() = 0; - void _set_space(Space3DSW *p_space); + void _set_space(GodotSpace3D *p_space); bool ray_pickable = true; - CollisionObject3DSW(Type p_type); + GodotCollisionObject3D(Type p_type); public: _FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; } @@ -114,11 +115,11 @@ public: void _shape_changed(); _FORCE_INLINE_ Type get_type() const { return type; } - void add_shape(Shape3DSW *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false); - void set_shape(int p_index, Shape3DSW *p_shape); + void add_shape(GodotShape3D *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false); + void set_shape(int p_index, GodotShape3D *p_shape); void set_shape_transform(int p_index, const Transform3D &p_transform); _FORCE_INLINE_ int get_shape_count() const { return shapes.size(); } - _FORCE_INLINE_ Shape3DSW *get_shape(int p_index) const { + _FORCE_INLINE_ GodotShape3D *get_shape(int p_index) const { CRASH_BAD_INDEX(p_index, shapes.size()); return shapes[p_index].shape; } @@ -141,7 +142,7 @@ public: _FORCE_INLINE_ const Transform3D &get_transform() const { return transform; } _FORCE_INLINE_ const Transform3D &get_inv_transform() const { return inv_transform; } - _FORCE_INLINE_ Space3DSW *get_space() const { return space; } + _FORCE_INLINE_ GodotSpace3D *get_space() const { return space; } _FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; } _FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; } @@ -164,22 +165,22 @@ public: } _FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; } - _FORCE_INLINE_ bool collides_with(CollisionObject3DSW *p_other) const { + _FORCE_INLINE_ bool collides_with(GodotCollisionObject3D *p_other) const { return p_other->collision_layer & collision_mask; } - _FORCE_INLINE_ bool interacts_with(CollisionObject3DSW *p_other) const { + _FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const { return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask; } - void remove_shape(Shape3DSW *p_shape); + void remove_shape(GodotShape3D *p_shape); void remove_shape(int p_index); - virtual void set_space(Space3DSW *p_space) = 0; + virtual void set_space(GodotSpace3D *p_space) = 0; _FORCE_INLINE_ bool is_static() const { return _static; } - virtual ~CollisionObject3DSW() {} + virtual ~GodotCollisionObject3D() {} }; -#endif // COLLISION_OBJECT_SW_H +#endif // GODOT_COLLISION_OBJECT_3D_H diff --git a/servers/physics_3d/collision_solver_3d_sw.cpp b/servers/physics_3d/godot_collision_solver_3d.cpp similarity index 80% rename from servers/physics_3d/collision_solver_3d_sw.cpp rename to servers/physics_3d/godot_collision_solver_3d.cpp index 96f1936668..b9f2f7506b 100644 --- a/servers/physics_3d/collision_solver_3d_sw.cpp +++ b/servers/physics_3d/godot_collision_solver_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_3d_sw.cpp */ +/* godot_collision_solver_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,17 +28,17 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_solver_3d_sw.h" -#include "collision_solver_3d_sat.h" -#include "soft_body_3d_sw.h" +#include "godot_collision_solver_3d.h" +#include "godot_collision_solver_3d_sat.h" +#include "godot_soft_body_3d.h" #include "gjk_epa.h" #define collision_solver sat_calculate_penetration //#define collision_solver gjk_epa_calculate_penetration -bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { - const WorldBoundaryShape3DSW *world_boundary = static_cast(p_shape_A); +bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const GodotWorldBoundaryShape3D *world_boundary = static_cast(p_shape_A); if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { return false; } @@ -47,10 +47,10 @@ bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A static const int max_supports = 16; Vector3 supports[max_supports]; int support_count; - Shape3DSW::FeatureType support_type; + GodotShape3D::FeatureType support_type; p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type); - if (support_type == Shape3DSW::FEATURE_CIRCLE) { + if (support_type == GodotShape3D::FEATURE_CIRCLE) { ERR_FAIL_COND_V(support_count != 3, false); Vector3 circle_pos = supports[0]; @@ -89,8 +89,8 @@ bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A return found; } -bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) { - const SeparationRayShape3DSW *ray = static_cast(p_shape_A); +bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) { + const GodotSeparationRayShape3D *ray = static_cast(p_shape_A); Vector3 from = p_transform_A.origin; Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin); @@ -134,13 +134,13 @@ bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const struct _SoftBodyContactCollisionInfo { int node_index = 0; - CollisionSolver3DSW::CallbackResult result_callback = nullptr; + GodotCollisionSolver3D::CallbackResult result_callback = nullptr; void *userdata = nullptr; bool swap_result = false; int contact_count = 0; }; -void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { +void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { _SoftBodyContactCollisionInfo &cinfo = *(_SoftBodyContactCollisionInfo *)(p_userdata); ++cinfo.contact_count; @@ -157,9 +157,9 @@ void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, i } struct _SoftBodyQueryInfo { - SoftBody3DSW *soft_body = nullptr; - const Shape3DSW *shape_A = nullptr; - const Shape3DSW *shape_B = nullptr; + GodotSoftBody3D *soft_body = nullptr; + const GodotShape3D *shape_A = nullptr; + const GodotShape3D *shape_B = nullptr; Transform3D transform_A; Transform3D node_transform; _SoftBodyContactCollisionInfo contact_info; @@ -169,7 +169,7 @@ struct _SoftBodyQueryInfo { #endif }; -bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) { +bool GodotCollisionSolver3D::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) { _SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata); Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index); @@ -188,7 +188,7 @@ bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void * return (collided && !query_cinfo.contact_info.result_callback); } -bool CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex) { +bool GodotCollisionSolver3D::soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex) { _SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata); query_cinfo.shape_A = p_convex; @@ -220,15 +220,15 @@ bool CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW return (collided && !query_cinfo.contact_info.result_callback); } -bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { - const SoftBodyShape3DSW *soft_body_shape_B = static_cast(p_shape_B); +bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) { + const GodotSoftBodyShape3D *soft_body_shape_B = static_cast(p_shape_B); - SoftBody3DSW *soft_body = soft_body_shape_B->get_soft_body(); + GodotSoftBody3D *soft_body = soft_body_shape_B->get_soft_body(); const Transform3D &world_to_local = soft_body->get_inv_transform(); const real_t collision_margin = soft_body->get_collision_margin(); - SphereShape3DSW sphere_shape; + GodotSphereShape3D sphere_shape; sphere_shape.set_data(collision_margin); _SoftBodyQueryInfo query_cinfo; @@ -243,7 +243,7 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran if (p_shape_A->is_concave()) { // In case of concave shape, query convex shapes first. - const ConcaveShape3DSW *concave_shape_A = static_cast(p_shape_A); + const GodotConcaveShape3D *concave_shape_A = static_cast(p_shape_A); AABB soft_body_aabb = soft_body->get_bounds(); soft_body_aabb.grow_by(collision_margin); @@ -277,9 +277,9 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran struct _ConcaveCollisionInfo { const Transform3D *transform_A; - const Shape3DSW *shape_A; + const GodotShape3D *shape_A; const Transform3D *transform_B; - CollisionSolver3DSW::CallbackResult result_callback; + GodotCollisionSolver3D::CallbackResult result_callback; void *userdata; bool swap_result; bool collided; @@ -291,7 +291,7 @@ struct _ConcaveCollisionInfo { Vector3 close_A, close_B; }; -bool CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex) { +bool GodotCollisionSolver3D::concave_callback(void *p_userdata, GodotShape3D *p_convex) { _ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata); cinfo.aabb_tests++; @@ -307,8 +307,8 @@ bool CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex return !cinfo.result_callback; } -bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) { - const ConcaveShape3DSW *concave_B = static_cast(p_shape_B); +bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) { + const GodotConcaveShape3D *concave_B = static_cast(p_shape_B); _ConcaveCollisionInfo cinfo; cinfo.transform_A = &p_transform_A; @@ -351,7 +351,7 @@ bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transf return cinfo.collided; } -bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { +bool GodotCollisionSolver3D::solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) { PhysicsServer3D::ShapeType type_A = p_shape_A->get_type(); PhysicsServer3D::ShapeType type_B = p_shape_B->get_type(); bool concave_A = p_shape_A->is_concave(); @@ -421,7 +421,7 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo } } -bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW *p_convex) { +bool GodotCollisionSolver3D::concave_distance_callback(void *p_userdata, GodotShape3D *p_convex) { _ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata); cinfo.aabb_tests++; @@ -443,8 +443,8 @@ bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW return false; } -bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) { - const WorldBoundaryShape3DSW *world_boundary = static_cast(p_shape_A); +bool GodotCollisionSolver3D::solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) { + const GodotWorldBoundaryShape3D *world_boundary = static_cast(p_shape_A); if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) { return false; } @@ -453,11 +453,11 @@ bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape static const int max_supports = 16; Vector3 supports[max_supports]; int support_count; - Shape3DSW::FeatureType support_type; + GodotShape3D::FeatureType support_type; p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type); - if (support_type == Shape3DSW::FEATURE_CIRCLE) { + if (support_type == GodotShape3D::FEATURE_CIRCLE) { ERR_FAIL_COND_V(support_count != 3, false); Vector3 circle_pos = supports[0]; @@ -495,7 +495,7 @@ bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape return collided; } -bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) { +bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) { if (p_shape_A->is_concave()) { return false; } @@ -512,7 +512,7 @@ bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Trans return false; } - const ConcaveShape3DSW *concave_B = static_cast(p_shape_B); + const GodotConcaveShape3D *concave_B = static_cast(p_shape_B); _ConcaveCollisionInfo cinfo; cinfo.transform_A = &p_transform_A; diff --git a/servers/physics_3d/collision_solver_3d_sw.h b/servers/physics_3d/godot_collision_solver_3d.h similarity index 53% rename from servers/physics_3d/collision_solver_3d_sw.h rename to servers/physics_3d/godot_collision_solver_3d.h index 0a9ea7c0eb..133635ca7e 100644 --- a/servers/physics_3d/collision_solver_3d_sw.h +++ b/servers/physics_3d/godot_collision_solver_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_3d_sw.h */ +/* godot_collision_solver_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,30 +28,30 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_SOLVER_SW_H -#define COLLISION_SOLVER_SW_H +#ifndef GODOT_COLLISION_SOLVER_3D_H +#define GODOT_COLLISION_SOLVER_3D_H -#include "shape_3d_sw.h" +#include "godot_shape_3d.h" -class CollisionSolver3DSW { +class GodotCollisionSolver3D { public: typedef void (*CallbackResult)(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); private: static bool soft_body_query_callback(uint32_t p_node_index, void *p_userdata); static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); - static bool soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex); - static bool concave_callback(void *p_userdata, Shape3DSW *p_convex); - static bool solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); - static bool solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0); - static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); - static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0); - static bool concave_distance_callback(void *p_userdata, Shape3DSW *p_convex); - static bool solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B); + static bool soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex); + static bool concave_callback(void *p_userdata, GodotShape3D *p_convex); + static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0); + static bool solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result); + static bool solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0); + static bool concave_distance_callback(void *p_userdata, GodotShape3D *p_convex); + static bool solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B); public: - static bool solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); - static bool solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr); + static bool solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0); + static bool solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr); }; -#endif // COLLISION_SOLVER__SW_H +#endif // GODOT_COLLISION_SOLVER_3D_H diff --git a/servers/physics_3d/collision_solver_3d_sat.cpp b/servers/physics_3d/godot_collision_solver_3d_sat.cpp similarity index 85% rename from servers/physics_3d/collision_solver_3d_sat.cpp rename to servers/physics_3d/godot_collision_solver_3d_sat.cpp index 86150f41a0..0790333f65 100644 --- a/servers/physics_3d/collision_solver_3d_sat.cpp +++ b/servers/physics_3d/godot_collision_solver_3d_sat.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_3d_sat.cpp */ +/* godot_collision_solver_3d_sat.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,12 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "collision_solver_3d_sat.h" -#include "core/math/geometry_3d.h" +#include "godot_collision_solver_3d_sat.h" #include "gjk_epa.h" +#include "core/math/geometry_3d.h" + #define fallback_collision_solver gjk_epa_calculate_penetration // Cylinder SAT analytic methods and face-circle contact points for cylinder-trimesh and cylinder-box collision are based on ODE colliders. @@ -65,7 +66,7 @@ *************************************************************************/ struct _CollectorCallback { - CollisionSolver3DSW::CallbackResult callback; + GodotCollisionSolver3D::CallbackResult callback; void *userdata = nullptr; bool swap = false; bool collided = false; @@ -539,7 +540,7 @@ static void _generate_contacts_circle_circle(const Vector3 *p_points_A, int p_po } } -static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, Shape3DSW::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, Shape3DSW::FeatureType p_feature_type_B, _CollectorCallback *p_callback) { +static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, GodotShape3D::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, GodotShape3D::FeatureType p_feature_type_B, _CollectorCallback *p_callback) { #ifdef DEBUG_ENABLED ERR_FAIL_COND(p_point_count_A < 1); ERR_FAIL_COND(p_point_count_B < 1); @@ -713,7 +714,7 @@ public: Vector3 supports_A[max_supports]; int support_count_A; - Shape3DSW::FeatureType support_type_A; + GodotShape3D::FeatureType support_type_A; shape_A->get_supports(transform_A->basis.xform_inv(-best_axis).normalized(), max_supports, supports_A, support_count_A, support_type_A); for (int i = 0; i < support_count_A; i++) { supports_A[i] = transform_A->xform(supports_A[i]); @@ -727,7 +728,7 @@ public: Vector3 supports_B[max_supports]; int support_count_B; - Shape3DSW::FeatureType support_type_B; + GodotShape3D::FeatureType support_type_B; shape_B->get_supports(transform_B->basis.xform_inv(best_axis).normalized(), max_supports, supports_B, support_count_B, support_type_B); for (int i = 0; i < support_count_B; i++) { supports_B[i] = transform_B->xform(supports_B[i]); @@ -761,14 +762,14 @@ public: /****** SAT TESTS *******/ -typedef void (*CollisionFunc)(const Shape3DSW *, const Transform3D &, const Shape3DSW *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t); +typedef void (*CollisionFunc)(const GodotShape3D *, const Transform3D &, const GodotShape3D *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t); template -static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const SphereShape3DSW *sphere_A = static_cast(p_a); - const SphereShape3DSW *sphere_B = static_cast(p_b); +static void _collision_sphere_sphere(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotSphereShape3D *sphere_A = static_cast(p_a); + const GodotSphereShape3D *sphere_B = static_cast(p_b); - SeparatorAxisTest separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b); // previous axis @@ -784,11 +785,11 @@ static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_ } template -static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const SphereShape3DSW *sphere_A = static_cast(p_a); - const BoxShape3DSW *box_B = static_cast(p_b); +static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotSphereShape3D *sphere_A = static_cast(p_a); + const GodotBoxShape3D *box_B = static_cast(p_b); - SeparatorAxisTest separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -835,11 +836,11 @@ static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_tra } template -static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const SphereShape3DSW *sphere_A = static_cast(p_a); - const CapsuleShape3DSW *capsule_B = static_cast(p_b); +static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotSphereShape3D *sphere_A = static_cast(p_a); + const GodotCapsuleShape3D *capsule_B = static_cast(p_b); - SeparatorAxisTest separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -877,11 +878,11 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p } template -static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const SphereShape3DSW *sphere_A = static_cast(p_a); - const CylinderShape3DSW *cylinder_B = static_cast(p_b); +static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotSphereShape3D *sphere_A = static_cast(p_a); + const GodotCylinderShape3D *cylinder_B = static_cast(p_b); - SeparatorAxisTest separator(sphere_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(sphere_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -936,11 +937,11 @@ static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D & } template -static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const SphereShape3DSW *sphere_A = static_cast(p_a); - const ConvexPolygonShape3DSW *convex_polygon_B = static_cast(p_b); +static void _collision_sphere_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotSphereShape3D *sphere_A = static_cast(p_a); + const GodotConvexPolygonShape3D *convex_polygon_B = static_cast(p_b); - SeparatorAxisTest separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -999,11 +1000,11 @@ static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transfo } template -static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const SphereShape3DSW *sphere_A = static_cast(p_a); - const FaceShape3DSW *face_B = static_cast(p_b); +static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotSphereShape3D *sphere_A = static_cast(p_a); + const GodotFaceShape3D *face_B = static_cast(p_b); - SeparatorAxisTest separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); Vector3 vertex[3] = { p_transform_b.xform(face_B->vertex[0]), @@ -1044,11 +1045,11 @@ static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_tr } template -static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const BoxShape3DSW *box_A = static_cast(p_a); - const BoxShape3DSW *box_B = static_cast(p_b); +static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotBoxShape3D *box_A = static_cast(p_a); + const GodotBoxShape3D *box_B = static_cast(p_b); - SeparatorAxisTest separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1142,11 +1143,11 @@ static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transf } template -static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const BoxShape3DSW *box_A = static_cast(p_a); - const CapsuleShape3DSW *capsule_B = static_cast(p_b); +static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotBoxShape3D *box_A = static_cast(p_a); + const GodotCapsuleShape3D *capsule_B = static_cast(p_b); - SeparatorAxisTest separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1240,11 +1241,11 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_tr } template -static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const BoxShape3DSW *box_A = static_cast(p_a); - const CylinderShape3DSW *cylinder_B = static_cast(p_b); +static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotBoxShape3D *box_A = static_cast(p_a); + const GodotCylinderShape3D *cylinder_B = static_cast(p_b); - SeparatorAxisTest separator(box_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(box_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1353,11 +1354,11 @@ static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_t } template -static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const BoxShape3DSW *box_A = static_cast(p_a); - const ConvexPolygonShape3DSW *convex_polygon_B = static_cast(p_b); +static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotBoxShape3D *box_A = static_cast(p_a); + const GodotConvexPolygonShape3D *convex_polygon_B = static_cast(p_b); - SeparatorAxisTest separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1471,11 +1472,11 @@ static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3 } template -static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const BoxShape3DSW *box_A = static_cast(p_a); - const FaceShape3DSW *face_B = static_cast(p_b); +static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotBoxShape3D *box_A = static_cast(p_a); + const GodotFaceShape3D *face_B = static_cast(p_b); - SeparatorAxisTest separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); Vector3 vertex[3] = { p_transform_b.xform(face_B->vertex[0]), @@ -1594,11 +1595,11 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_trans } template -static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CapsuleShape3DSW *capsule_A = static_cast(p_a); - const CapsuleShape3DSW *capsule_B = static_cast(p_b); +static void _collision_capsule_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCapsuleShape3D *capsule_A = static_cast(p_a); + const GodotCapsuleShape3D *capsule_B = static_cast(p_b); - SeparatorAxisTest separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1658,11 +1659,11 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D & } template -static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CapsuleShape3DSW *capsule_A = static_cast(p_a); - const CylinderShape3DSW *cylinder_B = static_cast(p_b); +static void _collision_capsule_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCapsuleShape3D *capsule_A = static_cast(p_a); + const GodotCylinderShape3D *cylinder_B = static_cast(p_b); - SeparatorAxisTest separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1709,7 +1710,7 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D return; } - CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest::test_contact_points; + GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest::test_contact_points; // Fallback to generic algorithm to find the best separating axis. if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { @@ -1720,11 +1721,11 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D } template -static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CapsuleShape3DSW *capsule_A = static_cast(p_a); - const ConvexPolygonShape3DSW *convex_polygon_B = static_cast(p_b); +static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCapsuleShape3D *capsule_A = static_cast(p_a); + const GodotConvexPolygonShape3D *convex_polygon_B = static_cast(p_b); - SeparatorAxisTest separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -1787,11 +1788,11 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf } template -static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CapsuleShape3DSW *capsule_A = static_cast(p_a); - const FaceShape3DSW *face_B = static_cast(p_b); +static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCapsuleShape3D *capsule_A = static_cast(p_a); + const GodotFaceShape3D *face_B = static_cast(p_b); - SeparatorAxisTest separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); Vector3 vertex[3] = { p_transform_b.xform(face_B->vertex[0]), @@ -1861,11 +1862,11 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_t } template -static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CylinderShape3DSW *cylinder_A = static_cast(p_a); - const CylinderShape3DSW *cylinder_B = static_cast(p_b); +static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCylinderShape3D *cylinder_A = static_cast(p_a); + const GodotCylinderShape3D *cylinder_B = static_cast(p_b); - SeparatorAxisTest separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b); Vector3 cylinder_A_axis = p_transform_a.basis.get_axis(1); Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1); @@ -1904,7 +1905,7 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D return; } - CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest::test_contact_points; + GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest::test_contact_points; // Fallback to generic algorithm to find the best separating axis. if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { @@ -1915,13 +1916,13 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D } template -static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CylinderShape3DSW *cylinder_A = static_cast(p_a); - const ConvexPolygonShape3DSW *convex_polygon_B = static_cast(p_b); +static void _collision_cylinder_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCylinderShape3D *cylinder_A = static_cast(p_a); + const GodotConvexPolygonShape3D *convex_polygon_B = static_cast(p_b); - SeparatorAxisTest separator(cylinder_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(cylinder_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); - CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest::test_contact_points; + GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest::test_contact_points; // Fallback to generic algorithm to find the best separating axis. if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) { @@ -1932,11 +1933,11 @@ static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Trans } template -static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const CylinderShape3DSW *cylinder_A = static_cast(p_a); - const FaceShape3DSW *face_B = static_cast(p_b); +static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotCylinderShape3D *cylinder_A = static_cast(p_a); + const GodotFaceShape3D *face_B = static_cast(p_b); - SeparatorAxisTest separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -2037,11 +2038,11 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_ } template -static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const ConvexPolygonShape3DSW *convex_polygon_A = static_cast(p_a); - const ConvexPolygonShape3DSW *convex_polygon_B = static_cast(p_b); +static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotConvexPolygonShape3D *convex_polygon_A = static_cast(p_a); + const GodotConvexPolygonShape3D *convex_polygon_B = static_cast(p_b); - SeparatorAxisTest separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b); if (!separator.test_previous_axis()) { return; @@ -2150,11 +2151,11 @@ static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const } template -static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { - const ConvexPolygonShape3DSW *convex_polygon_A = static_cast(p_a); - const FaceShape3DSW *face_B = static_cast(p_b); +static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + const GodotConvexPolygonShape3D *convex_polygon_A = static_cast(p_a); + const GodotFaceShape3D *face_B = static_cast(p_b); - SeparatorAxisTest separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); + SeparatorAxisTest separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b); const Geometry3D::MeshData &mesh = convex_polygon_A->get_mesh(); @@ -2268,7 +2269,7 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform separator.generate_contacts(); } -bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) { +bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) { PhysicsServer3D::ShapeType type_A = p_shape_A->get_type(); ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_WORLD_BOUNDARY, false); @@ -2366,8 +2367,8 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_ callback.collided = false; callback.prev_axis = r_prev_axis; - const Shape3DSW *A = p_shape_A; - const Shape3DSW *B = p_shape_B; + const GodotShape3D *A = p_shape_A; + const GodotShape3D *B = p_shape_B; const Transform3D *transform_A = &p_transform_A; const Transform3D *transform_B = &p_transform_B; real_t margin_A = p_margin_a; diff --git a/servers/physics_3d/collision_solver_3d_sat.h b/servers/physics_3d/godot_collision_solver_3d_sat.h similarity index 79% rename from servers/physics_3d/collision_solver_3d_sat.h rename to servers/physics_3d/godot_collision_solver_3d_sat.h index e50da7b101..069a701cba 100644 --- a/servers/physics_3d/collision_solver_3d_sat.h +++ b/servers/physics_3d/godot_collision_solver_3d_sat.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* collision_solver_3d_sat.h */ +/* godot_collision_solver_3d_sat.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef COLLISION_SOLVER_SAT_H -#define COLLISION_SOLVER_SAT_H +#ifndef GODOT_COLLISION_SOLVER_SAT_H +#define GODOT_COLLISION_SOLVER_SAT_H -#include "collision_solver_3d_sw.h" +#include "godot_collision_solver_3d.h" -bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector3 *r_prev_axis = nullptr, real_t p_margin_a = 0, real_t p_margin_b = 0); +bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector3 *r_prev_axis = nullptr, real_t p_margin_a = 0, real_t p_margin_b = 0); -#endif // COLLISION_SOLVER_SAT_H +#endif // GODOT_COLLISION_SOLVER_SAT_H diff --git a/servers/physics_3d/constraint_3d_sw.h b/servers/physics_3d/godot_constraint_3d.h similarity index 86% rename from servers/physics_3d/constraint_3d_sw.h rename to servers/physics_3d/godot_constraint_3d.h index 7b44726ef5..840c81716c 100644 --- a/servers/physics_3d/constraint_3d_sw.h +++ b/servers/physics_3d/godot_constraint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* constraint_3d_sw.h */ +/* godot_constraint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,14 +28,14 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef CONSTRAINT_SW_H -#define CONSTRAINT_SW_H +#ifndef GODOT_CONSTRAINT_3D_H +#define GODOT_CONSTRAINT_3D_H -class Body3DSW; -class SoftBody3DSW; +class GodotBody3D; +class GodotSoftBody3D; -class Constraint3DSW { - Body3DSW **_body_ptr; +class GodotConstraint3D { + GodotBody3D **_body_ptr; int _body_count; uint64_t island_step; int priority; @@ -44,7 +44,7 @@ class Constraint3DSW { RID self; protected: - Constraint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) { + GodotConstraint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) { _body_ptr = p_body_ptr; _body_count = p_body_count; island_step = 0; @@ -59,10 +59,10 @@ public: _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_ Body3DSW **get_body_ptr() const { return _body_ptr; } + _FORCE_INLINE_ GodotBody3D **get_body_ptr() const { return _body_ptr; } _FORCE_INLINE_ int get_body_count() const { return _body_count; } - virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const { return nullptr; } + virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const { return nullptr; } virtual int get_soft_body_count() const { return 0; } _FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; } @@ -75,7 +75,7 @@ public: virtual bool pre_solve(real_t p_step) = 0; virtual void solve(real_t p_step) = 0; - virtual ~Constraint3DSW() {} + virtual ~GodotConstraint3D() {} }; -#endif // CONSTRAINT__SW_H +#endif // GODOT_CONSTRAINT_3D_H diff --git a/servers/physics_3d/joints_3d_sw.h b/servers/physics_3d/godot_joint_3d.h similarity index 84% rename from servers/physics_3d/joints_3d_sw.h rename to servers/physics_3d/godot_joint_3d.h index e2514674ea..4086bb53e1 100644 --- a/servers/physics_3d/joints_3d_sw.h +++ b/servers/physics_3d/godot_joint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* joints_3d_sw.h */ +/* godot_joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,13 +28,13 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef JOINTS_SW_H -#define JOINTS_SW_H +#ifndef GODOT_JOINT_3D_H +#define GODOT_JOINT_3D_H -#include "body_3d_sw.h" -#include "constraint_3d_sw.h" +#include "godot_body_3d.h" +#include "godot_constraint_3d.h" -class Joint3DSW : public Constraint3DSW { +class GodotJoint3D : public GodotConstraint3D { protected: bool dynamic_A = false; bool dynamic_B = false; @@ -44,20 +44,20 @@ public: virtual bool pre_solve(real_t p_step) override { return true; } virtual void solve(real_t p_step) override {} - void copy_settings_from(Joint3DSW *p_joint) { + void copy_settings_from(GodotJoint3D *p_joint) { set_self(p_joint->get_self()); set_priority(p_joint->get_priority()); disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies()); } virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; } - _FORCE_INLINE_ Joint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) : - Constraint3DSW(p_body_ptr, p_body_count) { + _FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) : + GodotConstraint3D(p_body_ptr, p_body_count) { } - virtual ~Joint3DSW() { + virtual ~GodotJoint3D() { for (int i = 0; i < get_body_count(); i++) { - Body3DSW *body = get_body_ptr()[i]; + GodotBody3D *body = get_body_ptr()[i]; if (body) { body->remove_constraint(this); } @@ -65,4 +65,4 @@ public: } }; -#endif // JOINTS_SW_H +#endif // GODOT_JOINT_3D_H diff --git a/servers/physics_3d/godot_physics_server_3d.cpp b/servers/physics_3d/godot_physics_server_3d.cpp new file mode 100644 index 0000000000..34b56e733e --- /dev/null +++ b/servers/physics_3d/godot_physics_server_3d.cpp @@ -0,0 +1,1749 @@ +/*************************************************************************/ +/* godot_physics_server_3d.cpp */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2021 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 "godot_physics_server_3d.h" + +#include "godot_body_direct_state_3d.h" +#include "godot_broad_phase_3d_bvh.h" +#include "joints/godot_cone_twist_joint_3d.h" +#include "joints/godot_generic_6dof_joint_3d.h" +#include "joints/godot_hinge_joint_3d.h" +#include "joints/godot_pin_joint_3d.h" +#include "joints/godot_slider_joint_3d.h" + +#include "core/debugger/engine_debugger.h" +#include "core/os/os.h" + +#define FLUSH_QUERY_CHECK(m_object) \ + ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); + +RID GodotPhysicsServer3D::world_boundary_shape_create() { + GodotShape3D *shape = memnew(GodotWorldBoundaryShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::separation_ray_shape_create() { + GodotShape3D *shape = memnew(GodotSeparationRayShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::sphere_shape_create() { + GodotShape3D *shape = memnew(GodotSphereShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::box_shape_create() { + GodotShape3D *shape = memnew(GodotBoxShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::capsule_shape_create() { + GodotShape3D *shape = memnew(GodotCapsuleShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::cylinder_shape_create() { + GodotShape3D *shape = memnew(GodotCylinderShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::convex_polygon_shape_create() { + GodotShape3D *shape = memnew(GodotConvexPolygonShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::concave_polygon_shape_create() { + GodotShape3D *shape = memnew(GodotConcavePolygonShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::heightmap_shape_create() { + GodotShape3D *shape = memnew(GodotHeightMapShape3D); + RID rid = shape_owner.make_rid(shape); + shape->set_self(rid); + return rid; +} +RID GodotPhysicsServer3D::custom_shape_create() { + ERR_FAIL_V(RID()); +} + +void GodotPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) { + GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + shape->set_data(p_data); +}; + +void GodotPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { + GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + shape->set_custom_bias(p_bias); +} + +PhysicsServer3D::ShapeType GodotPhysicsServer3D::shape_get_type(RID p_shape) const { + const GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); + return shape->get_type(); +}; + +Variant GodotPhysicsServer3D::shape_get_data(RID p_shape) const { + const GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, Variant()); + ERR_FAIL_COND_V(!shape->is_configured(), Variant()); + return shape->get_data(); +}; + +void GodotPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) { +} + +real_t GodotPhysicsServer3D::shape_get_margin(RID p_shape) const { + return 0.0; +} + +real_t GodotPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const { + const GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND_V(!shape, 0); + return shape->get_custom_bias(); +} + +RID GodotPhysicsServer3D::space_create() { + GodotSpace3D *space = memnew(GodotSpace3D); + RID id = space_owner.make_rid(space); + space->set_self(id); + RID area_id = area_create(); + GodotArea3D *area = area_owner.get_or_null(area_id); + ERR_FAIL_COND_V(!area, RID()); + space->set_default_area(area); + area->set_space(space); + area->set_priority(-1); + RID sgb = body_create(); + body_set_space(sgb, id); + body_set_mode(sgb, BODY_MODE_STATIC); + space->set_static_global_body(sgb); + + return id; +}; + +void GodotPhysicsServer3D::space_set_active(RID p_space, bool p_active) { + GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + if (p_active) { + active_spaces.insert(space); + } else { + active_spaces.erase(space); + } +} + +bool GodotPhysicsServer3D::space_is_active(RID p_space) const { + const GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, false); + + return active_spaces.has(space); +} + +void GodotPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { + GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + + space->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const { + const GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_param(p_param); +} + +PhysicsDirectSpaceState3D *GodotPhysicsServer3D::space_get_direct_state(RID p_space) { + GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, nullptr); + ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); + + return space->get_direct_state(); +} + +void GodotPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) { + GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + space->set_debug_contacts(p_max_contacts); +} + +Vector GodotPhysicsServer3D::space_get_contacts(RID p_space) const { + GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, Vector()); + return space->get_debug_contacts(); +} + +int GodotPhysicsServer3D::space_get_contact_count(RID p_space) const { + GodotSpace3D *space = space_owner.get_or_null(p_space); + ERR_FAIL_COND_V(!space, 0); + return space->get_debug_contact_count(); +} + +RID GodotPhysicsServer3D::area_create() { + GodotArea3D *area = memnew(GodotArea3D); + RID rid = area_owner.make_rid(area); + area->set_self(rid); + return rid; +}; + +void GodotPhysicsServer3D::area_set_space(RID p_area, RID p_space) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotSpace3D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (area->get_space() == space) { + return; //pointless + } + + area->clear_constraints(); + area->set_space(space); +}; + +RID GodotPhysicsServer3D::area_get_space(RID p_area) const { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, RID()); + + GodotSpace3D *space = area->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +}; + +void GodotPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_space_override_mode(p_mode); +} + +PhysicsServer3D::AreaSpaceOverrideMode GodotPhysicsServer3D::area_get_space_override_mode(RID p_area) const { + const GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED); + + return area->get_space_override_mode(); +} + +void GodotPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + + area->add_shape(shape, p_transform, p_disabled); +} + +void GodotPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + ERR_FAIL_COND(!shape->is_configured()); + + area->set_shape(p_shape_idx, shape); +} + +void GodotPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_shape_transform(p_shape_idx, p_transform); +} + +int GodotPhysicsServer3D::area_get_shape_count(RID p_area) const { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, -1); + + return area->get_shape_count(); +} + +RID GodotPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, RID()); + + GodotShape3D *shape = area->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +Transform3D GodotPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Transform3D()); + + return area->get_shape_transform(p_shape_idx); +} + +void GodotPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->remove_shape(p_shape_idx); +} + +void GodotPhysicsServer3D::area_clear_shapes(RID p_area) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + while (area->get_shape_count()) { + area->remove_shape(0); + } +} + +void GodotPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count()); + FLUSH_QUERY_CHECK(area); + area->set_shape_disabled(p_shape_idx, p_disabled); +} + +void GodotPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) { + if (space_owner.owns(p_area)) { + GodotSpace3D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_instance_id(p_id); +} + +ObjectID GodotPhysicsServer3D::area_get_object_instance_id(RID p_area) const { + if (space_owner.owns(p_area)) { + GodotSpace3D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, ObjectID()); + return area->get_instance_id(); +} + +void GodotPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { + if (space_owner.owns(p_area)) { + GodotSpace3D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_param(p_param, p_value); +}; + +void GodotPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + area->set_transform(p_transform); +}; + +Variant GodotPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const { + if (space_owner.owns(p_area)) { + GodotSpace3D *space = space_owner.get_or_null(p_area); + p_area = space->get_default_area()->get_self(); + } + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Variant()); + + return area->get_param(p_param); +}; + +Transform3D GodotPhysicsServer3D::area_get_transform(RID p_area) const { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND_V(!area, Transform3D()); + + return area->get_transform(); +}; + +void GodotPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_collision_layer(p_layer); +} + +void GodotPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_collision_mask(p_mask); +} + +void GodotPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + FLUSH_QUERY_CHECK(area); + + area->set_monitorable(p_monitorable); +} + +void GodotPhysicsServer3D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); +} + +void GodotPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_ray_pickable(p_enable); +} + +void GodotPhysicsServer3D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { + GodotArea3D *area = area_owner.get_or_null(p_area); + ERR_FAIL_COND(!area); + + area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); +} + +/* BODY API */ + +RID GodotPhysicsServer3D::body_create() { + GodotBody3D *body = memnew(GodotBody3D); + RID rid = body_owner.make_rid(body); + body->set_self(rid); + return rid; +}; + +void GodotPhysicsServer3D::body_set_space(RID p_body, RID p_space) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotSpace3D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (body->get_space() == space) { + return; //pointless + } + + body->clear_constraint_map(); + body->set_space(space); +}; + +RID GodotPhysicsServer3D::body_get_space(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, RID()); + + GodotSpace3D *space = body->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +}; + +void GodotPhysicsServer3D::body_set_mode(RID p_body, BodyMode p_mode) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_mode(p_mode); +}; + +PhysicsServer3D::BodyMode GodotPhysicsServer3D::body_get_mode(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); + + return body->get_mode(); +}; + +void GodotPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + + body->add_shape(shape, p_transform, p_disabled); +} + +void GodotPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + GodotShape3D *shape = shape_owner.get_or_null(p_shape); + ERR_FAIL_COND(!shape); + ERR_FAIL_COND(!shape->is_configured()); + + body->set_shape(p_shape_idx, shape); +} +void GodotPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_shape_transform(p_shape_idx, p_transform); +} + +int GodotPhysicsServer3D::body_get_shape_count(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, -1); + + return body->get_shape_count(); +} + +RID GodotPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, RID()); + + GodotShape3D *shape = body->get_shape(p_shape_idx); + ERR_FAIL_COND_V(!shape, RID()); + + return shape->get_self(); +} + +void GodotPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); + FLUSH_QUERY_CHECK(body); + + body->set_shape_disabled(p_shape_idx, p_disabled); +} + +Transform3D GodotPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Transform3D()); + + return body->get_shape_transform(p_shape_idx); +} + +void GodotPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->remove_shape(p_shape_idx); +} + +void GodotPhysicsServer3D::body_clear_shapes(RID p_body) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + while (body->get_shape_count()) { + body->remove_shape(0); + } +} + +void GodotPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_continuous_collision_detection(p_enable); +} + +bool GodotPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + + return body->is_continuous_collision_detection_enabled(); +} + +void GodotPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_layer(p_layer); + body->wakeup(); +} + +uint32_t GodotPhysicsServer3D::body_get_collision_layer(RID p_body) const { + const GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_layer(); +} + +void GodotPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_collision_mask(p_mask); + body->wakeup(); +} + +uint32_t GodotPhysicsServer3D::body_get_collision_mask(RID p_body) const { + const GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_collision_mask(); +} + +void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) { + GodotBody3D *body = body_owner.get_or_null(p_body); + if (body) { + body->set_instance_id(p_id); + return; + } + + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + if (soft_body) { + soft_body->set_instance_id(p_id); + return; + } + + ERR_FAIL_MSG("Invalid ID."); +}; + +ObjectID GodotPhysicsServer3D::body_get_object_instance_id(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, ObjectID()); + + return body->get_instance_id(); +}; + +void GodotPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); +}; + +uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return 0; +}; + +void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_param(p_param, p_value); +}; + +Variant GodotPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + + return body->get_param(p_param); +}; + +void GodotPhysicsServer3D::body_reset_mass_properties(RID p_body) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + return body->reset_mass_properties(); +} + +void GodotPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_state(p_state, p_variant); +}; + +Variant GodotPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Variant()); + + return body->get_state(p_state); +}; + +void GodotPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_force(p_force); + body->wakeup(); +}; + +Vector3 GodotPhysicsServer3D::body_get_applied_force(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + return body->get_applied_force(); +}; + +void GodotPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_applied_torque(p_torque); + body->wakeup(); +}; + +Vector3 GodotPhysicsServer3D::body_get_applied_torque(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, Vector3()); + + return body->get_applied_torque(); +}; + +void GodotPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_central_force(p_force); + body->wakeup(); +} + +void GodotPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_force(p_force, p_position); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_torque(p_torque); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_central_impulse(p_impulse); + body->wakeup(); +} + +void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_impulse(p_impulse, p_position); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + body->apply_torque_impulse(p_impulse); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + _update_shapes(); + + Vector3 v = body->get_linear_velocity(); + Vector3 axis = p_axis_velocity.normalized(); + v -= axis * axis.dot(v); + v += p_axis_velocity; + body->set_linear_velocity(v); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_axis_lock(p_axis, p_lock); + body->wakeup(); +} + +bool GodotPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const { + const GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + return body->is_axis_locked(p_axis); +} + +void GodotPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->add_exception(p_body_b); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->remove_exception(p_body_b); + body->wakeup(); +}; + +void GodotPhysicsServer3D::body_get_collision_exceptions(RID p_body, List *p_exceptions) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + for (int i = 0; i < body->get_exceptions().size(); i++) { + p_exceptions->push_back(body->get_exceptions()[i]); + } +}; + +void GodotPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); +}; + +real_t GodotPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, 0); + return 0; +}; + +void GodotPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + + body->set_omit_force_integration(p_omit); +}; + +bool GodotPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + return body->get_omit_force_integration(); +}; + +void GodotPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_max_contacts_reported(p_contacts); +} + +int GodotPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, -1); + return body->get_max_contacts_reported(); +} + +void GodotPhysicsServer3D::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_state_sync_callback(p_instance, p_callback); +} + +void GodotPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_force_integration_callback(p_callable, p_udata); +} + +void GodotPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND(!body); + body->set_ray_pickable(p_enable); +} + +bool GodotPhysicsServer3D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) { + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!body, false); + ERR_FAIL_COND_V(!body->get_space(), false); + ERR_FAIL_COND_V(body->get_space()->is_locked(), false); + + _update_shapes(); + + return body->get_space()->test_body_motion(body, p_parameters, r_result); +} + +PhysicsDirectBodyState3D *GodotPhysicsServer3D::body_get_direct_state(RID p_body) { + ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); + + GodotBody3D *body = body_owner.get_or_null(p_body); + ERR_FAIL_NULL_V(body, nullptr); + + ERR_FAIL_NULL_V(body->get_space(), nullptr); + ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); + + return body->get_direct_state(); +} + +/* SOFT BODY */ + +RID GodotPhysicsServer3D::soft_body_create() { + GodotSoftBody3D *soft_body = memnew(GodotSoftBody3D); + RID rid = soft_body_owner.make_rid(soft_body); + soft_body->set_self(rid); + return rid; +} + +void GodotPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->update_rendering_server(p_rendering_server_handler); +} + +void GodotPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + GodotSpace3D *space = nullptr; + if (p_space.is_valid()) { + space = space_owner.get_or_null(p_space); + ERR_FAIL_COND(!space); + } + + if (soft_body->get_space() == space) { + return; + } + + soft_body->set_space(space); +} + +RID GodotPhysicsServer3D::soft_body_get_space(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, RID()); + + GodotSpace3D *space = soft_body->get_space(); + if (!space) { + return RID(); + } + return space->get_self(); +} + +void GodotPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_collision_layer(p_layer); +} + +uint32_t GodotPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0); + + return soft_body->get_collision_layer(); +} + +void GodotPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_collision_mask(p_mask); +} + +uint32_t GodotPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0); + + return soft_body->get_collision_mask(); +} + +void GodotPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->add_exception(p_body_b); +} + +void GodotPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->remove_exception(p_body_b); +} + +void GodotPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List *p_exceptions) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + for (int i = 0; i < soft_body->get_exceptions().size(); i++) { + p_exceptions->push_back(soft_body->get_exceptions()[i]); + } +} + +void GodotPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_state(p_state, p_variant); +} + +Variant GodotPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, Variant()); + + return soft_body->get_state(p_state); +} + +void GodotPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_state(BODY_STATE_TRANSFORM, p_transform); +} + +void GodotPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_ray_pickable(p_enable); +} + +void GodotPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_iteration_count(p_simulation_precision); +} + +int GodotPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_iteration_count(); +} + +void GodotPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_total_mass(p_total_mass); +} + +real_t GodotPhysicsServer3D::soft_body_get_total_mass(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_total_mass(); +} + +void GodotPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_linear_stiffness(p_stiffness); +} + +real_t GodotPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_linear_stiffness(); +} + +void GodotPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_pressure_coefficient(p_pressure_coefficient); +} + +real_t GodotPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_pressure_coefficient(); +} + +void GodotPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_damping_coefficient(p_damping_coefficient); +} + +real_t GodotPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_damping_coefficient(); +} + +void GodotPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_drag_coefficient(p_drag_coefficient); +} + +real_t GodotPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, 0.f); + + return soft_body->get_drag_coefficient(); +} + +void GodotPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_mesh(p_mesh); +} + +AABB GodotPhysicsServer3D::soft_body_get_bounds(RID p_body) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, AABB()); + + return soft_body->get_bounds(); +} + +void GodotPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->set_vertex_position(p_point_index, p_global_position); +} + +Vector3 GodotPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, Vector3()); + + return soft_body->get_vertex_position(p_point_index); +} + +void GodotPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + soft_body->unpin_all_vertices(); +} + +void GodotPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND(!soft_body); + + if (p_pin) { + soft_body->pin_vertex(p_point_index); + } else { + soft_body->unpin_vertex(p_point_index); + } +} + +bool GodotPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body); + ERR_FAIL_COND_V(!soft_body, false); + + return soft_body->is_vertex_pinned(p_point_index); +} + +/* JOINT API */ + +RID GodotPhysicsServer3D::joint_create() { + GodotJoint3D *joint = memnew(GodotJoint3D); + RID rid = joint_owner.make_rid(joint); + joint->set_self(rid); + return rid; +} + +void GodotPhysicsServer3D::joint_clear(RID p_joint) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + if (joint->get_type() != JOINT_TYPE_MAX) { + GodotJoint3D *empty_joint = memnew(GodotJoint3D); + empty_joint->copy_settings_from(joint); + + joint_owner.replace(p_joint, empty_joint); + memdelete(joint); + } +} + +void GodotPhysicsServer3D::joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { + GodotBody3D *body_A = body_owner.get_or_null(p_body_A); + ERR_FAIL_COND(!body_A); + + if (!p_body_B.is_valid()) { + ERR_FAIL_COND(!body_A->get_space()); + p_body_B = body_A->get_space()->get_static_global_body(); + } + + GodotBody3D *body_B = body_owner.get_or_null(p_body_B); + ERR_FAIL_COND(!body_B); + + ERR_FAIL_COND(body_A == body_B); + + GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint3D *joint = memnew(GodotPinJoint3D(body_A, p_local_A, body_B, p_local_B)); + + joint->copy_settings_from(prev_joint); + joint_owner.replace(p_joint, joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); + GodotPinJoint3D *pin_joint = static_cast(joint); + pin_joint->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0); + GodotPinJoint3D *pin_joint = static_cast(joint); + return pin_joint->get_param(p_param); +} + +void GodotPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); + GodotPinJoint3D *pin_joint = static_cast(joint); + pin_joint->set_pos_a(p_A); +} + +Vector3 GodotPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, Vector3()); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3()); + GodotPinJoint3D *pin_joint = static_cast(joint); + return pin_joint->get_position_a(); +} + +void GodotPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); + GodotPinJoint3D *pin_joint = static_cast(joint); + pin_joint->set_pos_b(p_B); +} + +Vector3 GodotPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, Vector3()); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3()); + GodotPinJoint3D *pin_joint = static_cast(joint); + return pin_joint->get_position_b(); +} + +void GodotPhysicsServer3D::joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_frame_A, RID p_body_B, const Transform3D &p_frame_B) { + GodotBody3D *body_A = body_owner.get_or_null(p_body_A); + ERR_FAIL_COND(!body_A); + + if (!p_body_B.is_valid()) { + ERR_FAIL_COND(!body_A->get_space()); + p_body_B = body_A->get_space()->get_static_global_body(); + } + + GodotBody3D *body_B = body_owner.get_or_null(p_body_B); + ERR_FAIL_COND(!body_B); + + ERR_FAIL_COND(body_A == body_B); + + GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_frame_A, p_frame_B)); + + joint->copy_settings_from(prev_joint); + joint_owner.replace(p_joint, joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer3D::joint_make_hinge_simple(RID p_joint, RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) { + GodotBody3D *body_A = body_owner.get_or_null(p_body_A); + ERR_FAIL_COND(!body_A); + + if (!p_body_B.is_valid()) { + ERR_FAIL_COND(!body_A->get_space()); + p_body_B = body_A->get_space()->get_static_global_body(); + } + + GodotBody3D *body_B = body_owner.get_or_null(p_body_B); + ERR_FAIL_COND(!body_B); + + ERR_FAIL_COND(body_A == body_B); + + GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); + + joint->copy_settings_from(prev_joint); + joint_owner.replace(p_joint, joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE); + GodotHingeJoint3D *hinge_joint = static_cast(joint); + hinge_joint->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0); + GodotHingeJoint3D *hinge_joint = static_cast(joint); + return hinge_joint->get_param(p_param); +} + +void GodotPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE); + GodotHingeJoint3D *hinge_joint = static_cast(joint); + hinge_joint->set_flag(p_flag, p_value); +} + +bool GodotPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, false); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false); + GodotHingeJoint3D *hinge_joint = static_cast(joint); + return hinge_joint->get_flag(p_flag); +} + +void GodotPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + joint->set_priority(p_priority); +} + +int GodotPhysicsServer3D::joint_get_solver_priority(RID p_joint) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, 0); + return joint->get_priority(); +} + +void GodotPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + + joint->disable_collisions_between_bodies(p_disable); + + if (2 == joint->get_body_count()) { + GodotBody3D *body_a = *joint->get_body_ptr(); + GodotBody3D *body_b = *(joint->get_body_ptr() + 1); + + if (p_disable) { + body_add_collision_exception(body_a->get_self(), body_b->get_self()); + body_add_collision_exception(body_b->get_self(), body_a->get_self()); + } else { + body_remove_collision_exception(body_a->get_self(), body_b->get_self()); + body_remove_collision_exception(body_b->get_self(), body_a->get_self()); + } + } +} + +bool GodotPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, true); + + return joint->is_disabled_collisions_between_bodies(); +} + +GodotPhysicsServer3D::JointType GodotPhysicsServer3D::joint_get_type(RID p_joint) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); + return joint->get_type(); +} + +void GodotPhysicsServer3D::joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { + GodotBody3D *body_A = body_owner.get_or_null(p_body_A); + ERR_FAIL_COND(!body_A); + + if (!p_body_B.is_valid()) { + ERR_FAIL_COND(!body_A->get_space()); + p_body_B = body_A->get_space()->get_static_global_body(); + } + + GodotBody3D *body_B = body_owner.get_or_null(p_body_B); + ERR_FAIL_COND(!body_B); + + ERR_FAIL_COND(body_A == body_B); + + GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint3D *joint = memnew(GodotSliderJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B)); + + joint->copy_settings_from(prev_joint); + joint_owner.replace(p_joint, joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER); + GodotSliderJoint3D *slider_joint = static_cast(joint); + slider_joint->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0); + GodotSliderJoint3D *slider_joint = static_cast(joint); + return slider_joint->get_param(p_param); +} + +void GodotPhysicsServer3D::joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { + GodotBody3D *body_A = body_owner.get_or_null(p_body_A); + ERR_FAIL_COND(!body_A); + + if (!p_body_B.is_valid()) { + ERR_FAIL_COND(!body_A->get_space()); + p_body_B = body_A->get_space()->get_static_global_body(); + } + + GodotBody3D *body_B = body_owner.get_or_null(p_body_B); + ERR_FAIL_COND(!body_B); + + ERR_FAIL_COND(body_A == body_B); + + GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint3D *joint = memnew(GodotConeTwistJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B)); + + joint->copy_settings_from(prev_joint); + joint_owner.replace(p_joint, joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST); + GodotConeTwistJoint3D *cone_twist_joint = static_cast(joint); + cone_twist_joint->set_param(p_param, p_value); +} + +real_t GodotPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0); + GodotConeTwistJoint3D *cone_twist_joint = static_cast(joint); + return cone_twist_joint->get_param(p_param); +} + +void GodotPhysicsServer3D::joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { + GodotBody3D *body_A = body_owner.get_or_null(p_body_A); + ERR_FAIL_COND(!body_A); + + if (!p_body_B.is_valid()) { + ERR_FAIL_COND(!body_A->get_space()); + p_body_B = body_A->get_space()->get_static_global_body(); + } + + GodotBody3D *body_B = body_owner.get_or_null(p_body_B); + ERR_FAIL_COND(!body_B); + + ERR_FAIL_COND(body_A == body_B); + + GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(prev_joint == nullptr); + + GodotJoint3D *joint = memnew(GodotGeneric6DOFJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); + + joint->copy_settings_from(prev_joint); + joint_owner.replace(p_joint, joint); + memdelete(prev_joint); +} + +void GodotPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF); + GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast(joint); + generic_6dof_joint->set_param(p_axis, p_param, p_value); +} + +real_t GodotPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, 0); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0); + GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast(joint); + return generic_6dof_joint->get_param(p_axis, p_param); +} + +void GodotPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND(!joint); + ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF); + GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast(joint); + generic_6dof_joint->set_flag(p_axis, p_flag, p_enable); +} + +bool GodotPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) const { + GodotJoint3D *joint = joint_owner.get_or_null(p_joint); + ERR_FAIL_COND_V(!joint, false); + ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false); + GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast(joint); + return generic_6dof_joint->get_flag(p_axis, p_flag); +} + +void GodotPhysicsServer3D::free(RID p_rid) { + _update_shapes(); //just in case + + if (shape_owner.owns(p_rid)) { + GodotShape3D *shape = shape_owner.get_or_null(p_rid); + + while (shape->get_owners().size()) { + GodotShapeOwner3D *so = shape->get_owners().front()->key(); + so->remove_shape(shape); + } + + shape_owner.free(p_rid); + memdelete(shape); + } else if (body_owner.owns(p_rid)) { + GodotBody3D *body = body_owner.get_or_null(p_rid); + + /* + if (body->get_state_query()) + _clear_query(body->get_state_query()); + + if (body->get_direct_state_query()) + _clear_query(body->get_direct_state_query()); + */ + + body->set_space(nullptr); + + while (body->get_shape_count()) { + body->remove_shape(0); + } + + body_owner.free(p_rid); + memdelete(body); + } else if (soft_body_owner.owns(p_rid)) { + GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_rid); + + soft_body->set_space(nullptr); + + soft_body_owner.free(p_rid); + memdelete(soft_body); + } else if (area_owner.owns(p_rid)) { + GodotArea3D *area = area_owner.get_or_null(p_rid); + + /* + if (area->get_monitor_query()) + _clear_query(area->get_monitor_query()); + */ + + area->set_space(nullptr); + + while (area->get_shape_count()) { + area->remove_shape(0); + } + + area_owner.free(p_rid); + memdelete(area); + } else if (space_owner.owns(p_rid)) { + GodotSpace3D *space = space_owner.get_or_null(p_rid); + + while (space->get_objects().size()) { + GodotCollisionObject3D *co = (GodotCollisionObject3D *)space->get_objects().front()->get(); + co->set_space(nullptr); + } + + active_spaces.erase(space); + free(space->get_default_area()->get_self()); + free(space->get_static_global_body()); + + space_owner.free(p_rid); + memdelete(space); + } else if (joint_owner.owns(p_rid)) { + GodotJoint3D *joint = joint_owner.get_or_null(p_rid); + + joint_owner.free(p_rid); + memdelete(joint); + + } else { + ERR_FAIL_MSG("Invalid ID."); + } +}; + +void GodotPhysicsServer3D::set_active(bool p_active) { + active = p_active; +}; + +void GodotPhysicsServer3D::set_collision_iterations(int p_iterations) { + iterations = p_iterations; +}; + +void GodotPhysicsServer3D::init() { + iterations = 8; // 8? + stepper = memnew(GodotStep3D); +}; + +void GodotPhysicsServer3D::step(real_t p_step) { +#ifndef _3D_DISABLED + + if (!active) { + return; + } + + _update_shapes(); + + island_count = 0; + active_objects = 0; + collision_pairs = 0; + for (Set::Element *E = active_spaces.front(); E; E = E->next()) { + stepper->step((GodotSpace3D *)E->get(), p_step, iterations); + island_count += E->get()->get_island_count(); + active_objects += E->get()->get_active_objects(); + collision_pairs += E->get()->get_collision_pairs(); + } +#endif +} + +void GodotPhysicsServer3D::sync() { + doing_sync = true; +}; + +void GodotPhysicsServer3D::flush_queries() { +#ifndef _3D_DISABLED + + if (!active) { + return; + } + + flushing_queries = true; + + uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); + + for (Set::Element *E = active_spaces.front(); E; E = E->next()) { + GodotSpace3D *space = (GodotSpace3D *)E->get(); + space->call_queries(); + } + + flushing_queries = false; + + if (EngineDebugger::is_profiling("servers")) { + uint64_t total_time[GodotSpace3D::ELAPSED_TIME_MAX]; + static const char *time_name[GodotSpace3D::ELAPSED_TIME_MAX] = { + "integrate_forces", + "generate_islands", + "setup_constraints", + "solve_constraints", + "integrate_velocities" + }; + + for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) { + total_time[i] = 0; + } + + for (Set::Element *E = active_spaces.front(); E; E = E->next()) { + for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) { + total_time[i] += E->get()->get_elapsed_time(GodotSpace3D::ElapsedTime(i)); + } + } + + Array values; + values.resize(GodotSpace3D::ELAPSED_TIME_MAX * 2); + for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) { + values[i * 2 + 0] = time_name[i]; + values[i * 2 + 1] = USEC_TO_SEC(total_time[i]); + } + values.push_back("flush_queries"); + values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg)); + + values.push_front("physics"); + EngineDebugger::profiler_add_frame_data("servers", values); + } +#endif +}; + +void GodotPhysicsServer3D::end_sync() { + doing_sync = false; +}; + +void GodotPhysicsServer3D::finish() { + memdelete(stepper); +}; + +int GodotPhysicsServer3D::get_process_info(ProcessInfo p_info) { + switch (p_info) { + case INFO_ACTIVE_OBJECTS: { + return active_objects; + } break; + case INFO_COLLISION_PAIRS: { + return collision_pairs; + } break; + case INFO_ISLAND_COUNT: { + return island_count; + } break; + } + + return 0; +} + +void GodotPhysicsServer3D::_update_shapes() { + while (pending_shape_update_list.first()) { + pending_shape_update_list.first()->self()->_shape_changed(); + pending_shape_update_list.remove(pending_shape_update_list.first()); + } +} + +void GodotPhysicsServer3D::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { + CollCbkData *cbk = (CollCbkData *)p_userdata; + + if (cbk->max == 0) { + return; + } + + if (cbk->amount == cbk->max) { + //find least deep + real_t min_depth = 1e20; + int min_depth_idx = 0; + for (int i = 0; i < cbk->amount; i++) { + real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]); + if (d < min_depth) { + min_depth = d; + min_depth_idx = i; + } + } + + real_t d = p_point_A.distance_squared_to(p_point_B); + if (d < min_depth) { + return; + } + cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; + cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; + + } else { + cbk->ptr[cbk->amount * 2 + 0] = p_point_A; + cbk->ptr[cbk->amount * 2 + 1] = p_point_B; + cbk->amount++; + } +} + +GodotPhysicsServer3D *GodotPhysicsServer3D::godot_singleton = nullptr; +GodotPhysicsServer3D::GodotPhysicsServer3D(bool p_using_threads) { + godot_singleton = this; + GodotBroadPhase3D::create_func = GodotBroadPhase3DBVH::_create; + + using_threads = p_using_threads; +}; diff --git a/servers/physics_3d/physics_server_3d_sw.h b/servers/physics_3d/godot_physics_server_3d.h similarity index 94% rename from servers/physics_3d/physics_server_3d_sw.h rename to servers/physics_3d/godot_physics_server_3d.h index 54a787198d..3ed9e320dc 100644 --- a/servers/physics_3d/physics_server_3d_sw.h +++ b/servers/physics_3d/godot_physics_server_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* physics_server_3d_sw.h */ +/* godot_physics_server_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,20 +28,21 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS_SERVER_SW -#define PHYSICS_SERVER_SW +#ifndef GODOT_PHYSICS_SERVER_3D_H +#define GODOT_PHYSICS_SERVER_3D_H + +#include "godot_joint_3d.h" +#include "godot_shape_3d.h" +#include "godot_space_3d.h" +#include "godot_step_3d.h" #include "core/templates/rid_owner.h" -#include "joints_3d_sw.h" #include "servers/physics_server_3d.h" -#include "shape_3d_sw.h" -#include "space_3d_sw.h" -#include "step_3d_sw.h" -class PhysicsServer3DSW : public PhysicsServer3D { - GDCLASS(PhysicsServer3DSW, PhysicsServer3D); +class GodotPhysicsServer3D : public PhysicsServer3D { + GDCLASS(GodotPhysicsServer3D, PhysicsServer3D); - friend class PhysicsDirectSpaceState3DSW; + friend class GodotPhysicsDirectSpaceState3D; bool active = true; int iterations = 0; @@ -53,22 +54,22 @@ class PhysicsServer3DSW : public PhysicsServer3D { bool doing_sync = false; bool flushing_queries = false; - Step3DSW *stepper = nullptr; - Set active_spaces; + GodotStep3D *stepper = nullptr; + Set active_spaces; - mutable RID_PtrOwner shape_owner; - mutable RID_PtrOwner space_owner; - mutable RID_PtrOwner area_owner; - mutable RID_PtrOwner body_owner; - mutable RID_PtrOwner soft_body_owner; - mutable RID_PtrOwner joint_owner; + mutable RID_PtrOwner shape_owner; + mutable RID_PtrOwner space_owner; + mutable RID_PtrOwner area_owner; + mutable RID_PtrOwner body_owner; + mutable RID_PtrOwner soft_body_owner; + mutable RID_PtrOwner joint_owner; //void _clear_query(QuerySW *p_query); - friend class CollisionObject3DSW; - SelfList::List pending_shape_update_list; + friend class GodotCollisionObject3D; + SelfList::List pending_shape_update_list; void _update_shapes(); - static PhysicsServer3DSW *singletonsw; + static GodotPhysicsServer3D *godot_singleton; public: struct CollCbkData { @@ -372,8 +373,8 @@ public: int get_process_info(ProcessInfo p_info) override; - PhysicsServer3DSW(bool p_using_threads = false); - ~PhysicsServer3DSW() {} + GodotPhysicsServer3D(bool p_using_threads = false); + ~GodotPhysicsServer3D() {} }; -#endif +#endif // GODOT_PHYSICS_SERVER_3D_H diff --git a/servers/physics_3d/shape_3d_sw.cpp b/servers/physics_3d/godot_shape_3d.cpp similarity index 79% rename from servers/physics_3d/shape_3d_sw.cpp rename to servers/physics_3d/godot_shape_3d.cpp index 789fc6ab33..4c12a5a948 100644 --- a/servers/physics_3d/shape_3d_sw.cpp +++ b/servers/physics_3d/godot_shape_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* shape_3d_sw.cpp */ +/* godot_shape_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,14 +28,14 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "shape_3d_sw.h" +#include "godot_shape_3d.h" #include "core/io/image.h" #include "core/math/convex_hull.h" #include "core/math/geometry_3d.h" #include "core/templates/sort_array.h" -// HeightMapShape3DSW is based on Bullet btHeightfieldTerrainShape. +// GodotHeightMapShape3D is based on Bullet btHeightfieldTerrainShape. /* Bullet Continuous Collision Detection and Physics Library @@ -58,16 +58,16 @@ subject to the following restrictions: #define _CYLINDER_EDGE_IS_VALID_SUPPORT_THRESHOLD 0.002 #define _CYLINDER_FACE_IS_VALID_SUPPORT_THRESHOLD 0.999 -void Shape3DSW::configure(const AABB &p_aabb) { +void GodotShape3D::configure(const AABB &p_aabb) { aabb = p_aabb; configured = true; - for (const KeyValue &E : owners) { - ShapeOwner3DSW *co = (ShapeOwner3DSW *)E.key; + for (const KeyValue &E : owners) { + GodotShapeOwner3D *co = (GodotShapeOwner3D *)E.key; co->_shape_changed(); } } -Vector3 Shape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotShape3D::get_support(const Vector3 &p_normal) const { Vector3 res; int amnt; FeatureType type; @@ -75,8 +75,8 @@ Vector3 Shape3DSW::get_support(const Vector3 &p_normal) const { return res; } -void Shape3DSW::add_owner(ShapeOwner3DSW *p_owner) { - Map::Element *E = owners.find(p_owner); +void GodotShape3D::add_owner(GodotShapeOwner3D *p_owner) { + Map::Element *E = owners.find(p_owner); if (E) { E->get()++; } else { @@ -84,8 +84,8 @@ void Shape3DSW::add_owner(ShapeOwner3DSW *p_owner) { } } -void Shape3DSW::remove_owner(ShapeOwner3DSW *p_owner) { - Map::Element *E = owners.find(p_owner); +void GodotShape3D::remove_owner(GodotShapeOwner3D *p_owner) { + Map::Element *E = owners.find(p_owner); ERR_FAIL_COND(!E); E->get()--; if (E->get() == 0) { @@ -93,33 +93,33 @@ void Shape3DSW::remove_owner(ShapeOwner3DSW *p_owner) { } } -bool Shape3DSW::is_owner(ShapeOwner3DSW *p_owner) const { +bool GodotShape3D::is_owner(GodotShapeOwner3D *p_owner) const { return owners.has(p_owner); } -const Map &Shape3DSW::get_owners() const { +const Map &GodotShape3D::get_owners() const { return owners; } -Shape3DSW::~Shape3DSW() { +GodotShape3D::~GodotShape3D() { ERR_FAIL_COND(owners.size()); } -Plane WorldBoundaryShape3DSW::get_plane() const { +Plane GodotWorldBoundaryShape3D::get_plane() const { return plane; } -void WorldBoundaryShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotWorldBoundaryShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { // gibberish, a plane is infinity r_min = -1e7; r_max = 1e7; } -Vector3 WorldBoundaryShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotWorldBoundaryShape3D::get_support(const Vector3 &p_normal) const { return p_normal * 1e15; } -bool WorldBoundaryShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotWorldBoundaryShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { bool inters = plane.intersects_segment(p_begin, p_end, &r_result); if (inters) { r_normal = plane.normal; @@ -127,11 +127,11 @@ bool WorldBoundaryShape3DSW::intersect_segment(const Vector3 &p_begin, const Vec return inters; } -bool WorldBoundaryShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotWorldBoundaryShape3D::intersect_point(const Vector3 &p_point) const { return plane.distance_to(p_point) < 0; } -Vector3 WorldBoundaryShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotWorldBoundaryShape3D::get_closest_point_to(const Vector3 &p_point) const { if (plane.is_point_over(p_point)) { return plane.project(p_point); } else { @@ -139,43 +139,43 @@ Vector3 WorldBoundaryShape3DSW::get_closest_point_to(const Vector3 &p_point) con } } -Vector3 WorldBoundaryShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotWorldBoundaryShape3D::get_moment_of_inertia(real_t p_mass) const { return Vector3(); // not applicable. } -void WorldBoundaryShape3DSW::_setup(const Plane &p_plane) { +void GodotWorldBoundaryShape3D::_setup(const Plane &p_plane) { plane = p_plane; configure(AABB(Vector3(-1e4, -1e4, -1e4), Vector3(1e4 * 2, 1e4 * 2, 1e4 * 2))); } -void WorldBoundaryShape3DSW::set_data(const Variant &p_data) { +void GodotWorldBoundaryShape3D::set_data(const Variant &p_data) { _setup(p_data); } -Variant WorldBoundaryShape3DSW::get_data() const { +Variant GodotWorldBoundaryShape3D::get_data() const { return plane; } -WorldBoundaryShape3DSW::WorldBoundaryShape3DSW() { +GodotWorldBoundaryShape3D::GodotWorldBoundaryShape3D() { } // -real_t SeparationRayShape3DSW::get_length() const { +real_t GodotSeparationRayShape3D::get_length() const { return length; } -bool SeparationRayShape3DSW::get_slide_on_slope() const { +bool GodotSeparationRayShape3D::get_slide_on_slope() const { return slide_on_slope; } -void SeparationRayShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotSeparationRayShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { // don't think this will be even used r_min = 0; r_max = 1; } -Vector3 SeparationRayShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotSeparationRayShape3D::get_support(const Vector3 &p_normal) const { if (p_normal.z > 0) { return Vector3(0, 0, length); } else { @@ -183,7 +183,7 @@ Vector3 SeparationRayShape3DSW::get_support(const Vector3 &p_normal) const { } } -void SeparationRayShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotSeparationRayShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { if (Math::abs(p_normal.z) < _EDGE_IS_VALID_SUPPORT_THRESHOLD) { r_amount = 2; r_type = FEATURE_EDGE; @@ -200,15 +200,15 @@ void SeparationRayShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Ve } } -bool SeparationRayShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotSeparationRayShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return false; //simply not possible } -bool SeparationRayShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotSeparationRayShape3D::intersect_point(const Vector3 &p_point) const { return false; //simply not possible } -Vector3 SeparationRayShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotSeparationRayShape3D::get_closest_point_to(const Vector3 &p_point) const { Vector3 s[2] = { Vector3(0, 0, 0), Vector3(0, 0, length) @@ -217,37 +217,37 @@ Vector3 SeparationRayShape3DSW::get_closest_point_to(const Vector3 &p_point) con return Geometry3D::get_closest_point_to_segment(p_point, s); } -Vector3 SeparationRayShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotSeparationRayShape3D::get_moment_of_inertia(real_t p_mass) const { return Vector3(); } -void SeparationRayShape3DSW::_setup(real_t p_length, bool p_slide_on_slope) { +void GodotSeparationRayShape3D::_setup(real_t p_length, bool p_slide_on_slope) { length = p_length; slide_on_slope = p_slide_on_slope; configure(AABB(Vector3(0, 0, 0), Vector3(0.1, 0.1, length))); } -void SeparationRayShape3DSW::set_data(const Variant &p_data) { +void GodotSeparationRayShape3D::set_data(const Variant &p_data) { Dictionary d = p_data; _setup(d["length"], d["slide_on_slope"]); } -Variant SeparationRayShape3DSW::get_data() const { +Variant GodotSeparationRayShape3D::get_data() const { Dictionary d; d["length"] = length; d["slide_on_slope"] = slide_on_slope; return d; } -SeparationRayShape3DSW::SeparationRayShape3DSW() {} +GodotSeparationRayShape3D::GodotSeparationRayShape3D() {} /********** SPHERE *************/ -real_t SphereShape3DSW::get_radius() const { +real_t GodotSphereShape3D::get_radius() const { return radius; } -void SphereShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotSphereShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { real_t d = p_normal.dot(p_transform.origin); // figure out scale at point @@ -258,25 +258,25 @@ void SphereShape3DSW::project_range(const Vector3 &p_normal, const Transform3D & r_max = d + (radius)*scale; } -Vector3 SphereShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotSphereShape3D::get_support(const Vector3 &p_normal) const { return p_normal * radius; } -void SphereShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotSphereShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { *r_supports = p_normal * radius; r_amount = 1; r_type = FEATURE_POINT; } -bool SphereShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotSphereShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return Geometry3D::segment_intersects_sphere(p_begin, p_end, Vector3(), radius, &r_result, &r_normal); } -bool SphereShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotSphereShape3D::intersect_point(const Vector3 &p_point) const { return p_point.length() < radius; } -Vector3 SphereShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotSphereShape3D::get_closest_point_to(const Vector3 &p_point) const { Vector3 p = p_point; real_t l = p.length(); if (l < radius) { @@ -285,29 +285,29 @@ Vector3 SphereShape3DSW::get_closest_point_to(const Vector3 &p_point) const { return (p / l) * radius; } -Vector3 SphereShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotSphereShape3D::get_moment_of_inertia(real_t p_mass) const { real_t s = 0.4 * p_mass * radius * radius; return Vector3(s, s, s); } -void SphereShape3DSW::_setup(real_t p_radius) { +void GodotSphereShape3D::_setup(real_t p_radius) { radius = p_radius; configure(AABB(Vector3(-radius, -radius, -radius), Vector3(radius * 2.0, radius * 2.0, radius * 2.0))); } -void SphereShape3DSW::set_data(const Variant &p_data) { +void GodotSphereShape3D::set_data(const Variant &p_data) { _setup(p_data); } -Variant SphereShape3DSW::get_data() const { +Variant GodotSphereShape3D::get_data() const { return radius; } -SphereShape3DSW::SphereShape3DSW() {} +GodotSphereShape3D::GodotSphereShape3D() {} /********** BOX *************/ -void BoxShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotBoxShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { // no matter the angle, the box is mirrored anyway Vector3 local_normal = p_transform.basis.xform_inv(p_normal); @@ -318,7 +318,7 @@ void BoxShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_t r_max = distance + length; } -Vector3 BoxShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotBoxShape3D::get_support(const Vector3 &p_normal) const { Vector3 point( (p_normal.x < 0) ? -half_extents.x : half_extents.x, (p_normal.y < 0) ? -half_extents.y : half_extents.y, @@ -327,7 +327,7 @@ Vector3 BoxShape3DSW::get_support(const Vector3 &p_normal) const { return point; } -void BoxShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotBoxShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { static const int next[3] = { 1, 2, 0 }; static const int next2[3] = { 2, 0, 1 }; @@ -410,17 +410,17 @@ void BoxShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_s r_supports[0] = point; } -bool BoxShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotBoxShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { AABB aabb(-half_extents, half_extents * 2.0); return aabb.intersects_segment(p_begin, p_end, &r_result, &r_normal); } -bool BoxShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotBoxShape3D::intersect_point(const Vector3 &p_point) const { return (Math::abs(p_point.x) < half_extents.x && Math::abs(p_point.y) < half_extents.y && Math::abs(p_point.z) < half_extents.z); } -Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotBoxShape3D::get_closest_point_to(const Vector3 &p_point) const { int outside = 0; Vector3 min_point; @@ -470,7 +470,7 @@ Vector3 BoxShape3DSW::get_closest_point_to(const Vector3 &p_point) const { return min_point; } -Vector3 BoxShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotBoxShape3D::get_moment_of_inertia(real_t p_mass) const { real_t lx = half_extents.x; real_t ly = half_extents.y; real_t lz = half_extents.z; @@ -478,25 +478,25 @@ Vector3 BoxShape3DSW::get_moment_of_inertia(real_t p_mass) const { return Vector3((p_mass / 3.0) * (ly * ly + lz * lz), (p_mass / 3.0) * (lx * lx + lz * lz), (p_mass / 3.0) * (lx * lx + ly * ly)); } -void BoxShape3DSW::_setup(const Vector3 &p_half_extents) { +void GodotBoxShape3D::_setup(const Vector3 &p_half_extents) { half_extents = p_half_extents.abs(); configure(AABB(-half_extents, half_extents * 2)); } -void BoxShape3DSW::set_data(const Variant &p_data) { +void GodotBoxShape3D::set_data(const Variant &p_data) { _setup(p_data); } -Variant BoxShape3DSW::get_data() const { +Variant GodotBoxShape3D::get_data() const { return half_extents; } -BoxShape3DSW::BoxShape3DSW() {} +GodotBoxShape3D::GodotBoxShape3D() {} /********** CAPSULE *************/ -void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotCapsuleShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { Vector3 n = p_transform.basis.xform_inv(p_normal).normalized(); real_t h = height * 0.5 - radius; @@ -507,7 +507,7 @@ void CapsuleShape3DSW::project_range(const Vector3 &p_normal, const Transform3D r_min = p_normal.dot(p_transform.xform(-n)); } -Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotCapsuleShape3D::get_support(const Vector3 &p_normal) const { Vector3 n = p_normal; real_t h = height * 0.5 - radius; @@ -517,7 +517,7 @@ Vector3 CapsuleShape3DSW::get_support(const Vector3 &p_normal) const { return n; } -void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotCapsuleShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { Vector3 n = p_normal; real_t d = n.y; @@ -546,7 +546,7 @@ void CapsuleShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 } } -bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotCapsuleShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { Vector3 norm = (p_end - p_begin).normalized(); real_t min_d = 1e20; @@ -602,7 +602,7 @@ bool CapsuleShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 & return collision; } -bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotCapsuleShape3D::intersect_point(const Vector3 &p_point) const { if (Math::abs(p_point.y) < height * 0.5 - radius) { return Vector3(p_point.x, 0, p_point.z).length() < radius; } else { @@ -612,7 +612,7 @@ bool CapsuleShape3DSW::intersect_point(const Vector3 &p_point) const { } } -Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotCapsuleShape3D::get_closest_point_to(const Vector3 &p_point) const { Vector3 s[2] = { Vector3(0, -height * 0.5 + radius, 0), Vector3(0, height * 0.5 - radius, 0), @@ -627,7 +627,7 @@ Vector3 CapsuleShape3DSW::get_closest_point_to(const Vector3 &p_point) const { return p + (p_point - p).normalized() * radius; } -Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotCapsuleShape3D::get_moment_of_inertia(real_t p_mass) const { // use bad AABB approximation Vector3 extents = get_aabb().size * 0.5; @@ -637,31 +637,31 @@ Vector3 CapsuleShape3DSW::get_moment_of_inertia(real_t p_mass) const { (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } -void CapsuleShape3DSW::_setup(real_t p_height, real_t p_radius) { +void GodotCapsuleShape3D::_setup(real_t p_height, real_t p_radius) { height = p_height; radius = p_radius; configure(AABB(Vector3(-radius, -height * 0.5, -radius), Vector3(radius * 2, height, radius * 2))); } -void CapsuleShape3DSW::set_data(const Variant &p_data) { +void GodotCapsuleShape3D::set_data(const Variant &p_data) { Dictionary d = p_data; ERR_FAIL_COND(!d.has("radius")); ERR_FAIL_COND(!d.has("height")); _setup(d["height"], d["radius"]); } -Variant CapsuleShape3DSW::get_data() const { +Variant GodotCapsuleShape3D::get_data() const { Dictionary d; d["radius"] = radius; d["height"] = height; return d; } -CapsuleShape3DSW::CapsuleShape3DSW() {} +GodotCapsuleShape3D::GodotCapsuleShape3D() {} /********** CYLINDER *************/ -void CylinderShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotCylinderShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { Vector3 cylinder_axis = p_transform.basis.get_axis(1).normalized(); real_t axis_dot = cylinder_axis.dot(p_normal); @@ -683,7 +683,7 @@ void CylinderShape3DSW::project_range(const Vector3 &p_normal, const Transform3D r_max = distance + length; } -Vector3 CylinderShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotCylinderShape3D::get_support(const Vector3 &p_normal) const { Vector3 n = p_normal; real_t h = (n.y > 0) ? height : -height; real_t s = Math::sqrt(n.x * n.x + n.z * n.z); @@ -701,7 +701,7 @@ Vector3 CylinderShape3DSW::get_support(const Vector3 &p_normal) const { return n; } -void CylinderShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotCylinderShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { real_t d = p_normal.y; if (Math::abs(d) > _CYLINDER_FACE_IS_VALID_SUPPORT_THRESHOLD) { real_t h = (d > 0) ? height : -height; @@ -761,18 +761,18 @@ void CylinderShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 } } -bool CylinderShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotCylinderShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { return Geometry3D::segment_intersects_cylinder(p_begin, p_end, height, radius, &r_result, &r_normal, 1); } -bool CylinderShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotCylinderShape3D::intersect_point(const Vector3 &p_point) const { if (Math::abs(p_point.y) < height * 0.5) { return Vector3(p_point.x, 0, p_point.z).length() < radius; } return false; } -Vector3 CylinderShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotCylinderShape3D::get_closest_point_to(const Vector3 &p_point) const { if (Math::absf(p_point.y) > height * 0.5) { // Project point to top disk. real_t dir = p_point.y > 0.0 ? 1.0 : -1.0; @@ -805,7 +805,7 @@ Vector3 CylinderShape3DSW::get_closest_point_to(const Vector3 &p_point) const { } } -Vector3 CylinderShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotCylinderShape3D::get_moment_of_inertia(real_t p_mass) const { // use bad AABB approximation Vector3 extents = get_aabb().size * 0.5; @@ -815,31 +815,31 @@ Vector3 CylinderShape3DSW::get_moment_of_inertia(real_t p_mass) const { (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } -void CylinderShape3DSW::_setup(real_t p_height, real_t p_radius) { +void GodotCylinderShape3D::_setup(real_t p_height, real_t p_radius) { height = p_height; radius = p_radius; configure(AABB(Vector3(-radius, -height * 0.5, -radius), Vector3(radius * 2.0, height, radius * 2.0))); } -void CylinderShape3DSW::set_data(const Variant &p_data) { +void GodotCylinderShape3D::set_data(const Variant &p_data) { Dictionary d = p_data; ERR_FAIL_COND(!d.has("radius")); ERR_FAIL_COND(!d.has("height")); _setup(d["height"], d["radius"]); } -Variant CylinderShape3DSW::get_data() const { +Variant GodotCylinderShape3D::get_data() const { Dictionary d; d["radius"] = radius; d["height"] = height; return d; } -CylinderShape3DSW::CylinderShape3DSW() {} +GodotCylinderShape3D::GodotCylinderShape3D() {} /********** CONVEX POLYGON *************/ -void ConvexPolygonShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotConvexPolygonShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { int vertex_count = mesh.vertices.size(); if (vertex_count == 0) { return; @@ -859,7 +859,7 @@ void ConvexPolygonShape3DSW::project_range(const Vector3 &p_normal, const Transf } } -Vector3 ConvexPolygonShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotConvexPolygonShape3D::get_support(const Vector3 &p_normal) const { Vector3 n = p_normal; int vert_support_idx = -1; @@ -884,7 +884,7 @@ Vector3 ConvexPolygonShape3DSW::get_support(const Vector3 &p_normal) const { return vrts[vert_support_idx]; } -void ConvexPolygonShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotConvexPolygonShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { const Geometry3D::MeshData::Face *faces = mesh.faces.ptr(); int fc = mesh.faces.size(); @@ -954,7 +954,7 @@ void ConvexPolygonShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Ve r_type = FEATURE_POINT; } -bool ConvexPolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotConvexPolygonShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { const Geometry3D::MeshData::Face *faces = mesh.faces.ptr(); int fc = mesh.faces.size(); @@ -992,7 +992,7 @@ bool ConvexPolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Vec return col; } -bool ConvexPolygonShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotConvexPolygonShape3D::intersect_point(const Vector3 &p_point) const { const Geometry3D::MeshData::Face *faces = mesh.faces.ptr(); int fc = mesh.faces.size(); @@ -1005,7 +1005,7 @@ bool ConvexPolygonShape3DSW::intersect_point(const Vector3 &p_point) const { return true; } -Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotConvexPolygonShape3D::get_closest_point_to(const Vector3 &p_point) const { const Geometry3D::MeshData::Face *faces = mesh.faces.ptr(); int fc = mesh.faces.size(); const Vector3 *vertices = mesh.vertices.ptr(); @@ -1063,7 +1063,7 @@ Vector3 ConvexPolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) con return min_point; } -Vector3 ConvexPolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotConvexPolygonShape3D::get_moment_of_inertia(real_t p_mass) const { // use bad AABB approximation Vector3 extents = get_aabb().size * 0.5; @@ -1073,7 +1073,7 @@ Vector3 ConvexPolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const { (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } -void ConvexPolygonShape3DSW::_setup(const Vector &p_vertices) { +void GodotConvexPolygonShape3D::_setup(const Vector &p_vertices) { Error err = ConvexHullComputer::convex_hull(p_vertices, mesh); if (err != OK) { ERR_PRINT("Failed to build convex hull"); @@ -1092,20 +1092,20 @@ void ConvexPolygonShape3DSW::_setup(const Vector &p_vertices) { configure(_aabb); } -void ConvexPolygonShape3DSW::set_data(const Variant &p_data) { +void GodotConvexPolygonShape3D::set_data(const Variant &p_data) { _setup(p_data); } -Variant ConvexPolygonShape3DSW::get_data() const { +Variant GodotConvexPolygonShape3D::get_data() const { return mesh.vertices; } -ConvexPolygonShape3DSW::ConvexPolygonShape3DSW() { +GodotConvexPolygonShape3D::GodotConvexPolygonShape3D() { } /********** FACE POLYGON *************/ -void FaceShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotFaceShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { for (int i = 0; i < 3; i++) { Vector3 v = p_transform.xform(vertex[i]); real_t d = p_normal.dot(v); @@ -1120,7 +1120,7 @@ void FaceShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_ } } -Vector3 FaceShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotFaceShape3D::get_support(const Vector3 &p_normal) const { int vert_support_idx = -1; real_t support_max = 0; @@ -1136,7 +1136,7 @@ Vector3 FaceShape3DSW::get_support(const Vector3 &p_normal) const { return vertex[vert_support_idx]; } -void FaceShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { +void GodotFaceShape3D::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const { Vector3 n = p_normal; /** TEST FACE AS SUPPORT **/ @@ -1188,7 +1188,7 @@ void FaceShape3DSW::get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_ r_supports[0] = vertex[vert_support_idx]; } -bool FaceShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotFaceShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { bool c = Geometry3D::segment_intersects_triangle(p_begin, p_end, vertex[0], vertex[1], vertex[2], &r_result); if (c) { r_normal = Plane(vertex[0], vertex[1], vertex[2]).normal; @@ -1204,23 +1204,23 @@ bool FaceShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_e return c; } -bool FaceShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotFaceShape3D::intersect_point(const Vector3 &p_point) const { return false; //face is flat } -Vector3 FaceShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotFaceShape3D::get_closest_point_to(const Vector3 &p_point) const { return Face3(vertex[0], vertex[1], vertex[2]).get_closest_point_to(p_point); } -Vector3 FaceShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotFaceShape3D::get_moment_of_inertia(real_t p_mass) const { return Vector3(); // Sorry, but i don't think anyone cares, FaceShape! } -FaceShape3DSW::FaceShape3DSW() { +GodotFaceShape3D::GodotFaceShape3D() { configure(AABB()); } -Vector ConcavePolygonShape3DSW::get_faces() const { +Vector GodotConcavePolygonShape3D::get_faces() const { Vector rfaces; rfaces.resize(faces.size() * 3); @@ -1235,7 +1235,7 @@ Vector ConcavePolygonShape3DSW::get_faces() const { return rfaces; } -void ConcavePolygonShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotConcavePolygonShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { int count = vertices.size(); if (count == 0) { r_min = 0; @@ -1256,7 +1256,7 @@ void ConcavePolygonShape3DSW::project_range(const Vector3 &p_normal, const Trans } } -Vector3 ConcavePolygonShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotConcavePolygonShape3D::get_support(const Vector3 &p_normal) const { int count = vertices.size(); if (count == 0) { return Vector3(); @@ -1281,7 +1281,7 @@ Vector3 ConcavePolygonShape3DSW::get_support(const Vector3 &p_normal) const { return vptr[vert_support_idx]; } -void ConcavePolygonShape3DSW::_cull_segment(int p_idx, _SegmentCullParams *p_params) const { +void GodotConcavePolygonShape3D::_cull_segment(int p_idx, _SegmentCullParams *p_params) const { const BVH *bvh = &p_params->bvh[p_idx]; /* @@ -1296,7 +1296,7 @@ void ConcavePolygonShape3DSW::_cull_segment(int p_idx, _SegmentCullParams *p_par if (bvh->face_index >= 0) { const Face *f = &p_params->faces[bvh->face_index]; - FaceShape3DSW *face = p_params->face; + GodotFaceShape3D *face = p_params->face; face->normal = f->normal; face->vertex[0] = p_params->vertices[f->indices[0]]; face->vertex[1] = p_params->vertices[f->indices[1]]; @@ -1323,7 +1323,7 @@ void ConcavePolygonShape3DSW::_cull_segment(int p_idx, _SegmentCullParams *p_par } } -bool ConcavePolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotConcavePolygonShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { if (faces.size() == 0) { return false; } @@ -1333,7 +1333,7 @@ bool ConcavePolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Ve const Vector3 *vr = vertices.ptr(); const BVH *br = bvh.ptr(); - FaceShape3DSW face; + GodotFaceShape3D face; face.backface_collision = backface_collision; _SegmentCullParams params; @@ -1359,15 +1359,15 @@ bool ConcavePolygonShape3DSW::intersect_segment(const Vector3 &p_begin, const Ve } } -bool ConcavePolygonShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotConcavePolygonShape3D::intersect_point(const Vector3 &p_point) const { return false; //face is flat } -Vector3 ConcavePolygonShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotConcavePolygonShape3D::get_closest_point_to(const Vector3 &p_point) const { return Vector3(); } -bool ConcavePolygonShape3DSW::_cull(int p_idx, _CullParams *p_params) const { +bool GodotConcavePolygonShape3D::_cull(int p_idx, _CullParams *p_params) const { const BVH *bvh = &p_params->bvh[p_idx]; if (!p_params->aabb.intersects(bvh->aabb)) { @@ -1376,7 +1376,7 @@ bool ConcavePolygonShape3DSW::_cull(int p_idx, _CullParams *p_params) const { if (bvh->face_index >= 0) { const Face *f = &p_params->faces[bvh->face_index]; - FaceShape3DSW *face = p_params->face; + GodotFaceShape3D *face = p_params->face; face->normal = f->normal; face->vertex[0] = p_params->vertices[f->indices[0]]; face->vertex[1] = p_params->vertices[f->indices[1]]; @@ -1401,7 +1401,7 @@ bool ConcavePolygonShape3DSW::_cull(int p_idx, _CullParams *p_params) const { return false; } -void ConcavePolygonShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { +void GodotConcavePolygonShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { // make matrix local to concave if (faces.size() == 0) { return; @@ -1414,7 +1414,7 @@ void ConcavePolygonShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_cal const Vector3 *vr = vertices.ptr(); const BVH *br = bvh.ptr(); - FaceShape3DSW face; // use this to send in the callback + GodotFaceShape3D face; // use this to send in the callback face.backface_collision = backface_collision; _CullParams params; @@ -1430,7 +1430,7 @@ void ConcavePolygonShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_cal _cull(0, ¶ms); } -Vector3 ConcavePolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotConcavePolygonShape3D::get_moment_of_inertia(real_t p_mass) const { // use bad AABB approximation Vector3 extents = get_aabb().size * 0.5; @@ -1440,40 +1440,40 @@ Vector3 ConcavePolygonShape3DSW::get_moment_of_inertia(real_t p_mass) const { (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } -struct _VolumeSW_BVH_Element { +struct _Volume_BVH_Element { AABB aabb; Vector3 center; int face_index; }; -struct _VolumeSW_BVH_CompareX { - _FORCE_INLINE_ bool operator()(const _VolumeSW_BVH_Element &a, const _VolumeSW_BVH_Element &b) const { +struct _Volume_BVH_CompareX { + _FORCE_INLINE_ bool operator()(const _Volume_BVH_Element &a, const _Volume_BVH_Element &b) const { return a.center.x < b.center.x; } }; -struct _VolumeSW_BVH_CompareY { - _FORCE_INLINE_ bool operator()(const _VolumeSW_BVH_Element &a, const _VolumeSW_BVH_Element &b) const { +struct _Volume_BVH_CompareY { + _FORCE_INLINE_ bool operator()(const _Volume_BVH_Element &a, const _Volume_BVH_Element &b) const { return a.center.y < b.center.y; } }; -struct _VolumeSW_BVH_CompareZ { - _FORCE_INLINE_ bool operator()(const _VolumeSW_BVH_Element &a, const _VolumeSW_BVH_Element &b) const { +struct _Volume_BVH_CompareZ { + _FORCE_INLINE_ bool operator()(const _Volume_BVH_Element &a, const _Volume_BVH_Element &b) const { return a.center.z < b.center.z; } }; -struct _VolumeSW_BVH { +struct _Volume_BVH { AABB aabb; - _VolumeSW_BVH *left; - _VolumeSW_BVH *right; + _Volume_BVH *left; + _Volume_BVH *right; int face_index; }; -_VolumeSW_BVH *_volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements, int p_size, int &count) { - _VolumeSW_BVH *bvh = memnew(_VolumeSW_BVH); +_Volume_BVH *_volume_build_bvh(_Volume_BVH_Element *p_elements, int p_size, int &count) { + _Volume_BVH *bvh = memnew(_Volume_BVH); if (p_size == 1) { //leaf @@ -1498,30 +1498,30 @@ _VolumeSW_BVH *_volume_sw_build_bvh(_VolumeSW_BVH_Element *p_elements, int p_siz bvh->aabb = aabb; switch (aabb.get_longest_axis_index()) { case 0: { - SortArray<_VolumeSW_BVH_Element, _VolumeSW_BVH_CompareX> sort_x; + SortArray<_Volume_BVH_Element, _Volume_BVH_CompareX> sort_x; sort_x.sort(p_elements, p_size); } break; case 1: { - SortArray<_VolumeSW_BVH_Element, _VolumeSW_BVH_CompareY> sort_y; + SortArray<_Volume_BVH_Element, _Volume_BVH_CompareY> sort_y; sort_y.sort(p_elements, p_size); } break; case 2: { - SortArray<_VolumeSW_BVH_Element, _VolumeSW_BVH_CompareZ> sort_z; + SortArray<_Volume_BVH_Element, _Volume_BVH_CompareZ> sort_z; sort_z.sort(p_elements, p_size); } break; } int split = p_size / 2; - bvh->left = _volume_sw_build_bvh(p_elements, split, count); - bvh->right = _volume_sw_build_bvh(&p_elements[split], p_size - split, count); + bvh->left = _volume_build_bvh(p_elements, split, count); + bvh->right = _volume_build_bvh(&p_elements[split], p_size - split, count); //printf("branch at %p - %i: %i\n",bvh,count,bvh->face_index); count++; return bvh; } -void ConcavePolygonShape3DSW::_fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx) { +void GodotConcavePolygonShape3D::_fill_bvh(_Volume_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx) { int idx = p_idx; p_bvh_array[idx].aabb = p_bvh_tree->aabb; @@ -1547,7 +1547,7 @@ void ConcavePolygonShape3DSW::_fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_ar memdelete(p_bvh_tree); } -void ConcavePolygonShape3DSW::_setup(const Vector &p_faces, bool p_backface_collision) { +void GodotConcavePolygonShape3D::_setup(const Vector &p_faces, bool p_backface_collision) { int src_face_count = p_faces.size(); if (src_face_count == 0) { configure(AABB()); @@ -1558,10 +1558,10 @@ void ConcavePolygonShape3DSW::_setup(const Vector &p_faces, bool p_back const Vector3 *facesr = p_faces.ptr(); - Vector<_VolumeSW_BVH_Element> bvh_array; + Vector<_Volume_BVH_Element> bvh_array; bvh_array.resize(src_face_count); - _VolumeSW_BVH_Element *bvh_arrayw = bvh_array.ptrw(); + _Volume_BVH_Element *bvh_arrayw = bvh_array.ptrw(); faces.resize(src_face_count); Face *facesw = faces.ptrw(); @@ -1593,7 +1593,7 @@ void ConcavePolygonShape3DSW::_setup(const Vector &p_faces, bool p_back } int count = 0; - _VolumeSW_BVH *bvh_tree = _volume_sw_build_bvh(bvh_arrayw, src_face_count, count); + _Volume_BVH *bvh_tree = _volume_build_bvh(bvh_arrayw, src_face_count, count); bvh.resize(count + 1); @@ -1607,14 +1607,14 @@ void ConcavePolygonShape3DSW::_setup(const Vector &p_faces, bool p_back configure(_aabb); // this type of shape has no margin } -void ConcavePolygonShape3DSW::set_data(const Variant &p_data) { +void GodotConcavePolygonShape3D::set_data(const Variant &p_data) { Dictionary d = p_data; ERR_FAIL_COND(!d.has("faces")); _setup(d["faces"], d["backface_collision"]); } -Variant ConcavePolygonShape3DSW::get_data() const { +Variant GodotConcavePolygonShape3D::get_data() const { Dictionary d; d["faces"] = get_faces(); d["backface_collision"] = backface_collision; @@ -1622,29 +1622,29 @@ Variant ConcavePolygonShape3DSW::get_data() const { return d; } -ConcavePolygonShape3DSW::ConcavePolygonShape3DSW() { +GodotConcavePolygonShape3D::GodotConcavePolygonShape3D() { } /* HEIGHT MAP SHAPE */ -Vector HeightMapShape3DSW::get_heights() const { +Vector GodotHeightMapShape3D::get_heights() const { return heights; } -int HeightMapShape3DSW::get_width() const { +int GodotHeightMapShape3D::get_width() const { return width; } -int HeightMapShape3DSW::get_depth() const { +int GodotHeightMapShape3D::get_depth() const { return depth; } -void HeightMapShape3DSW::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { +void GodotHeightMapShape3D::project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { //not very useful, but not very used either p_transform.xform(get_aabb()).project_range_in_plane(Plane(p_normal), r_min, r_max); } -Vector3 HeightMapShape3DSW::get_support(const Vector3 &p_normal) const { +Vector3 GodotHeightMapShape3D::get_support(const Vector3 &p_normal) const { //not very useful, but not very used either return get_aabb().get_support(p_normal); } @@ -1657,8 +1657,8 @@ struct _HeightmapSegmentCullParams { Vector3 result; Vector3 normal; - const HeightMapShape3DSW *heightmap = nullptr; - FaceShape3DSW *face = nullptr; + const GodotHeightMapShape3D *heightmap = nullptr; + GodotFaceShape3D *face = nullptr; }; struct _HeightmapGridCullState { @@ -1706,7 +1706,7 @@ _FORCE_INLINE_ bool _heightmap_cell_cull_segment(_HeightmapSegmentCullParams &p_ } _FORCE_INLINE_ bool _heightmap_chunk_cull_segment(_HeightmapSegmentCullParams &p_params, const _HeightmapGridCullState &p_state) { - const HeightMapShape3DSW::Range &chunk = p_params.heightmap->_get_bounds_chunk(p_state.x, p_state.z); + const GodotHeightMapShape3D::Range &chunk = p_params.heightmap->_get_bounds_chunk(p_state.x, p_state.z); Vector3 enter_pos; Vector3 exit_pos; @@ -1725,8 +1725,8 @@ _FORCE_INLINE_ bool _heightmap_chunk_cull_segment(_HeightmapSegmentCullParams &p } // Transform positions to heightmap space. - enter_pos *= HeightMapShape3DSW::BOUNDS_CHUNK_SIZE; - exit_pos *= HeightMapShape3DSW::BOUNDS_CHUNK_SIZE; + enter_pos *= GodotHeightMapShape3D::BOUNDS_CHUNK_SIZE; + exit_pos *= GodotHeightMapShape3D::BOUNDS_CHUNK_SIZE; // We did enter the flat projection of the AABB, // but we have to check if we intersect it on the vertical axis. @@ -1741,7 +1741,7 @@ _FORCE_INLINE_ bool _heightmap_chunk_cull_segment(_HeightmapSegmentCullParams &p } template -bool HeightMapShape3DSW::_intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const { +bool GodotHeightMapShape3D::_intersect_grid_segment(ProcessFunction &p_process, const Vector3 &p_begin, const Vector3 &p_end, int p_width, int p_depth, const Vector3 &offset, Vector3 &r_point, Vector3 &r_normal) const { Vector3 delta = (p_end - p_begin); real_t length = delta.length(); @@ -1751,7 +1751,7 @@ bool HeightMapShape3DSW::_intersect_grid_segment(ProcessFunction &p_process, con Vector3 local_begin = p_begin + offset; - FaceShape3DSW face; + GodotFaceShape3D face; face.backface_collision = false; _HeightmapSegmentCullParams params; @@ -1881,7 +1881,7 @@ bool HeightMapShape3DSW::_intersect_grid_segment(ProcessFunction &p_process, con return false; } -bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const { +bool GodotHeightMapShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_point, Vector3 &r_normal) const { if (heights.is_empty()) { return false; } @@ -1898,7 +1898,7 @@ bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 if ((begin_x == end_x) && (begin_z == end_z)) { // Simple case for rays that don't traverse the grid horizontally. // Just perform a test on the given cell. - FaceShape3DSW face; + GodotFaceShape3D face; face.backface_collision = false; _HeightmapSegmentCullParams params; @@ -1938,15 +1938,15 @@ bool HeightMapShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 return false; } -bool HeightMapShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotHeightMapShape3D::intersect_point(const Vector3 &p_point) const { return false; } -Vector3 HeightMapShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotHeightMapShape3D::get_closest_point_to(const Vector3 &p_point) const { return Vector3(); } -void HeightMapShape3DSW::_get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const { +void GodotHeightMapShape3D::_get_cell(const Vector3 &p_point, int &r_x, int &r_y, int &r_z) const { const AABB &aabb = get_aabb(); Vector3 pos_local = aabb.position + local_origin; @@ -1961,7 +1961,7 @@ void HeightMapShape3DSW::_get_cell(const Vector3 &p_point, int &r_x, int &r_y, i r_z = (clamped_point.z < 0.0) ? (clamped_point.z - 0.5) : (clamped_point.z + 0.5); } -void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { +void GodotHeightMapShape3D::cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const { if (heights.is_empty()) { return; } @@ -1987,7 +1987,7 @@ void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback int start_z = MAX(0, aabb_min[2]); int end_z = MIN(depth - 1, aabb_max[2]); - FaceShape3DSW face; + GodotFaceShape3D face; face.backface_collision = true; for (int z = start_z; z < end_z; z++) { @@ -2012,7 +2012,7 @@ void HeightMapShape3DSW::cull(const AABB &p_local_aabb, QueryCallback p_callback } } -Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const { +Vector3 GodotHeightMapShape3D::get_moment_of_inertia(real_t p_mass) const { // use bad AABB approximation Vector3 extents = get_aabb().size * 0.5; @@ -2022,7 +2022,7 @@ Vector3 HeightMapShape3DSW::get_moment_of_inertia(real_t p_mass) const { (p_mass / 3.0) * (extents.x * extents.x + extents.y * extents.y)); } -void HeightMapShape3DSW::_build_accelerator() { +void GodotHeightMapShape3D::_build_accelerator() { bounds_grid.clear(); bounds_grid_width = width / BOUNDS_CHUNK_SIZE; @@ -2091,7 +2091,7 @@ void HeightMapShape3DSW::_build_accelerator() { } } -void HeightMapShape3DSW::_setup(const Vector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { +void GodotHeightMapShape3D::_setup(const Vector &p_heights, int p_width, int p_depth, real_t p_min_height, real_t p_max_height) { heights = p_heights; width = p_width; depth = p_depth; @@ -2112,7 +2112,7 @@ void HeightMapShape3DSW::_setup(const Vector &p_heights, int p_width, in configure(aabb); } -void HeightMapShape3DSW::set_data(const Variant &p_data) { +void GodotHeightMapShape3D::set_data(const Variant &p_data) { ERR_FAIL_COND(p_data.get_type() != Variant::DICTIONARY); Dictionary d = p_data; @@ -2184,7 +2184,7 @@ void HeightMapShape3DSW::set_data(const Variant &p_data) { _setup(heights_buffer, width, depth, min_height, max_height); } -Variant HeightMapShape3DSW::get_data() const { +Variant GodotHeightMapShape3D::get_data() const { Dictionary d; d["width"] = width; d["depth"] = depth; @@ -2198,5 +2198,5 @@ Variant HeightMapShape3DSW::get_data() const { return d; } -HeightMapShape3DSW::HeightMapShape3DSW() { +GodotHeightMapShape3D::GodotHeightMapShape3D() { } diff --git a/servers/physics_3d/shape_3d_sw.h b/servers/physics_3d/godot_shape_3d.h similarity index 91% rename from servers/physics_3d/shape_3d_sw.h rename to servers/physics_3d/godot_shape_3d.h index 061d66a085..8822d9487b 100644 --- a/servers/physics_3d/shape_3d_sw.h +++ b/servers/physics_3d/godot_shape_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* shape_3d_sw.h */ +/* godot_shape_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,30 +28,30 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef SHAPE_SW_H -#define SHAPE_SW_H +#ifndef GODOT_SHAPE_3D_H +#define GODOT_SHAPE_3D_H #include "core/math/geometry_3d.h" #include "core/templates/local_vector.h" #include "servers/physics_server_3d.h" -class Shape3DSW; +class GodotShape3D; -class ShapeOwner3DSW { +class GodotShapeOwner3D { public: virtual void _shape_changed() = 0; - virtual void remove_shape(Shape3DSW *p_shape) = 0; + virtual void remove_shape(GodotShape3D *p_shape) = 0; - virtual ~ShapeOwner3DSW() {} + virtual ~GodotShapeOwner3D() {} }; -class Shape3DSW { +class GodotShape3D { RID self; AABB aabb; bool configured = false; real_t custom_bias = 0.0; - Map owners; + Map owners; protected: void configure(const AABB &p_aabb); @@ -90,29 +90,29 @@ public: _FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; } _FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; } - void add_owner(ShapeOwner3DSW *p_owner); - void remove_owner(ShapeOwner3DSW *p_owner); - bool is_owner(ShapeOwner3DSW *p_owner) const; - const Map &get_owners() const; + void add_owner(GodotShapeOwner3D *p_owner); + void remove_owner(GodotShapeOwner3D *p_owner); + bool is_owner(GodotShapeOwner3D *p_owner) const; + const Map &get_owners() const; - Shape3DSW() {} - virtual ~Shape3DSW(); + GodotShape3D() {} + virtual ~GodotShape3D(); }; -class ConcaveShape3DSW : public Shape3DSW { +class GodotConcaveShape3D : public GodotShape3D { public: virtual bool is_concave() const override { return true; } virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; } // Returns true to stop the query. - typedef bool (*QueryCallback)(void *p_userdata, Shape3DSW *p_convex); + typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex); virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0; - ConcaveShape3DSW() {} + GodotConcaveShape3D() {} }; -class WorldBoundaryShape3DSW : public Shape3DSW { +class GodotWorldBoundaryShape3D : public GodotShape3D { Plane plane; void _setup(const Plane &p_plane); @@ -134,10 +134,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - WorldBoundaryShape3DSW(); + GodotWorldBoundaryShape3D(); }; -class SeparationRayShape3DSW : public Shape3DSW { +class GodotSeparationRayShape3D : public GodotShape3D { real_t length = 1.0; bool slide_on_slope = false; @@ -162,10 +162,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - SeparationRayShape3DSW(); + GodotSeparationRayShape3D(); }; -class SphereShape3DSW : public Shape3DSW { +class GodotSphereShape3D : public GodotShape3D { real_t radius = 0.0; void _setup(real_t p_radius); @@ -189,10 +189,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - SphereShape3DSW(); + GodotSphereShape3D(); }; -class BoxShape3DSW : public Shape3DSW { +class GodotBoxShape3D : public GodotShape3D { Vector3 half_extents; void _setup(const Vector3 &p_half_extents); @@ -214,10 +214,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - BoxShape3DSW(); + GodotBoxShape3D(); }; -class CapsuleShape3DSW : public Shape3DSW { +class GodotCapsuleShape3D : public GodotShape3D { real_t height = 0.0; real_t radius = 0.0; @@ -243,10 +243,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - CapsuleShape3DSW(); + GodotCapsuleShape3D(); }; -class CylinderShape3DSW : public Shape3DSW { +class GodotCylinderShape3D : public GodotShape3D { real_t height = 0.0; real_t radius = 0.0; @@ -272,10 +272,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - CylinderShape3DSW(); + GodotCylinderShape3D(); }; -struct ConvexPolygonShape3DSW : public Shape3DSW { +struct GodotConvexPolygonShape3D : public GodotShape3D { Geometry3D::MeshData mesh; void _setup(const Vector &p_vertices); @@ -297,13 +297,13 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - ConvexPolygonShape3DSW(); + GodotConvexPolygonShape3D(); }; -struct _VolumeSW_BVH; -struct FaceShape3DSW; +struct _Volume_BVH; +struct GodotFaceShape3D; -struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { +struct GodotConcavePolygonShape3D : public GodotConcaveShape3D { // always a trimesh struct Face { @@ -331,7 +331,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { const Face *faces = nullptr; const Vector3 *vertices = nullptr; const BVH *bvh = nullptr; - FaceShape3DSW *face = nullptr; + GodotFaceShape3D *face = nullptr; }; struct _SegmentCullParams { @@ -341,7 +341,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { const Face *faces = nullptr; const Vector3 *vertices = nullptr; const BVH *bvh = nullptr; - FaceShape3DSW *face = nullptr; + GodotFaceShape3D *face = nullptr; Vector3 result; Vector3 normal; @@ -354,7 +354,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW { void _cull_segment(int p_idx, _SegmentCullParams *p_params) const; bool _cull(int p_idx, _CullParams *p_params) const; - void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx); + void _fill_bvh(_Volume_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx); void _setup(const Vector &p_faces, bool p_backface_collision); @@ -377,10 +377,10 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - ConcavePolygonShape3DSW(); + GodotConcavePolygonShape3D(); }; -struct HeightMapShape3DSW : public ConcaveShape3DSW { +struct GodotHeightMapShape3D : public GodotConcaveShape3D { Vector heights; int width = 0; int depth = 0; @@ -440,11 +440,11 @@ public: virtual void set_data(const Variant &p_data) override; virtual Variant get_data() const override; - HeightMapShape3DSW(); + GodotHeightMapShape3D(); }; //used internally -struct FaceShape3DSW : public Shape3DSW { +struct GodotFaceShape3D : public GodotShape3D { Vector3 normal; //cache Vector3 vertex[3]; bool backface_collision = false; @@ -465,11 +465,11 @@ struct FaceShape3DSW : public Shape3DSW { virtual void set_data(const Variant &p_data) override {} virtual Variant get_data() const override { return Variant(); } - FaceShape3DSW(); + GodotFaceShape3D(); }; -struct MotionShape3DSW : public Shape3DSW { - Shape3DSW *shape = nullptr; +struct GodotMotionShape3D : public GodotShape3D { + GodotShape3D *shape = nullptr; Vector3 motion; virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; } @@ -504,7 +504,7 @@ struct MotionShape3DSW : public Shape3DSW { virtual void set_data(const Variant &p_data) override {} virtual Variant get_data() const override { return Variant(); } - MotionShape3DSW() { configure(AABB()); } + GodotMotionShape3D() { configure(AABB()); } }; -#endif // SHAPE_SW_H +#endif // GODOT_SHAPE_3D_H diff --git a/servers/physics_3d/soft_body_3d_sw.cpp b/servers/physics_3d/godot_soft_body_3d.cpp similarity index 87% rename from servers/physics_3d/soft_body_3d_sw.cpp rename to servers/physics_3d/godot_soft_body_3d.cpp index c9166810fe..d15235d27c 100644 --- a/servers/physics_3d/soft_body_3d_sw.cpp +++ b/servers/physics_3d/godot_soft_body_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* soft_body_3d_sw.cpp */ +/* godot_soft_body_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,8 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "soft_body_3d_sw.h" -#include "space_3d_sw.h" +#include "godot_soft_body_3d.h" + +#include "godot_space_3d.h" #include "core/math/geometry_3d.h" #include "core/templates/map.h" @@ -53,16 +54,16 @@ subject to the following restrictions: */ ///btSoftBody implementation by Nathanael Presson -SoftBody3DSW::SoftBody3DSW() : - CollisionObject3DSW(TYPE_SOFT_BODY), +GodotSoftBody3D::GodotSoftBody3D() : + GodotCollisionObject3D(TYPE_SOFT_BODY), active_list(this) { _set_static(false); } -void SoftBody3DSW::_shapes_changed() { +void GodotSoftBody3D::_shapes_changed() { } -void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { +void GodotSoftBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) { switch (p_state) { case PhysicsServer3D::BODY_STATE_TRANSFORM: { _set_transform(p_variant); @@ -87,7 +88,7 @@ void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant & } } -Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const { +Variant GodotSoftBody3D::get_state(PhysicsServer3D::BodyState p_state) const { switch (p_state) { case PhysicsServer3D::BODY_STATE_TRANSFORM: { return get_transform(); @@ -110,7 +111,7 @@ Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const { return Variant(); } -void SoftBody3DSW::set_space(Space3DSW *p_space) { +void GodotSoftBody3D::set_space(GodotSpace3D *p_space) { if (get_space()) { get_space()->soft_body_remove_from_active_list(&active_list); @@ -128,7 +129,7 @@ void SoftBody3DSW::set_space(Space3DSW *p_space) { } } -void SoftBody3DSW::set_mesh(RID p_mesh) { +void GodotSoftBody3D::set_mesh(RID p_mesh) { destroy(); soft_mesh = p_mesh; @@ -145,7 +146,7 @@ void SoftBody3DSW::set_mesh(RID p_mesh) { } } -void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) { +void GodotSoftBody3D::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) { if (soft_mesh.is_null()) { return; } @@ -164,7 +165,7 @@ void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_s p_rendering_server_handler->set_aabb(bounds); } -void SoftBody3DSW::update_normals_and_centroids() { +void GodotSoftBody3D::update_normals_and_centroids() { uint32_t i, ni; for (i = 0, ni = nodes.size(); i < ni; ++i) { @@ -191,7 +192,7 @@ void SoftBody3DSW::update_normals_and_centroids() { } } -void SoftBody3DSW::update_bounds() { +void GodotSoftBody3D::update_bounds() { AABB prev_bounds = bounds; prev_bounds.grow_by(collision_margin); @@ -223,13 +224,13 @@ void SoftBody3DSW::update_bounds() { } } -void SoftBody3DSW::update_constants() { +void GodotSoftBody3D::update_constants() { reset_link_rest_lengths(); update_link_constants(); update_area(); } -void SoftBody3DSW::update_area() { +void GodotSoftBody3D::update_area() { int i, ni; // Face area. @@ -275,7 +276,7 @@ void SoftBody3DSW::update_area() { } } -void SoftBody3DSW::reset_link_rest_lengths() { +void GodotSoftBody3D::reset_link_rest_lengths() { for (uint32_t i = 0, ni = links.size(); i < ni; ++i) { Link &link = links[i]; link.rl = (link.n[0]->x - link.n[1]->x).length(); @@ -283,7 +284,7 @@ void SoftBody3DSW::reset_link_rest_lengths() { } } -void SoftBody3DSW::update_link_constants() { +void GodotSoftBody3D::update_link_constants() { real_t inv_linear_stiffness = 1.0 / linear_stiffness; for (uint32_t i = 0, ni = links.size(); i < ni; ++i) { Link &link = links[i]; @@ -291,7 +292,7 @@ void SoftBody3DSW::update_link_constants() { } } -void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) { +void GodotSoftBody3D::apply_nodes_transform(const Transform3D &p_transform) { if (soft_mesh.is_null()) { return; } @@ -317,7 +318,7 @@ void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) { update_constants(); } -Vector3 SoftBody3DSW::get_vertex_position(int p_index) const { +Vector3 GodotSoftBody3D::get_vertex_position(int p_index) const { ERR_FAIL_COND_V(p_index < 0, Vector3()); if (soft_mesh.is_null()) { @@ -331,7 +332,7 @@ Vector3 SoftBody3DSW::get_vertex_position(int p_index) const { return nodes[node_index].x; } -void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) { +void GodotSoftBody3D::set_vertex_position(int p_index, const Vector3 &p_position) { ERR_FAIL_COND(p_index < 0); if (soft_mesh.is_null()) { @@ -347,7 +348,7 @@ void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) { node.x = p_position; } -void SoftBody3DSW::pin_vertex(int p_index) { +void GodotSoftBody3D::pin_vertex(int p_index) { ERR_FAIL_COND(p_index < 0); if (is_vertex_pinned(p_index)) { @@ -366,7 +367,7 @@ void SoftBody3DSW::pin_vertex(int p_index) { } } -void SoftBody3DSW::unpin_vertex(int p_index) { +void GodotSoftBody3D::unpin_vertex(int p_index) { ERR_FAIL_COND(p_index < 0); uint32_t pinned_count = pinned_vertices.size(); @@ -390,7 +391,7 @@ void SoftBody3DSW::unpin_vertex(int p_index) { } } -void SoftBody3DSW::unpin_all_vertices() { +void GodotSoftBody3D::unpin_all_vertices() { if (!soft_mesh.is_null()) { real_t inv_node_mass = nodes.size() * inv_total_mass; uint32_t pinned_count = pinned_vertices.size(); @@ -409,7 +410,7 @@ void SoftBody3DSW::unpin_all_vertices() { pinned_vertices.clear(); } -bool SoftBody3DSW::is_vertex_pinned(int p_index) const { +bool GodotSoftBody3D::is_vertex_pinned(int p_index) const { ERR_FAIL_COND_V(p_index < 0, false); uint32_t pinned_count = pinned_vertices.size(); @@ -422,47 +423,47 @@ bool SoftBody3DSW::is_vertex_pinned(int p_index) const { return false; } -uint32_t SoftBody3DSW::get_node_count() const { +uint32_t GodotSoftBody3D::get_node_count() const { return nodes.size(); } -real_t SoftBody3DSW::get_node_inv_mass(uint32_t p_node_index) const { +real_t GodotSoftBody3D::get_node_inv_mass(uint32_t p_node_index) const { ERR_FAIL_COND_V(p_node_index >= nodes.size(), 0.0); return nodes[p_node_index].im; } -Vector3 SoftBody3DSW::get_node_position(uint32_t p_node_index) const { +Vector3 GodotSoftBody3D::get_node_position(uint32_t p_node_index) const { ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3()); return nodes[p_node_index].x; } -Vector3 SoftBody3DSW::get_node_velocity(uint32_t p_node_index) const { +Vector3 GodotSoftBody3D::get_node_velocity(uint32_t p_node_index) const { ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3()); return nodes[p_node_index].v; } -Vector3 SoftBody3DSW::get_node_biased_velocity(uint32_t p_node_index) const { +Vector3 GodotSoftBody3D::get_node_biased_velocity(uint32_t p_node_index) const { ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3()); return nodes[p_node_index].bv; } -void SoftBody3DSW::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) { +void GodotSoftBody3D::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) { ERR_FAIL_COND(p_node_index >= nodes.size()); Node &node = nodes[p_node_index]; node.v += p_impulse * node.im; } -void SoftBody3DSW::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) { +void GodotSoftBody3D::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) { ERR_FAIL_COND(p_node_index >= nodes.size()); Node &node = nodes[p_node_index]; node.bv += p_impulse * node.im; } -uint32_t SoftBody3DSW::get_face_count() const { +uint32_t GodotSoftBody3D::get_face_count() const { return faces.size(); } -void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const { +void GodotSoftBody3D::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const { ERR_FAIL_COND(p_face_index >= faces.size()); const Face &face = faces[p_face_index]; r_point_1 = face.n[0]->x; @@ -470,12 +471,12 @@ void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Ve r_point_3 = face.n[2]->x; } -Vector3 SoftBody3DSW::get_face_normal(uint32_t p_face_index) const { +Vector3 GodotSoftBody3D::get_face_normal(uint32_t p_face_index) const { ERR_FAIL_COND_V(p_face_index >= faces.size(), Vector3()); return faces[p_face_index].normal; } -bool SoftBody3DSW::create_from_trimesh(const Vector &p_indices, const Vector &p_vertices) { +bool GodotSoftBody3D::create_from_trimesh(const Vector &p_indices, const Vector &p_vertices) { ERR_FAIL_COND_V(p_indices.is_empty(), false); ERR_FAIL_COND_V(p_vertices.is_empty(), false); @@ -595,7 +596,7 @@ bool SoftBody3DSW::create_from_trimesh(const Vector &p_indices, const Vecto return true; } -void SoftBody3DSW::generate_bending_constraints(int p_distance) { +void GodotSoftBody3D::generate_bending_constraints(int p_distance) { uint32_t i, j; if (p_distance > 1) { @@ -714,7 +715,7 @@ public: }; typedef LinkDeps *LinkDepsPtr; -void SoftBody3DSW::reoptimize_link_order() { +void GodotSoftBody3D::reoptimize_link_order() { const int reop_not_dependent = -1; const int reop_node_complete = -2; @@ -823,7 +824,7 @@ void SoftBody3DSW::reoptimize_link_order() { memdelete_arr(link_buffer); } -void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) { +void GodotSoftBody3D::append_link(uint32_t p_node1, uint32_t p_node2) { if (p_node1 == p_node2) { return; } @@ -839,7 +840,7 @@ void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) { links.push_back(link); } -void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) { +void GodotSoftBody3D::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) { if (p_node1 == p_node2) { return; } @@ -864,11 +865,11 @@ void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_no faces.push_back(face); } -void SoftBody3DSW::set_iteration_count(int p_val) { +void GodotSoftBody3D::set_iteration_count(int p_val) { iteration_count = p_val; } -void SoftBody3DSW::set_total_mass(real_t p_val) { +void GodotSoftBody3D::set_total_mass(real_t p_val) { ERR_FAIL_COND(p_val < 0.0); inv_total_mass = 1.0 / p_val; @@ -884,27 +885,27 @@ void SoftBody3DSW::set_total_mass(real_t p_val) { update_constants(); } -void SoftBody3DSW::set_collision_margin(real_t p_val) { +void GodotSoftBody3D::set_collision_margin(real_t p_val) { collision_margin = p_val; } -void SoftBody3DSW::set_linear_stiffness(real_t p_val) { +void GodotSoftBody3D::set_linear_stiffness(real_t p_val) { linear_stiffness = p_val; } -void SoftBody3DSW::set_pressure_coefficient(real_t p_val) { +void GodotSoftBody3D::set_pressure_coefficient(real_t p_val) { pressure_coefficient = p_val; } -void SoftBody3DSW::set_damping_coefficient(real_t p_val) { +void GodotSoftBody3D::set_damping_coefficient(real_t p_val) { damping_coefficient = p_val; } -void SoftBody3DSW::set_drag_coefficient(real_t p_val) { +void GodotSoftBody3D::set_drag_coefficient(real_t p_val) { drag_coefficient = p_val; } -void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) { +void GodotSoftBody3D::add_velocity(const Vector3 &p_velocity) { for (uint32_t i = 0, ni = nodes.size(); i < ni; ++i) { Node &node = nodes[i]; if (node.im > 0) { @@ -913,7 +914,7 @@ void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) { } } -void SoftBody3DSW::apply_forces(bool p_has_wind_forces) { +void GodotSoftBody3D::apply_forces(bool p_has_wind_forces) { int ac = areas.size(); if (nodes.is_empty()) { @@ -977,13 +978,13 @@ void SoftBody3DSW::apply_forces(bool p_has_wind_forces) { } } -void SoftBody3DSW::_compute_area_gravity(const Area3DSW *p_area) { +void GodotSoftBody3D::_compute_area_gravity(const GodotArea3D *p_area) { Vector3 area_gravity; p_area->compute_gravity(get_transform().get_origin(), area_gravity); gravity += area_gravity; } -Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face *p_face) { +Vector3 GodotSoftBody3D::_compute_area_windforce(const GodotArea3D *p_area, const Face *p_face) { real_t wfm = p_area->get_wind_force_magnitude(); real_t waf = p_area->get_wind_attenuation_factor(); const Vector3 &wd = p_area->get_wind_direction(); @@ -995,12 +996,12 @@ Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face return nodal_force_magnitude * p_face->normal; } -void SoftBody3DSW::predict_motion(real_t p_delta) { +void GodotSoftBody3D::predict_motion(real_t p_delta) { const real_t inv_delta = 1.0 / p_delta; ERR_FAIL_COND(!get_space()); - Area3DSW *def_area = get_space()->get_default_area(); + GodotArea3D *def_area = get_space()->get_default_area(); ERR_FAIL_COND(!def_area); gravity = def_area->get_gravity_vector() * def_area->get_gravity(); @@ -1083,7 +1084,7 @@ void SoftBody3DSW::predict_motion(real_t p_delta) { face_tree.optimize_incremental(1); } -void SoftBody3DSW::solve_constraints(real_t p_delta) { +void GodotSoftBody3D::solve_constraints(real_t p_delta) { const real_t inv_delta = 1.0 / p_delta; uint32_t i, ni; @@ -1120,7 +1121,7 @@ void SoftBody3DSW::solve_constraints(real_t p_delta) { update_normals_and_centroids(); } -void SoftBody3DSW::solve_links(real_t kst, real_t ti) { +void GodotSoftBody3D::solve_links(real_t kst, real_t ti) { for (uint32_t i = 0, ni = links.size(); i < ni; ++i) { Link &link = links[i]; if (link.c0 > 0) { @@ -1138,16 +1139,16 @@ void SoftBody3DSW::solve_links(real_t kst, real_t ti) { } struct AABBQueryResult { - const SoftBody3DSW *soft_body = nullptr; + const GodotSoftBody3D *soft_body = nullptr; void *userdata = nullptr; - SoftBody3DSW::QueryResultCallback result_callback = nullptr; + GodotSoftBody3D::QueryResultCallback result_callback = nullptr; _FORCE_INLINE_ bool operator()(void *p_data) { return result_callback(soft_body->get_node_index(p_data), userdata); }; }; -void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) { +void GodotSoftBody3D::query_aabb(const AABB &p_aabb, GodotSoftBody3D::QueryResultCallback p_result_callback, void *p_userdata) { AABBQueryResult query_result; query_result.soft_body = this; query_result.result_callback = p_result_callback; @@ -1157,16 +1158,16 @@ void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallb } struct RayQueryResult { - const SoftBody3DSW *soft_body = nullptr; + const GodotSoftBody3D *soft_body = nullptr; void *userdata = nullptr; - SoftBody3DSW::QueryResultCallback result_callback = nullptr; + GodotSoftBody3D::QueryResultCallback result_callback = nullptr; _FORCE_INLINE_ bool operator()(void *p_data) { return result_callback(soft_body->get_face_index(p_data), userdata); }; }; -void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) { +void GodotSoftBody3D::query_ray(const Vector3 &p_from, const Vector3 &p_to, GodotSoftBody3D::QueryResultCallback p_result_callback, void *p_userdata) { if (face_tree.is_empty()) { initialize_face_tree(); } @@ -1179,7 +1180,7 @@ void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBod face_tree.ray_query(p_from, p_to, query_result); } -void SoftBody3DSW::initialize_face_tree() { +void GodotSoftBody3D::initialize_face_tree() { face_tree.clear(); for (uint32_t i = 0; i < faces.size(); ++i) { Face &face = faces[i]; @@ -1196,7 +1197,7 @@ void SoftBody3DSW::initialize_face_tree() { } } -void SoftBody3DSW::update_face_tree(real_t p_delta) { +void GodotSoftBody3D::update_face_tree(real_t p_delta) { for (uint32_t i = 0; i < faces.size(); ++i) { const Face &face = faces[i]; @@ -1220,25 +1221,25 @@ void SoftBody3DSW::update_face_tree(real_t p_delta) { } } -void SoftBody3DSW::initialize_shape(bool p_force_move) { +void GodotSoftBody3D::initialize_shape(bool p_force_move) { if (get_shape_count() == 0) { - SoftBodyShape3DSW *soft_body_shape = memnew(SoftBodyShape3DSW(this)); + GodotSoftBodyShape3D *soft_body_shape = memnew(GodotSoftBodyShape3D(this)); add_shape(soft_body_shape); } else if (p_force_move) { - SoftBodyShape3DSW *soft_body_shape = static_cast(get_shape(0)); + GodotSoftBodyShape3D *soft_body_shape = static_cast(get_shape(0)); soft_body_shape->update_bounds(); } } -void SoftBody3DSW::deinitialize_shape() { +void GodotSoftBody3D::deinitialize_shape() { if (get_shape_count() > 0) { - Shape3DSW *shape = get_shape(0); + GodotShape3D *shape = get_shape(0); remove_shape(shape); memdelete(shape); } } -void SoftBody3DSW::destroy() { +void GodotSoftBody3D::destroy() { soft_mesh = RID(); map_visual_to_physics.clear(); @@ -1254,7 +1255,7 @@ void SoftBody3DSW::destroy() { deinitialize_shape(); } -void SoftBodyShape3DSW::update_bounds() { +void GodotSoftBodyShape3D::update_bounds() { ERR_FAIL_COND(!soft_body); AABB collision_aabb = soft_body->get_bounds(); @@ -1262,13 +1263,13 @@ void SoftBodyShape3DSW::update_bounds() { configure(collision_aabb); } -SoftBodyShape3DSW::SoftBodyShape3DSW(SoftBody3DSW *p_soft_body) { +GodotSoftBodyShape3D::GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body) { soft_body = p_soft_body; update_bounds(); } struct _SoftBodyIntersectSegmentInfo { - const SoftBody3DSW *soft_body = nullptr; + const GodotSoftBody3D *soft_body = nullptr; Vector3 from; Vector3 dir; Vector3 hit_position; @@ -1296,7 +1297,7 @@ struct _SoftBodyIntersectSegmentInfo { } }; -bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { +bool GodotSoftBodyShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const { _SoftBodyIntersectSegmentInfo query_info; query_info.soft_body = soft_body; query_info.from = p_begin; @@ -1313,10 +1314,10 @@ bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 return false; } -bool SoftBodyShape3DSW::intersect_point(const Vector3 &p_point) const { +bool GodotSoftBodyShape3D::intersect_point(const Vector3 &p_point) const { return false; } -Vector3 SoftBodyShape3DSW::get_closest_point_to(const Vector3 &p_point) const { +Vector3 GodotSoftBodyShape3D::get_closest_point_to(const Vector3 &p_point) const { ERR_FAIL_V_MSG(Vector3(), "Get closest point is not supported for soft bodies."); } diff --git a/servers/physics_3d/soft_body_3d_sw.h b/servers/physics_3d/godot_soft_body_3d.h similarity index 88% rename from servers/physics_3d/soft_body_3d_sw.h rename to servers/physics_3d/godot_soft_body_3d.h index 7d4b83d0ee..008d5dddb8 100644 --- a/servers/physics_3d/soft_body_3d_sw.h +++ b/servers/physics_3d/godot_soft_body_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* soft_body_3d_sw.h */ +/* godot_soft_body_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,11 +28,11 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef SOFT_BODY_3D_SW_H -#define SOFT_BODY_3D_SW_H +#ifndef GODOT_SOFT_BODY_3D_H +#define GODOT_SOFT_BODY_3D_H -#include "area_3d_sw.h" -#include "collision_object_3d_sw.h" +#include "godot_area_3d.h" +#include "godot_collision_object_3d.h" #include "core/math/aabb.h" #include "core/math/dynamic_bvh.h" @@ -41,9 +41,9 @@ #include "core/templates/set.h" #include "core/templates/vset.h" -class Constraint3DSW; +class GodotConstraint3D; -class SoftBody3DSW : public CollisionObject3DSW { +class GodotSoftBody3D : public GodotCollisionObject3D { RID soft_mesh; struct Node { @@ -103,9 +103,9 @@ class SoftBody3DSW : public CollisionObject3DSW { Vector3 gravity; - SelfList active_list; + SelfList active_list; - Set constraints; + Set constraints; Vector areas; @@ -113,20 +113,20 @@ class SoftBody3DSW : public CollisionObject3DSW { uint64_t island_step = 0; - _FORCE_INLINE_ void _compute_area_gravity(const Area3DSW *p_area); - _FORCE_INLINE_ Vector3 _compute_area_windforce(const Area3DSW *p_area, const Face *p_face); + _FORCE_INLINE_ void _compute_area_gravity(const GodotArea3D *p_area); + _FORCE_INLINE_ Vector3 _compute_area_windforce(const GodotArea3D *p_area, const Face *p_face); public: - SoftBody3DSW(); + GodotSoftBody3D(); const AABB &get_bounds() const { return bounds; } void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant); Variant get_state(PhysicsServer3D::BodyState p_state) const; - _FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); } - _FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); } - _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } + _FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); } + _FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); } + _FORCE_INLINE_ const Set &get_constraints() const { return constraints; } _FORCE_INLINE_ void clear_constraints() { constraints.clear(); } _FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); } @@ -137,7 +137,7 @@ public: _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_ void add_area(Area3DSW *p_area) { + _FORCE_INLINE_ void add_area(GodotArea3D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount += 1; @@ -146,7 +146,7 @@ public: } } - _FORCE_INLINE_ void remove_area(Area3DSW *p_area) { + _FORCE_INLINE_ void remove_area(GodotArea3D *p_area) { int index = areas.find(AreaCMP(p_area)); if (index > -1) { areas.write[index].refCount -= 1; @@ -156,7 +156,7 @@ public: } } - virtual void set_space(Space3DSW *p_space); + virtual void set_space(GodotSpace3D *p_space); void set_mesh(RID p_mesh); @@ -251,11 +251,11 @@ private: void destroy(); }; -class SoftBodyShape3DSW : public Shape3DSW { - SoftBody3DSW *soft_body = nullptr; +class GodotSoftBodyShape3D : public GodotShape3D { + GodotSoftBody3D *soft_body = nullptr; public: - SoftBody3DSW *get_soft_body() const { return soft_body; } + GodotSoftBody3D *get_soft_body() const { return soft_body; } virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; } virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; } @@ -272,8 +272,8 @@ public: void update_bounds(); - SoftBodyShape3DSW(SoftBody3DSW *p_soft_body); - ~SoftBodyShape3DSW() {} + GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body); + ~GodotSoftBodyShape3D() {} }; -#endif // SOFT_BODY_3D_SW_H +#endif // GODOT_SOFT_BODY_3D_H diff --git a/servers/physics_3d/space_3d_sw.cpp b/servers/physics_3d/godot_space_3d.cpp similarity index 70% rename from servers/physics_3d/space_3d_sw.cpp rename to servers/physics_3d/godot_space_3d.cpp index c88747c017..750bf3a16d 100644 --- a/servers/physics_3d/space_3d_sw.cpp +++ b/servers/physics_3d/godot_space_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* space_3d_sw.cpp */ +/* godot_space_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,37 +28,38 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "space_3d_sw.h" +#include "godot_space_3d.h" + +#include "godot_collision_solver_3d.h" +#include "godot_physics_server_3d.h" -#include "collision_solver_3d_sw.h" #include "core/config/project_settings.h" -#include "physics_server_3d_sw.h" #define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05 -_FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (!(p_object->get_collision_layer() & p_collision_mask)) { return false; } - if (p_object->get_type() == CollisionObject3DSW::TYPE_AREA && !p_collide_with_areas) { + if (p_object->get_type() == GodotCollisionObject3D::TYPE_AREA && !p_collide_with_areas) { return false; } - if (p_object->get_type() == CollisionObject3DSW::TYPE_BODY && !p_collide_with_bodies) { + if (p_object->get_type() == GodotCollisionObject3D::TYPE_BODY && !p_collide_with_bodies) { return false; } - if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) { + if (p_object->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY && !p_collide_with_bodies) { return false; } return true; } -int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int GodotPhysicsDirectSpaceState3D::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { ERR_FAIL_COND_V(space->locked, false); - int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; //Transform3D ai = p_xform.affine_inverse(); @@ -78,7 +79,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe continue; } - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform3D inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); @@ -103,7 +104,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe return cc; } -bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) { +bool GodotPhysicsDirectSpaceState3D::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) { ERR_FAIL_COND_V(space->locked, false); Vector3 begin, end; @@ -112,14 +113,14 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec end = p_to; normal = (end - begin).normalized(); - int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); //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 bool collided = false; Vector3 res_point, res_normal; int res_shape; - const CollisionObject3DSW *res_obj; + const GodotCollisionObject3D *res_obj; real_t min_d = 1e10; for (int i = 0; i < amount; i++) { @@ -135,7 +136,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec continue; } - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Transform3D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); @@ -143,7 +144,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec Vector3 local_from = inv_xform.xform(begin); Vector3 local_to = inv_xform.xform(end); - const Shape3DSW *shape = col_obj->get_shape(shape_idx); + const GodotShape3D *shape = col_obj->get_shape(shape_idx); Vector3 shape_point, shape_normal; @@ -182,17 +183,17 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec return true; } -int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +int GodotPhysicsDirectSpaceState3D::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return 0; } - Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape); + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); AABB aabb = p_xform.xform(shape->get_aabb()); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); int cc = 0; @@ -213,10 +214,10 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans continue; } - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; - if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) { + if (!GodotCollisionSolver3D::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) { continue; } @@ -237,21 +238,21 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans return cc; } -bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { - Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape); +bool GodotPhysicsDirectSpaceState3D::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) { + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, false); AABB aabb = p_xform.xform(shape->get_aabb()); aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); real_t best_safe = 1; real_t best_unsafe = 1; Transform3D xform_inv = p_xform.affine_inverse(); - MotionShape3DSW mshape; + GodotMotionShape3D mshape; mshape.shape = shape; mshape.motion = xform_inv.basis.xform(p_motion); @@ -270,7 +271,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor continue; //ignore excluded } - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; int shape_idx = space->intersection_query_subindex_results[i]; Vector3 point_A, point_B; @@ -278,14 +279,14 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor Transform3D 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 (CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { + if (GodotCollisionSolver3D::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { continue; } //test initial overlap, ignore objects it's inside of. sep_axis = motion_normal; - if (!CollisionSolver3DSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { + if (!GodotCollisionSolver3D::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) { continue; } @@ -300,7 +301,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor Vector3 lA, lB; Vector3 sep = motion_normal; //important optimization for this to work fast enough - bool collided = !CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep); + bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep); if (collided) { hi = fraction; @@ -342,8 +343,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor r_info->point = closest_B; r_info->normal = (closest_A - closest_B).normalized(); best_first = false; - if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) { - const Body3DSW *body = static_cast(col_obj); + if (col_obj->get_type() == GodotCollisionObject3D::TYPE_BODY) { + const GodotBody3D *body = static_cast(col_obj); Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass()); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); } @@ -356,36 +357,36 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor return true; } -bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { +bool GodotPhysicsDirectSpaceState3D::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { if (p_result_max <= 0) { return false; } - Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape); + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); AABB aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); bool collided = false; r_result_count = 0; - PhysicsServer3DSW::CollCbkData cbk; + GodotPhysicsServer3D::CollCbkData cbk; cbk.max = p_result_max; cbk.amount = 0; cbk.ptr = r_results; - CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk; + GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; - PhysicsServer3DSW::CollCbkData *cbkptr = &cbk; + GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; for (int i = 0; i < amount; i++) { if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) { continue; } - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; if (p_exclude.has(col_obj->get_self())) { continue; @@ -393,7 +394,7 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D & int shape_idx = space->intersection_query_subindex_results[i]; - if (CollisionSolver3DSW::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, nullptr, p_margin)) { + if (GodotCollisionSolver3D::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, nullptr, p_margin)) { collided = true; } } @@ -404,7 +405,7 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D & } struct _RestResultData { - const CollisionObject3DSW *object = nullptr; + const GodotCollisionObject3D *object = nullptr; int local_shape = 0; int shape = 0; Vector3 contact; @@ -413,7 +414,7 @@ struct _RestResultData { }; struct _RestCallbackData { - const CollisionObject3DSW *object = nullptr; + const GodotCollisionObject3D *object = nullptr; int local_shape = 0; int shape = 0; @@ -486,8 +487,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vect rd->best_result.local_shape = rd->local_shape; } -bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { - Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape); +bool GodotPhysicsDirectSpaceState3D::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) { + GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape); ERR_FAIL_COND_V(!shape, 0); real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR; @@ -495,7 +496,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh AABB aabb = p_shape_xform.xform(shape->get_aabb()); aabb = aabb.grow(p_margin); - int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); _RestCallbackData rcd; rcd.min_allowed_depth = min_contact_depth; @@ -505,7 +506,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh continue; } - const CollisionObject3DSW *col_obj = space->intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = space->intersection_query_results[i]; if (p_exclude.has(col_obj->get_self())) { continue; @@ -515,7 +516,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh rcd.object = col_obj; rcd.shape = shape_idx; - bool sc = CollisionSolver3DSW::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, nullptr, p_margin); + bool sc = GodotCollisionSolver3D::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, nullptr, p_margin); if (!sc) { continue; } @@ -530,8 +531,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh r_info->normal = rcd.best_result.normal; r_info->point = rcd.best_result.contact; r_info->rid = rcd.best_result.object->get_self(); - if (rcd.best_result.object->get_type() == CollisionObject3DSW::TYPE_BODY) { - const Body3DSW *body = static_cast(rcd.best_result.object); + if (rcd.best_result.object->get_type() == GodotCollisionObject3D::TYPE_BODY) { + const GodotBody3D *body = static_cast(rcd.best_result.object); Vector3 rel_vec = rcd.best_result.contact - (body->get_transform().origin + body->get_center_of_mass()); r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); @@ -542,10 +543,10 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh return true; } -Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { - CollisionObject3DSW *obj = PhysicsServer3DSW::singletonsw->area_owner.get_or_null(p_object); +Vector3 GodotPhysicsDirectSpaceState3D::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const { + GodotCollisionObject3D *obj = GodotPhysicsServer3D::godot_singleton->area_owner.get_or_null(p_object); if (!obj) { - obj = PhysicsServer3DSW::singletonsw->body_owner.get_or_null(p_object); + obj = GodotPhysicsServer3D::godot_singleton->body_owner.get_or_null(p_object); } ERR_FAIL_COND_V(!obj, Vector3()); @@ -562,7 +563,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob } Transform3D shape_xform = obj->get_transform() * obj->get_shape_transform(i); - Shape3DSW *shape = obj->get_shape(i); + GodotShape3D *shape = obj->get_shape(i); Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point)); point = shape_xform.xform(point); @@ -582,13 +583,13 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob } } -PhysicsDirectSpaceState3DSW::PhysicsDirectSpaceState3DSW() { +GodotPhysicsDirectSpaceState3D::GodotPhysicsDirectSpaceState3D() { space = nullptr; } //////////////////////////////////////////////////////////////////////////////////////////////////////////// -int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { +int GodotSpace3D::_cull_aabb_for_body(GodotBody3D *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++) { @@ -596,13 +597,13 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { if (intersection_query_results[i] == p_body) { keep = false; - } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_AREA) { + } else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_AREA) { keep = false; - } else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) { + } else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY) { keep = false; - } else if (!p_body->collides_with(static_cast(intersection_query_results[i]))) { + } else if (!p_body->collides_with(static_cast(intersection_query_results[i]))) { keep = false; - } else if (static_cast(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { + } else if (static_cast(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) { keep = false; } @@ -620,7 +621,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) { return amount; } -bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) { +bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) { //give me back regular physics engine logic //this is madness //and most people using this function will think @@ -679,13 +680,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion Vector3 sr[max_results * 2]; do { - PhysicsServer3DSW::CollCbkData cbk; + GodotPhysicsServer3D::CollCbkData cbk; cbk.max = max_results; cbk.amount = 0; cbk.ptr = sr; - PhysicsServer3DSW::CollCbkData *cbkptr = &cbk; - CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk; + GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk; + GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk; bool collided = false; @@ -697,10 +698,10 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion } Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); - Shape3DSW *body_shape = p_body->get_shape(j); + GodotShape3D *body_shape = p_body->get_shape(j); for (int i = 0; i < amount; i++) { - const CollisionObject3DSW *col_obj = intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } @@ -710,7 +711,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion int shape_idx = intersection_query_subindex_results[i]; - if (CollisionSolver3DSW::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, nullptr, p_parameters.margin)) { + if (GodotCollisionSolver3D::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, nullptr, p_parameters.margin)) { collided = cbk.amount > 0; } } @@ -770,13 +771,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion continue; } - Shape3DSW *body_shape = p_body->get_shape(j); + GodotShape3D *body_shape = p_body->get_shape(j); // Colliding separation rays allows to properly snap to the ground, // otherwise it's not needed in regular motion. if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) { // When slide on slope is on, separation ray shape acts like a regular shape. - if (!static_cast(body_shape)->get_slide_on_slope()) { + if (!static_cast(body_shape)->get_slide_on_slope()) { continue; } } @@ -784,7 +785,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j); Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse(); - MotionShape3DSW mshape; + GodotMotionShape3D mshape; mshape.shape = body_shape; mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion); @@ -794,7 +795,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion real_t best_unsafe = 1; for (int i = 0; i < amount; i++) { - const CollisionObject3DSW *col_obj = intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } @@ -810,12 +811,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion Transform3D 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 (CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) { + if (GodotCollisionSolver3D::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 = motion_normal; - if (!CollisionSolver3DSW::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) { + if (!GodotCollisionSolver3D::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; } @@ -831,7 +832,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion Vector3 lA, lB; Vector3 sep = motion_normal; //important optimization for this to work fast enough - bool collided = !CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep); + bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep); if (collided) { hi = fraction; @@ -911,14 +912,14 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion } Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j); - Shape3DSW *body_shape = p_body->get_shape(j); + GodotShape3D *body_shape = p_body->get_shape(j); body_aabb.position += p_parameters.motion * unsafe; int amount = _cull_aabb_for_body(p_body, body_aabb); for (int i = 0; i < amount; i++) { - const CollisionObject3DSW *col_obj = intersection_query_results[i]; + const GodotCollisionObject3D *col_obj = intersection_query_results[i]; if (p_parameters.exclude_bodies.has(col_obj->get_self())) { continue; } @@ -930,7 +931,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion rcd.object = col_obj; rcd.shape = shape_idx; - bool sc = CollisionSolver3DSW::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, nullptr, p_parameters.margin); + bool sc = GodotCollisionSolver3D::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, nullptr, p_parameters.margin); if (!sc) { continue; } @@ -952,7 +953,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion collision.position = result.contact; collision.depth = result.len; - const Body3DSW *body = static_cast(result.object); + const GodotBody3D *body = static_cast(result.object); Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass()); collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec); @@ -984,44 +985,44 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion return collided; } -void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) { +void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) { if (!A->interacts_with(B)) { return nullptr; } - CollisionObject3DSW::Type type_A = A->get_type(); - CollisionObject3DSW::Type type_B = B->get_type(); + GodotCollisionObject3D::Type type_A = A->get_type(); + GodotCollisionObject3D::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); } - Space3DSW *self = (Space3DSW *)p_self; + GodotSpace3D *self = (GodotSpace3D *)p_self; self->collision_pairs++; - if (type_A == CollisionObject3DSW::TYPE_AREA) { - Area3DSW *area = static_cast(A); - if (type_B == CollisionObject3DSW::TYPE_AREA) { - Area3DSW *area_b = static_cast(B); - Area2Pair3DSW *area2_pair = memnew(Area2Pair3DSW(area_b, p_subindex_B, area, p_subindex_A)); + if (type_A == GodotCollisionObject3D::TYPE_AREA) { + GodotArea3D *area = static_cast(A); + if (type_B == GodotCollisionObject3D::TYPE_AREA) { + GodotArea3D *area_b = static_cast(B); + GodotArea2Pair3D *area2_pair = memnew(GodotArea2Pair3D(area_b, p_subindex_B, area, p_subindex_A)); return area2_pair; - } else if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) { - SoftBody3DSW *softbody = static_cast(B); - AreaSoftBodyPair3DSW *soft_area_pair = memnew(AreaSoftBodyPair3DSW(softbody, p_subindex_B, area, p_subindex_A)); + } else if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) { + GodotSoftBody3D *softbody = static_cast(B); + GodotAreaSoftBodyPair3D *soft_area_pair = memnew(GodotAreaSoftBodyPair3D(softbody, p_subindex_B, area, p_subindex_A)); return soft_area_pair; } else { - Body3DSW *body = static_cast(B); - AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A)); + GodotBody3D *body = static_cast(B); + GodotAreaPair3D *area_pair = memnew(GodotAreaPair3D(body, p_subindex_B, area, p_subindex_A)); return area_pair; } - } else if (type_A == CollisionObject3DSW::TYPE_BODY) { - if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) { - BodySoftBodyPair3DSW *soft_pair = memnew(BodySoftBodyPair3DSW((Body3DSW *)A, p_subindex_A, (SoftBody3DSW *)B)); + } else if (type_A == GodotCollisionObject3D::TYPE_BODY) { + if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) { + GodotBodySoftBodyPair3D *soft_pair = memnew(GodotBodySoftBodyPair3D((GodotBody3D *)A, p_subindex_A, (GodotSoftBody3D *)B)); return soft_pair; } else { - BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B)); + GodotBodyPair3D *b = memnew(GodotBodyPair3D((GodotBody3D *)A, p_subindex_A, (GodotBody3D *)B, p_subindex_B)); return b; } } else { @@ -1031,110 +1032,110 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll return nullptr; } -void Space3DSW::_broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self) { +void GodotSpace3D::_broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self) { if (!p_data) { return; } - Space3DSW *self = (Space3DSW *)p_self; + GodotSpace3D *self = (GodotSpace3D *)p_self; self->collision_pairs--; - Constraint3DSW *c = (Constraint3DSW *)p_data; + GodotConstraint3D *c = (GodotConstraint3D *)p_data; memdelete(c); } -const SelfList::List &Space3DSW::get_active_body_list() const { +const SelfList::List &GodotSpace3D::get_active_body_list() const { return active_list; } -void Space3DSW::body_add_to_active_list(SelfList *p_body) { +void GodotSpace3D::body_add_to_active_list(SelfList *p_body) { active_list.add(p_body); } -void Space3DSW::body_remove_from_active_list(SelfList *p_body) { +void GodotSpace3D::body_remove_from_active_list(SelfList *p_body) { active_list.remove(p_body); } -void Space3DSW::body_add_to_mass_properties_update_list(SelfList *p_body) { +void GodotSpace3D::body_add_to_mass_properties_update_list(SelfList *p_body) { mass_properties_update_list.add(p_body); } -void Space3DSW::body_remove_from_mass_properties_update_list(SelfList *p_body) { +void GodotSpace3D::body_remove_from_mass_properties_update_list(SelfList *p_body) { mass_properties_update_list.remove(p_body); } -BroadPhase3DSW *Space3DSW::get_broadphase() { +GodotBroadPhase3D *GodotSpace3D::get_broadphase() { return broadphase; } -void Space3DSW::add_object(CollisionObject3DSW *p_object) { +void GodotSpace3D::add_object(GodotCollisionObject3D *p_object) { ERR_FAIL_COND(objects.has(p_object)); objects.insert(p_object); } -void Space3DSW::remove_object(CollisionObject3DSW *p_object) { +void GodotSpace3D::remove_object(GodotCollisionObject3D *p_object) { ERR_FAIL_COND(!objects.has(p_object)); objects.erase(p_object); } -const Set &Space3DSW::get_objects() const { +const Set &GodotSpace3D::get_objects() const { return objects; } -void Space3DSW::body_add_to_state_query_list(SelfList *p_body) { +void GodotSpace3D::body_add_to_state_query_list(SelfList *p_body) { state_query_list.add(p_body); } -void Space3DSW::body_remove_from_state_query_list(SelfList *p_body) { +void GodotSpace3D::body_remove_from_state_query_list(SelfList *p_body) { state_query_list.remove(p_body); } -void Space3DSW::area_add_to_monitor_query_list(SelfList *p_area) { +void GodotSpace3D::area_add_to_monitor_query_list(SelfList *p_area) { monitor_query_list.add(p_area); } -void Space3DSW::area_remove_from_monitor_query_list(SelfList *p_area) { +void GodotSpace3D::area_remove_from_monitor_query_list(SelfList *p_area) { monitor_query_list.remove(p_area); } -void Space3DSW::area_add_to_moved_list(SelfList *p_area) { +void GodotSpace3D::area_add_to_moved_list(SelfList *p_area) { area_moved_list.add(p_area); } -void Space3DSW::area_remove_from_moved_list(SelfList *p_area) { +void GodotSpace3D::area_remove_from_moved_list(SelfList *p_area) { area_moved_list.remove(p_area); } -const SelfList::List &Space3DSW::get_moved_area_list() const { +const SelfList::List &GodotSpace3D::get_moved_area_list() const { return area_moved_list; } -const SelfList::List &Space3DSW::get_active_soft_body_list() const { +const SelfList::List &GodotSpace3D::get_active_soft_body_list() const { return active_soft_body_list; } -void Space3DSW::soft_body_add_to_active_list(SelfList *p_soft_body) { +void GodotSpace3D::soft_body_add_to_active_list(SelfList *p_soft_body) { active_soft_body_list.add(p_soft_body); } -void Space3DSW::soft_body_remove_from_active_list(SelfList *p_soft_body) { +void GodotSpace3D::soft_body_remove_from_active_list(SelfList *p_soft_body) { active_soft_body_list.remove(p_soft_body); } -void Space3DSW::call_queries() { +void GodotSpace3D::call_queries() { while (state_query_list.first()) { - Body3DSW *b = state_query_list.first()->self(); + GodotBody3D *b = state_query_list.first()->self(); state_query_list.remove(state_query_list.first()); b->call_queries(); } while (monitor_query_list.first()) { - Area3DSW *a = monitor_query_list.first()->self(); + GodotArea3D *a = monitor_query_list.first()->self(); monitor_query_list.remove(monitor_query_list.first()); a->call_queries(); } } -void Space3DSW::setup() { +void GodotSpace3D::setup() { contact_debug_count = 0; while (mass_properties_update_list.first()) { mass_properties_update_list.first()->self()->update_mass_properties(); @@ -1142,11 +1143,11 @@ void Space3DSW::setup() { } } -void Space3DSW::update() { +void GodotSpace3D::update() { broadphase->update(); } -void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) { +void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) { switch (p_param) { case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; @@ -1175,7 +1176,7 @@ void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_valu } } -real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const { +real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const { switch (p_param) { case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius; @@ -1197,38 +1198,38 @@ real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const { return 0; } -void Space3DSW::lock() { +void GodotSpace3D::lock() { locked = true; } -void Space3DSW::unlock() { +void GodotSpace3D::unlock() { locked = false; } -bool Space3DSW::is_locked() const { +bool GodotSpace3D::is_locked() const { return locked; } -PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() { +GodotPhysicsDirectSpaceState3D *GodotSpace3D::get_direct_state() { return direct_access; } -Space3DSW::Space3DSW() { +GodotSpace3D::GodotSpace3D() { 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", Math::deg2rad(8.0)); 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::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater")); body_angular_velocity_damp_ratio = 10; - broadphase = BroadPhase3DSW::create_func(); + broadphase = GodotBroadPhase3D::create_func(); broadphase->set_pair_callback(_broadphase_pair, this); broadphase->set_unpair_callback(_broadphase_unpair, this); - direct_access = memnew(PhysicsDirectSpaceState3DSW); + direct_access = memnew(GodotPhysicsDirectSpaceState3D); direct_access->space = this; } -Space3DSW::~Space3DSW() { +GodotSpace3D::~GodotSpace3D() { memdelete(broadphase); memdelete(direct_access); } diff --git a/servers/physics_3d/space_3d_sw.h b/servers/physics_3d/godot_space_3d.h similarity index 70% rename from servers/physics_3d/space_3d_sw.h rename to servers/physics_3d/godot_space_3d.h index 69cc3c4bbd..3b36dd346c 100644 --- a/servers/physics_3d/space_3d_sw.h +++ b/servers/physics_3d/godot_space_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* space_3d_sw.h */ +/* godot_space_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,25 +28,26 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef SPACE_SW_H -#define SPACE_SW_H +#ifndef GODOT_SPACE_3D_H +#define GODOT_SPACE_3D_H + +#include "godot_area_3d.h" +#include "godot_area_pair_3d.h" +#include "godot_body_3d.h" +#include "godot_body_pair_3d.h" +#include "godot_broad_phase_3d.h" +#include "godot_collision_object_3d.h" +#include "godot_soft_body_3d.h" -#include "area_3d_sw.h" -#include "area_pair_3d_sw.h" -#include "body_3d_sw.h" -#include "body_pair_3d_sw.h" -#include "broad_phase_3d_sw.h" -#include "collision_object_3d_sw.h" #include "core/config/project_settings.h" #include "core/templates/hash_map.h" #include "core/typedefs.h" -#include "soft_body_3d_sw.h" -class PhysicsDirectSpaceState3DSW : public PhysicsDirectSpaceState3D { - GDCLASS(PhysicsDirectSpaceState3DSW, PhysicsDirectSpaceState3D); +class GodotPhysicsDirectSpaceState3D : public PhysicsDirectSpaceState3D { + GDCLASS(GodotPhysicsDirectSpaceState3D, PhysicsDirectSpaceState3D); public: - Space3DSW *space; + GodotSpace3D *space; virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override; @@ -56,10 +57,10 @@ public: virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set &p_exclude = Set(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override; virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override; - PhysicsDirectSpaceState3DSW(); + GodotPhysicsDirectSpaceState3D(); }; -class Space3DSW { +class GodotSpace3D { public: enum ElapsedTime { ELAPSED_TIME_INTEGRATE_FORCES, @@ -74,23 +75,23 @@ public: private: uint64_t elapsed_time[ELAPSED_TIME_MAX] = {}; - PhysicsDirectSpaceState3DSW *direct_access; + GodotPhysicsDirectSpaceState3D *direct_access; RID self; - BroadPhase3DSW *broadphase; - SelfList::List active_list; - SelfList::List mass_properties_update_list; - SelfList::List state_query_list; - SelfList::List monitor_query_list; - SelfList::List area_moved_list; - SelfList::List active_soft_body_list; + GodotBroadPhase3D *broadphase; + SelfList::List active_list; + SelfList::List mass_properties_update_list; + SelfList::List state_query_list; + SelfList::List monitor_query_list; + SelfList::List area_moved_list; + SelfList::List active_soft_body_list; - static void *_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self); - static void _broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self); + static void *_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self); + static void _broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self); - Set objects; + Set objects; - Area3DSW *area = nullptr; + GodotArea3D *area = nullptr; real_t contact_recycle_radius = 0.01; real_t contact_max_separation = 0.05; @@ -101,7 +102,7 @@ private: INTERSECTION_QUERY_MAX = 2048 }; - CollisionObject3DSW *intersection_query_results[INTERSECTION_QUERY_MAX]; + GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX]; int intersection_query_subindex_results[INTERSECTION_QUERY_MAX]; real_t body_linear_velocity_sleep_threshold; @@ -122,41 +123,41 @@ private: Vector contact_debug; int contact_debug_count = 0; - friend class PhysicsDirectSpaceState3DSW; + friend class GodotPhysicsDirectSpaceState3D; - int _cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb); + int _cull_aabb_for_body(GodotBody3D *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; } - void set_default_area(Area3DSW *p_area) { area = p_area; } - Area3DSW *get_default_area() const { return area; } + void set_default_area(GodotArea3D *p_area) { area = p_area; } + GodotArea3D *get_default_area() const { return area; } - const SelfList::List &get_active_body_list() const; - void body_add_to_active_list(SelfList *p_body); - void body_remove_from_active_list(SelfList *p_body); - void body_add_to_mass_properties_update_list(SelfList *p_body); - void body_remove_from_mass_properties_update_list(SelfList *p_body); + const SelfList::List &get_active_body_list() const; + void body_add_to_active_list(SelfList *p_body); + void body_remove_from_active_list(SelfList *p_body); + void body_add_to_mass_properties_update_list(SelfList *p_body); + void body_remove_from_mass_properties_update_list(SelfList *p_body); - void body_add_to_state_query_list(SelfList *p_body); - void body_remove_from_state_query_list(SelfList *p_body); + void body_add_to_state_query_list(SelfList *p_body); + void body_remove_from_state_query_list(SelfList *p_body); - void area_add_to_monitor_query_list(SelfList *p_area); - void area_remove_from_monitor_query_list(SelfList *p_area); - void area_add_to_moved_list(SelfList *p_area); - void area_remove_from_moved_list(SelfList *p_area); - const SelfList::List &get_moved_area_list() const; + void area_add_to_monitor_query_list(SelfList *p_area); + void area_remove_from_monitor_query_list(SelfList *p_area); + void area_add_to_moved_list(SelfList *p_area); + void area_remove_from_moved_list(SelfList *p_area); + const SelfList::List &get_moved_area_list() const; - const SelfList::List &get_active_soft_body_list() const; - void soft_body_add_to_active_list(SelfList *p_soft_body); - void soft_body_remove_from_active_list(SelfList *p_soft_body); + const SelfList::List &get_active_soft_body_list() const; + void soft_body_add_to_active_list(SelfList *p_soft_body); + void soft_body_remove_from_active_list(SelfList *p_soft_body); - BroadPhase3DSW *get_broadphase(); + GodotBroadPhase3D *get_broadphase(); - void add_object(CollisionObject3DSW *p_object); - void remove_object(CollisionObject3DSW *p_object); - const Set &get_objects() const; + void add_object(GodotCollisionObject3D *p_object); + void remove_object(GodotCollisionObject3D *p_object); + const Set &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; } @@ -189,7 +190,7 @@ public: int get_collision_pairs() const { return collision_pairs; } - PhysicsDirectSpaceState3DSW *get_direct_state(); + GodotPhysicsDirectSpaceState3D *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.is_empty(); } @@ -207,10 +208,10 @@ public: 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]; } - bool test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result); + bool test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result); - Space3DSW(); - ~Space3DSW(); + GodotSpace3D(); + ~GodotSpace3D(); }; -#endif // SPACE__SW_H +#endif // GODOT_SPACE_3D_H diff --git a/servers/physics_3d/step_3d_sw.cpp b/servers/physics_3d/godot_step_3d.cpp similarity index 74% rename from servers/physics_3d/step_3d_sw.cpp rename to servers/physics_3d/godot_step_3d.cpp index 6572d58c91..a8654c617b 100644 --- a/servers/physics_3d/step_3d_sw.cpp +++ b/servers/physics_3d/godot_step_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* step_3d_sw.cpp */ +/* godot_step_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,8 +28,9 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#include "step_3d_sw.h" -#include "joints_3d_sw.h" +#include "godot_step_3d.h" + +#include "godot_joint_3d.h" #include "core/os/os.h" @@ -39,7 +40,7 @@ #define ISLAND_SIZE_RESERVE 512 #define CONSTRAINT_COUNT_RESERVE 1024 -void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island) { +void GodotStep3D::_populate_island(GodotBody3D *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island) { p_body->set_island_step(_step); if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) { @@ -47,8 +48,8 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector &p_bod p_body_island.push_back(p_body); } - for (const KeyValue &E : p_body->get_constraint_map()) { - Constraint3DSW *constraint = (Constraint3DSW *)E.key; + for (const KeyValue &E : p_body->get_constraint_map()) { + GodotConstraint3D *constraint = (GodotConstraint3D *)E.key; if (constraint->get_island_step() == _step) { continue; // Already processed. } @@ -62,7 +63,7 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector &p_bod if (i == E.value) { continue; } - Body3DSW *other_body = constraint->get_body_ptr()[i]; + GodotBody3D *other_body = constraint->get_body_ptr()[i]; if (other_body->get_island_step() == _step) { continue; // Already processed. } @@ -74,7 +75,7 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector &p_bod // Find connected soft bodies. for (int i = 0; i < constraint->get_soft_body_count(); i++) { - SoftBody3DSW *soft_body = constraint->get_soft_body_ptr(i); + GodotSoftBody3D *soft_body = constraint->get_soft_body_ptr(i); if (soft_body->get_island_step() == _step) { continue; // Already processed. } @@ -83,11 +84,11 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector &p_bod } } -void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector &p_body_island, LocalVector &p_constraint_island) { +void GodotStep3D::_populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector &p_body_island, LocalVector &p_constraint_island) { p_soft_body->set_island_step(_step); - for (Set::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) { - Constraint3DSW *constraint = (Constraint3DSW *)E->get(); + for (Set::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) { + GodotConstraint3D *constraint = (GodotConstraint3D *)E->get(); if (constraint->get_island_step() == _step) { continue; // Already processed. } @@ -98,7 +99,7 @@ void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector // Find connected rigid bodies. for (int i = 0; i < constraint->get_body_count(); i++) { - Body3DSW *body = constraint->get_body_ptr()[i]; + GodotBody3D *body = constraint->get_body_ptr()[i]; if (body->get_island_step() == _step) { continue; // Already processed. } @@ -110,16 +111,16 @@ void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector } } -void Step3DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) { - Constraint3DSW *constraint = all_constraints[p_constraint_index]; +void GodotStep3D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) { + GodotConstraint3D *constraint = all_constraints[p_constraint_index]; constraint->setup(delta); } -void Step3DSW::_pre_solve_island(LocalVector &p_constraint_island) const { +void GodotStep3D::_pre_solve_island(LocalVector &p_constraint_island) const { uint32_t constraint_count = p_constraint_island.size(); uint32_t valid_constraint_count = 0; for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { - Constraint3DSW *constraint = p_constraint_island[constraint_index]; + GodotConstraint3D *constraint = p_constraint_island[constraint_index]; if (p_constraint_island[constraint_index]->pre_solve(delta)) { // Keep this constraint for solving. p_constraint_island[valid_constraint_count++] = constraint; @@ -128,8 +129,8 @@ void Step3DSW::_pre_solve_island(LocalVector &p_constraint_isl p_constraint_island.resize(valid_constraint_count); } -void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) { - LocalVector &constraint_island = constraint_islands[p_island_index]; +void GodotStep3D::_solve_island(uint32_t p_island_index, void *p_userdata) { + LocalVector &constraint_island = constraint_islands[p_island_index]; int current_priority = 1; @@ -146,7 +147,7 @@ void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) { uint32_t priority_constraint_count = 0; ++current_priority; for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) { - Constraint3DSW *constraint = constraint_island[constraint_index]; + GodotConstraint3D *constraint = constraint_island[constraint_index]; if (constraint->get_priority() >= current_priority) { // Keep this constraint for the next iteration. constraint_island[priority_constraint_count++] = constraint; @@ -156,12 +157,12 @@ void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) { } } -void Step3DSW::_check_suspend(const LocalVector &p_body_island) const { +void GodotStep3D::_check_suspend(const LocalVector &p_body_island) const { bool can_sleep = true; uint32_t body_count = p_body_island.size(); for (uint32_t body_index = 0; body_index < body_count; ++body_index) { - Body3DSW *body = p_body_island[body_index]; + GodotBody3D *body = p_body_island[body_index]; if (!body->sleep_test(delta)) { can_sleep = false; @@ -170,7 +171,7 @@ void Step3DSW::_check_suspend(const LocalVector &p_body_island) cons // Put all to sleep or wake up everyone. for (uint32_t body_index = 0; body_index < body_count; ++body_index) { - Body3DSW *body = p_body_island[body_index]; + GodotBody3D *body = p_body_island[body_index]; bool active = body->is_active(); @@ -180,7 +181,7 @@ void Step3DSW::_check_suspend(const LocalVector &p_body_island) cons } } -void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { +void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta, int p_iterations) { p_space->lock(); // can't access space during this p_space->setup(); //update inertias, etc @@ -190,9 +191,9 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { iterations = p_iterations; delta = p_delta; - const SelfList::List *body_list = &p_space->get_active_body_list(); + const SelfList::List *body_list = &p_space->get_active_body_list(); - const SelfList::List *soft_body_list = &p_space->get_active_soft_body_list(); + const SelfList::List *soft_body_list = &p_space->get_active_soft_body_list(); /* INTEGRATE FORCES */ @@ -201,7 +202,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { int active_count = 0; - const SelfList *b = body_list->first(); + const SelfList *b = body_list->first(); while (b) { b->self()->integrate_forces(p_delta); b = b->next(); @@ -210,7 +211,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { /* UPDATE SOFT BODY MOTION */ - const SelfList *sb = soft_body_list->first(); + const SelfList *sb = soft_body_list->first(); while (sb) { sb->self()->predict_motion(p_delta); sb = sb->next(); @@ -221,7 +222,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -229,11 +230,11 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { uint32_t island_count = 0; - const SelfList::List &aml = p_space->get_moved_area_list(); + const SelfList::List &aml = p_space->get_moved_area_list(); while (aml.first()) { - for (const Set::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) { - Constraint3DSW *constraint = E->get(); + for (const Set::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) { + GodotConstraint3D *constraint = E->get(); if (constraint->get_island_step() == _step) { continue; } @@ -244,13 +245,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { if (constraint_islands.size() < island_count) { constraint_islands.resize(island_count); } - LocalVector &constraint_island = constraint_islands[island_count - 1]; + LocalVector &constraint_island = constraint_islands[island_count - 1]; constraint_island.clear(); all_constraints.push_back(constraint); constraint_island.push_back(constraint); } - p_space->area_remove_from_moved_list((SelfList *)aml.first()); //faster to remove here + p_space->area_remove_from_moved_list((SelfList *)aml.first()); //faster to remove here } /* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */ @@ -260,14 +261,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { uint32_t body_island_count = 0; while (b) { - Body3DSW *body = b->self(); + GodotBody3D *body = b->self(); if (body->get_island_step() != _step) { ++body_island_count; if (body_islands.size() < body_island_count) { body_islands.resize(body_island_count); } - LocalVector &body_island = body_islands[body_island_count - 1]; + LocalVector &body_island = body_islands[body_island_count - 1]; body_island.clear(); body_island.reserve(BODY_ISLAND_SIZE_RESERVE); @@ -275,7 +276,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { if (constraint_islands.size() < island_count) { constraint_islands.resize(island_count); } - LocalVector &constraint_island = constraint_islands[island_count - 1]; + LocalVector &constraint_island = constraint_islands[island_count - 1]; constraint_island.clear(); constraint_island.reserve(ISLAND_SIZE_RESERVE); @@ -296,14 +297,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { sb = soft_body_list->first(); while (sb) { - SoftBody3DSW *soft_body = sb->self(); + GodotSoftBody3D *soft_body = sb->self(); if (soft_body->get_island_step() != _step) { ++body_island_count; if (body_islands.size() < body_island_count) { body_islands.resize(body_island_count); } - LocalVector &body_island = body_islands[body_island_count - 1]; + LocalVector &body_island = body_islands[body_island_count - 1]; body_island.clear(); body_island.reserve(BODY_ISLAND_SIZE_RESERVE); @@ -311,7 +312,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { if (constraint_islands.size() < island_count) { constraint_islands.resize(island_count); } - LocalVector &constraint_island = constraint_islands[island_count - 1]; + LocalVector &constraint_island = constraint_islands[island_count - 1]; constraint_island.clear(); constraint_island.reserve(ISLAND_SIZE_RESERVE); @@ -332,18 +333,18 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } /* SETUP CONSTRAINTS / PROCESS COLLISIONS */ uint32_t total_contraint_count = all_constraints.size(); - work_pool.do_work(total_contraint_count, this, &Step3DSW::_setup_contraint, nullptr); + work_pool.do_work(total_contraint_count, this, &GodotStep3D::_setup_contraint, nullptr); { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -359,14 +360,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { // Warning: _solve_island modifies the constraint islands for optimization purpose, // their content is not reliable after these calls and shouldn't be used anymore. if (island_count > 1) { - work_pool.do_work(island_count, this, &Step3DSW::_solve_island, nullptr); + work_pool.do_work(island_count, this, &GodotStep3D::_solve_island, nullptr); } else if (island_count > 0) { _solve_island(0); } { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -374,7 +375,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { b = body_list->first(); while (b) { - const SelfList *n = b->next(); + const SelfList *n = b->next(); b->self()->integrate_velocities(p_delta); b = n; } @@ -395,7 +396,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { { //profile profile_endtime = OS::get_singleton()->get_ticks_usec(); - p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); + p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime); profile_begtime = profile_endtime; } @@ -406,7 +407,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) { _step++; } -Step3DSW::Step3DSW() { +GodotStep3D::GodotStep3D() { body_islands.reserve(BODY_ISLAND_COUNT_RESERVE); constraint_islands.reserve(ISLAND_COUNT_RESERVE); all_constraints.reserve(CONSTRAINT_COUNT_RESERVE); @@ -414,6 +415,6 @@ Step3DSW::Step3DSW() { work_pool.init(); } -Step3DSW::~Step3DSW() { +GodotStep3D::~GodotStep3D() { work_pool.finish(); } diff --git a/servers/physics_3d/step_3d_sw.h b/servers/physics_3d/godot_step_3d.h similarity index 72% rename from servers/physics_3d/step_3d_sw.h rename to servers/physics_3d/godot_step_3d.h index f2f879104a..23ede4feff 100644 --- a/servers/physics_3d/step_3d_sw.h +++ b/servers/physics_3d/godot_step_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* step_3d_sw.h */ +/* godot_step_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -28,15 +28,15 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef STEP_SW_H -#define STEP_SW_H +#ifndef GODOT_STEP_3D_H +#define GODOT_STEP_3D_H -#include "space_3d_sw.h" +#include "godot_space_3d.h" #include "core/templates/local_vector.h" #include "core/templates/thread_work_pool.h" -class Step3DSW { +class GodotStep3D { uint64_t _step = 1; int iterations = 0; @@ -44,21 +44,21 @@ class Step3DSW { ThreadWorkPool work_pool; - LocalVector> body_islands; - LocalVector> constraint_islands; - LocalVector all_constraints; + LocalVector> body_islands; + LocalVector> constraint_islands; + LocalVector all_constraints; - void _populate_island(Body3DSW *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island); - void _populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector &p_body_island, LocalVector &p_constraint_island); + void _populate_island(GodotBody3D *p_body, LocalVector &p_body_island, LocalVector &p_constraint_island); + void _populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector &p_body_island, LocalVector &p_constraint_island); void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr); - void _pre_solve_island(LocalVector &p_constraint_island) const; + void _pre_solve_island(LocalVector &p_constraint_island) const; void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr); - void _check_suspend(const LocalVector &p_body_island) const; + void _check_suspend(const LocalVector &p_body_island) const; public: - void step(Space3DSW *p_space, real_t p_delta, int p_iterations); - Step3DSW(); - ~Step3DSW(); + void step(GodotSpace3D *p_space, real_t p_delta, int p_iterations); + GodotStep3D(); + ~GodotStep3D(); }; -#endif // STEP__SW_H +#endif // GODOT_STEP_3D_H diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp similarity index 95% rename from servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp rename to servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp index bb9cc1bf67..31a87fc595 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* cone_twist_joint_3d_sw.cpp */ +/* godot_cone_twist_joint_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -49,7 +49,7 @@ subject to the following restrictions: Written by: Marcus Hennix */ -#include "cone_twist_joint_3d_sw.h" +#include "godot_cone_twist_joint_3d.h" static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) { if (Math::abs(n.z) > Math_SQRT12) { @@ -84,8 +84,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { return (y < 0.0f) ? -angle : angle; } -ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) : - Joint3DSW(_arr, 2) { +GodotConeTwistJoint3D::GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) : + GodotJoint3D(_arr, 2) { A = rbA; B = rbB; @@ -96,7 +96,7 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans B->add_constraint(this, 1); } -bool ConeTwistJoint3DSW::setup(real_t p_timestep) { +bool GodotConeTwistJoint3D::setup(real_t p_timestep) { dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); @@ -129,7 +129,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) { plane_space(normal[0], normal[1], normal[2]); for (int i = 0; i < 3; i++) { - memnew_placement(&m_jac[i], JacobianEntry3DSW( + memnew_placement(&m_jac[i], GodotJacobianEntry3D( A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), pivotAInW - A->get_transform().origin - A->get_center_of_mass(), @@ -230,7 +230,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) { return true; } -void ConeTwistJoint3DSW::solve(real_t p_timestep) { +void GodotConeTwistJoint3D::solve(real_t p_timestep) { Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin); Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin); @@ -312,7 +312,7 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) { } } -void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) { +void GodotConeTwistJoint3D::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: { m_swingSpan1 = p_value; @@ -335,7 +335,7 @@ void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param, } } -real_t ConeTwistJoint3DSW::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const { +real_t GodotConeTwistJoint3D::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const { switch (p_param) { case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: { return m_swingSpan1; diff --git a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h b/servers/physics_3d/joints/godot_cone_twist_joint_3d.h similarity index 86% rename from servers/physics_3d/joints/cone_twist_joint_3d_sw.h rename to servers/physics_3d/joints/godot_cone_twist_joint_3d.h index bf7e593820..999d0f0692 100644 --- a/servers/physics_3d/joints/cone_twist_joint_3d_sw.h +++ b/servers/physics_3d/joints/godot_cone_twist_joint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* cone_twist_joint_3d_sw.h */ +/* godot_cone_twist_joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library. /* Bullet Continuous Collision Detection and Physics Library -ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios +GodotConeTwistJoint3D is Copyright (c) 2007 Starbreeze Studios This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. @@ -49,28 +49,28 @@ subject to the following restrictions: Written by: Marcus Hennix */ -#ifndef CONE_TWIST_JOINT_SW_H -#define CONE_TWIST_JOINT_SW_H +#ifndef GODOT_CONE_TWIST_JOINT_3D_H +#define GODOT_CONE_TWIST_JOINT_3D_H -#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h" -#include "servers/physics_3d/joints_3d_sw.h" +#include "servers/physics_3d/godot_joint_3d.h" +#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h" -///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc) -class ConeTwistJoint3DSW : public Joint3DSW { +// GodotConeTwistJoint3D can be used to simulate ragdoll joints (upper arm, leg etc). +class GodotConeTwistJoint3D : public GodotJoint3D { #ifdef IN_PARALLELL_SOLVER public: #endif union { struct { - Body3DSW *A; - Body3DSW *B; + GodotBody3D *A; + GodotBody3D *B; }; - Body3DSW *_arr[2] = { nullptr, nullptr }; + GodotBody3D *_arr[2] = { nullptr, nullptr }; }; - JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints + GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints real_t m_appliedImpulse = 0.0; Transform3D m_rbAFrame; @@ -107,7 +107,7 @@ public: virtual bool setup(real_t p_step) override; virtual void solve(real_t p_step) override; - ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame); + GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame); void setAngularOnly(bool angularOnly) { m_angularOnly = angularOnly; @@ -139,4 +139,4 @@ public: real_t get_param(PhysicsServer3D::ConeTwistJointParam p_param) const; }; -#endif // CONE_TWIST_JOINT_SW_H +#endif // GODOT_CONE_TWIST_JOINT_3D_H diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp similarity index 89% rename from servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp rename to servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp index 56aba24b42..d7e0537439 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* generic_6dof_joint_3d_sw.cpp */ +/* godot_generic_6dof_joint_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -49,18 +49,18 @@ subject to the following restrictions: /* 2007-09-09 -Generic6DOFJointSW Refactored by Francisco Le?n +GodotGeneric6DOFJoint3D Refactored by Francisco Le?n email: projectileman@yahoo.com http://gimpact.sf.net */ -#include "generic_6dof_joint_3d_sw.h" +#include "godot_generic_6dof_joint_3d.h" #define GENERIC_D6_DISABLE_WARMSTARTING 1 -//////////////////////////// G6DOFRotationalLimitMotorSW //////////////////////////////////// +//////////////////////////// GodotG6DOFRotationalLimitMotor3D //////////////////////////////////// -int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) { +int GodotG6DOFRotationalLimitMotor3D::testLimitValue(real_t test_value) { if (m_loLimit > m_hiLimit) { m_currentLimit = 0; //Free from violation return 0; @@ -80,9 +80,9 @@ int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) { return 0; } -real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits( +real_t GodotG6DOFRotationalLimitMotor3D::solveAngularLimits( real_t timeStep, Vector3 &axis, real_t jacDiagABInv, - Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic) { + GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic) { if (!needApplyTorques()) { return 0.0f; } @@ -148,14 +148,13 @@ real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits( return clippedMotorImpulse; } -//////////////////////////// End G6DOFRotationalLimitMotorSW //////////////////////////////////// +//////////////////////////// GodotG6DOFTranslationalLimitMotor3D //////////////////////////////////// -//////////////////////////// G6DOFTranslationalLimitMotorSW //////////////////////////////////// -real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis( +real_t GodotG6DOFTranslationalLimitMotor3D::solveLinearAxis( real_t timeStep, real_t jacDiagABInv, - Body3DSW *body1, const Vector3 &pointInA, - Body3DSW *body2, const Vector3 &pointInB, + GodotBody3D *body1, const Vector3 &pointInA, + GodotBody3D *body2, const Vector3 &pointInB, bool p_body1_dynamic, bool p_body2_dynamic, int limit_index, const Vector3 &axis_normal_on_a, @@ -217,10 +216,10 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis( return normalImpulse; } -//////////////////////////// G6DOFTranslationalLimitMotorSW //////////////////////////////////// +//////////////////////////// GodotGeneric6DOFJoint3D //////////////////////////////////// -Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) : - Joint3DSW(_arr, 2), +GodotGeneric6DOFJoint3D::GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) : + GodotJoint3D(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB), m_useLinearReferenceFrameA(useLinearReferenceFrameA) { @@ -230,7 +229,7 @@ Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const T B->add_constraint(this, 1); } -void Generic6DOFJoint3DSW::calculateAngleInfo() { +void GodotGeneric6DOFJoint3D::calculateAngleInfo() { Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis; m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz(); @@ -270,17 +269,17 @@ void Generic6DOFJoint3DSW::calculateAngleInfo() { */ } -void Generic6DOFJoint3DSW::calculateTransforms() { +void GodotGeneric6DOFJoint3D::calculateTransforms() { m_calculatedTransformA = A->get_transform() * m_frameInA; m_calculatedTransformB = B->get_transform() * m_frameInB; calculateAngleInfo(); } -void Generic6DOFJoint3DSW::buildLinearJacobian( - JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld, +void GodotGeneric6DOFJoint3D::buildLinearJacobian( + GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld, const Vector3 &pivotAInW, const Vector3 &pivotBInW) { - memnew_placement(&jacLinear, JacobianEntry3DSW( + memnew_placement(&jacLinear, GodotJacobianEntry3D( A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), pivotAInW - A->get_transform().origin - A->get_center_of_mass(), @@ -292,16 +291,16 @@ void Generic6DOFJoint3DSW::buildLinearJacobian( B->get_inv_mass())); } -void Generic6DOFJoint3DSW::buildAngularJacobian( - JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW) { - memnew_placement(&jacAngular, JacobianEntry3DSW(jointAxisW, +void GodotGeneric6DOFJoint3D::buildAngularJacobian( + GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW) { + memnew_placement(&jacAngular, GodotJacobianEntry3D(jointAxisW, A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia())); } -bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) { +bool GodotGeneric6DOFJoint3D::testAngularLimitMotor(int axis_index) { real_t angle = m_calculatedAxisAngleDiff[axis_index]; //test limits @@ -309,7 +308,7 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) { return m_angularLimits[axis_index].needApplyTorques(); } -bool Generic6DOFJoint3DSW::setup(real_t p_timestep) { +bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) { dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); @@ -365,7 +364,7 @@ bool Generic6DOFJoint3DSW::setup(real_t p_timestep) { return true; } -void Generic6DOFJoint3DSW::solve(real_t p_timestep) { +void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) { m_timeStep = p_timestep; //calculateTransforms(); @@ -414,19 +413,19 @@ void Generic6DOFJoint3DSW::solve(real_t p_timestep) { } } -void Generic6DOFJoint3DSW::updateRHS(real_t timeStep) { +void GodotGeneric6DOFJoint3D::updateRHS(real_t timeStep) { (void)timeStep; } -Vector3 Generic6DOFJoint3DSW::getAxis(int axis_index) const { +Vector3 GodotGeneric6DOFJoint3D::getAxis(int axis_index) const { return m_calculatedAxis[axis_index]; } -real_t Generic6DOFJoint3DSW::getAngle(int axis_index) const { +real_t GodotGeneric6DOFJoint3D::getAngle(int axis_index) const { return m_calculatedAxisAngleDiff[axis_index]; } -void Generic6DOFJoint3DSW::calcAnchorPos() { +void GodotGeneric6DOFJoint3D::calcAnchorPos() { real_t imA = A->get_inv_mass(); real_t imB = B->get_inv_mass(); real_t weight; @@ -438,9 +437,9 @@ void Generic6DOFJoint3DSW::calcAnchorPos() { const Vector3 &pA = m_calculatedTransformA.origin; const Vector3 &pB = m_calculatedTransformB.origin; m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight); -} // Generic6DOFJointSW::calcAnchorPos() +} -void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) { +void GodotGeneric6DOFJoint3D::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) { ERR_FAIL_INDEX(p_axis, 3); switch (p_param) { case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: { @@ -527,7 +526,7 @@ void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DO } } -real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const { +real_t GodotGeneric6DOFJoint3D::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const { ERR_FAIL_INDEX_V(p_axis, 3, 0); switch (p_param) { case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: { @@ -615,7 +614,7 @@ real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6 return 0; } -void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) { +void GodotGeneric6DOFJoint3D::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) { ERR_FAIL_INDEX(p_axis, 3); switch (p_flag) { @@ -642,7 +641,7 @@ void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOF } } -bool Generic6DOFJoint3DSW::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const { +bool GodotGeneric6DOFJoint3D::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const { ERR_FAIL_INDEX_V(p_axis, 3, 0); switch (p_flag) { case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: { diff --git a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h similarity index 74% rename from servers/physics_3d/joints/generic_6dof_joint_3d_sw.h rename to servers/physics_3d/joints/godot_generic_6dof_joint_3d.h index 6492e40393..729b3fa1f9 100644 --- a/servers/physics_3d/joints/generic_6dof_joint_3d_sw.h +++ b/servers/physics_3d/joints/godot_generic_6dof_joint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* generic_6dof_joint_3d_sw.h */ +/* godot_generic_6dof_joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -32,11 +32,11 @@ Adapted to Godot from the Bullet library. */ -#ifndef GENERIC_6DOF_JOINT_SW_H -#define GENERIC_6DOF_JOINT_SW_H +#ifndef GODOT_GENERIC_6DOF_JOINT_3D_H +#define GODOT_GENERIC_6DOF_JOINT_3D_H -#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h" -#include "servers/physics_3d/joints_3d_sw.h" +#include "servers/physics_3d/godot_joint_3d.h" +#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h" /* Bullet Continuous Collision Detection and Physics Library @@ -55,13 +55,13 @@ subject to the following restrictions: /* 2007-09-09 -Generic6DOFJointSW Refactored by Francisco Le?n +GodotGeneric6DOFJoint3D Refactored by Francisco Le?n email: projectileman@yahoo.com http://gimpact.sf.net */ //! Rotation Limit structure for generic joints -class G6DOFRotationalLimitMotor3DSW { +class GodotG6DOFRotationalLimitMotor3D { public: //! limit_parameters //!@{ @@ -86,29 +86,25 @@ public: real_t m_accumulatedImpulse = 0.0; //!@} - G6DOFRotationalLimitMotor3DSW() {} + GodotG6DOFRotationalLimitMotor3D() {} - //! Is limited bool isLimited() { return (m_loLimit < m_hiLimit); } - //! Need apply correction + // Need apply correction. bool needApplyTorques() { return (m_enableMotor || m_currentLimit != 0); } - //! calculates error - /*! - calculates m_currentLimit and m_currentLimitError. - */ + // Calculates m_currentLimit and m_currentLimitError. int testLimitValue(real_t test_value); - //! apply the correction impulses for two bodies - real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic); + // Apply the correction impulses for two bodies. + real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic); }; -class G6DOFTranslationalLimitMotor3DSW { +class GodotG6DOFTranslationalLimitMotor3D { public: Vector3 m_lowerLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint lower limits Vector3 m_upperLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint upper limits @@ -135,23 +131,23 @@ public: real_t solveLinearAxis( real_t timeStep, real_t jacDiagABInv, - Body3DSW *body1, const Vector3 &pointInA, - Body3DSW *body2, const Vector3 &pointInB, + GodotBody3D *body1, const Vector3 &pointInA, + GodotBody3D *body2, const Vector3 &pointInB, bool p_body1_dynamic, bool p_body2_dynamic, int limit_index, const Vector3 &axis_normal_on_a, const Vector3 &anchorPos); }; -class Generic6DOFJoint3DSW : public Joint3DSW { +class GodotGeneric6DOFJoint3D : public GodotJoint3D { protected: union { struct { - Body3DSW *A; - Body3DSW *B; + GodotBody3D *A; + GodotBody3D *B; }; - Body3DSW *_arr[2] = { nullptr, nullptr }; + GodotBody3D *_arr[2] = { nullptr, nullptr }; }; //! relative_frames @@ -162,18 +158,18 @@ protected: //! Jacobians //!@{ - JacobianEntry3DSW m_jacLinear[3]; //!< 3 orthogonal linear constraints - JacobianEntry3DSW m_jacAng[3]; //!< 3 orthogonal angular constraints + GodotJacobianEntry3D m_jacLinear[3]; //!< 3 orthogonal linear constraints + GodotJacobianEntry3D m_jacAng[3]; //!< 3 orthogonal angular constraints //!@} //! Linear_Limit_parameters //!@{ - G6DOFTranslationalLimitMotor3DSW m_linearLimits; + GodotG6DOFTranslationalLimitMotor3D m_linearLimits; //!@} //! hinge_parameters //!@{ - G6DOFRotationalLimitMotor3DSW m_angularLimits[3]; + GodotG6DOFRotationalLimitMotor3D m_angularLimits[3]; //!@} protected: @@ -191,45 +187,35 @@ protected: //!@} - Generic6DOFJoint3DSW(Generic6DOFJoint3DSW const &) = delete; - void operator=(Generic6DOFJoint3DSW const &) = delete; + GodotGeneric6DOFJoint3D(GodotGeneric6DOFJoint3D const &) = delete; + void operator=(GodotGeneric6DOFJoint3D const &) = delete; void buildLinearJacobian( - JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld, + GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld, const Vector3 &pivotAInW, const Vector3 &pivotBInW); - void buildAngularJacobian(JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW); + void buildAngularJacobian(GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW); //! calcs the euler angles between the two bodies. void calculateAngleInfo(); public: - Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA); + GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA); virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_6DOF; } virtual bool setup(real_t p_step) override; virtual void solve(real_t p_step) override; - //! Calcs global transform of the offsets - /*! - Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies. - \sa Generic6DOFJointSW.getCalculatedTransformA , Generic6DOFJointSW.getCalculatedTransformB, Generic6DOFJointSW.calculateAngleInfo - */ + // Calcs the global transform for the joint offset for body A an B, and also calcs the angle differences between the bodies. void calculateTransforms(); - //! Gets the global transform of the offset for body A - /*! - \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo. - */ + // Gets the global transform of the offset for body A. const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; } - //! Gets the global transform of the offset for body B - /*! - \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo. - */ + // Gets the global transform of the offset for body B. const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; } @@ -250,27 +236,16 @@ public: return m_frameInB; } - //! performs Jacobian calculation, and also calculates angle differences and axis - + // Performs Jacobian calculation, and also calculates angle differences and axis. void updateRHS(real_t timeStep); - //! Get the rotation axis in global coordinates - /*! - \pre Generic6DOFJointSW.buildJacobian must be called previously. - */ + // Get the rotation axis in global coordinates. Vector3 getAxis(int axis_index) const; - //! Get the relative Euler angle - /*! - \pre Generic6DOFJointSW.buildJacobian must be called previously. - */ + // Get the relative Euler angle. real_t getAngle(int axis_index) const; - //! Test angular limit. - /*! - Calculates angular correction and returns true if limit needs to be corrected. - \pre Generic6DOFJointSW.buildJacobian must be called previously. - */ + // Calculates angular correction and returns true if limit needs to be corrected. bool testAngularLimitMotor(int axis_index); void setLinearLowerLimit(const Vector3 &linearLower) { @@ -293,17 +268,17 @@ public: m_angularLimits[2].m_hiLimit = angularUpper.z; } - //! Retrieves the angular limit information. - G6DOFRotationalLimitMotor3DSW *getRotationalLimitMotor(int index) { + // Retrieves the angular limit information. + GodotG6DOFRotationalLimitMotor3D *getRotationalLimitMotor(int index) { return &m_angularLimits[index]; } - //! Retrieves the limit information. - G6DOFTranslationalLimitMotor3DSW *getTranslationalLimitMotor() { + // Retrieves the limit information. + GodotG6DOFTranslationalLimitMotor3D *getTranslationalLimitMotor() { return &m_linearLimits; } - //first 3 are linear, next 3 are angular + // First 3 are linear, next 3 are angular. void setLimit(int axis, real_t lo, real_t hi) { if (axis < 3) { m_linearLimits.m_lowerLimit[axis] = lo; @@ -328,10 +303,10 @@ public: return m_angularLimits[limitIndex - 3].isLimited(); } - const Body3DSW *getRigidBodyA() const { + const GodotBody3D *getRigidBodyA() const { return A; } - const Body3DSW *getRigidBodyB() const { + const GodotBody3D *getRigidBodyB() const { return B; } @@ -344,4 +319,4 @@ public: bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const; }; -#endif // GENERIC_6DOF_JOINT_SW_H +#endif // GODOT_GENERIC_6DOF_JOINT_3D_H diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp similarity index 93% rename from servers/physics_3d/joints/hinge_joint_3d_sw.cpp rename to servers/physics_3d/joints/godot_hinge_joint_3d.cpp index a45fcf7eb5..7b7ca1b3ac 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/godot_hinge_joint_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* hinge_joint_3d_sw.cpp */ +/* godot_hinge_joint_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -47,7 +47,7 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include "hinge_joint_3d_sw.h" +#include "godot_hinge_joint_3d.h" static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) { if (Math::abs(n.z) > Math_SQRT12) { @@ -67,8 +67,8 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) { } } -HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB) : - Joint3DSW(_arr, 2) { +GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB) : + GodotJoint3D(_arr, 2) { A = rbA; B = rbB; @@ -83,9 +83,9 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D & B->add_constraint(this, 1); } -HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, +GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB) : - Joint3DSW(_arr, 2) { + GodotJoint3D(_arr, 2) { A = rbA; B = rbB; @@ -124,7 +124,7 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo B->add_constraint(this, 1); } -bool HingeJoint3DSW::setup(real_t p_step) { +bool GodotHingeJoint3D::setup(real_t p_step) { dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); @@ -149,7 +149,7 @@ bool HingeJoint3DSW::setup(real_t p_step) { plane_space(normal[0], normal[1], normal[2]); for (int i = 0; i < 3; i++) { - memnew_placement(&m_jac[i], JacobianEntry3DSW( + memnew_placement(&m_jac[i], GodotJacobianEntry3D( A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), pivotAInW - A->get_transform().origin - A->get_center_of_mass(), @@ -175,19 +175,19 @@ bool HingeJoint3DSW::setup(real_t p_step) { Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local); Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2)); - memnew_placement(&m_jacAng[0], JacobianEntry3DSW(jointAxis0, + memnew_placement(&m_jacAng[0], GodotJacobianEntry3D(jointAxis0, A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia())); - memnew_placement(&m_jacAng[1], JacobianEntry3DSW(jointAxis1, + memnew_placement(&m_jacAng[1], GodotJacobianEntry3D(jointAxis1, A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), B->get_inv_inertia())); - memnew_placement(&m_jacAng[2], JacobianEntry3DSW(hingeAxisWorld, + memnew_placement(&m_jacAng[2], GodotJacobianEntry3D(hingeAxisWorld, A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), A->get_inv_inertia(), @@ -226,7 +226,7 @@ bool HingeJoint3DSW::setup(real_t p_step) { return true; } -void HingeJoint3DSW::solve(real_t p_step) { +void GodotHingeJoint3D::solve(real_t p_step) { Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin); Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin); @@ -377,7 +377,7 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { return (y < 0.0f) ? -angle : angle; } -real_t HingeJoint3DSW::get_hinge_angle() { +real_t GodotHingeJoint3D::get_hinge_angle() { const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0)); const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1)); const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1)); @@ -385,7 +385,7 @@ real_t HingeJoint3DSW::get_hinge_angle() { return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1)); } -void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) { +void GodotHingeJoint3D::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer3D::HINGE_JOINT_BIAS: tau = p_value; @@ -416,7 +416,7 @@ void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t } } -real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const { +real_t GodotHingeJoint3D::get_param(PhysicsServer3D::HingeJointParam p_param) const { switch (p_param) { case PhysicsServer3D::HINGE_JOINT_BIAS: return tau; @@ -441,7 +441,7 @@ real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const return 0; } -void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) { +void GodotHingeJoint3D::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) { switch (p_flag) { case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT: m_useLimit = p_value; @@ -454,7 +454,7 @@ void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_val } } -bool HingeJoint3DSW::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const { +bool GodotHingeJoint3D::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const { switch (p_flag) { case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT: return m_useLimit; diff --git a/servers/physics_3d/joints/hinge_joint_3d_sw.h b/servers/physics_3d/joints/godot_hinge_joint_3d.h similarity index 84% rename from servers/physics_3d/joints/hinge_joint_3d_sw.h rename to servers/physics_3d/joints/godot_hinge_joint_3d.h index a4ceff9ffe..ff1fbe0f25 100644 --- a/servers/physics_3d/joints/hinge_joint_3d_sw.h +++ b/servers/physics_3d/joints/godot_hinge_joint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* hinge_joint_3d_sw.h */ +/* godot_hinge_joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -32,11 +32,11 @@ Adapted to Godot from the Bullet library. */ -#ifndef HINGE_JOINT_SW_H -#define HINGE_JOINT_SW_H +#ifndef GODOT_HINGE_JOINT_3D_H +#define GODOT_HINGE_JOINT_3D_H -#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h" -#include "servers/physics_3d/joints_3d_sw.h" +#include "servers/physics_3d/godot_joint_3d.h" +#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h" /* Bullet Continuous Collision Detection and Physics Library @@ -53,18 +53,18 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -class HingeJoint3DSW : public Joint3DSW { +class GodotHingeJoint3D : public GodotJoint3D { union { struct { - Body3DSW *A; - Body3DSW *B; + GodotBody3D *A; + GodotBody3D *B; }; - Body3DSW *_arr[2] = {}; + GodotBody3D *_arr[2] = {}; }; - JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints - JacobianEntry3DSW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor + GodotJacobianEntry3D m_jac[3]; //3 orthogonal linear constraints + GodotJacobianEntry3D m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis. Transform3D m_rbBFrame; @@ -109,8 +109,8 @@ public: void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value); bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const; - HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB); - HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); + GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB); + GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB); }; -#endif // HINGE_JOINT_SW_H +#endif // GODOT_HINGE_JOINT_3D_H diff --git a/servers/physics_3d/joints/jacobian_entry_3d_sw.h b/servers/physics_3d/joints/godot_jacobian_entry_3d.h similarity index 90% rename from servers/physics_3d/joints/jacobian_entry_3d_sw.h rename to servers/physics_3d/joints/godot_jacobian_entry_3d.h index 7294ff78e3..90a77a9b61 100644 --- a/servers/physics_3d/joints/jacobian_entry_3d_sw.h +++ b/servers/physics_3d/joints/godot_jacobian_entry_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* jacobian_entry_3d_sw.h */ +/* godot_jacobian_entry_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -32,8 +32,8 @@ Adapted to Godot from the Bullet library. */ -#ifndef JACOBIAN_ENTRY_SW_H -#define JACOBIAN_ENTRY_SW_H +#ifndef GODOT_JACOBIAN_ENTRY_3D_H +#define GODOT_JACOBIAN_ENTRY_3D_H /* Bullet Continuous Collision Detection and Physics Library @@ -52,11 +52,11 @@ subject to the following restrictions: #include "core/math/transform_3d.h" -class JacobianEntry3DSW { +class GodotJacobianEntry3D { public: - JacobianEntry3DSW() {} + GodotJacobianEntry3D() {} //constraint between two different rigidbodies - JacobianEntry3DSW( + GodotJacobianEntry3D( const Basis &world2A, const Basis &world2B, const Vector3 &rel_pos1, const Vector3 &rel_pos2, @@ -76,7 +76,7 @@ public: } //angular constraint between two different rigidbodies - JacobianEntry3DSW(const Vector3 &jointAxis, + GodotJacobianEntry3D(const Vector3 &jointAxis, const Basis &world2A, const Basis &world2B, const Vector3 &inertiaInvA, @@ -92,7 +92,7 @@ public: } //angular constraint between two different rigidbodies - JacobianEntry3DSW(const Vector3 &axisInA, + GodotJacobianEntry3D(const Vector3 &axisInA, const Vector3 &axisInB, const Vector3 &inertiaInvA, const Vector3 &inertiaInvB) : @@ -107,7 +107,7 @@ public: } //constraint on one rigidbody - JacobianEntry3DSW( + GodotJacobianEntry3D( const Basis &world2A, const Vector3 &rel_pos1, const Vector3 &rel_pos2, const Vector3 &jointAxis, @@ -126,16 +126,16 @@ public: real_t getDiagonal() const { return m_Adiag; } // for two constraints on the same rigidbody (for example vehicle friction) - real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA) const { - const JacobianEntry3DSW &jacA = *this; + real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA) const { + const GodotJacobianEntry3D &jacA = *this; real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis); real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ); return lin + ang; } // for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies) - real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA, const real_t massInvB) const { - const JacobianEntry3DSW &jacA = *this; + real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA, const real_t massInvB) const { + const GodotJacobianEntry3D &jacA = *this; Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis; Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ; Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ; @@ -166,4 +166,4 @@ public: real_t m_Adiag = 1.0; }; -#endif // JACOBIAN_ENTRY_SW_H +#endif // GODOT_JACOBIAN_ENTRY_3D_H diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_pin_joint_3d.cpp similarity index 91% rename from servers/physics_3d/joints/pin_joint_3d_sw.cpp rename to servers/physics_3d/joints/godot_pin_joint_3d.cpp index f41151ec0e..10d52ad5e9 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/godot_pin_joint_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* pin_joint_3d_sw.cpp */ +/* godot_pin_joint_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -47,9 +47,9 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -#include "pin_joint_3d_sw.h" +#include "godot_pin_joint_3d.h" -bool PinJoint3DSW::setup(real_t p_step) { +bool GodotPinJoint3D::setup(real_t p_step) { dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); @@ -63,7 +63,7 @@ bool PinJoint3DSW::setup(real_t p_step) { for (int i = 0; i < 3; i++) { normal[i] = 1; - memnew_placement(&m_jac[i], JacobianEntry3DSW( + memnew_placement(&m_jac[i], GodotJacobianEntry3D( A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), A->get_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(), @@ -79,7 +79,7 @@ bool PinJoint3DSW::setup(real_t p_step) { return true; } -void PinJoint3DSW::solve(real_t p_step) { +void GodotPinJoint3D::solve(real_t p_step) { Vector3 pivotAInW = A->get_transform().xform(m_pivotInA); Vector3 pivotBInW = B->get_transform().xform(m_pivotInB); @@ -137,7 +137,7 @@ void PinJoint3DSW::solve(real_t p_step) { } } -void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) { +void GodotPinJoint3D::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer3D::PIN_JOINT_BIAS: m_tau = p_value; @@ -151,7 +151,7 @@ void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_va } } -real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const { +real_t GodotPinJoint3D::get_param(PhysicsServer3D::PinJointParam p_param) const { switch (p_param) { case PhysicsServer3D::PIN_JOINT_BIAS: return m_tau; @@ -164,8 +164,8 @@ real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const { return 0; } -PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b) : - Joint3DSW(_arr, 2) { +GodotPinJoint3D::GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b) : + GodotJoint3D(_arr, 2) { A = p_body_a; B = p_body_b; m_pivotInA = p_pos_a; @@ -175,5 +175,5 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW B->add_constraint(this, 1); } -PinJoint3DSW::~PinJoint3DSW() { +GodotPinJoint3D::~GodotPinJoint3D() { } diff --git a/servers/physics_3d/joints/pin_joint_3d_sw.h b/servers/physics_3d/joints/godot_pin_joint_3d.h similarity index 87% rename from servers/physics_3d/joints/pin_joint_3d_sw.h rename to servers/physics_3d/joints/godot_pin_joint_3d.h index 79af48f2a5..17e2e6e973 100644 --- a/servers/physics_3d/joints/pin_joint_3d_sw.h +++ b/servers/physics_3d/joints/godot_pin_joint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* pin_joint_3d_sw.h */ +/* godot_pin_joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -32,11 +32,11 @@ Adapted to Godot from the Bullet library. */ -#ifndef PIN_JOINT_SW_H -#define PIN_JOINT_SW_H +#ifndef GODOT_PIN_JOINT_3D_H +#define GODOT_PIN_JOINT_3D_H -#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h" -#include "servers/physics_3d/joints_3d_sw.h" +#include "servers/physics_3d/godot_joint_3d.h" +#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h" /* Bullet Continuous Collision Detection and Physics Library @@ -53,14 +53,14 @@ subject to the following restrictions: 3. This notice may not be removed or altered from any source distribution. */ -class PinJoint3DSW : public Joint3DSW { +class GodotPinJoint3D : public GodotJoint3D { union { struct { - Body3DSW *A; - Body3DSW *B; + GodotBody3D *A; + GodotBody3D *B; }; - Body3DSW *_arr[2] = {}; + GodotBody3D *_arr[2] = {}; }; real_t m_tau = 0.3; //bias @@ -68,7 +68,7 @@ class PinJoint3DSW : public Joint3DSW { real_t m_impulseClamp = 0.0; real_t m_appliedImpulse = 0.0; - JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints + GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints Vector3 m_pivotInA; Vector3 m_pivotInB; @@ -88,8 +88,8 @@ public: Vector3 get_position_a() { return m_pivotInA; } Vector3 get_position_b() { return m_pivotInB; } - PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b); - ~PinJoint3DSW(); + GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b); + ~GodotPinJoint3D(); }; -#endif // PIN_JOINT_SW_H +#endif // GODOT_PIN_JOINT_3D_H diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.cpp b/servers/physics_3d/joints/godot_slider_joint_3d.cpp similarity index 93% rename from servers/physics_3d/joints/slider_joint_3d_sw.cpp rename to servers/physics_3d/joints/godot_slider_joint_3d.cpp index e10ed436d5..3be111ac92 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.cpp +++ b/servers/physics_3d/joints/godot_slider_joint_3d.cpp @@ -1,5 +1,5 @@ /*************************************************************************/ -/* slider_joint_3d_sw.cpp */ +/* godot_slider_joint_3d.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -53,7 +53,7 @@ April 04, 2008 */ -#include "slider_joint_3d_sw.h" +#include "godot_slider_joint_3d.h" //----------------------------------------------------------------------------- @@ -76,8 +76,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) { //----------------------------------------------------------------------------- -SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : - Joint3DSW(_arr, 2), +GodotSliderJoint3D::GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB) : + GodotJoint3D(_arr, 2), m_frameInA(frameInA), m_frameInB(frameInB) { A = rbA; @@ -85,11 +85,11 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D A->add_constraint(this, 0); B->add_constraint(this, 1); -} // SliderJointSW::SliderJointSW() +} //----------------------------------------------------------------------------- -bool SliderJoint3DSW::setup(real_t p_step) { +bool GodotSliderJoint3D::setup(real_t p_step) { dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC); @@ -112,7 +112,7 @@ bool SliderJoint3DSW::setup(real_t p_step) { //linear part for (i = 0; i < 3; i++) { normalWorld = m_calculatedTransformA.basis.get_axis(i); - memnew_placement(&m_jacLin[i], JacobianEntry3DSW( + memnew_placement(&m_jacLin[i], GodotJacobianEntry3D( A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), m_relPosA - A->get_center_of_mass(), @@ -129,7 +129,7 @@ bool SliderJoint3DSW::setup(real_t p_step) { // angular part for (i = 0; i < 3; i++) { normalWorld = m_calculatedTransformA.basis.get_axis(i); - memnew_placement(&m_jacAng[i], JacobianEntry3DSW( + memnew_placement(&m_jacAng[i], GodotJacobianEntry3D( normalWorld, A->get_principal_inertia_axes().transposed(), B->get_principal_inertia_axes().transposed(), @@ -144,11 +144,11 @@ bool SliderJoint3DSW::setup(real_t p_step) { m_accumulatedAngMotorImpulse = real_t(0.0); return true; -} // SliderJointSW::buildJacobianInt() +} //----------------------------------------------------------------------------- -void SliderJoint3DSW::solve(real_t p_step) { +void GodotSliderJoint3D::solve(real_t p_step) { int i; // linear Vector3 velA = A->get_velocity_in_local_point(m_relPosA); @@ -284,13 +284,11 @@ void SliderJoint3DSW::solve(real_t p_step) { } } } -} // SliderJointSW::solveConstraint() +} //----------------------------------------------------------------------------- -//----------------------------------------------------------------------------- - -void SliderJoint3DSW::calculateTransforms() { +void GodotSliderJoint3D::calculateTransforms() { m_calculatedTransformA = A->get_transform() * m_frameInA; m_calculatedTransformB = B->get_transform() * m_frameInB; m_realPivotAInW = m_calculatedTransformA.origin; @@ -305,11 +303,11 @@ void SliderJoint3DSW::calculateTransforms() { normalWorld = m_calculatedTransformA.basis.get_axis(i); m_depth[i] = m_delta.dot(normalWorld); } -} // SliderJointSW::calculateTransforms() +} //----------------------------------------------------------------------------- -void SliderJoint3DSW::testLinLimits() { +void GodotSliderJoint3D::testLinLimits() { m_solveLinLim = false; m_linPos = m_depth[0]; if (m_lowerLinLimit <= m_upperLinLimit) { @@ -325,11 +323,11 @@ void SliderJoint3DSW::testLinLimits() { } else { m_depth[0] = real_t(0.); } -} // SliderJointSW::testLinLimits() +} //----------------------------------------------------------------------------- -void SliderJoint3DSW::testAngLimits() { +void GodotSliderJoint3D::testAngLimits() { m_angDepth = real_t(0.); m_solveAngLim = false; if (m_lowerAngLimit <= m_upperAngLimit) { @@ -345,26 +343,26 @@ void SliderJoint3DSW::testAngLimits() { m_solveAngLim = true; } } -} // SliderJointSW::testAngLimits() +} //----------------------------------------------------------------------------- -Vector3 SliderJoint3DSW::getAncorInA() { +Vector3 GodotSliderJoint3D::getAncorInA() { Vector3 ancorInA; ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis; ancorInA = A->get_transform().inverse().xform(ancorInA); return ancorInA; -} // SliderJointSW::getAncorInA() +} //----------------------------------------------------------------------------- -Vector3 SliderJoint3DSW::getAncorInB() { +Vector3 GodotSliderJoint3D::getAncorInB() { Vector3 ancorInB; ancorInB = m_frameInB.origin; return ancorInB; -} // SliderJointSW::getAncorInB(); +} -void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) { +void GodotSliderJoint3D::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) { switch (p_param) { case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: m_upperLinLimit = p_value; @@ -439,7 +437,7 @@ void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_ } } -real_t SliderJoint3DSW::get_param(PhysicsServer3D::SliderJointParam p_param) const { +real_t GodotSliderJoint3D::get_param(PhysicsServer3D::SliderJointParam p_param) const { switch (p_param) { case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER: return m_upperLinLimit; diff --git a/servers/physics_3d/joints/slider_joint_3d_sw.h b/servers/physics_3d/joints/godot_slider_joint_3d.h similarity index 94% rename from servers/physics_3d/joints/slider_joint_3d_sw.h rename to servers/physics_3d/joints/godot_slider_joint_3d.h index d32ad9469e..9baaf1fa40 100644 --- a/servers/physics_3d/joints/slider_joint_3d_sw.h +++ b/servers/physics_3d/joints/godot_slider_joint_3d.h @@ -1,5 +1,5 @@ /*************************************************************************/ -/* slider_joint_3d_sw.h */ +/* godot_slider_joint_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ @@ -32,11 +32,11 @@ Adapted to Godot from the Bullet library. */ -#ifndef SLIDER_JOINT_SW_H -#define SLIDER_JOINT_SW_H +#ifndef GODOT_SLIDER_JOINT_3D_H +#define GODOT_SLIDER_JOINT_3D_H -#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h" -#include "servers/physics_3d/joints_3d_sw.h" +#include "servers/physics_3d/godot_joint_3d.h" +#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h" /* Bullet Continuous Collision Detection and Physics Library @@ -65,15 +65,15 @@ April 04, 2008 //----------------------------------------------------------------------------- -class SliderJoint3DSW : public Joint3DSW { +class GodotSliderJoint3D : public GodotJoint3D { protected: union { struct { - Body3DSW *A; - Body3DSW *B; + GodotBody3D *A; + GodotBody3D *B; }; - Body3DSW *_arr[2] = { nullptr, nullptr }; + GodotBody3D *_arr[2] = { nullptr, nullptr }; }; Transform3D m_frameInA; @@ -114,10 +114,10 @@ protected: bool m_solveLinLim = false; bool m_solveAngLim = false; - JacobianEntry3DSW m_jacLin[3] = {}; + GodotJacobianEntry3D m_jacLin[3] = {}; real_t m_jacLinDiagABInv[3] = {}; - JacobianEntry3DSW m_jacAng[3] = {}; + GodotJacobianEntry3D m_jacAng[3] = {}; real_t m_timeStep = 0.0; Transform3D m_calculatedTransformA; @@ -149,13 +149,13 @@ protected: public: // constructors - SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB); + GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB); //SliderJointSW(); // overrides // access - const Body3DSW *getRigidBodyA() const { return A; } - const Body3DSW *getRigidBodyB() const { return B; } + const GodotBody3D *getRigidBodyA() const { return A; } + const GodotBody3D *getRigidBodyB() const { return B; } const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; } const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; } const Transform3D &getFrameOffsetA() const { return m_frameInA; } @@ -243,4 +243,4 @@ public: virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_SLIDER; } }; -#endif // SLIDER_JOINT_SW_H +#endif // GODOT_SLIDER_JOINT_3D_H diff --git a/servers/physics_3d/physics_server_3d_sw.cpp b/servers/physics_3d/physics_server_3d_sw.cpp deleted file mode 100644 index b16e199a03..0000000000 --- a/servers/physics_3d/physics_server_3d_sw.cpp +++ /dev/null @@ -1,1748 +0,0 @@ -/*************************************************************************/ -/* physics_server_3d_sw.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 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 "physics_server_3d_sw.h" - -#include "body_direct_state_3d_sw.h" -#include "broad_phase_3d_bvh.h" -#include "core/debugger/engine_debugger.h" -#include "core/os/os.h" -#include "joints/cone_twist_joint_3d_sw.h" -#include "joints/generic_6dof_joint_3d_sw.h" -#include "joints/hinge_joint_3d_sw.h" -#include "joints/pin_joint_3d_sw.h" -#include "joints/slider_joint_3d_sw.h" - -#define FLUSH_QUERY_CHECK(m_object) \ - ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead."); - -RID PhysicsServer3DSW::world_boundary_shape_create() { - Shape3DSW *shape = memnew(WorldBoundaryShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::separation_ray_shape_create() { - Shape3DSW *shape = memnew(SeparationRayShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::sphere_shape_create() { - Shape3DSW *shape = memnew(SphereShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::box_shape_create() { - Shape3DSW *shape = memnew(BoxShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::capsule_shape_create() { - Shape3DSW *shape = memnew(CapsuleShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::cylinder_shape_create() { - Shape3DSW *shape = memnew(CylinderShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::convex_polygon_shape_create() { - Shape3DSW *shape = memnew(ConvexPolygonShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::concave_polygon_shape_create() { - Shape3DSW *shape = memnew(ConcavePolygonShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::heightmap_shape_create() { - Shape3DSW *shape = memnew(HeightMapShape3DSW); - RID rid = shape_owner.make_rid(shape); - shape->set_self(rid); - return rid; -} -RID PhysicsServer3DSW::custom_shape_create() { - ERR_FAIL_V(RID()); -} - -void PhysicsServer3DSW::shape_set_data(RID p_shape, const Variant &p_data) { - Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - shape->set_data(p_data); -}; - -void PhysicsServer3DSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { - Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - shape->set_custom_bias(p_bias); -} - -PhysicsServer3D::ShapeType PhysicsServer3DSW::shape_get_type(RID p_shape) const { - const Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM); - return shape->get_type(); -}; - -Variant PhysicsServer3DSW::shape_get_data(RID p_shape) const { - const Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, Variant()); - ERR_FAIL_COND_V(!shape->is_configured(), Variant()); - return shape->get_data(); -}; - -void PhysicsServer3DSW::shape_set_margin(RID p_shape, real_t p_margin) { -} - -real_t PhysicsServer3DSW::shape_get_margin(RID p_shape) const { - return 0.0; -} - -real_t PhysicsServer3DSW::shape_get_custom_solver_bias(RID p_shape) const { - const Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND_V(!shape, 0); - return shape->get_custom_bias(); -} - -RID PhysicsServer3DSW::space_create() { - Space3DSW *space = memnew(Space3DSW); - RID id = space_owner.make_rid(space); - space->set_self(id); - RID area_id = area_create(); - Area3DSW *area = area_owner.get_or_null(area_id); - ERR_FAIL_COND_V(!area, RID()); - space->set_default_area(area); - area->set_space(space); - area->set_priority(-1); - RID sgb = body_create(); - body_set_space(sgb, id); - body_set_mode(sgb, BODY_MODE_STATIC); - space->set_static_global_body(sgb); - - return id; -}; - -void PhysicsServer3DSW::space_set_active(RID p_space, bool p_active) { - Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - if (p_active) { - active_spaces.insert(space); - } else { - active_spaces.erase(space); - } -} - -bool PhysicsServer3DSW::space_is_active(RID p_space) const { - const Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, false); - - return active_spaces.has(space); -} - -void PhysicsServer3DSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) { - Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - - space->set_param(p_param, p_value); -} - -real_t PhysicsServer3DSW::space_get_param(RID p_space, SpaceParameter p_param) const { - const Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_param(p_param); -} - -PhysicsDirectSpaceState3D *PhysicsServer3DSW::space_get_direct_state(RID p_space) { - Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, nullptr); - ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification."); - - return space->get_direct_state(); -} - -void PhysicsServer3DSW::space_set_debug_contacts(RID p_space, int p_max_contacts) { - Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - space->set_debug_contacts(p_max_contacts); -} - -Vector PhysicsServer3DSW::space_get_contacts(RID p_space) const { - Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, Vector()); - return space->get_debug_contacts(); -} - -int PhysicsServer3DSW::space_get_contact_count(RID p_space) const { - Space3DSW *space = space_owner.get_or_null(p_space); - ERR_FAIL_COND_V(!space, 0); - return space->get_debug_contact_count(); -} - -RID PhysicsServer3DSW::area_create() { - Area3DSW *area = memnew(Area3DSW); - RID rid = area_owner.make_rid(area); - area->set_self(rid); - return rid; -}; - -void PhysicsServer3DSW::area_set_space(RID p_area, RID p_space) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - Space3DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - } - - if (area->get_space() == space) { - return; //pointless - } - - area->clear_constraints(); - area->set_space(space); -}; - -RID PhysicsServer3DSW::area_get_space(RID p_area) const { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, RID()); - - Space3DSW *space = area->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -}; - -void PhysicsServer3DSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_space_override_mode(p_mode); -} - -PhysicsServer3D::AreaSpaceOverrideMode PhysicsServer3DSW::area_get_space_override_mode(RID p_area) const { - const Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED); - - return area->get_space_override_mode(); -} - -void PhysicsServer3DSW::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - area->add_shape(shape, p_transform, p_disabled); -} - -void PhysicsServer3DSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - ERR_FAIL_COND(!shape->is_configured()); - - area->set_shape(p_shape_idx, shape); -} - -void PhysicsServer3DSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_shape_transform(p_shape_idx, p_transform); -} - -int PhysicsServer3DSW::area_get_shape_count(RID p_area) const { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, -1); - - return area->get_shape_count(); -} - -RID PhysicsServer3DSW::area_get_shape(RID p_area, int p_shape_idx) const { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, RID()); - - Shape3DSW *shape = area->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -Transform3D PhysicsServer3DSW::area_get_shape_transform(RID p_area, int p_shape_idx) const { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Transform3D()); - - return area->get_shape_transform(p_shape_idx); -} - -void PhysicsServer3DSW::area_remove_shape(RID p_area, int p_shape_idx) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->remove_shape(p_shape_idx); -} - -void PhysicsServer3DSW::area_clear_shapes(RID p_area) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - while (area->get_shape_count()) { - area->remove_shape(0); - } -} - -void PhysicsServer3DSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count()); - FLUSH_QUERY_CHECK(area); - area->set_shape_disabled(p_shape_idx, p_disabled); -} - -void PhysicsServer3DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) { - if (space_owner.owns(p_area)) { - Space3DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_instance_id(p_id); -} - -ObjectID PhysicsServer3DSW::area_get_object_instance_id(RID p_area) const { - if (space_owner.owns(p_area)) { - Space3DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, ObjectID()); - return area->get_instance_id(); -} - -void PhysicsServer3DSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) { - if (space_owner.owns(p_area)) { - Space3DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_param(p_param, p_value); -}; - -void PhysicsServer3DSW::area_set_transform(RID p_area, const Transform3D &p_transform) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - area->set_transform(p_transform); -}; - -Variant PhysicsServer3DSW::area_get_param(RID p_area, AreaParameter p_param) const { - if (space_owner.owns(p_area)) { - Space3DSW *space = space_owner.get_or_null(p_area); - p_area = space->get_default_area()->get_self(); - } - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Variant()); - - return area->get_param(p_param); -}; - -Transform3D PhysicsServer3DSW::area_get_transform(RID p_area) const { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND_V(!area, Transform3D()); - - return area->get_transform(); -}; - -void PhysicsServer3DSW::area_set_collision_layer(RID p_area, uint32_t p_layer) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_collision_layer(p_layer); -} - -void PhysicsServer3DSW::area_set_collision_mask(RID p_area, uint32_t p_mask) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_collision_mask(p_mask); -} - -void PhysicsServer3DSW::area_set_monitorable(RID p_area, bool p_monitorable) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - FLUSH_QUERY_CHECK(area); - - area->set_monitorable(p_monitorable); -} - -void PhysicsServer3DSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); -} - -void PhysicsServer3DSW::area_set_ray_pickable(RID p_area, bool p_enable) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_ray_pickable(p_enable); -} - -void PhysicsServer3DSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) { - Area3DSW *area = area_owner.get_or_null(p_area); - ERR_FAIL_COND(!area); - - area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method); -} - -/* BODY API */ - -RID PhysicsServer3DSW::body_create() { - Body3DSW *body = memnew(Body3DSW); - RID rid = body_owner.make_rid(body); - body->set_self(rid); - return rid; -}; - -void PhysicsServer3DSW::body_set_space(RID p_body, RID p_space) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - Space3DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - } - - if (body->get_space() == space) { - return; //pointless - } - - body->clear_constraint_map(); - body->set_space(space); -}; - -RID PhysicsServer3DSW::body_get_space(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - Space3DSW *space = body->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -}; - -void PhysicsServer3DSW::body_set_mode(RID p_body, BodyMode p_mode) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_mode(p_mode); -}; - -PhysicsServer3D::BodyMode PhysicsServer3DSW::body_get_mode(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, BODY_MODE_STATIC); - - return body->get_mode(); -}; - -void PhysicsServer3DSW::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - - body->add_shape(shape, p_transform, p_disabled); -} - -void PhysicsServer3DSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - Shape3DSW *shape = shape_owner.get_or_null(p_shape); - ERR_FAIL_COND(!shape); - ERR_FAIL_COND(!shape->is_configured()); - - body->set_shape(p_shape_idx, shape); -} -void PhysicsServer3DSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_shape_transform(p_shape_idx, p_transform); -} - -int PhysicsServer3DSW::body_get_shape_count(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, -1); - - return body->get_shape_count(); -} - -RID PhysicsServer3DSW::body_get_shape(RID p_body, int p_shape_idx) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, RID()); - - Shape3DSW *shape = body->get_shape(p_shape_idx); - ERR_FAIL_COND_V(!shape, RID()); - - return shape->get_self(); -} - -void PhysicsServer3DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count()); - FLUSH_QUERY_CHECK(body); - - body->set_shape_disabled(p_shape_idx, p_disabled); -} - -Transform3D PhysicsServer3DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Transform3D()); - - return body->get_shape_transform(p_shape_idx); -} - -void PhysicsServer3DSW::body_remove_shape(RID p_body, int p_shape_idx) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->remove_shape(p_shape_idx); -} - -void PhysicsServer3DSW::body_clear_shapes(RID p_body) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - while (body->get_shape_count()) { - body->remove_shape(0); - } -} - -void PhysicsServer3DSW::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_continuous_collision_detection(p_enable); -} - -bool PhysicsServer3DSW::body_is_continuous_collision_detection_enabled(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - - return body->is_continuous_collision_detection_enabled(); -} - -void PhysicsServer3DSW::body_set_collision_layer(RID p_body, uint32_t p_layer) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_collision_layer(p_layer); - body->wakeup(); -} - -uint32_t PhysicsServer3DSW::body_get_collision_layer(RID p_body) const { - const Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_layer(); -} - -void PhysicsServer3DSW::body_set_collision_mask(RID p_body, uint32_t p_mask) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_collision_mask(p_mask); - body->wakeup(); -} - -uint32_t PhysicsServer3DSW::body_get_collision_mask(RID p_body) const { - const Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_collision_mask(); -} - -void PhysicsServer3DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) { - Body3DSW *body = body_owner.get_or_null(p_body); - if (body) { - body->set_instance_id(p_id); - return; - } - - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - if (soft_body) { - soft_body->set_instance_id(p_id); - return; - } - - ERR_FAIL_MSG("Invalid ID."); -}; - -ObjectID PhysicsServer3DSW::body_get_object_instance_id(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, ObjectID()); - - return body->get_instance_id(); -}; - -void PhysicsServer3DSW::body_set_user_flags(RID p_body, uint32_t p_flags) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); -}; - -uint32_t PhysicsServer3DSW::body_get_user_flags(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return 0; -}; - -void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_param(p_param, p_value); -}; - -Variant PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - - return body->get_param(p_param); -}; - -void PhysicsServer3DSW::body_reset_mass_properties(RID p_body) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - return body->reset_mass_properties(); -} - -void PhysicsServer3DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_state(p_state, p_variant); -}; - -Variant PhysicsServer3DSW::body_get_state(RID p_body, BodyState p_state) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Variant()); - - return body->get_state(p_state); -}; - -void PhysicsServer3DSW::body_set_applied_force(RID p_body, const Vector3 &p_force) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_force(p_force); - body->wakeup(); -}; - -Vector3 PhysicsServer3DSW::body_get_applied_force(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3()); - return body->get_applied_force(); -}; - -void PhysicsServer3DSW::body_set_applied_torque(RID p_body, const Vector3 &p_torque) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_applied_torque(p_torque); - body->wakeup(); -}; - -Vector3 PhysicsServer3DSW::body_get_applied_torque(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, Vector3()); - - return body->get_applied_torque(); -}; - -void PhysicsServer3DSW::body_add_central_force(RID p_body, const Vector3 &p_force) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_central_force(p_force); - body->wakeup(); -} - -void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_force(p_force, p_position); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_add_torque(RID p_body, const Vector3 &p_torque) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_torque(p_torque); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_central_impulse(p_impulse); - body->wakeup(); -} - -void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_impulse(p_impulse, p_position); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - body->apply_torque_impulse(p_impulse); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - _update_shapes(); - - Vector3 v = body->get_linear_velocity(); - Vector3 axis = p_axis_velocity.normalized(); - v -= axis * axis.dot(v); - v += p_axis_velocity; - body->set_linear_velocity(v); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_axis_lock(p_axis, p_lock); - body->wakeup(); -} - -bool PhysicsServer3DSW::body_is_axis_locked(RID p_body, BodyAxis p_axis) const { - const Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - return body->is_axis_locked(p_axis); -} - -void PhysicsServer3DSW::body_add_collision_exception(RID p_body, RID p_body_b) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->add_exception(p_body_b); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_remove_collision_exception(RID p_body, RID p_body_b) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->remove_exception(p_body_b); - body->wakeup(); -}; - -void PhysicsServer3DSW::body_get_collision_exceptions(RID p_body, List *p_exceptions) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - for (int i = 0; i < body->get_exceptions().size(); i++) { - p_exceptions->push_back(body->get_exceptions()[i]); - } -}; - -void PhysicsServer3DSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); -}; - -real_t PhysicsServer3DSW::body_get_contacts_reported_depth_threshold(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, 0); - return 0; -}; - -void PhysicsServer3DSW::body_set_omit_force_integration(RID p_body, bool p_omit) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - - body->set_omit_force_integration(p_omit); -}; - -bool PhysicsServer3DSW::body_is_omitting_force_integration(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - return body->get_omit_force_integration(); -}; - -void PhysicsServer3DSW::body_set_max_contacts_reported(RID p_body, int p_contacts) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_max_contacts_reported(p_contacts); -} - -int PhysicsServer3DSW::body_get_max_contacts_reported(RID p_body) const { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, -1); - return body->get_max_contacts_reported(); -} - -void PhysicsServer3DSW::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_state_sync_callback(p_instance, p_callback); -} - -void PhysicsServer3DSW::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_force_integration_callback(p_callable, p_udata); -} - -void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND(!body); - body->set_ray_pickable(p_enable); -} - -bool PhysicsServer3DSW::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) { - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!body, false); - ERR_FAIL_COND_V(!body->get_space(), false); - ERR_FAIL_COND_V(body->get_space()->is_locked(), false); - - _update_shapes(); - - return body->get_space()->test_body_motion(body, p_parameters, r_result); -} - -PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) { - ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - - Body3DSW *body = body_owner.get_or_null(p_body); - ERR_FAIL_NULL_V(body, nullptr); - - ERR_FAIL_NULL_V(body->get_space(), nullptr); - ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification."); - - return body->get_direct_state(); -} - -/* SOFT BODY */ - -RID PhysicsServer3DSW::soft_body_create() { - SoftBody3DSW *soft_body = memnew(SoftBody3DSW); - RID rid = soft_body_owner.make_rid(soft_body); - soft_body->set_self(rid); - return rid; -} - -void PhysicsServer3DSW::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->update_rendering_server(p_rendering_server_handler); -} - -void PhysicsServer3DSW::soft_body_set_space(RID p_body, RID p_space) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - Space3DSW *space = nullptr; - if (p_space.is_valid()) { - space = space_owner.get_or_null(p_space); - ERR_FAIL_COND(!space); - } - - if (soft_body->get_space() == space) { - return; - } - - soft_body->set_space(space); -} - -RID PhysicsServer3DSW::soft_body_get_space(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, RID()); - - Space3DSW *space = soft_body->get_space(); - if (!space) { - return RID(); - } - return space->get_self(); -} - -void PhysicsServer3DSW::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_collision_layer(p_layer); -} - -uint32_t PhysicsServer3DSW::soft_body_get_collision_layer(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0); - - return soft_body->get_collision_layer(); -} - -void PhysicsServer3DSW::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_collision_mask(p_mask); -} - -uint32_t PhysicsServer3DSW::soft_body_get_collision_mask(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0); - - return soft_body->get_collision_mask(); -} - -void PhysicsServer3DSW::soft_body_add_collision_exception(RID p_body, RID p_body_b) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->add_exception(p_body_b); -} - -void PhysicsServer3DSW::soft_body_remove_collision_exception(RID p_body, RID p_body_b) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->remove_exception(p_body_b); -} - -void PhysicsServer3DSW::soft_body_get_collision_exceptions(RID p_body, List *p_exceptions) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - for (int i = 0; i < soft_body->get_exceptions().size(); i++) { - p_exceptions->push_back(soft_body->get_exceptions()[i]); - } -} - -void PhysicsServer3DSW::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_state(p_state, p_variant); -} - -Variant PhysicsServer3DSW::soft_body_get_state(RID p_body, BodyState p_state) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, Variant()); - - return soft_body->get_state(p_state); -} - -void PhysicsServer3DSW::soft_body_set_transform(RID p_body, const Transform3D &p_transform) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_state(BODY_STATE_TRANSFORM, p_transform); -} - -void PhysicsServer3DSW::soft_body_set_ray_pickable(RID p_body, bool p_enable) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_ray_pickable(p_enable); -} - -void PhysicsServer3DSW::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_iteration_count(p_simulation_precision); -} - -int PhysicsServer3DSW::soft_body_get_simulation_precision(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0.f); - - return soft_body->get_iteration_count(); -} - -void PhysicsServer3DSW::soft_body_set_total_mass(RID p_body, real_t p_total_mass) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_total_mass(p_total_mass); -} - -real_t PhysicsServer3DSW::soft_body_get_total_mass(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0.f); - - return soft_body->get_total_mass(); -} - -void PhysicsServer3DSW::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_linear_stiffness(p_stiffness); -} - -real_t PhysicsServer3DSW::soft_body_get_linear_stiffness(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0.f); - - return soft_body->get_linear_stiffness(); -} - -void PhysicsServer3DSW::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_pressure_coefficient(p_pressure_coefficient); -} - -real_t PhysicsServer3DSW::soft_body_get_pressure_coefficient(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0.f); - - return soft_body->get_pressure_coefficient(); -} - -void PhysicsServer3DSW::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_damping_coefficient(p_damping_coefficient); -} - -real_t PhysicsServer3DSW::soft_body_get_damping_coefficient(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0.f); - - return soft_body->get_damping_coefficient(); -} - -void PhysicsServer3DSW::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_drag_coefficient(p_drag_coefficient); -} - -real_t PhysicsServer3DSW::soft_body_get_drag_coefficient(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, 0.f); - - return soft_body->get_drag_coefficient(); -} - -void PhysicsServer3DSW::soft_body_set_mesh(RID p_body, RID p_mesh) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_mesh(p_mesh); -} - -AABB PhysicsServer3DSW::soft_body_get_bounds(RID p_body) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, AABB()); - - return soft_body->get_bounds(); -} - -void PhysicsServer3DSW::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->set_vertex_position(p_point_index, p_global_position); -} - -Vector3 PhysicsServer3DSW::soft_body_get_point_global_position(RID p_body, int p_point_index) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, Vector3()); - - return soft_body->get_vertex_position(p_point_index); -} - -void PhysicsServer3DSW::soft_body_remove_all_pinned_points(RID p_body) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - soft_body->unpin_all_vertices(); -} - -void PhysicsServer3DSW::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND(!soft_body); - - if (p_pin) { - soft_body->pin_vertex(p_point_index); - } else { - soft_body->unpin_vertex(p_point_index); - } -} - -bool PhysicsServer3DSW::soft_body_is_point_pinned(RID p_body, int p_point_index) const { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body); - ERR_FAIL_COND_V(!soft_body, false); - - return soft_body->is_vertex_pinned(p_point_index); -} - -/* JOINT API */ - -RID PhysicsServer3DSW::joint_create() { - Joint3DSW *joint = memnew(Joint3DSW); - RID rid = joint_owner.make_rid(joint); - joint->set_self(rid); - return rid; -} - -void PhysicsServer3DSW::joint_clear(RID p_joint) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - if (joint->get_type() != JOINT_TYPE_MAX) { - Joint3DSW *empty_joint = memnew(Joint3DSW); - empty_joint->copy_settings_from(joint); - - joint_owner.replace(p_joint, empty_joint); - memdelete(joint); - } -} - -void PhysicsServer3DSW::joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) { - Body3DSW *body_A = body_owner.get_or_null(p_body_A); - ERR_FAIL_COND(!body_A); - - if (!p_body_B.is_valid()) { - ERR_FAIL_COND(!body_A->get_space()); - p_body_B = body_A->get_space()->get_static_global_body(); - } - - Body3DSW *body_B = body_owner.get_or_null(p_body_B); - ERR_FAIL_COND(!body_B); - - ERR_FAIL_COND(body_A == body_B); - - Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint3DSW *joint = memnew(PinJoint3DSW(body_A, p_local_A, body_B, p_local_B)); - - joint->copy_settings_from(prev_joint); - joint_owner.replace(p_joint, joint); - memdelete(prev_joint); -} - -void PhysicsServer3DSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); - PinJoint3DSW *pin_joint = static_cast(joint); - pin_joint->set_param(p_param, p_value); -} - -real_t PhysicsServer3DSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0); - PinJoint3DSW *pin_joint = static_cast(joint); - return pin_joint->get_param(p_param); -} - -void PhysicsServer3DSW::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); - PinJoint3DSW *pin_joint = static_cast(joint); - pin_joint->set_pos_a(p_A); -} - -Vector3 PhysicsServer3DSW::pin_joint_get_local_a(RID p_joint) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, Vector3()); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3()); - PinJoint3DSW *pin_joint = static_cast(joint); - return pin_joint->get_position_a(); -} - -void PhysicsServer3DSW::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN); - PinJoint3DSW *pin_joint = static_cast(joint); - pin_joint->set_pos_b(p_B); -} - -Vector3 PhysicsServer3DSW::pin_joint_get_local_b(RID p_joint) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, Vector3()); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3()); - PinJoint3DSW *pin_joint = static_cast(joint); - return pin_joint->get_position_b(); -} - -void PhysicsServer3DSW::joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_frame_A, RID p_body_B, const Transform3D &p_frame_B) { - Body3DSW *body_A = body_owner.get_or_null(p_body_A); - ERR_FAIL_COND(!body_A); - - if (!p_body_B.is_valid()) { - ERR_FAIL_COND(!body_A->get_space()); - p_body_B = body_A->get_space()->get_static_global_body(); - } - - Body3DSW *body_B = body_owner.get_or_null(p_body_B); - ERR_FAIL_COND(!body_B); - - ERR_FAIL_COND(body_A == body_B); - - Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint3DSW *joint = memnew(HingeJoint3DSW(body_A, body_B, p_frame_A, p_frame_B)); - - joint->copy_settings_from(prev_joint); - joint_owner.replace(p_joint, joint); - memdelete(prev_joint); -} - -void PhysicsServer3DSW::joint_make_hinge_simple(RID p_joint, RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B) { - Body3DSW *body_A = body_owner.get_or_null(p_body_A); - ERR_FAIL_COND(!body_A); - - if (!p_body_B.is_valid()) { - ERR_FAIL_COND(!body_A->get_space()); - p_body_B = body_A->get_space()->get_static_global_body(); - } - - Body3DSW *body_B = body_owner.get_or_null(p_body_B); - ERR_FAIL_COND(!body_B); - - ERR_FAIL_COND(body_A == body_B); - - Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint3DSW *joint = memnew(HingeJoint3DSW(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B)); - - joint->copy_settings_from(prev_joint); - joint_owner.replace(p_joint, joint); - memdelete(prev_joint); -} - -void PhysicsServer3DSW::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE); - HingeJoint3DSW *hinge_joint = static_cast(joint); - hinge_joint->set_param(p_param, p_value); -} - -real_t PhysicsServer3DSW::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0); - HingeJoint3DSW *hinge_joint = static_cast(joint); - return hinge_joint->get_param(p_param); -} - -void PhysicsServer3DSW::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE); - HingeJoint3DSW *hinge_joint = static_cast(joint); - hinge_joint->set_flag(p_flag, p_value); -} - -bool PhysicsServer3DSW::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, false); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false); - HingeJoint3DSW *hinge_joint = static_cast(joint); - return hinge_joint->get_flag(p_flag); -} - -void PhysicsServer3DSW::joint_set_solver_priority(RID p_joint, int p_priority) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - joint->set_priority(p_priority); -} - -int PhysicsServer3DSW::joint_get_solver_priority(RID p_joint) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - return joint->get_priority(); -} - -void PhysicsServer3DSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - - joint->disable_collisions_between_bodies(p_disable); - - if (2 == joint->get_body_count()) { - Body3DSW *body_a = *joint->get_body_ptr(); - Body3DSW *body_b = *(joint->get_body_ptr() + 1); - - if (p_disable) { - body_add_collision_exception(body_a->get_self(), body_b->get_self()); - body_add_collision_exception(body_b->get_self(), body_a->get_self()); - } else { - body_remove_collision_exception(body_a->get_self(), body_b->get_self()); - body_remove_collision_exception(body_b->get_self(), body_a->get_self()); - } - } -} - -bool PhysicsServer3DSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, true); - - return joint->is_disabled_collisions_between_bodies(); -} - -PhysicsServer3DSW::JointType PhysicsServer3DSW::joint_get_type(RID p_joint) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN); - return joint->get_type(); -} - -void PhysicsServer3DSW::joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { - Body3DSW *body_A = body_owner.get_or_null(p_body_A); - ERR_FAIL_COND(!body_A); - - if (!p_body_B.is_valid()) { - ERR_FAIL_COND(!body_A->get_space()); - p_body_B = body_A->get_space()->get_static_global_body(); - } - - Body3DSW *body_B = body_owner.get_or_null(p_body_B); - ERR_FAIL_COND(!body_B); - - ERR_FAIL_COND(body_A == body_B); - - Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint3DSW *joint = memnew(SliderJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B)); - - joint->copy_settings_from(prev_joint); - joint_owner.replace(p_joint, joint); - memdelete(prev_joint); -} - -void PhysicsServer3DSW::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER); - SliderJoint3DSW *slider_joint = static_cast(joint); - slider_joint->set_param(p_param, p_value); -} - -real_t PhysicsServer3DSW::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0); - SliderJoint3DSW *slider_joint = static_cast(joint); - return slider_joint->get_param(p_param); -} - -void PhysicsServer3DSW::joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { - Body3DSW *body_A = body_owner.get_or_null(p_body_A); - ERR_FAIL_COND(!body_A); - - if (!p_body_B.is_valid()) { - ERR_FAIL_COND(!body_A->get_space()); - p_body_B = body_A->get_space()->get_static_global_body(); - } - - Body3DSW *body_B = body_owner.get_or_null(p_body_B); - ERR_FAIL_COND(!body_B); - - ERR_FAIL_COND(body_A == body_B); - - Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint3DSW *joint = memnew(ConeTwistJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B)); - - joint->copy_settings_from(prev_joint); - joint_owner.replace(p_joint, joint); - memdelete(prev_joint); -} - -void PhysicsServer3DSW::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST); - ConeTwistJoint3DSW *cone_twist_joint = static_cast(joint); - cone_twist_joint->set_param(p_param, p_value); -} - -real_t PhysicsServer3DSW::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0); - ConeTwistJoint3DSW *cone_twist_joint = static_cast(joint); - return cone_twist_joint->get_param(p_param); -} - -void PhysicsServer3DSW::joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) { - Body3DSW *body_A = body_owner.get_or_null(p_body_A); - ERR_FAIL_COND(!body_A); - - if (!p_body_B.is_valid()) { - ERR_FAIL_COND(!body_A->get_space()); - p_body_B = body_A->get_space()->get_static_global_body(); - } - - Body3DSW *body_B = body_owner.get_or_null(p_body_B); - ERR_FAIL_COND(!body_B); - - ERR_FAIL_COND(body_A == body_B); - - Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(prev_joint == nullptr); - - Joint3DSW *joint = memnew(Generic6DOFJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B, true)); - - joint->copy_settings_from(prev_joint); - joint_owner.replace(p_joint, joint); - memdelete(prev_joint); -} - -void PhysicsServer3DSW::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF); - Generic6DOFJoint3DSW *generic_6dof_joint = static_cast(joint); - generic_6dof_joint->set_param(p_axis, p_param, p_value); -} - -real_t PhysicsServer3DSW::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, 0); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0); - Generic6DOFJoint3DSW *generic_6dof_joint = static_cast(joint); - return generic_6dof_joint->get_param(p_axis, p_param); -} - -void PhysicsServer3DSW::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND(!joint); - ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF); - Generic6DOFJoint3DSW *generic_6dof_joint = static_cast(joint); - generic_6dof_joint->set_flag(p_axis, p_flag, p_enable); -} - -bool PhysicsServer3DSW::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) const { - Joint3DSW *joint = joint_owner.get_or_null(p_joint); - ERR_FAIL_COND_V(!joint, false); - ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false); - Generic6DOFJoint3DSW *generic_6dof_joint = static_cast(joint); - return generic_6dof_joint->get_flag(p_axis, p_flag); -} - -void PhysicsServer3DSW::free(RID p_rid) { - _update_shapes(); //just in case - - if (shape_owner.owns(p_rid)) { - Shape3DSW *shape = shape_owner.get_or_null(p_rid); - - while (shape->get_owners().size()) { - ShapeOwner3DSW *so = shape->get_owners().front()->key(); - so->remove_shape(shape); - } - - shape_owner.free(p_rid); - memdelete(shape); - } else if (body_owner.owns(p_rid)) { - Body3DSW *body = body_owner.get_or_null(p_rid); - - /* - if (body->get_state_query()) - _clear_query(body->get_state_query()); - - if (body->get_direct_state_query()) - _clear_query(body->get_direct_state_query()); - */ - - body->set_space(nullptr); - - while (body->get_shape_count()) { - body->remove_shape(0); - } - - body_owner.free(p_rid); - memdelete(body); - } else if (soft_body_owner.owns(p_rid)) { - SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_rid); - - soft_body->set_space(nullptr); - - soft_body_owner.free(p_rid); - memdelete(soft_body); - } else if (area_owner.owns(p_rid)) { - Area3DSW *area = area_owner.get_or_null(p_rid); - - /* - if (area->get_monitor_query()) - _clear_query(area->get_monitor_query()); - */ - - area->set_space(nullptr); - - while (area->get_shape_count()) { - area->remove_shape(0); - } - - area_owner.free(p_rid); - memdelete(area); - } else if (space_owner.owns(p_rid)) { - Space3DSW *space = space_owner.get_or_null(p_rid); - - while (space->get_objects().size()) { - CollisionObject3DSW *co = (CollisionObject3DSW *)space->get_objects().front()->get(); - co->set_space(nullptr); - } - - active_spaces.erase(space); - free(space->get_default_area()->get_self()); - free(space->get_static_global_body()); - - space_owner.free(p_rid); - memdelete(space); - } else if (joint_owner.owns(p_rid)) { - Joint3DSW *joint = joint_owner.get_or_null(p_rid); - - joint_owner.free(p_rid); - memdelete(joint); - - } else { - ERR_FAIL_MSG("Invalid ID."); - } -}; - -void PhysicsServer3DSW::set_active(bool p_active) { - active = p_active; -}; - -void PhysicsServer3DSW::set_collision_iterations(int p_iterations) { - iterations = p_iterations; -}; - -void PhysicsServer3DSW::init() { - iterations = 8; // 8? - stepper = memnew(Step3DSW); -}; - -void PhysicsServer3DSW::step(real_t p_step) { -#ifndef _3D_DISABLED - - if (!active) { - return; - } - - _update_shapes(); - - island_count = 0; - active_objects = 0; - collision_pairs = 0; - for (Set::Element *E = active_spaces.front(); E; E = E->next()) { - stepper->step((Space3DSW *)E->get(), p_step, iterations); - island_count += E->get()->get_island_count(); - active_objects += E->get()->get_active_objects(); - collision_pairs += E->get()->get_collision_pairs(); - } -#endif -} - -void PhysicsServer3DSW::sync() { - doing_sync = true; -}; - -void PhysicsServer3DSW::flush_queries() { -#ifndef _3D_DISABLED - - if (!active) { - return; - } - - flushing_queries = true; - - uint64_t time_beg = OS::get_singleton()->get_ticks_usec(); - - for (Set::Element *E = active_spaces.front(); E; E = E->next()) { - Space3DSW *space = (Space3DSW *)E->get(); - space->call_queries(); - } - - flushing_queries = false; - - if (EngineDebugger::is_profiling("servers")) { - uint64_t total_time[Space3DSW::ELAPSED_TIME_MAX]; - static const char *time_name[Space3DSW::ELAPSED_TIME_MAX] = { - "integrate_forces", - "generate_islands", - "setup_constraints", - "solve_constraints", - "integrate_velocities" - }; - - for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) { - total_time[i] = 0; - } - - for (Set::Element *E = active_spaces.front(); E; E = E->next()) { - for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) { - total_time[i] += E->get()->get_elapsed_time(Space3DSW::ElapsedTime(i)); - } - } - - Array values; - values.resize(Space3DSW::ELAPSED_TIME_MAX * 2); - for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) { - values[i * 2 + 0] = time_name[i]; - values[i * 2 + 1] = USEC_TO_SEC(total_time[i]); - } - values.push_back("flush_queries"); - values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg)); - - values.push_front("physics"); - EngineDebugger::profiler_add_frame_data("servers", values); - } -#endif -}; - -void PhysicsServer3DSW::end_sync() { - doing_sync = false; -}; - -void PhysicsServer3DSW::finish() { - memdelete(stepper); -}; - -int PhysicsServer3DSW::get_process_info(ProcessInfo p_info) { - switch (p_info) { - case INFO_ACTIVE_OBJECTS: { - return active_objects; - } break; - case INFO_COLLISION_PAIRS: { - return collision_pairs; - } break; - case INFO_ISLAND_COUNT: { - return island_count; - } break; - } - - return 0; -} - -void PhysicsServer3DSW::_update_shapes() { - while (pending_shape_update_list.first()) { - pending_shape_update_list.first()->self()->_shape_changed(); - pending_shape_update_list.remove(pending_shape_update_list.first()); - } -} - -void PhysicsServer3DSW::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) { - CollCbkData *cbk = (CollCbkData *)p_userdata; - - if (cbk->max == 0) { - return; - } - - if (cbk->amount == cbk->max) { - //find least deep - real_t min_depth = 1e20; - int min_depth_idx = 0; - for (int i = 0; i < cbk->amount; i++) { - real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]); - if (d < min_depth) { - min_depth = d; - min_depth_idx = i; - } - } - - real_t d = p_point_A.distance_squared_to(p_point_B); - if (d < min_depth) { - return; - } - cbk->ptr[min_depth_idx * 2 + 0] = p_point_A; - cbk->ptr[min_depth_idx * 2 + 1] = p_point_B; - - } else { - cbk->ptr[cbk->amount * 2 + 0] = p_point_A; - cbk->ptr[cbk->amount * 2 + 1] = p_point_B; - cbk->amount++; - } -} - -PhysicsServer3DSW *PhysicsServer3DSW::singletonsw = nullptr; -PhysicsServer3DSW::PhysicsServer3DSW(bool p_using_threads) { - singletonsw = this; - BroadPhase3DSW::create_func = BroadPhase3DBVH::_create; - - using_threads = p_using_threads; -}; diff --git a/servers/physics_server_2d.h b/servers/physics_server_2d.h index 26e1411111..f83c57407d 100644 --- a/servers/physics_server_2d.h +++ b/servers/physics_server_2d.h @@ -28,8 +28,8 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS_2D_SERVER_H -#define PHYSICS_2D_SERVER_H +#ifndef PHYSICS_SERVER_2D_H +#define PHYSICS_SERVER_2D_H #include "core/io/resource.h" #include "core/object/class_db.h" @@ -701,4 +701,4 @@ VARIANT_ENUM_CAST(PhysicsServer2D::DampedSpringParam); VARIANT_ENUM_CAST(PhysicsServer2D::AreaBodyStatus); VARIANT_ENUM_CAST(PhysicsServer2D::ProcessInfo); -#endif +#endif // PHYSICS_SERVER_2D_H diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.cpp b/servers/physics_server_2d_wrap_mt.cpp similarity index 100% rename from servers/physics_2d/physics_server_2d_wrap_mt.cpp rename to servers/physics_server_2d_wrap_mt.cpp diff --git a/servers/physics_2d/physics_server_2d_wrap_mt.h b/servers/physics_server_2d_wrap_mt.h similarity index 99% rename from servers/physics_2d/physics_server_2d_wrap_mt.h rename to servers/physics_server_2d_wrap_mt.h index 8d9e366661..927ef5d57c 100644 --- a/servers/physics_2d/physics_server_2d_wrap_mt.h +++ b/servers/physics_server_2d_wrap_mt.h @@ -28,8 +28,8 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS2DSERVERWRAPMT_H -#define PHYSICS2DSERVERWRAPMT_H +#ifndef PHYSICS_SERVER_2D_WRAP_MT_H +#define PHYSICS_SERVER_2D_WRAP_MT_H #include "core/config/project_settings.h" #include "core/os/thread.h" @@ -330,4 +330,4 @@ public: #endif #undef SYNC_DEBUG -#endif // PHYSICS2DSERVERWRAPMT_H +#endif // PHYSICS_SERVER_2D_WRAP_MT_H diff --git a/servers/physics_server_3d.h b/servers/physics_server_3d.h index c609afc11e..6f55e287c9 100644 --- a/servers/physics_server_3d.h +++ b/servers/physics_server_3d.h @@ -28,8 +28,8 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS_SERVER_H -#define PHYSICS_SERVER_H +#ifndef PHYSICS_SERVER_3D_H +#define PHYSICS_SERVER_3D_H #include "core/io/resource.h" #include "core/object/class_db.h" @@ -903,4 +903,4 @@ VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag); VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus); VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo); -#endif +#endif // PHYSICS_SERVER_3D_H diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.cpp b/servers/physics_server_3d_wrap_mt.cpp similarity index 100% rename from servers/physics_3d/physics_server_3d_wrap_mt.cpp rename to servers/physics_server_3d_wrap_mt.cpp diff --git a/servers/physics_3d/physics_server_3d_wrap_mt.h b/servers/physics_server_3d_wrap_mt.h similarity index 99% rename from servers/physics_3d/physics_server_3d_wrap_mt.h rename to servers/physics_server_3d_wrap_mt.h index 17d02addda..bf936fd0fc 100644 --- a/servers/physics_3d/physics_server_3d_wrap_mt.h +++ b/servers/physics_server_3d_wrap_mt.h @@ -28,8 +28,8 @@ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ -#ifndef PHYSICS3DSERVERWRAPMT_H -#define PHYSICS3DSERVERWRAPMT_H +#ifndef PHYSICS_SERVER_3D_WRAP_MT_H +#define PHYSICS_SERVER_3D_WRAP_MT_H #include "core/config/project_settings.h" #include "core/os/thread.h" @@ -406,4 +406,4 @@ public: #endif #undef SYNC_DEBUG -#endif // PHYSICS3DSERVERWRAPMT_H +#endif // PHYSICS_SERVER_3D_WRAP_MT_H diff --git a/servers/register_server_types.cpp b/servers/register_server_types.cpp index 28cd8374c0..de64773026 100644 --- a/servers/register_server_types.cpp +++ b/servers/register_server_types.cpp @@ -59,12 +59,12 @@ #include "display_server.h" #include "navigation_server_2d.h" #include "navigation_server_3d.h" -#include "physics_2d/physics_server_2d_sw.h" -#include "physics_2d/physics_server_2d_wrap_mt.h" -#include "physics_3d/physics_server_3d_sw.h" -#include "physics_3d/physics_server_3d_wrap_mt.h" +#include "physics_2d/godot_physics_server_2d.h" +#include "physics_3d/godot_physics_server_3d.h" #include "physics_server_2d.h" +#include "physics_server_2d_wrap_mt.h" #include "physics_server_3d.h" +#include "physics_server_3d_wrap_mt.h" #include "rendering/renderer_compositor.h" #include "rendering/rendering_device.h" #include "rendering/rendering_device_binds.h" @@ -82,7 +82,7 @@ ShaderTypes *shader_types = nullptr; PhysicsServer3D *_createGodotPhysics3DCallback() { bool using_threads = GLOBAL_GET("physics/3d/run_on_thread"); - PhysicsServer3D *physics_server = memnew(PhysicsServer3DSW(using_threads)); + PhysicsServer3D *physics_server = memnew(GodotPhysicsServer3D(using_threads)); return memnew(PhysicsServer3DWrapMT(physics_server, using_threads)); } @@ -90,7 +90,7 @@ PhysicsServer3D *_createGodotPhysics3DCallback() { PhysicsServer2D *_createGodotPhysics2DCallback() { bool using_threads = GLOBAL_GET("physics/2d/run_on_thread"); - PhysicsServer2D *physics_server = memnew(PhysicsServer2DSW(using_threads)); + PhysicsServer2D *physics_server = memnew(GodotPhysicsServer2D(using_threads)); return memnew(PhysicsServer2DWrapMT(physics_server, using_threads)); }