/*************************************************************************/ /* physics_server_sw.cpp */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #include "physics_server_sw.h" #include "broad_phase_basic.h" #include "broad_phase_octree.h" #include "joints/pin_joint_sw.h" #include "joints/hinge_joint_sw.h" #include "joints/slider_joint_sw.h" #include "joints/cone_twist_joint_sw.h" #include "joints/generic_6dof_joint_sw.h" RID PhysicsServerSW::shape_create(ShapeType p_shape) { ShapeSW *shape=NULL; switch(p_shape) { case SHAPE_PLANE: { shape=memnew( PlaneShapeSW ); } break; case SHAPE_RAY: { shape=memnew( RayShapeSW ); } break; case SHAPE_SPHERE: { shape=memnew( SphereShapeSW); } break; case SHAPE_BOX: { shape=memnew( BoxShapeSW); } break; case SHAPE_CAPSULE: { shape=memnew( CapsuleShapeSW ); } break; case SHAPE_CONVEX_POLYGON: { shape=memnew( ConvexPolygonShapeSW ); } break; case SHAPE_CONCAVE_POLYGON: { shape=memnew( ConcavePolygonShapeSW ); } break; case SHAPE_HEIGHTMAP: { shape=memnew( HeightMapShapeSW ); } break; case SHAPE_CUSTOM: { ERR_FAIL_V(RID()); } break; } RID id = shape_owner.make_rid(shape); shape->set_self(id); return id; }; void PhysicsServerSW::shape_set_data(RID p_shape, const Variant& p_data) { ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND(!shape); shape->set_data(p_data); }; void PhysicsServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) { ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND(!shape); shape->set_custom_bias(p_bias); } PhysicsServer::ShapeType PhysicsServerSW::shape_get_type(RID p_shape) const { const ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape,SHAPE_CUSTOM); return shape->get_type(); }; Variant PhysicsServerSW::shape_get_data(RID p_shape) const { const ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape,Variant()); ERR_FAIL_COND_V(!shape->is_configured(),Variant()); return shape->get_data(); }; real_t PhysicsServerSW::shape_get_custom_solver_bias(RID p_shape) const { const ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND_V(!shape,0); return shape->get_custom_bias(); } RID PhysicsServerSW::space_create() { SpaceSW *space = memnew( SpaceSW ); RID id = space_owner.make_rid(space); space->set_self(id); RID area_id = area_create(); AreaSW *area = area_owner.get(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 PhysicsServerSW::space_set_active(RID p_space,bool p_active) { SpaceSW *space = space_owner.get(p_space); ERR_FAIL_COND(!space); if (p_active) active_spaces.insert(space); else active_spaces.erase(space); } bool PhysicsServerSW::space_is_active(RID p_space) const { const SpaceSW *space = space_owner.get(p_space); ERR_FAIL_COND_V(!space,false); return active_spaces.has(space); } void PhysicsServerSW::space_set_param(RID p_space,SpaceParameter p_param, real_t p_value) { SpaceSW *space = space_owner.get(p_space); ERR_FAIL_COND(!space); space->set_param(p_param,p_value); } real_t PhysicsServerSW::space_get_param(RID p_space,SpaceParameter p_param) const { const SpaceSW *space = space_owner.get(p_space); ERR_FAIL_COND_V(!space,0); return space->get_param(p_param); } PhysicsDirectSpaceState* PhysicsServerSW::space_get_direct_state(RID p_space) { SpaceSW *space = space_owner.get(p_space); ERR_FAIL_COND_V(!space,NULL); if (!doing_sync || space->is_locked()) { ERR_EXPLAIN("Space state is inaccesible right now, wait for iteration or fixed process notification."); ERR_FAIL_V(NULL); } return space->get_direct_state(); } RID PhysicsServerSW::area_create() { AreaSW *area = memnew( AreaSW ); RID rid = area_owner.make_rid(area); area->set_self(rid); return rid; }; void PhysicsServerSW::area_set_space(RID p_area, RID p_space) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); SpaceSW *space=NULL; if (p_space.is_valid()) { space = space_owner.get(p_space); ERR_FAIL_COND(!space); } area->set_space(space); }; RID PhysicsServerSW::area_get_space(RID p_area) const { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,RID()); SpaceSW *space = area->get_space(); if (!space) return RID(); return space->get_self(); }; void PhysicsServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_space_override_mode(p_mode); } PhysicsServer::AreaSpaceOverrideMode PhysicsServerSW::area_get_space_override_mode(RID p_area) const { const AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,AREA_SPACE_OVERRIDE_DISABLED); return area->get_space_override_mode(); } void PhysicsServerSW::area_add_shape(RID p_area, RID p_shape, const Transform& p_transform) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND(!shape); area->add_shape(shape,p_transform); } void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx,RID p_shape) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND(!shape); ERR_FAIL_COND(!shape->is_configured()); area->set_shape(p_shape_idx,shape); } void PhysicsServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_shape_transform(p_shape_idx,p_transform); } int PhysicsServerSW::area_get_shape_count(RID p_area) const { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,-1); return area->get_shape_count(); } RID PhysicsServerSW::area_get_shape(RID p_area, int p_shape_idx) const { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,RID()); ShapeSW *shape = area->get_shape(p_shape_idx); ERR_FAIL_COND_V(!shape,RID()); return shape->get_self(); } Transform PhysicsServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,Transform()); return area->get_shape_transform(p_shape_idx); } void PhysicsServerSW::area_remove_shape(RID p_area, int p_shape_idx) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->remove_shape(p_shape_idx); } void PhysicsServerSW::area_clear_shapes(RID p_area) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); while(area->get_shape_count()) area->remove_shape(0); } void PhysicsServerSW::area_attach_object_instance_ID(RID p_area,ObjectID p_ID) { if (space_owner.owns(p_area)) { SpaceSW *space=space_owner.get(p_area); p_area=space->get_default_area()->get_self(); } AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_instance_id(p_ID); } ObjectID PhysicsServerSW::area_get_object_instance_ID(RID p_area) const { if (space_owner.owns(p_area)) { SpaceSW *space=space_owner.get(p_area); p_area=space->get_default_area()->get_self(); } AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,0); return area->get_instance_id(); } void PhysicsServerSW::area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value) { if (space_owner.owns(p_area)) { SpaceSW *space=space_owner.get(p_area); p_area=space->get_default_area()->get_self(); } AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_param(p_param,p_value); }; void PhysicsServerSW::area_set_transform(RID p_area, const Transform& p_transform) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_transform(p_transform); }; Variant PhysicsServerSW::area_get_param(RID p_area,AreaParameter p_param) const { if (space_owner.owns(p_area)) { SpaceSW *space=space_owner.get(p_area); p_area=space->get_default_area()->get_self(); } AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,Variant()); return area->get_param(p_param); }; Transform PhysicsServerSW::area_get_transform(RID p_area) const { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,Transform()); return area->get_transform(); }; void PhysicsServerSW::area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_monitor_callback(p_receiver?p_receiver->get_instance_ID():0,p_method); } void PhysicsServerSW::area_set_ray_pickable(RID p_area,bool p_enable) { AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND(!area); area->set_ray_pickable(p_enable); } bool PhysicsServerSW::area_is_ray_pickable(RID p_area) const{ AreaSW *area = area_owner.get(p_area); ERR_FAIL_COND_V(!area,false); return area->is_ray_pickable(); } /* BODY API */ RID PhysicsServerSW::body_create(BodyMode p_mode,bool p_init_sleeping) { BodySW *body = memnew( BodySW ); if (p_mode!=BODY_MODE_RIGID) body->set_mode(p_mode); if (p_init_sleeping) body->set_state(BODY_STATE_SLEEPING,p_init_sleeping); RID rid = body_owner.make_rid(body); body->set_self(rid); return rid; }; void PhysicsServerSW::body_set_space(RID p_body, RID p_space) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); SpaceSW *space=NULL; if (p_space.is_valid()) { space = space_owner.get(p_space); ERR_FAIL_COND(!space); } if (body->get_space()==space) return; //pointles body->set_space(space); }; RID PhysicsServerSW::body_get_space(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,RID()); SpaceSW *space = body->get_space(); if (!space) return RID(); return space->get_self(); }; void PhysicsServerSW::body_set_mode(RID p_body, BodyMode p_mode) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_mode(p_mode); }; PhysicsServer::BodyMode PhysicsServerSW::body_get_mode(RID p_body, BodyMode p_mode) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,BODY_MODE_STATIC); return body->get_mode(); }; void PhysicsServerSW::body_add_shape(RID p_body, RID p_shape, const Transform& p_transform) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND(!shape); body->add_shape(shape,p_transform); } void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx,RID p_shape) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); ShapeSW *shape = shape_owner.get(p_shape); ERR_FAIL_COND(!shape); ERR_FAIL_COND(!shape->is_configured()); body->set_shape(p_shape_idx,shape); } void PhysicsServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_shape_transform(p_shape_idx,p_transform); } int PhysicsServerSW::body_get_shape_count(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,-1); return body->get_shape_count(); } RID PhysicsServerSW::body_get_shape(RID p_body, int p_shape_idx) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,RID()); ShapeSW *shape = body->get_shape(p_shape_idx); ERR_FAIL_COND_V(!shape,RID()); return shape->get_self(); } void PhysicsServerSW::body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); ERR_FAIL_INDEX(p_shape_idx,body->get_shape_count()); body->set_shape_as_trigger(p_shape_idx,p_enable); } bool PhysicsServerSW::body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const{ BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,false); ERR_FAIL_INDEX_V(p_shape_idx,body->get_shape_count(),false); body->is_shape_set_as_trigger(p_shape_idx); } Transform PhysicsServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,Transform()); return body->get_shape_transform(p_shape_idx); } void PhysicsServerSW::body_remove_shape(RID p_body, int p_shape_idx) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->remove_shape(p_shape_idx); } void PhysicsServerSW::body_clear_shapes(RID p_body) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); while(body->get_shape_count()) body->remove_shape(0); } void PhysicsServerSW::body_set_enable_continuous_collision_detection(RID p_body,bool p_enable) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_continuous_collision_detection(p_enable); } bool PhysicsServerSW::body_is_continuous_collision_detection_enabled(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,false); return body->is_continuous_collision_detection_enabled(); } void PhysicsServerSW::body_set_layer_mask(RID p_body, uint32_t p_mask) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_layer_mask(p_mask); } uint32_t PhysicsServerSW::body_get_layer_mask(RID p_body, uint32_t p_mask) const{ const BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,0); return body->get_layer_mask(); } void PhysicsServerSW::body_attach_object_instance_ID(RID p_body,uint32_t p_ID) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_instance_id(p_ID); }; uint32_t PhysicsServerSW::body_get_object_instance_ID(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,0); return body->get_instance_id(); }; void PhysicsServerSW::body_set_user_flags(RID p_body, uint32_t p_flags) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); }; uint32_t PhysicsServerSW::body_get_user_flags(RID p_body, uint32_t p_flags) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,0); return 0; }; void PhysicsServerSW::body_set_param(RID p_body, BodyParameter p_param, float p_value) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_param(p_param,p_value); }; float PhysicsServerSW::body_get_param(RID p_body, BodyParameter p_param) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,0); return body->get_param(p_param); }; void PhysicsServerSW::body_set_state(RID p_body, BodyState p_state, const Variant& p_variant) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_state(p_state,p_variant); }; Variant PhysicsServerSW::body_get_state(RID p_body, BodyState p_state) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,Variant()); return body->get_state(p_state); }; void PhysicsServerSW::body_set_applied_force(RID p_body, const Vector3& p_force) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_applied_force(p_force); }; Vector3 PhysicsServerSW::body_get_applied_force(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,Vector3()); return body->get_applied_force(); }; void PhysicsServerSW::body_set_applied_torque(RID p_body, const Vector3& p_torque) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_applied_torque(p_torque); }; Vector3 PhysicsServerSW::body_get_applied_torque(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,Vector3()); return body->get_applied_torque(); }; void PhysicsServerSW::body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->apply_impulse(p_pos,p_impulse); }; void PhysicsServerSW::body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); 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); }; void PhysicsServerSW::body_set_axis_lock(RID p_body,BodyAxisLock p_lock) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_axis_lock(p_lock); } PhysicsServerSW::BodyAxisLock PhysicsServerSW::body_get_axis_lock(RID p_body) const{ const BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,BODY_AXIS_LOCK_DISABLED); return body->get_axis_lock(); } void PhysicsServerSW::body_add_collision_exception(RID p_body, RID p_body_b) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->add_exception(p_body_b); }; void PhysicsServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->remove_exception(p_body_b); }; void PhysicsServerSW::body_get_collision_exceptions(RID p_body, List *p_exceptions) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); for(int i=0;iget_exceptions().size();i++) { p_exceptions->push_back(body->get_exceptions()[i]); } }; void PhysicsServerSW::body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); }; float PhysicsServerSW::body_get_contacts_reported_depth_treshold(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,0); return 0; }; void PhysicsServerSW::body_set_omit_force_integration(RID p_body,bool p_omit) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_omit_force_integration(p_omit); }; bool PhysicsServerSW::body_is_omitting_force_integration(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,false); return body->get_omit_force_integration(); }; void PhysicsServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_max_contacts_reported(p_contacts); } int PhysicsServerSW::body_get_max_contacts_reported(RID p_body) const { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,-1); return body->get_max_contacts_reported(); } void PhysicsServerSW::body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_force_integration_callback(p_receiver?p_receiver->get_instance_ID():ObjectID(0),p_method,p_udata); } void PhysicsServerSW::body_set_ray_pickable(RID p_body,bool p_enable) { BodySW *body = body_owner.get(p_body); ERR_FAIL_COND(!body); body->set_ray_pickable(p_enable); } bool PhysicsServerSW::body_is_ray_pickable(RID p_body) const{ BodySW *body = body_owner.get(p_body); ERR_FAIL_COND_V(!body,false); return body->is_ray_pickable(); } /* JOINT API */ RID PhysicsServerSW::joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B) { BodySW *body_A = body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A,RID()); if (!p_body_B.is_valid()) { ERR_FAIL_COND_V(!body_A->get_space(),RID()); p_body_B=body_A->get_space()->get_static_global_body(); } BodySW *body_B = body_owner.get(p_body_B); ERR_FAIL_COND_V(!body_B,RID()); ERR_FAIL_COND_V(body_A==body_B,RID()); JointSW *joint = memnew( PinJointSW(body_A,p_local_A,body_B,p_local_B) ); RID rid = joint_owner.make_rid(joint); joint->set_self(rid); return rid; } void PhysicsServerSW::pin_joint_set_param(RID p_joint,PinJointParam p_param, float p_value){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_PIN); PinJointSW *pin_joint = static_cast(joint); pin_joint->set_param(p_param,p_value); } float PhysicsServerSW::pin_joint_get_param(RID p_joint,PinJointParam p_param) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,0); ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,0); PinJointSW *pin_joint = static_cast(joint); return pin_joint->get_param(p_param); } void PhysicsServerSW::pin_joint_set_local_A(RID p_joint, const Vector3& p_A){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_PIN); PinJointSW *pin_joint = static_cast(joint); pin_joint->set_pos_A(p_A); } Vector3 PhysicsServerSW::pin_joint_get_local_A(RID p_joint) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,Vector3()); ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,Vector3()); PinJointSW *pin_joint = static_cast(joint); return pin_joint->get_pos_A(); } void PhysicsServerSW::pin_joint_set_local_B(RID p_joint, const Vector3& p_B){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_PIN); PinJointSW *pin_joint = static_cast(joint); pin_joint->set_pos_B(p_B); } Vector3 PhysicsServerSW::pin_joint_get_local_B(RID p_joint) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,Vector3()); ERR_FAIL_COND_V(joint->get_type()!=JOINT_PIN,Vector3()); PinJointSW *pin_joint = static_cast(joint); return pin_joint->get_pos_B(); } RID PhysicsServerSW::joint_create_hinge(RID p_body_A,const Transform& p_frame_A,RID p_body_B,const Transform& p_frame_B) { BodySW *body_A = body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A,RID()); if (!p_body_B.is_valid()) { ERR_FAIL_COND_V(!body_A->get_space(),RID()); p_body_B=body_A->get_space()->get_static_global_body(); } BodySW *body_B = body_owner.get(p_body_B); ERR_FAIL_COND_V(!body_B,RID()); ERR_FAIL_COND_V(body_A==body_B,RID()); JointSW *joint = memnew( HingeJointSW(body_A,body_B,p_frame_A,p_frame_B) ); RID rid = joint_owner.make_rid(joint); joint->set_self(rid); return rid; } RID PhysicsServerSW::joint_create_hinge_simple(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) { BodySW *body_A = body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A,RID()); if (!p_body_B.is_valid()) { ERR_FAIL_COND_V(!body_A->get_space(),RID()); p_body_B=body_A->get_space()->get_static_global_body(); } BodySW *body_B = body_owner.get(p_body_B); ERR_FAIL_COND_V(!body_B,RID()); ERR_FAIL_COND_V(body_A==body_B,RID()); JointSW *joint = memnew( HingeJointSW(body_A,body_B,p_pivot_A,p_pivot_B,p_axis_A,p_axis_B) ); RID rid = joint_owner.make_rid(joint); joint->set_self(rid); return rid; } void PhysicsServerSW::hinge_joint_set_param(RID p_joint,HingeJointParam p_param, float p_value){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_HINGE); HingeJointSW *hinge_joint = static_cast(joint); hinge_joint->set_param(p_param,p_value); } float PhysicsServerSW::hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,0); ERR_FAIL_COND_V(joint->get_type()!=JOINT_HINGE,0); HingeJointSW *hinge_joint = static_cast(joint); return hinge_joint->get_param(p_param); } void PhysicsServerSW::hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_HINGE); HingeJointSW *hinge_joint = static_cast(joint); hinge_joint->set_flag(p_flag,p_value); } bool PhysicsServerSW::hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,false); ERR_FAIL_COND_V(joint->get_type()!=JOINT_HINGE,false); HingeJointSW *hinge_joint = static_cast(joint); return hinge_joint->get_flag(p_flag); } void PhysicsServerSW::joint_set_solver_priority(RID p_joint,int p_priority) { JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); joint->set_priority(p_priority); } int PhysicsServerSW::joint_get_solver_priority(RID p_joint) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,0); return joint->get_priority(); } PhysicsServerSW::JointType PhysicsServerSW::joint_get_type(RID p_joint) const { JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,JOINT_PIN); return joint->get_type(); } RID PhysicsServerSW::joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) { BodySW *body_A = body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A,RID()); if (!p_body_B.is_valid()) { ERR_FAIL_COND_V(!body_A->get_space(),RID()); p_body_B=body_A->get_space()->get_static_global_body(); } BodySW *body_B = body_owner.get(p_body_B); ERR_FAIL_COND_V(!body_B,RID()); ERR_FAIL_COND_V(body_A==body_B,RID()); JointSW *joint = memnew( SliderJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B) ); RID rid = joint_owner.make_rid(joint); joint->set_self(rid); return rid; } void PhysicsServerSW::slider_joint_set_param(RID p_joint,SliderJointParam p_param, float p_value){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_SLIDER); SliderJointSW *slider_joint = static_cast(joint); slider_joint->set_param(p_param,p_value); } float PhysicsServerSW::slider_joint_get_param(RID p_joint,SliderJointParam p_param) const{ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,0); ERR_FAIL_COND_V(joint->get_type()!=JOINT_CONE_TWIST,0); SliderJointSW *slider_joint = static_cast(joint); return slider_joint->get_param(p_param); } RID PhysicsServerSW::joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) { BodySW *body_A = body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A,RID()); if (!p_body_B.is_valid()) { ERR_FAIL_COND_V(!body_A->get_space(),RID()); p_body_B=body_A->get_space()->get_static_global_body(); } BodySW *body_B = body_owner.get(p_body_B); ERR_FAIL_COND_V(!body_B,RID()); ERR_FAIL_COND_V(body_A==body_B,RID()); JointSW *joint = memnew( ConeTwistJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B) ); RID rid = joint_owner.make_rid(joint); joint->set_self(rid); return rid; } void PhysicsServerSW::cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, float p_value) { JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_CONE_TWIST); ConeTwistJointSW *cone_twist_joint = static_cast(joint); cone_twist_joint->set_param(p_param,p_value); } float PhysicsServerSW::cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const { JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,0); ERR_FAIL_COND_V(joint->get_type()!=JOINT_CONE_TWIST,0); ConeTwistJointSW *cone_twist_joint = static_cast(joint); return cone_twist_joint->get_param(p_param); } RID PhysicsServerSW::joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B) { BodySW *body_A = body_owner.get(p_body_A); ERR_FAIL_COND_V(!body_A,RID()); if (!p_body_B.is_valid()) { ERR_FAIL_COND_V(!body_A->get_space(),RID()); p_body_B=body_A->get_space()->get_static_global_body(); } BodySW *body_B = body_owner.get(p_body_B); ERR_FAIL_COND_V(!body_B,RID()); ERR_FAIL_COND_V(body_A==body_B,RID()); JointSW *joint = memnew( Generic6DOFJointSW(body_A,body_B,p_local_frame_A,p_local_frame_B,true) ); RID rid = joint_owner.make_rid(joint); joint->set_self(rid); return rid; } void PhysicsServerSW::generic_6dof_joint_set_param(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisParam p_param, float p_value){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_6DOF); Generic6DOFJointSW *generic_6dof_joint = static_cast(joint); generic_6dof_joint->set_param(p_axis,p_param,p_value); } float PhysicsServerSW::generic_6dof_joint_get_param(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisParam p_param){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,0); ERR_FAIL_COND_V(joint->get_type()!=JOINT_6DOF,0); Generic6DOFJointSW *generic_6dof_joint = static_cast(joint); return generic_6dof_joint->get_param(p_axis,p_param); } void PhysicsServerSW::generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisFlag p_flag, bool p_enable){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND(!joint); ERR_FAIL_COND(joint->get_type()!=JOINT_6DOF); Generic6DOFJointSW *generic_6dof_joint = static_cast(joint); generic_6dof_joint->set_flag(p_axis,p_flag,p_enable); } bool PhysicsServerSW::generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis p_axis,G6DOFJointAxisFlag p_flag){ JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,false); ERR_FAIL_COND_V(joint->get_type()!=JOINT_6DOF,false); Generic6DOFJointSW *generic_6dof_joint = static_cast(joint); return generic_6dof_joint->get_flag(p_axis,p_flag); } #if 0 void PhysicsServerSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) { JointSW *joint = joint_owner.get(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 PhysicsServerSW::joint_get_param(RID p_joint,JointParam p_param) const { const JointSW *joint = joint_owner.get(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; } RID PhysicsServerSW::pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b) { BodySW *A=body_owner.get(p_body_a); ERR_FAIL_COND_V(!A,RID()); BodySW *B=NULL; if (body_owner.owns(p_body_b)) { B=body_owner.get(p_body_b); ERR_FAIL_COND_V(!B,RID()); } JointSW *joint = memnew( PinJointSW(p_pos,A,B) ); RID self = joint_owner.make_rid(joint); joint->set_self(self); return self; } RID PhysicsServerSW::groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b) { BodySW *A=body_owner.get(p_body_a); ERR_FAIL_COND_V(!A,RID()); BodySW *B=body_owner.get(p_body_b); ERR_FAIL_COND_V(!B,RID()); JointSW *joint = memnew( GrooveJointSW(p_a_groove1,p_a_groove2,p_b_anchor,A,B) ); RID self = joint_owner.make_rid(joint); joint->set_self(self); return self; } RID PhysicsServerSW::damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b) { BodySW *A=body_owner.get(p_body_a); ERR_FAIL_COND_V(!A,RID()); BodySW *B=body_owner.get(p_body_b); ERR_FAIL_COND_V(!B,RID()); JointSW *joint = memnew( DampedSpringJointSW(p_anchor_a,p_anchor_b,A,B) ); RID self = joint_owner.make_rid(joint); joint->set_self(self); return self; } void PhysicsServerSW::damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value) { JointSW *j = joint_owner.get(p_joint); ERR_FAIL_COND(!j); ERR_FAIL_COND(j->get_type()!=JOINT_DAMPED_SPRING); DampedSpringJointSW *dsj = static_cast(j); dsj->set_param(p_param,p_value); } real_t PhysicsServerSW::damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const { JointSW *j = joint_owner.get(p_joint); ERR_FAIL_COND_V(!j,0); ERR_FAIL_COND_V(j->get_type()!=JOINT_DAMPED_SPRING,0); DampedSpringJointSW *dsj = static_cast(j); return dsj->get_param(p_param); } PhysicsServer::JointType PhysicsServerSW::joint_get_type(RID p_joint) const { JointSW *joint = joint_owner.get(p_joint); ERR_FAIL_COND_V(!joint,JOINT_PIN); return joint->get_type(); } #endif void PhysicsServerSW::free(RID p_rid) { if (shape_owner.owns(p_rid)) { ShapeSW *shape = shape_owner.get(p_rid); while(shape->get_owners().size()) { ShapeOwnerSW *so=shape->get_owners().front()->key(); so->remove_shape(shape); } shape_owner.free(p_rid); memdelete(shape); } else if (body_owner.owns(p_rid)) { BodySW *body = body_owner.get(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(NULL); while( body->get_shape_count() ) { body->remove_shape(0); } while (body->get_constraint_map().size()) { RID self = body->get_constraint_map().front()->key()->get_self(); ERR_FAIL_COND(!self.is_valid()); free(self); } body_owner.free(p_rid); memdelete(body); } else if (area_owner.owns(p_rid)) { AreaSW *area = area_owner.get(p_rid); // if (area->get_monitor_query()) // _clear_query(area->get_monitor_query()); area->set_space(NULL); while( area->get_shape_count() ) { area->remove_shape(0); } area_owner.free(p_rid); memdelete(area); } else if (space_owner.owns(p_rid)) { SpaceSW *space = space_owner.get(p_rid); while(space->get_objects().size()) { CollisionObjectSW *co = (CollisionObjectSW *)space->get_objects().front()->get(); co->set_space(NULL); } 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)) { JointSW *joint = joint_owner.get(p_rid); for(int i=0;iget_body_count();i++) { joint->get_body_ptr()[i]->remove_constraint(joint); } joint_owner.free(p_rid); memdelete(joint); } else { ERR_EXPLAIN("Invalid ID"); ERR_FAIL(); } }; void PhysicsServerSW::set_active(bool p_active) { active=p_active; }; void PhysicsServerSW::init() { doing_sync=true; last_step=0.001; iterations=8;// 8? stepper = memnew( StepSW ); direct_state = memnew( PhysicsDirectBodyStateSW ); }; void PhysicsServerSW::step(float p_step) { if (!active) return; doing_sync=false; last_step=p_step; PhysicsDirectBodyStateSW::singleton->step=p_step; island_count=0; active_objects=0; collision_pairs=0; for( Set::Element *E=active_spaces.front();E;E=E->next()) { stepper->step((SpaceSW*)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 PhysicsServerSW::sync() { }; void PhysicsServerSW::flush_queries() { if (!active) return; doing_sync=true; for( Set::Element *E=active_spaces.front();E;E=E->next()) { SpaceSW *space=(SpaceSW *)E->get(); space->call_queries(); } }; void PhysicsServerSW::finish() { memdelete(stepper); memdelete(direct_state); }; int PhysicsServerSW::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 PhysicsServerSW::_shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) { CollCbkData *cbk=(CollCbkData *)p_userdata; if (cbk->max==0) return; if (cbk->amount == cbk->max) { //find least deep float min_depth=1e20; int min_depth_idx=0; for(int i=0;iamount;i++) { float d = cbk->ptr[i*2+0].distance_squared_to(cbk->ptr[i*2+1]); if (dptr[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++; } } PhysicsServerSW::PhysicsServerSW() { BroadPhaseSW::create_func=BroadPhaseOctree::_create; island_count=0; active_objects=0; collision_pairs=0; active=true; }; PhysicsServerSW::~PhysicsServerSW() { };