8b19ffd810
-Rendering server now uses a split RID allocate/initialize internally, this allows generating RIDs immediately but initialization to happen later on the proper thread (as rendering APIs generally requiere to call on the right thread). -RenderingServerWrapMT is no more, multithreading is done in RenderingServerDefault. -Some functions like texture or mesh creation, when renderer supports it, can register and return immediately (so no waiting for server API to flush, and saving staging and command buffer memory). -3D physics server changed to be made multithread friendly. -Added PhysicsServer3DWrapMT to use 3D physics server from multiple threads. -Disablet Bullet (too much effort to make multithread friendly, this needs to be fixed eventually).
419 lines
15 KiB
C++
419 lines
15 KiB
C++
/*************************************************************************/
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/* test_physics_3d.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "test_physics_3d.h"
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#include "core/math/math_funcs.h"
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#include "core/math/quick_hull.h"
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#include "core/os/main_loop.h"
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#include "core/os/os.h"
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#include "core/string/print_string.h"
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#include "core/templates/map.h"
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#include "servers/display_server.h"
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#include "servers/physics_server_3d.h"
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#include "servers/rendering_server.h"
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class TestPhysics3DMainLoop : public MainLoop {
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GDCLASS(TestPhysics3DMainLoop, MainLoop);
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enum {
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LINK_COUNT = 20,
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};
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RID test_cube;
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RID plane;
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RID sphere;
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RID light;
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RID camera;
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RID mover;
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RID scenario;
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RID space;
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RID character;
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real_t ofs_x, ofs_y;
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Point2 joy_direction;
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List<RID> bodies;
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Map<PhysicsServer3D::ShapeType, RID> type_shape_map;
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Map<PhysicsServer3D::ShapeType, RID> type_mesh_map;
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void body_changed_transform(Object *p_state, RID p_visual_instance) {
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PhysicsDirectBodyState3D *state = (PhysicsDirectBodyState3D *)p_state;
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RenderingServer *vs = RenderingServer::get_singleton();
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Transform t = state->get_transform();
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vs->instance_set_transform(p_visual_instance, t);
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}
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bool quit;
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protected:
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static void _bind_methods() {
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ClassDB::bind_method("body_changed_transform", &TestPhysics3DMainLoop::body_changed_transform);
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}
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RID create_body(PhysicsServer3D::ShapeType p_shape, PhysicsServer3D::BodyMode p_body, const Transform p_location, bool p_active_default = true, const Transform &p_shape_xform = Transform()) {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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RID mesh_instance = vs->instance_create2(type_mesh_map[p_shape], scenario);
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RID body = ps->body_create();
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ps->body_set_mode(body, p_body);
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ps->body_set_state(body, PhysicsServer3D::BODY_STATE_SLEEPING, !p_active_default);
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ps->body_set_space(body, space);
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ps->body_set_param(body, PhysicsServer3D::BODY_PARAM_BOUNCE, 0.0);
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//todo set space
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ps->body_add_shape(body, type_shape_map[p_shape]);
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ps->body_set_force_integration_callback(body, this, "body_changed_transform", mesh_instance);
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ps->body_set_state(body, PhysicsServer3D::BODY_STATE_TRANSFORM, p_location);
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bodies.push_back(body);
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if (p_body == PhysicsServer3D::BODY_MODE_STATIC) {
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vs->instance_set_transform(mesh_instance, p_location);
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}
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return body;
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}
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RID create_static_plane(const Plane &p_plane) {
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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RID world_margin_shape = ps->shape_create(PhysicsServer3D::SHAPE_PLANE);
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ps->shape_set_data(world_margin_shape, p_plane);
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RID b = ps->body_create();
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ps->body_set_mode(b, PhysicsServer3D::BODY_MODE_STATIC);
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ps->body_set_space(b, space);
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//todo set space
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ps->body_add_shape(b, world_margin_shape);
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return b;
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}
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void configure_body(RID p_body, real_t p_mass, real_t p_friction, real_t p_bounce) {
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_MASS, p_mass);
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ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_FRICTION, p_friction);
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ps->body_set_param(p_body, PhysicsServer3D::BODY_PARAM_BOUNCE, p_bounce);
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}
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void initialize_shapes() {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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/* SPHERE SHAPE */
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RID sphere_mesh = vs->make_sphere_mesh(10, 20, 0.5);
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type_mesh_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_mesh;
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RID sphere_shape = ps->shape_create(PhysicsServer3D::SHAPE_SPHERE);
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ps->shape_set_data(sphere_shape, 0.5);
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type_shape_map[PhysicsServer3D::SHAPE_SPHERE] = sphere_shape;
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/* BOX SHAPE */
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Vector<Plane> box_planes = Geometry3D::build_box_planes(Vector3(0.5, 0.5, 0.5));
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RID box_mesh = vs->mesh_create();
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Geometry3D::MeshData box_data = Geometry3D::build_convex_mesh(box_planes);
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vs->mesh_add_surface_from_mesh_data(box_mesh, box_data);
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type_mesh_map[PhysicsServer3D::SHAPE_BOX] = box_mesh;
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RID box_shape = ps->shape_create(PhysicsServer3D::SHAPE_BOX);
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ps->shape_set_data(box_shape, Vector3(0.5, 0.5, 0.5));
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type_shape_map[PhysicsServer3D::SHAPE_BOX] = box_shape;
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/* CAPSULE SHAPE */
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Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 0.7, 12, Vector3::AXIS_Z);
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RID capsule_mesh = vs->mesh_create();
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Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes);
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vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh;
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RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE);
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Dictionary capsule_params;
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capsule_params["radius"] = 0.5;
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capsule_params["height"] = 1.4;
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ps->shape_set_data(capsule_shape, capsule_params);
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type_shape_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_shape;
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/* CONVEX SHAPE */
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Vector<Plane> convex_planes = Geometry3D::build_cylinder_planes(0.5, 0.7, 5, Vector3::AXIS_Z);
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RID convex_mesh = vs->mesh_create();
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Geometry3D::MeshData convex_data = Geometry3D::build_convex_mesh(convex_planes);
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QuickHull::build(convex_data.vertices, convex_data);
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vs->mesh_add_surface_from_mesh_data(convex_mesh, convex_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_mesh;
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RID convex_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONVEX_POLYGON);
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ps->shape_set_data(convex_shape, convex_data.vertices);
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type_shape_map[PhysicsServer3D::SHAPE_CONVEX_POLYGON] = convex_shape;
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}
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void make_trimesh(Vector<Vector3> p_faces, const Transform &p_xform = Transform()) {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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RID trimesh_shape = ps->shape_create(PhysicsServer3D::SHAPE_CONCAVE_POLYGON);
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ps->shape_set_data(trimesh_shape, p_faces);
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p_faces = ps->shape_get_data(trimesh_shape); // optimized one
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Vector<Vector3> normals; // for drawing
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for (int i = 0; i < p_faces.size() / 3; i++) {
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Plane p(p_faces[i * 3 + 0], p_faces[i * 3 + 1], p_faces[i * 3 + 2]);
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normals.push_back(p.normal);
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normals.push_back(p.normal);
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normals.push_back(p.normal);
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}
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RID trimesh_mesh = vs->mesh_create();
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Array d;
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d.resize(RS::ARRAY_MAX);
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d[RS::ARRAY_VERTEX] = p_faces;
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d[RS::ARRAY_NORMAL] = normals;
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vs->mesh_add_surface_from_arrays(trimesh_mesh, RS::PRIMITIVE_TRIANGLES, d);
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RID triins = vs->instance_create2(trimesh_mesh, scenario);
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RID tribody = ps->body_create();
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ps->body_set_mode(tribody, PhysicsServer3D::BODY_MODE_STATIC);
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ps->body_set_space(tribody, space);
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//todo set space
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ps->body_add_shape(tribody, trimesh_shape);
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Transform tritrans = p_xform;
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ps->body_set_state(tribody, PhysicsServer3D::BODY_STATE_TRANSFORM, tritrans);
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vs->instance_set_transform(triins, tritrans);
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}
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void make_grid(int p_width, int p_height, real_t p_cellsize, real_t p_cellheight, const Transform &p_xform = Transform()) {
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Vector<Vector<real_t>> grid;
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grid.resize(p_width);
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for (int i = 0; i < p_width; i++) {
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grid.write[i].resize(p_height);
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for (int j = 0; j < p_height; j++) {
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grid.write[i].write[j] = 1.0 + Math::random(-p_cellheight, p_cellheight);
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}
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}
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Vector<Vector3> faces;
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for (int i = 1; i < p_width; i++) {
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for (int j = 1; j < p_height; j++) {
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#define MAKE_VERTEX(m_x, m_z) \
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faces.push_back(Vector3((m_x - p_width / 2) * p_cellsize, grid[m_x][m_z], (m_z - p_height / 2) * p_cellsize))
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MAKE_VERTEX(i, j - 1);
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MAKE_VERTEX(i, j);
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MAKE_VERTEX(i - 1, j);
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MAKE_VERTEX(i - 1, j - 1);
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MAKE_VERTEX(i, j - 1);
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MAKE_VERTEX(i - 1, j);
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}
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}
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make_trimesh(faces, p_xform);
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}
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public:
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virtual void input_event(const Ref<InputEvent> &p_event) {
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Ref<InputEventMouseMotion> mm = p_event;
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if (mm.is_valid() && mm->get_button_mask() & 4) {
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ofs_y -= mm->get_relative().y / 200.0;
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ofs_x += mm->get_relative().x / 200.0;
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}
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if (mm.is_valid() && mm->get_button_mask() & 1) {
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real_t y = -mm->get_relative().y / 20.0;
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real_t x = mm->get_relative().x / 20.0;
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if (mover.is_valid()) {
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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Transform t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
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t.origin += Vector3(x, y, 0);
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ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t);
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}
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}
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}
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virtual void request_quit() {
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quit = true;
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}
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virtual void initialize() override {
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ofs_x = ofs_y = 0;
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initialize_shapes();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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space = ps->space_create();
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ps->space_set_active(space, true);
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RenderingServer *vs = RenderingServer::get_singleton();
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/* LIGHT */
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RID lightaux = vs->directional_light_create();
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scenario = vs->scenario_create();
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vs->light_set_shadow(lightaux, true);
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light = vs->instance_create2(lightaux, scenario);
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Transform t;
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t.rotate(Vector3(1.0, 0, 0), 0.6);
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vs->instance_set_transform(light, t);
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/* CAMERA */
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camera = vs->camera_create();
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RID viewport = vs->viewport_create();
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Size2i screen_size = DisplayServer::get_singleton()->window_get_size();
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vs->viewport_set_size(viewport, screen_size.x, screen_size.y);
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vs->viewport_attach_to_screen(viewport, Rect2(Vector2(), screen_size));
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vs->viewport_set_active(viewport, true);
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vs->viewport_attach_camera(viewport, camera);
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vs->viewport_set_scenario(viewport, scenario);
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vs->camera_set_perspective(camera, 60, 0.1, 40.0);
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vs->camera_set_transform(camera, Transform(Basis(), Vector3(0, 9, 12)));
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Transform gxf;
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gxf.basis.scale(Vector3(1.4, 0.4, 1.4));
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gxf.origin = Vector3(-2, 1, -2);
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make_grid(5, 5, 2.5, 1, gxf);
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test_fall();
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quit = false;
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}
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virtual bool physics_process(float p_time) override {
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if (mover.is_valid()) {
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static real_t joy_speed = 10;
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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Transform t = ps->body_get_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM);
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t.origin += Vector3(joy_speed * joy_direction.x * p_time, -joy_speed * joy_direction.y * p_time, 0);
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ps->body_set_state(mover, PhysicsServer3D::BODY_STATE_TRANSFORM, t);
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};
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Transform cameratr;
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cameratr.rotate(Vector3(0, 1, 0), ofs_x);
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cameratr.rotate(Vector3(1, 0, 0), -ofs_y);
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cameratr.translate(Vector3(0, 2, 8));
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RenderingServer *vs = RenderingServer::get_singleton();
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vs->camera_set_transform(camera, cameratr);
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return quit;
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}
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virtual void finalize() override {
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}
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void test_joint() {
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}
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void test_hinge() {
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}
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void test_character() {
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RenderingServer *vs = RenderingServer::get_singleton();
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PhysicsServer3D *ps = PhysicsServer3D::get_singleton();
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Vector<Plane> capsule_planes = Geometry3D::build_capsule_planes(0.5, 1, 12, 5, Vector3::AXIS_Y);
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RID capsule_mesh = vs->mesh_create();
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Geometry3D::MeshData capsule_data = Geometry3D::build_convex_mesh(capsule_planes);
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vs->mesh_add_surface_from_mesh_data(capsule_mesh, capsule_data);
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type_mesh_map[PhysicsServer3D::SHAPE_CAPSULE] = capsule_mesh;
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RID capsule_shape = ps->shape_create(PhysicsServer3D::SHAPE_CAPSULE);
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Dictionary capsule_params;
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capsule_params["radius"] = 0.5;
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capsule_params["height"] = 1;
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Transform shape_xform;
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shape_xform.rotate(Vector3(1, 0, 0), Math_PI / 2.0);
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//shape_xform.origin=Vector3(1,1,1);
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ps->shape_set_data(capsule_shape, capsule_params);
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RID mesh_instance = vs->instance_create2(capsule_mesh, scenario);
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character = ps->body_create();
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ps->body_set_mode(character, PhysicsServer3D::BODY_MODE_CHARACTER);
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ps->body_set_space(character, space);
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//todo add space
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ps->body_add_shape(character, capsule_shape);
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ps->body_set_force_integration_callback(character, this, "body_changed_transform", mesh_instance);
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ps->body_set_state(character, PhysicsServer3D::BODY_STATE_TRANSFORM, Transform(Basis(), Vector3(-2, 5, -2)));
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bodies.push_back(character);
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}
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void test_fall() {
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for (int i = 0; i < 35; i++) {
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static const PhysicsServer3D::ShapeType shape_idx[] = {
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PhysicsServer3D::SHAPE_CAPSULE,
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PhysicsServer3D::SHAPE_BOX,
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PhysicsServer3D::SHAPE_SPHERE,
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PhysicsServer3D::SHAPE_CONVEX_POLYGON
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};
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PhysicsServer3D::ShapeType type = shape_idx[i % 4];
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Transform t;
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t.origin = Vector3(0.0 * i, 3.5 + 1.1 * i, 0.7 + 0.0 * i);
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t.basis.rotate(Vector3(0.2, -1, 0), Math_PI / 2 * 0.6);
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create_body(type, PhysicsServer3D::BODY_MODE_RIGID, t);
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}
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create_static_plane(Plane(Vector3(0, 1, 0), -1));
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}
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void test_activate() {
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create_body(PhysicsServer3D::SHAPE_BOX, PhysicsServer3D::BODY_MODE_RIGID, Transform(Basis(), Vector3(0, 2, 0)), true);
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create_static_plane(Plane(Vector3(0, 1, 0), -1));
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}
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virtual bool process(float p_time) override {
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return false;
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}
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TestPhysics3DMainLoop() {
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}
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};
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namespace TestPhysics3D {
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MainLoop *test() {
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return memnew(TestPhysics3DMainLoop);
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}
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} // namespace TestPhysics3D
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