f271591ac2
This is the follow up for the 2D changes mentioned in PR #6865. It fixes various mistakes regarding the order of matrix indices, order of transformation operations, usage of atan2 function and ensures that the sense of rotation is compatible with a left-handed coordinate system with Y-axis pointing down (which flips the sense of rotations along the z-axis). Also replaced float with real_t, and tried to make use of Matrix32 methods rather than accessing its elements directly. Affected code in the Godot code base is also fixed in this commit. The user code using functions involving angles such as atan2, angle_to, get_rotation, set_rotation will need to be updated to conform with the new behavior. Furthermore, the sign of the rotation angles in existing 2D scene files need to be flipped as well.
1359 lines
37 KiB
C++
1359 lines
37 KiB
C++
/*************************************************************************/
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/* space_2d_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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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 "space_2d_sw.h"
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#include "collision_solver_2d_sw.h"
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#include "physics_2d_server_sw.h"
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_FORCE_INLINE_ static bool _match_object_type_query(CollisionObject2DSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
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if ((p_object->get_layer_mask()&p_layer_mask)==0)
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return false;
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if (p_object->get_type()==CollisionObject2DSW::TYPE_AREA)
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return p_type_mask&Physics2DDirectSpaceState::TYPE_MASK_AREA;
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Body2DSW *body = static_cast<Body2DSW*>(p_object);
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return (1<<body->get_mode())&p_type_mask;
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}
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int Physics2DDirectSpaceStateSW::intersect_point(const Vector2& p_point,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask,bool p_pick_point) {
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if (p_result_max<=0)
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return 0;
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Rect2 aabb;
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aabb.pos=p_point-Vector2(0.00001,0.00001);
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aabb.size=Vector2(0.00002,0.00002);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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int cc=0;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
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if (p_pick_point && !col_obj->is_pickable())
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continue;
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int shape_idx=space->intersection_query_subindex_results[i];
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Shape2DSW * shape = col_obj->get_shape(shape_idx);
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Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
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if (!shape->contains_point(local_point))
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continue;
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if (cc>=p_result_max)
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continue;
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r_results[cc].collider_id=col_obj->get_instance_id();
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if (r_results[cc].collider_id!=0)
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r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
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r_results[cc].rid=col_obj->get_self();
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r_results[cc].shape=shape_idx;
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r_results[cc].metadata=col_obj->get_shape_metadata(shape_idx);
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cc++;
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}
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return cc;
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}
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bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vector2& p_to,RayResult &r_result,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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ERR_FAIL_COND_V(space->locked,false);
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Vector2 begin,end;
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Vector2 normal;
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begin=p_from;
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end=p_to;
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normal=(end-begin).normalized();
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int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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//todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
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bool collided=false;
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Vector2 res_point,res_normal;
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int res_shape;
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const CollisionObject2DSW *res_obj;
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real_t min_d=1e10;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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Matrix32 inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
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Vector2 local_from = inv_xform.xform(begin);
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Vector2 local_to = inv_xform.xform(end);
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/*local_from = col_obj->get_inv_transform().xform(begin);
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local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from);
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local_to = col_obj->get_inv_transform().xform(end);
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local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/
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const Shape2DSW *shape = col_obj->get_shape(shape_idx);
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Vector2 shape_point,shape_normal;
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if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
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Matrix32 xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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shape_point=xform.xform(shape_point);
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real_t ld = normal.dot(shape_point);
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if (ld<min_d) {
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min_d=ld;
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res_point=shape_point;
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res_normal=inv_xform.basis_xform_inv(shape_normal).normalized();
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res_shape=shape_idx;
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res_obj=col_obj;
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collided=true;
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}
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}
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}
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if (!collided)
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return false;
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r_result.collider_id=res_obj->get_instance_id();
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if (r_result.collider_id!=0)
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r_result.collider=ObjectDB::get_instance(r_result.collider_id);
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r_result.normal=res_normal;
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r_result.metadata=res_obj->get_shape_metadata(res_shape);
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r_result.position=res_point;
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r_result.rid=res_obj->get_self();
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r_result.shape=res_shape;
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return true;
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}
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int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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if (p_result_max<=0)
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return 0;
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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Rect2 aabb = p_xform.xform(shape->get_aabb());
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aabb=aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,p_result_max,space->intersection_query_subindex_results);
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int cc=0;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue;
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const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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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(),NULL,NULL,NULL,p_margin))
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continue;
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r_results[cc].collider_id=col_obj->get_instance_id();
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if (r_results[cc].collider_id!=0)
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r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
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r_results[cc].rid=col_obj->get_self();
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r_results[cc].shape=shape_idx;
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r_results[cc].metadata=col_obj->get_shape_metadata(shape_idx);
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cc++;
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}
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return cc;
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}
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bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,false);
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Rect2 aabb = p_xform.xform(shape->get_aabb());
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aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
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aabb=aabb.grow(p_margin);
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//if (p_motion!=Vector2())
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// print_line(p_motion);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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float best_safe=1;
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float best_unsafe=1;
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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continue; //ignore excluded
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const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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/*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
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const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
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if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
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print_line("failed in motion dir");
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continue;
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}
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}*/
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Matrix32 col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
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//test initial overlap, does it collide if going all the way?
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if (!CollisionSolver2DSW::solve(shape,p_xform,p_motion,col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) {
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continue;
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}
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//test initial overlap
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if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) {
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if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
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//if one way collision direction ignore initial overlap
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const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
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if (body->get_one_way_collision_direction()!=Vector2()) {
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continue;
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}
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}
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return false;
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}
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//just do kinematic solving
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float low=0;
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float hi=1;
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Vector2 mnormal=p_motion.normalized();
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for(int i=0;i<8;i++) { //steps should be customizable..
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float ofs = (low+hi)*0.5;
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Vector2 sep=mnormal; //important optimization for this to work fast enough
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bool collided = CollisionSolver2DSW::solve(shape,p_xform,p_motion*ofs,col_obj->get_shape(shape_idx),col_obj_xform,Vector2(),NULL,NULL,&sep,p_margin);
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if (collided) {
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hi=ofs;
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} else {
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low=ofs;
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}
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}
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if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
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const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
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if (body->get_one_way_collision_direction()!=Vector2()) {
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Vector2 cd[2];
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Physics2DServerSW::CollCbkData cbk;
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cbk.max=1;
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cbk.amount=0;
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cbk.ptr=cd;
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cbk.valid_dir=body->get_one_way_collision_direction();
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cbk.valid_depth=body->get_one_way_collision_max_depth();
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Vector2 sep=mnormal; //important optimization for this to work fast enough
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bool collided = CollisionSolver2DSW::solve(shape,p_xform,p_motion*(hi+space->contact_max_allowed_penetration),col_obj->get_shape(shape_idx),col_obj_xform,Vector2(),Physics2DServerSW::_shape_col_cbk,&cbk,&sep,p_margin);
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if (!collided || cbk.amount==0) {
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continue;
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}
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}
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}
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if (low<best_safe) {
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best_safe=low;
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best_unsafe=hi;
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}
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}
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p_closest_safe=best_safe;
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p_closest_unsafe=best_unsafe;
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return true;
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}
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bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
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if (p_result_max<=0)
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return 0;
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Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
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aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
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aabb=aabb.grow(p_margin);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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bool collided=false;
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r_result_count=0;
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Physics2DServerSW::CollCbkData cbk;
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cbk.max=p_result_max;
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cbk.amount=0;
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cbk.ptr=r_results;
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CollisionSolver2DSW::CallbackResult cbkres=NULL;
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Physics2DServerSW::CollCbkData *cbkptr=NULL;
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if (p_result_max>0) {
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cbkptr=&cbk;
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cbkres=Physics2DServerSW::_shape_col_cbk;
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}
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for(int i=0;i<amount;i++) {
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if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
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continue;
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const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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if (p_exclude.has( col_obj->get_self() ))
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continue;
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if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
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const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
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cbk.valid_dir=body->get_one_way_collision_direction();
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cbk.valid_depth=body->get_one_way_collision_max_depth();
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} else {
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cbk.valid_dir=Vector2();
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cbk.valid_depth=0;
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}
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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,NULL,p_margin)) {
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collided=p_result_max==0 || cbk.amount>0;
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}
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}
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r_result_count=cbk.amount;
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return collided;
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}
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struct _RestCallbackData2D {
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const CollisionObject2DSW *object;
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const CollisionObject2DSW *best_object;
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int shape;
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int best_shape;
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Vector2 best_contact;
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Vector2 best_normal;
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float best_len;
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Vector2 valid_dir;
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float valid_depth;
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};
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static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {
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_RestCallbackData2D *rd=(_RestCallbackData2D*)p_userdata;
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if (rd->valid_dir!=Vector2()) {
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if (rd->valid_dir!=Vector2()) {
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if (p_point_A.distance_squared_to(p_point_B)>rd->valid_depth*rd->valid_depth)
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return;
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if (rd->valid_dir.dot((p_point_A-p_point_B).normalized())<Math_PI*0.25)
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return;
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}
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}
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Vector2 contact_rel = p_point_B - p_point_A;
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float len = contact_rel.length();
|
|
if (len <= rd->best_len)
|
|
return;
|
|
|
|
|
|
rd->best_len=len;
|
|
rd->best_contact=p_point_B;
|
|
rd->best_normal=contact_rel/len;
|
|
rd->best_object=rd->object;
|
|
rd->best_shape=rd->shape;
|
|
|
|
|
|
}
|
|
|
|
|
|
bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
|
|
|
|
|
|
Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
|
|
ERR_FAIL_COND_V(!shape,0);
|
|
|
|
Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
|
|
aabb=aabb.merge(Rect2(aabb.pos+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);
|
|
|
|
_RestCallbackData2D rcd;
|
|
rcd.best_len=0;
|
|
rcd.best_object=NULL;
|
|
rcd.best_shape=0;
|
|
|
|
for(int i=0;i<amount;i++) {
|
|
|
|
|
|
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
|
|
continue;
|
|
|
|
const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
|
|
int shape_idx=space->intersection_query_subindex_results[i];
|
|
|
|
if (p_exclude.has( col_obj->get_self() ))
|
|
continue;
|
|
|
|
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
|
|
|
|
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
|
|
rcd.valid_dir=body->get_one_way_collision_direction();
|
|
rcd.valid_depth=body->get_one_way_collision_max_depth();
|
|
} else {
|
|
rcd.valid_dir=Vector2();
|
|
rcd.valid_depth=0;
|
|
}
|
|
|
|
|
|
rcd.object=col_obj;
|
|
rcd.shape=shape_idx;
|
|
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,NULL,p_margin);
|
|
if (!sc)
|
|
continue;
|
|
|
|
|
|
}
|
|
|
|
if (rcd.best_len==0)
|
|
return false;
|
|
|
|
r_info->collider_id=rcd.best_object->get_instance_id();
|
|
r_info->shape=rcd.best_shape;
|
|
r_info->normal=rcd.best_normal;
|
|
r_info->point=rcd.best_contact;
|
|
r_info->rid=rcd.best_object->get_self();
|
|
r_info->metadata=rcd.best_object->get_shape_metadata(rcd.best_shape);
|
|
if (rcd.best_object->get_type()==CollisionObject2DSW::TYPE_BODY) {
|
|
|
|
const Body2DSW *body = static_cast<const Body2DSW*>(rcd.best_object);
|
|
Vector2 rel_vec = r_info->point-body->get_transform().get_origin();
|
|
r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
|
|
} else {
|
|
r_info->linear_velocity=Vector2();
|
|
}
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
|
|
|
|
|
|
space=NULL;
|
|
}
|
|
|
|
|
|
////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
|
|
|
|
int Space2DSW::_cull_aabb_for_body(Body2DSW *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++) {
|
|
|
|
bool keep=true;
|
|
|
|
if (intersection_query_results[i]==p_body)
|
|
keep=false;
|
|
else if (intersection_query_results[i]->get_type()==CollisionObject2DSW::TYPE_AREA)
|
|
keep=false;
|
|
else if ((static_cast<Body2DSW*>(intersection_query_results[i])->test_collision_mask(p_body))==0)
|
|
keep=false;
|
|
else if (static_cast<Body2DSW*>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self()))
|
|
keep=false;
|
|
else if (static_cast<Body2DSW*>(intersection_query_results[i])->is_shape_set_as_trigger(intersection_query_subindex_results[i]))
|
|
keep=false;
|
|
|
|
if (!keep) {
|
|
|
|
if (i<amount-1) {
|
|
SWAP(intersection_query_results[i],intersection_query_results[amount-1]);
|
|
SWAP(intersection_query_subindex_results[i],intersection_query_subindex_results[amount-1]);
|
|
|
|
}
|
|
|
|
amount--;
|
|
i--;
|
|
|
|
}
|
|
}
|
|
|
|
return amount;
|
|
}
|
|
|
|
bool Space2DSW::test_body_motion(Body2DSW *p_body, const Matrix32 &p_from, const Vector2&p_motion, float p_margin, Physics2DServer::MotionResult *r_result) {
|
|
|
|
//give me back regular physics engine logic
|
|
//this is madness
|
|
//and most people using this function will think
|
|
//what it does is simpler than using physics
|
|
//this took about a week to get right..
|
|
//but is it right? who knows at this point..
|
|
|
|
if (r_result) {
|
|
r_result->collider_id=0;
|
|
r_result->collider_shape=0;
|
|
|
|
}
|
|
Rect2 body_aabb;
|
|
|
|
for(int i=0;i<p_body->get_shape_count();i++) {
|
|
|
|
if (i==0)
|
|
body_aabb=p_body->get_shape_aabb(i);
|
|
else
|
|
body_aabb=body_aabb.merge(p_body->get_shape_aabb(i));
|
|
}
|
|
|
|
body_aabb=body_aabb.grow(p_margin);
|
|
|
|
Matrix32 body_transform = p_from;
|
|
|
|
{
|
|
//STEP 1, FREE BODY IF STUCK
|
|
|
|
const int max_results = 32;
|
|
int recover_attempts=4;
|
|
Vector2 sr[max_results*2];
|
|
|
|
do {
|
|
|
|
Physics2DServerSW::CollCbkData cbk;
|
|
cbk.max=max_results;
|
|
cbk.amount=0;
|
|
cbk.ptr=sr;
|
|
|
|
|
|
CollisionSolver2DSW::CallbackResult cbkres=NULL;
|
|
|
|
Physics2DServerSW::CollCbkData *cbkptr=NULL;
|
|
cbkptr=&cbk;
|
|
cbkres=Physics2DServerSW::_shape_col_cbk;
|
|
|
|
bool collided=false;
|
|
|
|
int amount = _cull_aabb_for_body(p_body,body_aabb);
|
|
|
|
for(int j=0;j<p_body->get_shape_count();j++) {
|
|
if (p_body->is_shape_set_as_trigger(j))
|
|
continue;
|
|
|
|
Matrix32 body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
Shape2DSW *body_shape = p_body->get_shape(j);
|
|
for(int i=0;i<amount;i++) {
|
|
|
|
const CollisionObject2DSW *col_obj=intersection_query_results[i];
|
|
int shape_idx=intersection_query_subindex_results[i];
|
|
|
|
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
|
|
|
|
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
|
|
|
|
Vector2 cdir = body->get_one_way_collision_direction();
|
|
//if (cdir!=Vector2() && p_motion.dot(cdir)<0)
|
|
// continue;
|
|
|
|
cbk.valid_dir=cdir;
|
|
cbk.valid_depth=body->get_one_way_collision_max_depth();
|
|
} else {
|
|
cbk.valid_dir=Vector2();
|
|
cbk.valid_depth=0;
|
|
}
|
|
|
|
if (CollisionSolver2DSW::solve(body_shape,body_shape_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),Vector2(),cbkres,cbkptr,NULL,p_margin)) {
|
|
collided=cbk.amount>0;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
if (!collided)
|
|
break;
|
|
|
|
Vector2 recover_motion;
|
|
|
|
for(int i=0;i<cbk.amount;i++) {
|
|
|
|
Vector2 a = sr[i*2+0];
|
|
Vector2 b = sr[i*2+1];
|
|
|
|
#if 0
|
|
Vector2 rel = b-a;
|
|
float d = rel.length();
|
|
if (d==0)
|
|
continue;
|
|
|
|
Vector2 n = rel/d;
|
|
float traveled = n.dot(recover_motion);
|
|
a+=n*traveled;
|
|
|
|
#endif
|
|
// float d = a.distance_to(b);
|
|
|
|
//if (d<margin)
|
|
/// continue;
|
|
recover_motion+=(b-a)*0.4;
|
|
}
|
|
|
|
if (recover_motion==Vector2()) {
|
|
collided=false;
|
|
break;
|
|
}
|
|
|
|
body_transform.translate(recover_motion);
|
|
body_aabb.pos+=recover_motion;
|
|
|
|
recover_attempts--;
|
|
|
|
} while (recover_attempts);
|
|
}
|
|
|
|
|
|
|
|
float safe = 1.0;
|
|
float unsafe = 1.0;
|
|
int best_shape=-1;
|
|
|
|
{
|
|
// STEP 2 ATTEMPT MOTION
|
|
|
|
Rect2 motion_aabb=body_aabb;
|
|
motion_aabb.pos+=p_motion;
|
|
motion_aabb=motion_aabb.merge(body_aabb);
|
|
|
|
int amount = _cull_aabb_for_body(p_body,motion_aabb);
|
|
|
|
for(int j=0;j<p_body->get_shape_count();j++) {
|
|
|
|
if (p_body->is_shape_set_as_trigger(j))
|
|
continue;
|
|
|
|
Matrix32 body_shape_xform = body_transform * p_body->get_shape_transform(j);
|
|
Shape2DSW *body_shape = p_body->get_shape(j);
|
|
|
|
bool stuck=false;
|
|
|
|
float best_safe=1;
|
|
float best_unsafe=1;
|
|
|
|
for(int i=0;i<amount;i++) {
|
|
|
|
const CollisionObject2DSW *col_obj=intersection_query_results[i];
|
|
int shape_idx=intersection_query_subindex_results[i];
|
|
|
|
|
|
Matrix32 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(body_shape,body_shape_xform,p_motion,col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,0)) {
|
|
continue;
|
|
}
|
|
|
|
|
|
//test initial overlap
|
|
if (CollisionSolver2DSW::solve(body_shape,body_shape_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,0)) {
|
|
|
|
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
|
|
//if one way collision direction ignore initial overlap
|
|
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
|
|
if (body->get_one_way_collision_direction()!=Vector2()) {
|
|
continue;
|
|
}
|
|
}
|
|
|
|
stuck=true;
|
|
break;
|
|
}
|
|
|
|
|
|
//just do kinematic solving
|
|
float low=0;
|
|
float hi=1;
|
|
Vector2 mnormal=p_motion.normalized();
|
|
|
|
for(int i=0;i<8;i++) { //steps should be customizable..
|
|
|
|
float ofs = (low+hi)*0.5;
|
|
|
|
Vector2 sep=mnormal; //important optimization for this to work fast enough
|
|
bool collided = CollisionSolver2DSW::solve(body_shape,body_shape_xform,p_motion*ofs,col_obj->get_shape(shape_idx),col_obj_xform,Vector2(),NULL,NULL,&sep,0);
|
|
|
|
if (collided) {
|
|
|
|
hi=ofs;
|
|
} else {
|
|
|
|
low=ofs;
|
|
}
|
|
}
|
|
|
|
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
|
|
|
|
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
|
|
if (body->get_one_way_collision_direction()!=Vector2()) {
|
|
|
|
Vector2 cd[2];
|
|
Physics2DServerSW::CollCbkData cbk;
|
|
cbk.max=1;
|
|
cbk.amount=0;
|
|
cbk.ptr=cd;
|
|
cbk.valid_dir=body->get_one_way_collision_direction();
|
|
cbk.valid_depth=body->get_one_way_collision_max_depth();
|
|
|
|
Vector2 sep=mnormal; //important optimization for this to work fast enough
|
|
bool collided = CollisionSolver2DSW::solve(body_shape,body_shape_xform,p_motion*(hi+contact_max_allowed_penetration),col_obj->get_shape(shape_idx),col_obj_xform,Vector2(),Physics2DServerSW::_shape_col_cbk,&cbk,&sep,0);
|
|
if (!collided || cbk.amount==0) {
|
|
continue;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
|
|
if (low<best_safe) {
|
|
best_safe=low;
|
|
best_unsafe=hi;
|
|
}
|
|
}
|
|
|
|
if (stuck) {
|
|
|
|
safe=0;
|
|
unsafe=0;
|
|
best_shape=j; //sadly it's the best
|
|
break;
|
|
}
|
|
if (best_safe==1.0) {
|
|
continue;
|
|
}
|
|
if (best_safe < safe) {
|
|
|
|
safe=best_safe;
|
|
unsafe=best_unsafe;
|
|
best_shape=j;
|
|
}
|
|
}
|
|
}
|
|
|
|
bool collided=false;
|
|
if (safe>=1) {
|
|
//not collided
|
|
collided=false;
|
|
if (r_result) {
|
|
|
|
r_result->motion=p_motion;
|
|
r_result->remainder=Vector2();
|
|
r_result->motion+=(body_transform.get_origin()-p_from.get_origin());
|
|
}
|
|
|
|
} else {
|
|
|
|
//it collided, let's get the rest info in unsafe advance
|
|
Matrix32 ugt = body_transform;
|
|
ugt.translate(p_motion*unsafe);
|
|
|
|
_RestCallbackData2D rcd;
|
|
rcd.best_len=0;
|
|
rcd.best_object=NULL;
|
|
rcd.best_shape=0;
|
|
|
|
Matrix32 body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
|
|
Shape2DSW *body_shape = p_body->get_shape(best_shape);
|
|
|
|
body_aabb.pos+=p_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];
|
|
int shape_idx=intersection_query_subindex_results[i];
|
|
|
|
if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
|
|
|
|
const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
|
|
rcd.valid_dir=body->get_one_way_collision_direction();
|
|
rcd.valid_depth=body->get_one_way_collision_max_depth();
|
|
} else {
|
|
rcd.valid_dir=Vector2();
|
|
rcd.valid_depth=0;
|
|
}
|
|
|
|
|
|
rcd.object=col_obj;
|
|
rcd.shape=shape_idx;
|
|
bool sc = CollisionSolver2DSW::solve(body_shape,body_shape_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),Vector2() ,_rest_cbk_result,&rcd,NULL,p_margin);
|
|
if (!sc)
|
|
continue;
|
|
|
|
}
|
|
|
|
if (rcd.best_len!=0) {
|
|
|
|
if (r_result) {
|
|
r_result->collider=rcd.best_object->get_self();
|
|
r_result->collider_id=rcd.best_object->get_instance_id();
|
|
r_result->collider_shape=rcd.best_shape;
|
|
r_result->collision_normal=rcd.best_normal;
|
|
r_result->collision_point=rcd.best_contact;
|
|
r_result->collider_metadata=rcd.best_object->get_shape_metadata(rcd.best_shape);
|
|
|
|
const Body2DSW *body = static_cast<const Body2DSW*>(rcd.best_object);
|
|
Vector2 rel_vec = r_result->collision_point-body->get_transform().get_origin();
|
|
r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
|
|
|
|
r_result->motion=safe*p_motion;
|
|
r_result->remainder=p_motion - safe * p_motion;
|
|
r_result->motion+=(body_transform.get_origin()-p_from.get_origin());
|
|
|
|
}
|
|
|
|
collided=true;
|
|
} else {
|
|
if (r_result) {
|
|
|
|
r_result->motion=p_motion;
|
|
r_result->remainder=Vector2();
|
|
r_result->motion+=(body_transform.get_origin()-p_from.get_origin());
|
|
}
|
|
|
|
collided=false;
|
|
|
|
}
|
|
}
|
|
|
|
return collided;
|
|
|
|
|
|
#if 0
|
|
//give me back regular physics engine logic
|
|
//this is madness
|
|
//and most people using this function will think
|
|
//what it does is simpler than using physics
|
|
//this took about a week to get right..
|
|
//but is it right? who knows at this point..
|
|
|
|
|
|
colliding=false;
|
|
ERR_FAIL_COND_V(!is_inside_tree(),Vector2());
|
|
Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
|
|
ERR_FAIL_COND_V(!dss,Vector2());
|
|
const int max_shapes=32;
|
|
Vector2 sr[max_shapes*2];
|
|
int res_shapes;
|
|
|
|
Set<RID> exclude;
|
|
exclude.insert(get_rid());
|
|
|
|
|
|
//recover first
|
|
int recover_attempts=4;
|
|
|
|
bool collided=false;
|
|
uint32_t mask=0;
|
|
if (collide_static)
|
|
mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
|
|
if (collide_kinematic)
|
|
mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
|
|
if (collide_rigid)
|
|
mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
|
|
if (collide_character)
|
|
mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
|
|
|
|
// print_line("motion: "+p_motion+" margin: "+rtos(margin));
|
|
|
|
//print_line("margin: "+rtos(margin));
|
|
do {
|
|
|
|
//motion recover
|
|
for(int i=0;i<get_shape_count();i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),margin,sr,max_shapes,res_shapes,exclude,get_layer_mask(),mask))
|
|
collided=true;
|
|
|
|
}
|
|
|
|
if (!collided)
|
|
break;
|
|
|
|
Vector2 recover_motion;
|
|
|
|
for(int i=0;i<res_shapes;i++) {
|
|
|
|
Vector2 a = sr[i*2+0];
|
|
Vector2 b = sr[i*2+1];
|
|
|
|
float d = a.distance_to(b);
|
|
|
|
//if (d<margin)
|
|
/// continue;
|
|
recover_motion+=(b-a)*0.4;
|
|
}
|
|
|
|
if (recover_motion==Vector2()) {
|
|
collided=false;
|
|
break;
|
|
}
|
|
|
|
Matrix32 gt = get_global_transform();
|
|
gt.elements[2]+=recover_motion;
|
|
set_global_transform(gt);
|
|
|
|
recover_attempts--;
|
|
|
|
} while (recover_attempts);
|
|
|
|
|
|
//move second
|
|
float safe = 1.0;
|
|
float unsafe = 1.0;
|
|
int best_shape=-1;
|
|
|
|
for(int i=0;i<get_shape_count();i++) {
|
|
|
|
if (is_shape_set_as_trigger(i))
|
|
continue;
|
|
|
|
float lsafe,lunsafe;
|
|
bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, 0,lsafe,lunsafe,exclude,get_layer_mask(),mask);
|
|
//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
|
|
if (!valid) {
|
|
|
|
safe=0;
|
|
unsafe=0;
|
|
best_shape=i; //sadly it's the best
|
|
break;
|
|
}
|
|
if (lsafe==1.0) {
|
|
continue;
|
|
}
|
|
if (lsafe < safe) {
|
|
|
|
safe=lsafe;
|
|
unsafe=lunsafe;
|
|
best_shape=i;
|
|
}
|
|
}
|
|
|
|
|
|
//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
|
|
|
|
if (safe>=1) {
|
|
//not collided
|
|
colliding=false;
|
|
} else {
|
|
|
|
//it collided, let's get the rest info in unsafe advance
|
|
Matrix32 ugt = get_global_transform();
|
|
ugt.elements[2]+=p_motion*unsafe;
|
|
Physics2DDirectSpaceState::ShapeRestInfo rest_info;
|
|
bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), Vector2(), margin,&rest_info,exclude,get_layer_mask(),mask);
|
|
if (!c2) {
|
|
//should not happen, but floating point precision is so weird..
|
|
|
|
colliding=false;
|
|
} else {
|
|
|
|
|
|
//print_line("Travel: "+rtos(travel));
|
|
colliding=true;
|
|
collision=rest_info.point;
|
|
normal=rest_info.normal;
|
|
collider=rest_info.collider_id;
|
|
collider_vel=rest_info.linear_velocity;
|
|
collider_shape=rest_info.shape;
|
|
collider_metadata=rest_info.metadata;
|
|
}
|
|
|
|
}
|
|
|
|
Vector2 motion=p_motion*safe;
|
|
Matrix32 gt = get_global_transform();
|
|
gt.elements[2]+=motion;
|
|
set_global_transform(gt);
|
|
|
|
return p_motion-motion;
|
|
|
|
#endif
|
|
return false;
|
|
}
|
|
|
|
|
|
|
|
|
|
void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_self) {
|
|
|
|
|
|
CollisionObject2DSW::Type type_A=A->get_type();
|
|
CollisionObject2DSW::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;
|
|
self->collision_pairs++;
|
|
|
|
if (type_A==CollisionObject2DSW::TYPE_AREA) {
|
|
|
|
Area2DSW *area=static_cast<Area2DSW*>(A);
|
|
if (type_B==CollisionObject2DSW::TYPE_AREA) {
|
|
|
|
Area2DSW *area_b=static_cast<Area2DSW*>(B);
|
|
Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b,p_subindex_B,area,p_subindex_A) );
|
|
return area2_pair;
|
|
} else {
|
|
|
|
Body2DSW *body=static_cast<Body2DSW*>(B);
|
|
AreaPair2DSW *area_pair = memnew(AreaPair2DSW(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) );
|
|
return b;
|
|
|
|
}
|
|
|
|
return NULL;
|
|
}
|
|
|
|
void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_data,void *p_self) {
|
|
|
|
|
|
Space2DSW *self = (Space2DSW*)p_self;
|
|
self->collision_pairs--;
|
|
Constraint2DSW *c = (Constraint2DSW*)p_data;
|
|
memdelete(c);
|
|
}
|
|
|
|
|
|
const SelfList<Body2DSW>::List& Space2DSW::get_active_body_list() const {
|
|
|
|
return active_list;
|
|
}
|
|
void Space2DSW::body_add_to_active_list(SelfList<Body2DSW>* p_body) {
|
|
|
|
active_list.add(p_body);
|
|
}
|
|
void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW>* p_body) {
|
|
|
|
active_list.remove(p_body);
|
|
|
|
}
|
|
|
|
void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW>* p_body) {
|
|
|
|
|
|
inertia_update_list.add(p_body);
|
|
}
|
|
|
|
void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW>* p_body) {
|
|
|
|
inertia_update_list.remove(p_body);
|
|
}
|
|
|
|
BroadPhase2DSW *Space2DSW::get_broadphase() {
|
|
|
|
return broadphase;
|
|
}
|
|
|
|
void Space2DSW::add_object(CollisionObject2DSW *p_object) {
|
|
|
|
ERR_FAIL_COND( objects.has(p_object) );
|
|
objects.insert(p_object);
|
|
}
|
|
|
|
void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
|
|
|
|
ERR_FAIL_COND( !objects.has(p_object) );
|
|
objects.erase(p_object);
|
|
}
|
|
|
|
const Set<CollisionObject2DSW*> &Space2DSW::get_objects() const {
|
|
|
|
return objects;
|
|
}
|
|
|
|
void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW>* p_body) {
|
|
|
|
state_query_list.add(p_body);
|
|
}
|
|
void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW>* p_body) {
|
|
|
|
state_query_list.remove(p_body);
|
|
}
|
|
|
|
void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW>* p_area) {
|
|
|
|
monitor_query_list.add(p_area);
|
|
}
|
|
void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW>* p_area) {
|
|
|
|
monitor_query_list.remove(p_area);
|
|
}
|
|
|
|
void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW>* p_area) {
|
|
|
|
area_moved_list.add(p_area);
|
|
}
|
|
|
|
void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW>* p_area) {
|
|
|
|
area_moved_list.remove(p_area);
|
|
}
|
|
|
|
const SelfList<Area2DSW>::List& Space2DSW::get_moved_area_list() const {
|
|
|
|
return area_moved_list;
|
|
}
|
|
|
|
|
|
void Space2DSW::call_queries() {
|
|
|
|
while(state_query_list.first()) {
|
|
|
|
Body2DSW * b = state_query_list.first()->self();
|
|
b->call_queries();
|
|
state_query_list.remove(state_query_list.first());
|
|
}
|
|
|
|
while(monitor_query_list.first()) {
|
|
|
|
Area2DSW * a = monitor_query_list.first()->self();
|
|
a->call_queries();
|
|
monitor_query_list.remove(monitor_query_list.first());
|
|
}
|
|
|
|
}
|
|
|
|
void Space2DSW::setup() {
|
|
|
|
contact_debug_count=0;
|
|
|
|
while(inertia_update_list.first()) {
|
|
inertia_update_list.first()->self()->update_inertias();
|
|
inertia_update_list.remove(inertia_update_list.first());
|
|
}
|
|
|
|
|
|
}
|
|
|
|
void Space2DSW::update() {
|
|
|
|
broadphase->update();
|
|
|
|
}
|
|
|
|
|
|
void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_value) {
|
|
|
|
switch(p_param) {
|
|
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold=p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold=p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
|
|
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
|
|
}
|
|
}
|
|
|
|
real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
|
|
|
|
switch(p_param) {
|
|
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
|
|
case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
|
|
case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
|
|
case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold;
|
|
case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold;
|
|
case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
|
|
case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
void Space2DSW::lock() {
|
|
|
|
locked=true;
|
|
}
|
|
|
|
void Space2DSW::unlock() {
|
|
|
|
locked=false;
|
|
}
|
|
|
|
bool Space2DSW::is_locked() const {
|
|
|
|
return locked;
|
|
}
|
|
|
|
Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
|
|
|
|
return direct_access;
|
|
}
|
|
|
|
Space2DSW::Space2DSW() {
|
|
|
|
|
|
collision_pairs=0;
|
|
active_objects=0;
|
|
island_count=0;
|
|
|
|
contact_debug_count=0;
|
|
|
|
locked=false;
|
|
contact_recycle_radius=1.0;
|
|
contact_max_separation=1.5;
|
|
contact_max_allowed_penetration= 0.3;
|
|
|
|
constraint_bias = 0.2;
|
|
body_linear_velocity_sleep_treshold=GLOBAL_DEF("physics/2d/sleep_threashold_linear",2.0);
|
|
body_angular_velocity_sleep_treshold=GLOBAL_DEF("physics/2d/sleep_threshold_angular",(8.0 / 180.0 * Math_PI));
|
|
body_time_to_sleep=GLOBAL_DEF("physics/2d/time_before_sleep",0.5);
|
|
|
|
|
|
broadphase = BroadPhase2DSW::create_func();
|
|
broadphase->set_pair_callback(_broadphase_pair,this);
|
|
broadphase->set_unpair_callback(_broadphase_unpair,this);
|
|
area=NULL;
|
|
|
|
direct_access = memnew( Physics2DDirectSpaceStateSW );
|
|
direct_access->space=this;
|
|
|
|
|
|
for(int i=0;i<ELAPSED_TIME_MAX;i++)
|
|
elapsed_time[i]=0;
|
|
|
|
}
|
|
|
|
Space2DSW::~Space2DSW() {
|
|
|
|
memdelete(broadphase);
|
|
memdelete( direct_access );
|
|
}
|
|
|
|
|
|
|