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Bring that Whole New World to the Old Continent too
Applies the clang-format style to the 2.1 branch as done for master in
5dbf1809c6.
This commit is contained in:
Rémi Verschelde
@@ -26,66 +26,58 @@
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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 "globals.h"
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#include "space_sw.h"
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#include "collision_solver_sw.h"
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#include "globals.h"
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#include "physics_server_sw.h"
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_FORCE_INLINE_ static bool _match_object_type_query(CollisionObjectSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
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if (p_object->get_type()==CollisionObjectSW::TYPE_AREA)
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return p_type_mask&PhysicsDirectSpaceState::TYPE_MASK_AREA;
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if (p_object->get_type() == CollisionObjectSW::TYPE_AREA)
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return p_type_mask & PhysicsDirectSpaceState::TYPE_MASK_AREA;
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if ((p_object->get_layer_mask()&p_layer_mask)==0)
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if ((p_object->get_layer_mask() & p_layer_mask) == 0)
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return false;
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BodySW *body = static_cast<BodySW*>(p_object);
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return (1<<body->get_mode())&p_type_mask;
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BodySW *body = static_cast<BodySW *>(p_object);
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return (1 << body->get_mode()) & p_type_mask;
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}
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bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_ray) {
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bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vector3& p_to, RayResult &r_result, const Set<RID>& p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_ray) {
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ERR_FAIL_COND_V(space->locked, false);
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ERR_FAIL_COND_V(space->locked,false);
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Vector3 begin,end;
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Vector3 begin, end;
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Vector3 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,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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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, SpaceSW::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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Vector3 res_point,res_normal;
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bool collided = false;
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Vector3 res_point, res_normal;
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int res_shape;
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const CollisionObjectSW *res_obj;
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real_t min_d=1e10;
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real_t min_d = 1e10;
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for (int i = 0; i < amount; i++) {
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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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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_pick_ray && !(static_cast<CollisionObjectSW*>(space->intersection_query_results[i])->is_ray_pickable()))
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if (p_pick_ray && !(static_cast<CollisionObjectSW *>(space->intersection_query_results[i])->is_ray_pickable()))
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continue;
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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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 CollisionObjectSW *col_obj=space->intersection_query_results[i];
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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Transform inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
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Vector3 local_from = inv_xform.xform(begin);
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@@ -93,291 +85,266 @@ bool PhysicsDirectSpaceStateSW::intersect_ray(const Vector3& p_from, const Vecto
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const ShapeSW *shape = col_obj->get_shape(shape_idx);
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Vector3 shape_point,shape_normal;
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if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) {
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Vector3 shape_point, shape_normal;
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if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
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Transform 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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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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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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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.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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else
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r_result.collider=NULL;
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r_result.normal=res_normal;
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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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r_result.collider = NULL;
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r_result.normal = res_normal;
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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 PhysicsDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform &p_xform, 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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int PhysicsDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform& p_xform,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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if (p_result_max <= 0)
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return 0;
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ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,0);
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ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, 0);
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AABB aabb = p_xform.xform(shape->get_aabb());
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
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int cc=0;
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int cc = 0;
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//Transform ai = p_xform.affine_inverse();
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for(int i=0;i<amount;i++) {
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for (int i = 0; i < amount; i++) {
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if (cc>=p_result_max)
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if (cc >= p_result_max)
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break;
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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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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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//area cant be picked by ray (default)
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if (p_exclude.has( space->intersection_query_results[i]->get_self()))
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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 CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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const CollisionObjectSW *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 (!CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL,NULL,NULL,p_margin,0))
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if (!CollisionSolverSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), NULL, NULL, NULL, p_margin, 0))
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continue;
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if (r_results) {
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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].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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else
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r_results[cc].collider=NULL;
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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].collider = NULL;
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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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}
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cc++;
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}
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return cc;
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}
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bool PhysicsDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform &p_xform, const Vector3 &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, ShapeRestInfo *r_info) {
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bool PhysicsDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform& p_xform,const Vector3& 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,ShapeRestInfo *r_info) {
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ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape,false);
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ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
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ERR_FAIL_COND_V(!shape, false);
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AABB aabb = p_xform.xform(shape->get_aabb());
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aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion
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aabb=aabb.grow(p_margin);
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aabb = aabb.merge(AABB(aabb.pos + p_motion, aabb.size)); //motion
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aabb = aabb.grow(p_margin);
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//if (p_motion!=Vector3())
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// print_line(p_motion);
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int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
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int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::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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float best_safe = 1;
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float best_unsafe = 1;
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Transform xform_inv = p_xform.affine_inverse();
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MotionShapeSW mshape;
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mshape.shape=shape;
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mshape.motion=xform_inv.basis.xform(p_motion);
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mshape.shape = shape;
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mshape.motion = xform_inv.basis.xform(p_motion);
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bool best_first=true;
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bool best_first = true;
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Vector3 closest_A,closest_B;
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Vector3 closest_A, closest_B;
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for(int i=0;i<amount;i++) {
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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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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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if (p_exclude.has(space->intersection_query_results[i]->get_self()))
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continue; //ignore excluded
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const CollisionObjectSW *col_obj = space->intersection_query_results[i];
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int shape_idx = space->intersection_query_subindex_results[i];
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const CollisionObjectSW *col_obj=space->intersection_query_results[i];
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int shape_idx=space->intersection_query_subindex_results[i];
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Vector3 point_A,point_B;
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Vector3 sep_axis=p_motion.normalized();
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Vector3 point_A, point_B;
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Vector3 sep_axis = p_motion.normalized();
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Transform 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 (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
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if (CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
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//print_line("failed motion cast (no collision)");
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continue;
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}
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//test initial overlap
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//test initial overlap
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#if 0
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if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
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print_line("failed initial cast (collision at begining)");
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return false;
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}
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#else
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sep_axis=p_motion.normalized();
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sep_axis = p_motion.normalized();
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if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
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if (!CollisionSolverSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
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//print_line("failed motion cast (no collision)");
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return false;
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}
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#endif
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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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Vector3 mnormal=p_motion.normalized();
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float low = 0;
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float hi = 1;
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Vector3 mnormal = p_motion.normalized();
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for(int i=0;i<8;i++) { //steps should be customizable..
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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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float ofs = (low + hi) * 0.5;
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Vector3 sep=mnormal; //important optimization for this to work fast enough
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Vector3 sep = mnormal; //important optimization for this to work fast enough
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mshape.motion=xform_inv.basis.xform(p_motion*ofs);
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mshape.motion = xform_inv.basis.xform(p_motion * ofs);
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Vector3 lA,lB;
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Vector3 lA, lB;
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bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
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bool collided = !CollisionSolverSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
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if (collided) {
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//print_line(itos(i)+": "+rtos(ofs));
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hi=ofs;
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hi = ofs;
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} else {
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point_A=lA;
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point_B=lB;
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low=ofs;
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point_A = lA;
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point_B = lB;
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low = ofs;
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}
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}
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if (low<best_safe) {
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best_first=true; //force reset
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best_safe=low;
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best_unsafe=hi;
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if (low < best_safe) {
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best_first = true; //force reset
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best_safe = low;
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best_unsafe = hi;
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}
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if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low<=best_safe))) {
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closest_A=point_A;
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closest_B=point_B;
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r_info->collider_id=col_obj->get_instance_id();
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r_info->rid=col_obj->get_self();
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r_info->shape=shape_idx;
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r_info->point=closest_B;
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r_info->normal=(closest_A-closest_B).normalized();
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best_first=false;
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if (col_obj->get_type()==CollisionObjectSW::TYPE_BODY) {
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const BodySW *body=static_cast<const BodySW*>(col_obj);
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r_info->linear_velocity= body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
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if (r_info && (best_first || (point_A.distance_squared_to(point_B) < closest_A.distance_squared_to(closest_B) && low <= best_safe))) {
|
||||
closest_A = point_A;
|
||||
closest_B = point_B;
|
||||
r_info->collider_id = col_obj->get_instance_id();
|
||||
r_info->rid = col_obj->get_self();
|
||||
r_info->shape = shape_idx;
|
||||
r_info->point = closest_B;
|
||||
r_info->normal = (closest_A - closest_B).normalized();
|
||||
best_first = false;
|
||||
if (col_obj->get_type() == CollisionObjectSW::TYPE_BODY) {
|
||||
const BodySW *body = static_cast<const BodySW *>(col_obj);
|
||||
r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(body->get_transform().origin - closest_B);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
p_closest_safe=best_safe;
|
||||
p_closest_unsafe=best_unsafe;
|
||||
p_closest_safe = best_safe;
|
||||
p_closest_unsafe = best_unsafe;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform& p_shape_xform,float p_margin,Vector3 *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){
|
||||
bool PhysicsDirectSpaceStateSW::collide_shape(RID p_shape, const Transform &p_shape_xform, float p_margin, Vector3 *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) {
|
||||
|
||||
if (p_result_max<=0)
|
||||
if (p_result_max <= 0)
|
||||
return 0;
|
||||
|
||||
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
|
||||
ERR_FAIL_COND_V(!shape,0);
|
||||
ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
|
||||
ERR_FAIL_COND_V(!shape, 0);
|
||||
|
||||
AABB aabb = p_shape_xform.xform(shape->get_aabb());
|
||||
aabb=aabb.grow(p_margin);
|
||||
aabb = aabb.grow(p_margin);
|
||||
|
||||
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
|
||||
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
|
||||
|
||||
bool collided=false;
|
||||
r_result_count=0;
|
||||
bool collided = false;
|
||||
r_result_count = 0;
|
||||
|
||||
PhysicsServerSW::CollCbkData cbk;
|
||||
cbk.max=p_result_max;
|
||||
cbk.amount=0;
|
||||
cbk.ptr=r_results;
|
||||
CollisionSolverSW::CallbackResult cbkres=NULL;
|
||||
cbk.max = p_result_max;
|
||||
cbk.amount = 0;
|
||||
cbk.ptr = r_results;
|
||||
CollisionSolverSW::CallbackResult cbkres = NULL;
|
||||
|
||||
PhysicsServerSW::CollCbkData *cbkptr=NULL;
|
||||
if (p_result_max>0) {
|
||||
cbkptr=&cbk;
|
||||
cbkres=PhysicsServerSW::_shape_col_cbk;
|
||||
PhysicsServerSW::CollCbkData *cbkptr = NULL;
|
||||
if (p_result_max > 0) {
|
||||
cbkptr = &cbk;
|
||||
cbkres = PhysicsServerSW::_shape_col_cbk;
|
||||
}
|
||||
|
||||
for (int i = 0; i < amount; i++) {
|
||||
|
||||
for(int i=0;i<amount;i++) {
|
||||
|
||||
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
|
||||
if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
|
||||
continue;
|
||||
|
||||
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
|
||||
int shape_idx=space->intersection_query_subindex_results[i];
|
||||
const CollisionObjectSW *col_obj = space->intersection_query_results[i];
|
||||
int shape_idx = space->intersection_query_subindex_results[i];
|
||||
|
||||
if (p_exclude.has( col_obj->get_self() )) {
|
||||
if (p_exclude.has(col_obj->get_self())) {
|
||||
continue;
|
||||
}
|
||||
|
||||
//print_line("AGAINST: "+itos(col_obj->get_self().get_id())+":"+itos(shape_idx));
|
||||
//print_line("THE ABBB: "+(col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).xform(col_obj->get_shape(shape_idx)->get_aabb()));
|
||||
|
||||
if (CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),cbkres,cbkptr,NULL,p_margin)) {
|
||||
collided=true;
|
||||
if (CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, NULL, p_margin)) {
|
||||
collided = true;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
r_result_count=cbk.amount;
|
||||
r_result_count = cbk.amount;
|
||||
|
||||
return collided;
|
||||
|
||||
}
|
||||
|
||||
|
||||
struct _RestCallbackData {
|
||||
|
||||
const CollisionObjectSW *object;
|
||||
@@ -389,173 +356,147 @@ struct _RestCallbackData {
|
||||
float best_len;
|
||||
};
|
||||
|
||||
static void _rest_cbk_result(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata) {
|
||||
static void _rest_cbk_result(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata) {
|
||||
|
||||
|
||||
_RestCallbackData *rd=(_RestCallbackData*)p_userdata;
|
||||
_RestCallbackData *rd = (_RestCallbackData *)p_userdata;
|
||||
|
||||
Vector3 contact_rel = p_point_B - p_point_A;
|
||||
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;
|
||||
|
||||
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 PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform& p_shape_xform,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {
|
||||
bool PhysicsDirectSpaceStateSW::rest_info(RID p_shape, const Transform &p_shape_xform, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) {
|
||||
|
||||
|
||||
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
|
||||
ERR_FAIL_COND_V(!shape,0);
|
||||
ShapeSW *shape = static_cast<PhysicsServerSW *>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
|
||||
ERR_FAIL_COND_V(!shape, 0);
|
||||
|
||||
AABB aabb = p_shape_xform.xform(shape->get_aabb());
|
||||
aabb=aabb.grow(p_margin);
|
||||
aabb = aabb.grow(p_margin);
|
||||
|
||||
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
|
||||
int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, SpaceSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
|
||||
|
||||
_RestCallbackData rcd;
|
||||
rcd.best_len=0;
|
||||
rcd.best_object=NULL;
|
||||
rcd.best_shape=0;
|
||||
rcd.best_len = 0;
|
||||
rcd.best_object = NULL;
|
||||
rcd.best_shape = 0;
|
||||
|
||||
for(int i=0;i<amount;i++) {
|
||||
for (int i = 0; i < amount; i++) {
|
||||
|
||||
|
||||
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
|
||||
if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
|
||||
continue;
|
||||
|
||||
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
|
||||
int shape_idx=space->intersection_query_subindex_results[i];
|
||||
const CollisionObjectSW *col_obj = space->intersection_query_results[i];
|
||||
int shape_idx = space->intersection_query_subindex_results[i];
|
||||
|
||||
if (p_exclude.has( col_obj->get_self() ))
|
||||
if (p_exclude.has(col_obj->get_self()))
|
||||
continue;
|
||||
|
||||
rcd.object=col_obj;
|
||||
rcd.shape=shape_idx;
|
||||
bool sc = CollisionSolverSW::solve_static(shape,p_shape_xform,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),_rest_cbk_result,&rcd,NULL,p_margin);
|
||||
rcd.object = col_obj;
|
||||
rcd.shape = shape_idx;
|
||||
bool sc = CollisionSolverSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, NULL, p_margin);
|
||||
if (!sc)
|
||||
continue;
|
||||
|
||||
|
||||
}
|
||||
|
||||
if (rcd.best_len==0)
|
||||
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();
|
||||
if (rcd.best_object->get_type()==CollisionObjectSW::TYPE_BODY) {
|
||||
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();
|
||||
if (rcd.best_object->get_type() == CollisionObjectSW::TYPE_BODY) {
|
||||
|
||||
const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
|
||||
const BodySW *body = static_cast<const BodySW *>(rcd.best_object);
|
||||
r_info->linear_velocity = body->get_linear_velocity() +
|
||||
(body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
|
||||
|
||||
(body->get_angular_velocity()).cross(body->get_transform().origin - rcd.best_contact); // * mPos);
|
||||
|
||||
} else {
|
||||
r_info->linear_velocity=Vector3();
|
||||
r_info->linear_velocity = Vector3();
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
PhysicsDirectSpaceStateSW::PhysicsDirectSpaceStateSW() {
|
||||
|
||||
|
||||
space=NULL;
|
||||
space = NULL;
|
||||
}
|
||||
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
void *SpaceSW::_broadphase_pair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_self) {
|
||||
|
||||
CollisionObjectSW::Type type_A = A->get_type();
|
||||
CollisionObjectSW::Type type_B = B->get_type();
|
||||
if (type_A > type_B) {
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
void* SpaceSW::_broadphase_pair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_self) {
|
||||
|
||||
CollisionObjectSW::Type type_A=A->get_type();
|
||||
CollisionObjectSW::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);
|
||||
SWAP(A, B);
|
||||
SWAP(p_subindex_A, p_subindex_B);
|
||||
SWAP(type_A, type_B);
|
||||
}
|
||||
|
||||
SpaceSW *self = (SpaceSW*)p_self;
|
||||
SpaceSW *self = (SpaceSW *)p_self;
|
||||
|
||||
self->collision_pairs++;
|
||||
|
||||
if (type_A==CollisionObjectSW::TYPE_AREA) {
|
||||
if (type_A == CollisionObjectSW::TYPE_AREA) {
|
||||
|
||||
AreaSW *area=static_cast<AreaSW*>(A);
|
||||
if (type_B==CollisionObjectSW::TYPE_AREA) {
|
||||
AreaSW *area = static_cast<AreaSW *>(A);
|
||||
if (type_B == CollisionObjectSW::TYPE_AREA) {
|
||||
|
||||
AreaSW *area_b=static_cast<AreaSW*>(B);
|
||||
Area2PairSW *area2_pair = memnew(Area2PairSW(area_b,p_subindex_B,area,p_subindex_A) );
|
||||
AreaSW *area_b = static_cast<AreaSW *>(B);
|
||||
Area2PairSW *area2_pair = memnew(Area2PairSW(area_b, p_subindex_B, area, p_subindex_A));
|
||||
return area2_pair;
|
||||
} else {
|
||||
|
||||
BodySW *body=static_cast<BodySW*>(B);
|
||||
AreaPairSW *area_pair = memnew(AreaPairSW(body,p_subindex_B,area,p_subindex_A) );
|
||||
BodySW *body = static_cast<BodySW *>(B);
|
||||
AreaPairSW *area_pair = memnew(AreaPairSW(body, p_subindex_B, area, p_subindex_A));
|
||||
return area_pair;
|
||||
}
|
||||
} else {
|
||||
|
||||
|
||||
BodyPairSW *b = memnew( BodyPairSW((BodySW*)A,p_subindex_A,(BodySW*)B,p_subindex_B) );
|
||||
BodyPairSW *b = memnew(BodyPairSW((BodySW *)A, p_subindex_A, (BodySW *)B, p_subindex_B));
|
||||
return b;
|
||||
|
||||
}
|
||||
|
||||
return NULL;
|
||||
}
|
||||
|
||||
void SpaceSW::_broadphase_unpair(CollisionObjectSW *A,int p_subindex_A,CollisionObjectSW *B,int p_subindex_B,void *p_data,void *p_self) {
|
||||
void SpaceSW::_broadphase_unpair(CollisionObjectSW *A, int p_subindex_A, CollisionObjectSW *B, int p_subindex_B, void *p_data, void *p_self) {
|
||||
|
||||
|
||||
|
||||
SpaceSW *self = (SpaceSW*)p_self;
|
||||
SpaceSW *self = (SpaceSW *)p_self;
|
||||
self->collision_pairs--;
|
||||
ConstraintSW *c = (ConstraintSW*)p_data;
|
||||
ConstraintSW *c = (ConstraintSW *)p_data;
|
||||
memdelete(c);
|
||||
}
|
||||
|
||||
|
||||
const SelfList<BodySW>::List& SpaceSW::get_active_body_list() const {
|
||||
const SelfList<BodySW>::List &SpaceSW::get_active_body_list() const {
|
||||
|
||||
return active_list;
|
||||
}
|
||||
void SpaceSW::body_add_to_active_list(SelfList<BodySW>* p_body) {
|
||||
void SpaceSW::body_add_to_active_list(SelfList<BodySW> *p_body) {
|
||||
|
||||
active_list.add(p_body);
|
||||
}
|
||||
void SpaceSW::body_remove_from_active_list(SelfList<BodySW>* p_body) {
|
||||
void SpaceSW::body_remove_from_active_list(SelfList<BodySW> *p_body) {
|
||||
|
||||
active_list.remove(p_body);
|
||||
|
||||
}
|
||||
|
||||
void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW>* p_body) {
|
||||
|
||||
void SpaceSW::body_add_to_inertia_update_list(SelfList<BodySW> *p_body) {
|
||||
|
||||
inertia_update_list.add(p_body);
|
||||
}
|
||||
|
||||
void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW>* p_body) {
|
||||
void SpaceSW::body_remove_from_inertia_update_list(SelfList<BodySW> *p_body) {
|
||||
|
||||
inertia_update_list.remove(p_body);
|
||||
}
|
||||
@@ -567,112 +508,103 @@ BroadPhaseSW *SpaceSW::get_broadphase() {
|
||||
|
||||
void SpaceSW::add_object(CollisionObjectSW *p_object) {
|
||||
|
||||
ERR_FAIL_COND( objects.has(p_object) );
|
||||
ERR_FAIL_COND(objects.has(p_object));
|
||||
objects.insert(p_object);
|
||||
}
|
||||
|
||||
void SpaceSW::remove_object(CollisionObjectSW *p_object) {
|
||||
|
||||
ERR_FAIL_COND( !objects.has(p_object) );
|
||||
ERR_FAIL_COND(!objects.has(p_object));
|
||||
objects.erase(p_object);
|
||||
}
|
||||
|
||||
const Set<CollisionObjectSW*> &SpaceSW::get_objects() const {
|
||||
const Set<CollisionObjectSW *> &SpaceSW::get_objects() const {
|
||||
|
||||
return objects;
|
||||
}
|
||||
|
||||
void SpaceSW::body_add_to_state_query_list(SelfList<BodySW>* p_body) {
|
||||
void SpaceSW::body_add_to_state_query_list(SelfList<BodySW> *p_body) {
|
||||
|
||||
state_query_list.add(p_body);
|
||||
}
|
||||
void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW>* p_body) {
|
||||
void SpaceSW::body_remove_from_state_query_list(SelfList<BodySW> *p_body) {
|
||||
|
||||
state_query_list.remove(p_body);
|
||||
}
|
||||
|
||||
void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW>* p_area) {
|
||||
void SpaceSW::area_add_to_monitor_query_list(SelfList<AreaSW> *p_area) {
|
||||
|
||||
monitor_query_list.add(p_area);
|
||||
}
|
||||
void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW>* p_area) {
|
||||
void SpaceSW::area_remove_from_monitor_query_list(SelfList<AreaSW> *p_area) {
|
||||
|
||||
monitor_query_list.remove(p_area);
|
||||
}
|
||||
|
||||
void SpaceSW::area_add_to_moved_list(SelfList<AreaSW>* p_area) {
|
||||
void SpaceSW::area_add_to_moved_list(SelfList<AreaSW> *p_area) {
|
||||
|
||||
area_moved_list.add(p_area);
|
||||
}
|
||||
|
||||
void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW>* p_area) {
|
||||
void SpaceSW::area_remove_from_moved_list(SelfList<AreaSW> *p_area) {
|
||||
|
||||
area_moved_list.remove(p_area);
|
||||
}
|
||||
|
||||
const SelfList<AreaSW>::List& SpaceSW::get_moved_area_list() const {
|
||||
const SelfList<AreaSW>::List &SpaceSW::get_moved_area_list() const {
|
||||
|
||||
return area_moved_list;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void SpaceSW::call_queries() {
|
||||
|
||||
while(state_query_list.first()) {
|
||||
while (state_query_list.first()) {
|
||||
|
||||
BodySW * b = state_query_list.first()->self();
|
||||
BodySW *b = state_query_list.first()->self();
|
||||
b->call_queries();
|
||||
state_query_list.remove(state_query_list.first());
|
||||
}
|
||||
|
||||
while(monitor_query_list.first()) {
|
||||
while (monitor_query_list.first()) {
|
||||
|
||||
AreaSW * a = monitor_query_list.first()->self();
|
||||
AreaSW *a = monitor_query_list.first()->self();
|
||||
a->call_queries();
|
||||
monitor_query_list.remove(monitor_query_list.first());
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void SpaceSW::setup() {
|
||||
|
||||
contact_debug_count=0;
|
||||
while(inertia_update_list.first()) {
|
||||
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 SpaceSW::update() {
|
||||
|
||||
|
||||
broadphase->update();
|
||||
|
||||
}
|
||||
|
||||
|
||||
void SpaceSW::set_param(PhysicsServer::SpaceParameter p_param, real_t p_value) {
|
||||
|
||||
switch(p_param) {
|
||||
switch (p_param) {
|
||||
|
||||
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_threshold = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_threshold = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio = p_value; break;
|
||||
case PhysicsServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
|
||||
}
|
||||
}
|
||||
|
||||
real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
|
||||
|
||||
switch(p_param) {
|
||||
switch (p_param) {
|
||||
|
||||
case PhysicsServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
|
||||
case PhysicsServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
|
||||
@@ -688,12 +620,12 @@ real_t SpaceSW::get_param(PhysicsServer::SpaceParameter p_param) const {
|
||||
|
||||
void SpaceSW::lock() {
|
||||
|
||||
locked=true;
|
||||
locked = true;
|
||||
}
|
||||
|
||||
void SpaceSW::unlock() {
|
||||
|
||||
locked=false;
|
||||
locked = false;
|
||||
}
|
||||
|
||||
bool SpaceSW::is_locked() const {
|
||||
@@ -708,41 +640,36 @@ PhysicsDirectSpaceStateSW *SpaceSW::get_direct_state() {
|
||||
|
||||
SpaceSW::SpaceSW() {
|
||||
|
||||
collision_pairs=0;
|
||||
active_objects=0;
|
||||
island_count=0;
|
||||
contact_debug_count=0;
|
||||
collision_pairs = 0;
|
||||
active_objects = 0;
|
||||
island_count = 0;
|
||||
contact_debug_count = 0;
|
||||
|
||||
locked=false;
|
||||
contact_recycle_radius=0.01;
|
||||
contact_max_separation=0.05;
|
||||
contact_max_allowed_penetration= 0.01;
|
||||
locked = false;
|
||||
contact_recycle_radius = 0.01;
|
||||
contact_max_separation = 0.05;
|
||||
contact_max_allowed_penetration = 0.01;
|
||||
|
||||
constraint_bias = 0.01;
|
||||
body_linear_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_linear",0.1);
|
||||
body_angular_velocity_sleep_threshold=GLOBAL_DEF("physics/sleep_threshold_angular", (8.0 / 180.0 * Math_PI) );
|
||||
body_time_to_sleep=GLOBAL_DEF("physics/time_before_sleep",0.5);
|
||||
body_angular_velocity_damp_ratio=10;
|
||||
|
||||
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/sleep_threshold_linear", 0.1);
|
||||
body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
|
||||
body_time_to_sleep = GLOBAL_DEF("physics/time_before_sleep", 0.5);
|
||||
body_angular_velocity_damp_ratio = 10;
|
||||
|
||||
broadphase = BroadPhaseSW::create_func();
|
||||
broadphase->set_pair_callback(_broadphase_pair,this);
|
||||
broadphase->set_unpair_callback(_broadphase_unpair,this);
|
||||
area=NULL;
|
||||
broadphase->set_pair_callback(_broadphase_pair, this);
|
||||
broadphase->set_unpair_callback(_broadphase_unpair, this);
|
||||
area = NULL;
|
||||
|
||||
direct_access = memnew( PhysicsDirectSpaceStateSW );
|
||||
direct_access->space=this;
|
||||
|
||||
for(int i=0;i<ELAPSED_TIME_MAX;i++)
|
||||
elapsed_time[i]=0;
|
||||
direct_access = memnew(PhysicsDirectSpaceStateSW);
|
||||
direct_access->space = this;
|
||||
|
||||
for (int i = 0; i < ELAPSED_TIME_MAX; i++)
|
||||
elapsed_time[i] = 0;
|
||||
}
|
||||
|
||||
SpaceSW::~SpaceSW() {
|
||||
|
||||
memdelete(broadphase);
|
||||
memdelete( direct_access );
|
||||
memdelete(direct_access);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user