void PhysicsServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
shape->set_custom_bias(p_bias);
}
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);
AABB aabb = p_shape_xform.xform(shape->get_aabb());
aabb=aabb.grow(p_margin);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
_RestCallbackData 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 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() ))
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);
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();
if (rcd.best_object->get_type()==CollisionObjectSW::TYPE_BODY) {
const BodySW *body = static_cast<const BodySW*>(rcd.best_object);
Vector3 rel_vec = r_info->point-body->get_transform().get_origin();
r_info->linear_velocity = body->get_linear_velocity() +
(body->get_angular_velocity()).cross(body->get_transform().origin-rcd.best_contact);// * mPos);
} else {
r_info->linear_velocity=Vector3();
}
return true;
}
void PhysicsServerSW::shape_set_data(RID p_shape, const Variant& p_data) {
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
shape->set_data(p_data);
};
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)
return 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);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
bool collided=false;
int cc=0;
r_result_count=0;
PhysicsServerSW::CollCbkData cbk;
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;
}
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 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() )) {
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;
}
}
r_result_count=cbk.amount;
return collided;
}
RID PhysicsServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND_V(!body,RID());
ShapeSW *shape = body->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape,RID());
return shape->get_self();
}
RID PhysicsServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND_V(!area,RID());
ShapeSW *shape = area->get_shape(p_shape_idx);
ERR_FAIL_COND_V(!shape,RID());
return shape->get_self();
}
void PhysicsServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
BodySW *body = body_owner.get(p_body);
ERR_FAIL_COND(!body);
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
ERR_FAIL_COND(!shape->is_configured());
body->set_shape(p_shape_idx, shape);
}
void PhysicsServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
AreaSW *area = area_owner.get(p_area);
ERR_FAIL_COND(!area);
ShapeSW *shape = shape_owner.get(p_shape);
ERR_FAIL_COND(!shape);
ERR_FAIL_COND(!shape->is_configured());
area->set_shape(p_shape_idx, shape);
}
RID PhysicsServerSW::shape_create(ShapeType p_shape) {
ShapeSW *shape = NULL;
switch (p_shape) {
case SHAPE_PLANE: {
shape = memnew(PlaneShapeSW);
} break;
case SHAPE_RAY: {
shape = memnew(RayShapeSW);
} break;
case SHAPE_SPHERE: {
shape = memnew(SphereShapeSW);
} break;
case SHAPE_BOX: {
shape = memnew(BoxShapeSW);
} break;
case SHAPE_CAPSULE: {
shape = memnew(CapsuleShapeSW);
} break;
case SHAPE_CYLINDER: {
ERR_EXPLAIN("CylinderShape is not supported in GodotPhysics. Please switch to Bullet in the Project Settings.");
ERR_FAIL_V(RID());
} break;
case SHAPE_CONVEX_POLYGON: {
shape = memnew(ConvexPolygonShapeSW);
} break;
case SHAPE_CONCAVE_POLYGON: {
shape = memnew(ConcavePolygonShapeSW);
} break;
case SHAPE_HEIGHTMAP: {
shape = memnew(HeightMapShapeSW);
} break;
case SHAPE_CUSTOM: {
ERR_FAIL_V(RID());
} break;
}
RID id = shape_owner.make_rid(shape);
shape->set_self(id);
return id;
};
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) {
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);
Rect3 aabb = p_xform.xform(shape->get_aabb());
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
int cc=0;
//Transform ai = p_xform.affine_inverse();
for(int i=0;i<amount;i++) {
if (cc>=p_result_max)
break;
if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
continue;
//area cant be picked by ray (default)
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue;
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
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))
continue;
if (r_results) {
r_results[cc].collider_id=col_obj->get_instance_id();
if (r_results[cc].collider_id!=0)
r_results[cc].collider=ObjectDB::get_instance(r_results[cc].collider_id);
else
r_results[cc].collider=NULL;
r_results[cc].rid=col_obj->get_self();
r_results[cc].shape=shape_idx;
}
cc++;
}
return cc;
}
RID PhysicsServerSW::shape_create(ShapeType p_shape) {
ShapeSW *shape = NULL;
switch (p_shape) {
case SHAPE_PLANE: {
shape = memnew(PlaneShapeSW);
} break;
case SHAPE_RAY: {
shape = memnew(RayShapeSW);
} break;
case SHAPE_SPHERE: {
shape = memnew(SphereShapeSW);
} break;
case SHAPE_BOX: {
shape = memnew(BoxShapeSW);
} break;
case SHAPE_CAPSULE: {
shape = memnew(CapsuleShapeSW);
} break;
case SHAPE_CONVEX_POLYGON: {
shape = memnew(ConvexPolygonShapeSW);
} break;
case SHAPE_CONCAVE_POLYGON: {
shape = memnew(ConcavePolygonShapeSW);
} break;
case SHAPE_HEIGHTMAP: {
shape = memnew(HeightMapShapeSW);
} break;
case SHAPE_CUSTOM: {
ERR_FAIL_V(RID());
} break;
}
RID id = shape_owner.make_rid(shape);
shape->set_self(id);
return id;
};
Vector3 PhysicsDirectSpaceStateSW::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
CollisionObjectSW *obj = PhysicsServerSW::singleton->area_owner.getornull(p_object);
if (!obj) {
obj = PhysicsServerSW::singleton->body_owner.getornull(p_object);
}
ERR_FAIL_COND_V(!obj, Vector3());
ERR_FAIL_COND_V(obj->get_space() != space, Vector3());
float min_distance = 1e20;
Vector3 min_point;
bool shapes_found = false;
for (int i = 0; i < obj->get_shape_count(); i++) {
if (obj->is_shape_set_as_disabled(i))
continue;
Transform shape_xform = obj->get_transform() * obj->get_shape_transform(i);
ShapeSW *shape = obj->get_shape(i);
Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
point = shape_xform.xform(point);
float dist = point.distance_to(p_point);
if (dist < min_distance) {
min_distance = dist;
min_point = point;
}
shapes_found = true;
}
if (!shapes_found) {
return obj->get_transform().origin; //no shapes found, use distance to origin.
} else {
return min_point;
}
}
void PhysicsServerSW::free(RID p_rid) {
if (shape_owner.owns(p_rid)) {
ShapeSW *shape = shape_owner.get(p_rid);
while(shape->get_owners().size()) {
ShapeOwnerSW *so=shape->get_owners().front()->key();
so->remove_shape(shape);
}
shape_owner.free(p_rid);
memdelete(shape);
} else if (body_owner.owns(p_rid)) {
BodySW *body = body_owner.get(p_rid);
// if (body->get_state_query())
// _clear_query(body->get_state_query());
// if (body->get_direct_state_query())
// _clear_query(body->get_direct_state_query());
body->set_space(NULL);
while( body->get_shape_count() ) {
body->remove_shape(0);
}
while (body->get_constraint_map().size()) {
RID self = body->get_constraint_map().front()->key()->get_self();
ERR_FAIL_COND(!self.is_valid());
free(self);
}
body_owner.free(p_rid);
memdelete(body);
} else if (area_owner.owns(p_rid)) {
AreaSW *area = area_owner.get(p_rid);
// if (area->get_monitor_query())
// _clear_query(area->get_monitor_query());
area->set_space(NULL);
while( area->get_shape_count() ) {
area->remove_shape(0);
}
area_owner.free(p_rid);
memdelete(area);
} else if (space_owner.owns(p_rid)) {
SpaceSW *space = space_owner.get(p_rid);
while(space->get_objects().size()) {
CollisionObjectSW *co = (CollisionObjectSW *)space->get_objects().front()->get();
co->set_space(NULL);
}
active_spaces.erase(space);
free(space->get_default_area()->get_self());
free(space->get_static_global_body());
space_owner.free(p_rid);
memdelete(space);
} else if (joint_owner.owns(p_rid)) {
JointSW *joint = joint_owner.get(p_rid);
for(int i=0;i<joint->get_body_count();i++) {
joint->get_body_ptr()[i]->remove_constraint(joint);
}
joint_owner.free(p_rid);
memdelete(joint);
} else {
ERR_EXPLAIN("Invalid ID");
ERR_FAIL();
}
};
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) {
ShapeSW *shape = static_cast<PhysicsServerSW*>(PhysicsServer::get_singleton())->shape_owner.get(p_shape);
ERR_FAIL_COND_V(!shape,false);
AABB aabb = p_xform.xform(shape->get_aabb());
aabb=aabb.merge(AABB(aabb.pos+p_motion,aabb.size)); //motion
aabb=aabb.grow(p_margin);
//if (p_motion!=Vector3())
// print_line(p_motion);
int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,SpaceSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);
float best_safe=1;
float best_unsafe=1;
Transform xform_inv = p_xform.affine_inverse();
MotionShapeSW mshape;
mshape.shape=shape;
mshape.motion=xform_inv.basis.xform(p_motion);
bool best_first=true;
Vector3 closest_A,closest_B;
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;
if (p_exclude.has( space->intersection_query_results[i]->get_self()))
continue; //ignore excluded
const CollisionObjectSW *col_obj=space->intersection_query_results[i];
int shape_idx=space->intersection_query_subindex_results[i];
Vector3 point_A,point_B;
Vector3 sep_axis=p_motion.normalized();
Transform 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 (CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
//print_line("failed motion cast (no collision)");
continue;
}
//test initial overlap
#if 0
if (CollisionSolverSW::solve_static(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,NULL,NULL,&sep_axis)) {
print_line("failed initial cast (collision at begining)");
return false;
}
#else
sep_axis=p_motion.normalized();
if (!CollisionSolverSW::solve_distance(shape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,point_A,point_B,aabb,&sep_axis)) {
//print_line("failed motion cast (no collision)");
return false;
}
#endif
//just do kinematic solving
float low=0;
float hi=1;
Vector3 mnormal=p_motion.normalized();
for(int i=0;i<8;i++) { //steps should be customizable..
Transform xfa = p_xform;
float ofs = (low+hi)*0.5;
Vector3 sep=mnormal; //important optimization for this to work fast enough
mshape.motion=xform_inv.basis.xform(p_motion*ofs);
Vector3 lA,lB;
bool collided = !CollisionSolverSW::solve_distance(&mshape,p_xform,col_obj->get_shape(shape_idx),col_obj_xform,lA,lB,aabb,&sep);
if (collided) {
//print_line(itos(i)+": "+rtos(ofs));
hi=ofs;
} else {
point_A=lA;
point_B=lB;
low=ofs;
}
}
if (low<best_safe) {
best_first=true; //force reset
best_safe=low;
best_unsafe=hi;
}
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;
return true;
}
