diff options
Diffstat (limited to 'servers/physics_2d/space_2d_sw.cpp')
| -rw-r--r-- | servers/physics_2d/space_2d_sw.cpp | 918 |
1 files changed, 407 insertions, 511 deletions
diff --git a/servers/physics_2d/space_2d_sw.cpp b/servers/physics_2d/space_2d_sw.cpp index 9bced5006..93df0a00f 100644 --- a/servers/physics_2d/space_2d_sw.cpp +++ b/servers/physics_2d/space_2d_sw.cpp @@ -30,109 +30,101 @@ #include "collision_solver_2d_sw.h" #include "physics_2d_server_sw.h" - _FORCE_INLINE_ static bool _match_object_type_query(CollisionObject2DSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) { - if ((p_object->get_layer_mask()&p_layer_mask)==0) + if ((p_object->get_layer_mask() & p_layer_mask) == 0) return false; - if (p_object->get_type()==CollisionObject2DSW::TYPE_AREA) - return p_type_mask&Physics2DDirectSpaceState::TYPE_MASK_AREA; - - Body2DSW *body = static_cast<Body2DSW*>(p_object); + if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA) + return p_type_mask & Physics2DDirectSpaceState::TYPE_MASK_AREA; - return (1<<body->get_mode())&p_type_mask; + Body2DSW *body = static_cast<Body2DSW *>(p_object); + return (1 << body->get_mode()) & p_type_mask; } +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) { -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) { - - if (p_result_max<=0) + if (p_result_max <= 0) return 0; Rect2 aabb; - aabb.pos=p_point-Vector2(0.00001,0.00001); - aabb.size=Vector2(0.00002,0.00002); + aabb.pos = p_point - Vector2(0.00001, 0.00001); + aabb.size = Vector2(0.00002, 0.00002); - int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - int cc=0; + int cc = 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; - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; - const CollisionObject2DSW *col_obj=space->intersection_query_results[i]; + const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; if (p_pick_point && !col_obj->is_pickable()) continue; - int shape_idx=space->intersection_query_subindex_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; - Shape2DSW * shape = col_obj->get_shape(shape_idx); + Shape2DSW *shape = col_obj->get_shape(shape_idx); Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point); if (!shape->contains_point(local_point)) continue; - if (cc>=p_result_max) + if (cc >= p_result_max) continue; - 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); - r_results[cc].rid=col_obj->get_self(); - r_results[cc].shape=shape_idx; - r_results[cc].metadata=col_obj->get_shape_metadata(shape_idx); + 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); + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; + r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx); cc++; } return cc; - - } -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) { - +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) { + ERR_FAIL_COND_V(space->locked, false); - ERR_FAIL_COND_V(space->locked,false); - - Vector2 begin,end; + Vector2 begin, end; Vector2 normal; - begin=p_from; - end=p_to; - normal=(end-begin).normalized(); + begin = p_from; + end = p_to; + normal = (end - begin).normalized(); - int amount = space->broadphase->cull_segment(begin,end,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); + int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); //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 - bool collided=false; - Vector2 res_point,res_normal; + bool collided = false; + Vector2 res_point, res_normal; int res_shape; const CollisionObject2DSW *res_obj; - real_t min_d=1e10; + real_t min_d = 1e10; + 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; - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; - const CollisionObject2DSW *col_obj=space->intersection_query_results[i]; + const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform(); Vector2 local_from = inv_xform.xform(begin); @@ -146,131 +138,113 @@ bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2& p_from, const Vec const Shape2DSW *shape = col_obj->get_shape(shape_idx); - Vector2 shape_point,shape_normal; - - - if (shape->intersect_segment(local_from,local_to,shape_point,shape_normal)) { - + Vector2 shape_point, shape_normal; + if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) { Transform2D xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx); - shape_point=xform.xform(shape_point); + shape_point = xform.xform(shape_point); real_t ld = normal.dot(shape_point); + if (ld < min_d) { - if (ld<min_d) { - - min_d=ld; - res_point=shape_point; - res_normal=inv_xform.basis_xform_inv(shape_normal).normalized(); - res_shape=shape_idx; - res_obj=col_obj; - collided=true; + min_d = ld; + res_point = shape_point; + res_normal = inv_xform.basis_xform_inv(shape_normal).normalized(); + res_shape = shape_idx; + res_obj = col_obj; + collided = true; } } - } if (!collided) return false; - - r_result.collider_id=res_obj->get_instance_id(); - if (r_result.collider_id!=0) - r_result.collider=ObjectDB::get_instance(r_result.collider_id); - r_result.normal=res_normal; - r_result.metadata=res_obj->get_shape_metadata(res_shape); - r_result.position=res_point; - r_result.rid=res_obj->get_self(); - r_result.shape=res_shape; + r_result.collider_id = res_obj->get_instance_id(); + if (r_result.collider_id != 0) + r_result.collider = ObjectDB::get_instance(r_result.collider_id); + r_result.normal = res_normal; + r_result.metadata = res_obj->get_shape_metadata(res_shape); + r_result.position = res_point; + r_result.rid = res_obj->get_self(); + r_result.shape = res_shape; return true; - } +int Physics2DDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t 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) { -int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Transform2D& p_xform,const Vector2& p_motion,real_t 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) + if (p_result_max <= 0) return 0; Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape); - ERR_FAIL_COND_V(!shape,0); + ERR_FAIL_COND_V(!shape, 0); Rect2 aabb = p_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,p_result_max,space->intersection_query_subindex_results); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, p_result_max, space->intersection_query_subindex_results); - int cc=0; + int cc = 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; - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; + const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; - const CollisionObject2DSW *col_obj=space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; - - 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)) + 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)) continue; - 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); - r_results[cc].rid=col_obj->get_self(); - r_results[cc].shape=shape_idx; - r_results[cc].metadata=col_obj->get_shape_metadata(shape_idx); + 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); + r_results[cc].rid = col_obj->get_self(); + r_results[cc].shape = shape_idx; + r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx); cc++; - } return cc; - } - - -bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transform2D& p_xform,const Vector2& p_motion,real_t p_margin,real_t &p_closest_safe,real_t &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) { - - +bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, 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,false); + ERR_FAIL_COND_V(!shape, false); Rect2 aabb = p_xform.xform(shape->get_aabb()); - aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion - aabb=aabb.grow(p_margin); + aabb = aabb.merge(Rect2(aabb.pos + p_motion, aabb.size)); //motion + aabb = aabb.grow(p_margin); /* if (p_motion!=Vector2()) print_line(p_motion); */ - int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results); - - real_t best_safe=1; - real_t best_unsafe=1; + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - for(int i=0;i<amount;i++) { + real_t best_safe = 1; + real_t best_unsafe = 1; + 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; - if (p_exclude.has( space->intersection_query_results[i]->get_self())) + if (p_exclude.has(space->intersection_query_results[i]->get_self())) continue; //ignore excluded - - const CollisionObject2DSW *col_obj=space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; - + const CollisionObject2DSW *col_obj = space->intersection_query_results[i]; + int shape_idx = space->intersection_query_subindex_results[i]; /*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { @@ -281,21 +255,19 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transfor } }*/ - Transform2D 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(shape,p_xform,p_motion,col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) { + if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) { continue; } - //test initial overlap - if (CollisionSolver2DSW::solve(shape,p_xform,Vector2(),col_obj->get_shape(shape_idx),col_obj_xform,Vector2() ,NULL,NULL,NULL,p_margin)) { + if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) { - if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { + 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()) { + const Body2DSW *body = static_cast<const Body2DSW *>(col_obj); + if (body->get_one_way_collision_direction() != Vector2()) { continue; } } @@ -303,131 +275,119 @@ bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Transfor return false; } - //just do kinematic solving - real_t low=0; - real_t hi=1; - Vector2 mnormal=p_motion.normalized(); + real_t low = 0; + real_t hi = 1; + Vector2 mnormal = p_motion.normalized(); - for(int i=0;i<8;i++) { //steps should be customizable.. + for (int i = 0; i < 8; i++) { //steps should be customizable.. - real_t ofs = (low+hi)*0.5; + real_t ofs = (low + hi) * 0.5; - Vector2 sep=mnormal; //important optimization for this to work fast enough - 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); + Vector2 sep = mnormal; //important optimization for this to work fast enough + 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); if (collided) { - hi=ofs; + hi = ofs; } else { - low=ofs; + low = ofs; } } - if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { + 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()) { + 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(); + 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(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); - if (!collided || cbk.amount==0) { + Vector2 sep = mnormal; //important optimization for this to work fast enough + 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); + if (!collided || cbk.amount == 0) { continue; } - } } - - if (low<best_safe) { - best_safe=low; - best_unsafe=hi; + if (low < best_safe) { + best_safe = low; + best_unsafe = hi; } - } - p_closest_safe=best_safe; - p_closest_unsafe=best_unsafe; + p_closest_safe = best_safe; + p_closest_unsafe = best_unsafe; return true; - - } +bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t 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) { -bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Transform2D& p_shape_xform,const Vector2& p_motion,real_t 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) { - - - if (p_result_max<=0) + if (p_result_max <= 0) return 0; Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape); - ERR_FAIL_COND_V(!shape,0); + 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); + 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); + int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results); - bool collided=false; - r_result_count=0; + bool collided = false; + r_result_count = 0; Physics2DServerSW::CollCbkData cbk; - cbk.max=p_result_max; - cbk.amount=0; - cbk.ptr=r_results; - CollisionSolver2DSW::CallbackResult cbkres=NULL; + cbk.max = p_result_max; + cbk.amount = 0; + cbk.ptr = r_results; + CollisionSolver2DSW::CallbackResult cbkres = NULL; - Physics2DServerSW::CollCbkData *cbkptr=NULL; - if (p_result_max>0) { - cbkptr=&cbk; - cbkres=Physics2DServerSW::_shape_col_cbk; + Physics2DServerSW::CollCbkData *cbkptr = NULL; + if (p_result_max > 0) { + cbkptr = &cbk; + cbkres = Physics2DServerSW::_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 CollisionObject2DSW *col_obj=space->intersection_query_results[i]; - int shape_idx=space->intersection_query_subindex_results[i]; + 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() )) + if (p_exclude.has(col_obj->get_self())) continue; - if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { + if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *body=static_cast<const Body2DSW*>(col_obj); - cbk.valid_dir=body->get_one_way_collision_direction(); - cbk.valid_depth=body->get_one_way_collision_max_depth(); + const Body2DSW *body = static_cast<const Body2DSW *>(col_obj); + cbk.valid_dir = body->get_one_way_collision_direction(); + cbk.valid_depth = body->get_one_way_collision_max_depth(); } else { - cbk.valid_dir=Vector2(); - cbk.valid_depth=0; + cbk.valid_dir = Vector2(); + cbk.valid_depth = 0; } - 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)) { - collided=p_result_max==0 || cbk.amount>0; + 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)) { + collided = p_result_max == 0 || cbk.amount > 0; } - } - - r_result_count=cbk.amount; + r_result_count = cbk.amount; return collided; } - struct _RestCallbackData2D { const CollisionObject2DSW *object; @@ -441,20 +401,18 @@ struct _RestCallbackData2D { real_t valid_depth; }; -static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) { - +static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) { - _RestCallbackData2D *rd=(_RestCallbackData2D*)p_userdata; + _RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata; - if (rd->valid_dir!=Vector2()) { + if (rd->valid_dir != Vector2()) { - if (rd->valid_dir!=Vector2()) { - if (p_point_A.distance_squared_to(p_point_B)>rd->valid_depth*rd->valid_depth) + if (rd->valid_dir != Vector2()) { + if (p_point_A.distance_squared_to(p_point_B) > rd->valid_depth * rd->valid_depth) return; - if (rd->valid_dir.dot((p_point_A-p_point_B).normalized())<Math_PI*0.25) + if (rd->valid_dir.dot((p_point_A - p_point_B).normalized()) < Math_PI * 0.25) return; } - } Vector2 contact_rel = p_point_B - p_point_A; @@ -462,139 +420,121 @@ static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,v 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 Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D& p_shape_xform,const Vector2& p_motion,real_t p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) { - +bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t 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); + 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); + 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); + 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++) { + 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)) + 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]; + 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() )) + if (p_exclude.has(col_obj->get_self())) continue; - if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { + 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(); + 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.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); + 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) + 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) { + 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(); + 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(); + r_info->linear_velocity = Vector2(); } return true; } - Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() { - - space=NULL; + 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++) { -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); + bool keep = true; - 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 (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]); - + 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 Transform2D &p_from, const Vector2&p_motion, real_t p_margin, Physics2DServer::MotionResult *r_result) { +bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, const Vector2 &p_motion, real_t p_margin, Physics2DServer::MotionResult *r_result) { //give me back regular physics engine logic //this is madness @@ -604,65 +544,61 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co //but is it right? who knows at this point.. if (r_result) { - r_result->collider_id=0; - r_result->collider_shape=0; - + r_result->collider_id = 0; + r_result->collider_shape = 0; } Rect2 body_aabb; - for(int i=0;i<p_body->get_shape_count();i++) { + for (int i = 0; i < p_body->get_shape_count(); i++) { - if (i==0) - body_aabb=p_body->get_shape_aabb(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.merge(p_body->get_shape_aabb(i)); } - body_aabb=body_aabb.grow(p_margin); + body_aabb = body_aabb.grow(p_margin); Transform2D body_transform = p_from; - { //STEP 1, FREE BODY IF STUCK const int max_results = 32; - int recover_attempts=4; - Vector2 sr[max_results*2]; + 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; + cbk.max = max_results; + cbk.amount = 0; + cbk.ptr = sr; - Physics2DServerSW::CollCbkData *cbkptr=NULL; - cbkptr=&cbk; - cbkres=Physics2DServerSW::_shape_col_cbk; + CollisionSolver2DSW::CallbackResult cbkres = NULL; - bool collided=false; + Physics2DServerSW::CollCbkData *cbkptr = NULL; + cbkptr = &cbk; + cbkres = Physics2DServerSW::_shape_col_cbk; + bool collided = false; - int amount = _cull_aabb_for_body(p_body,body_aabb); + int amount = _cull_aabb_for_body(p_body, body_aabb); - for(int j=0;j<p_body->get_shape_count();j++) { + for (int j = 0; j < p_body->get_shape_count(); j++) { if (p_body->is_shape_set_as_trigger(j)) continue; Transform2D 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++) { + for (int i = 0; i < amount; i++) { - const CollisionObject2DSW *col_obj=intersection_query_results[i]; - int shape_idx=intersection_query_subindex_results[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) { + if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) { - const Body2DSW *body=static_cast<const Body2DSW*>(col_obj); + const Body2DSW *body = static_cast<const Body2DSW *>(col_obj); Vector2 cdir = body->get_one_way_collision_direction(); /* @@ -670,31 +606,29 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co continue; */ - cbk.valid_dir=cdir; - cbk.valid_depth=body->get_one_way_collision_max_depth(); + cbk.valid_dir = cdir; + cbk.valid_depth = body->get_one_way_collision_max_depth(); } else { - cbk.valid_dir=Vector2(); - cbk.valid_depth=0; + 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 (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++) { - for(int i=0;i<cbk.amount;i++) { - - Vector2 a = sr[i*2+0]; - Vector2 b = sr[i*2+1]; + Vector2 a = sr[i * 2 + 0]; + Vector2 b = sr[i * 2 + 1]; #if 0 Vector2 rel = b-a; @@ -710,38 +644,36 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co if (d<margin) continue; #endif - recover_motion+=(b-a)*0.4; + recover_motion += (b - a) * 0.4; } - if (recover_motion==Vector2()) { - collided=false; + if (recover_motion == Vector2()) { + collided = false; break; } - body_transform.elements[2]+=recover_motion; - body_aabb.pos+=recover_motion; + body_transform.elements[2] += recover_motion; + body_aabb.pos += recover_motion; recover_attempts--; } while (recover_attempts); } - - real_t safe = 1.0; real_t unsafe = 1.0; - int best_shape=-1; + 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); + 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); + int amount = _cull_aabb_for_body(p_body, motion_aabb); - for(int j=0;j<p_body->get_shape_count();j++) { + for (int j = 0; j < p_body->get_shape_count(); j++) { if (p_body->is_shape_set_as_trigger(j)) continue; @@ -749,201 +681,189 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j); Shape2DSW *body_shape = p_body->get_shape(j); - bool stuck=false; + bool stuck = false; - real_t best_safe=1; - real_t best_unsafe=1; + real_t best_safe = 1; + real_t 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]; + for (int i = 0; i < amount; i++) { + const CollisionObject2DSW *col_obj = intersection_query_results[i]; + int shape_idx = intersection_query_subindex_results[i]; Transform2D 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)) { + 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 (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 (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()) { + const Body2DSW *body = static_cast<const Body2DSW *>(col_obj); + if (body->get_one_way_collision_direction() != Vector2()) { continue; } } - stuck=true; + stuck = true; break; } - //just do kinematic solving - real_t low=0; - real_t hi=1; - Vector2 mnormal=p_motion.normalized(); + real_t low = 0; + real_t hi = 1; + Vector2 mnormal = p_motion.normalized(); - for(int i=0;i<8;i++) { //steps should be customizable.. + for (int i = 0; i < 8; i++) { //steps should be customizable.. - real_t ofs = (low+hi)*0.5; + real_t 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); + 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; + hi = ofs; } else { - low=ofs; + low = ofs; } } - if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) { + 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()) { + 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(); + 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) { + 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 (low < best_safe) { + best_safe = low; + best_unsafe = hi; } } if (stuck) { - safe=0; - unsafe=0; - best_shape=j; //sadly it's the best + safe = 0; + unsafe = 0; + best_shape = j; //sadly it's the best break; } - if (best_safe==1.0) { + if (best_safe == 1.0) { continue; } if (best_safe < safe) { - safe=best_safe; - unsafe=best_unsafe; - best_shape=j; + safe = best_safe; + unsafe = best_unsafe; + best_shape = j; } } } - bool collided=false; - if (safe>=1) { + bool collided = false; + if (safe >= 1) { //not collided - collided=false; + 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()); + 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 Transform2D ugt = body_transform; - ugt.elements[2]+=p_motion*unsafe; + ugt.elements[2] += p_motion * unsafe; _RestCallbackData2D 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; Transform2D 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); + body_aabb.pos += p_motion * unsafe; + int amount = _cull_aabb_for_body(p_body, body_aabb); - for(int i=0;i<amount;i++) { + for (int i = 0; i < amount; i++) { + const CollisionObject2DSW *col_obj = intersection_query_results[i]; + int shape_idx = intersection_query_subindex_results[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) { - 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(); + 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.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); + 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 (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); + 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(); + 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()); - + 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; + 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()); + r_result->motion = p_motion; + r_result->remainder = Vector2(); + r_result->motion += (body_transform.get_origin() - p_from.get_origin()); } - collided=false; - + collided = false; } } return collided; - #if 0 //give me back regular physics engine logic //this is madness @@ -1101,82 +1021,71 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const Transform2D &p_from, co 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) { - -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); + SWAP(A, B); + SWAP(p_subindex_A, p_subindex_B); + SWAP(type_A, type_B); } - Space2DSW *self = (Space2DSW*)p_self; + Space2DSW *self = (Space2DSW *)p_self; self->collision_pairs++; - if (type_A==CollisionObject2DSW::TYPE_AREA) { + if (type_A == CollisionObject2DSW::TYPE_AREA) { - Area2DSW *area=static_cast<Area2DSW*>(A); - if (type_B==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) ); + 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) ); + 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) ); + 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) { +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; + Space2DSW *self = (Space2DSW *)p_self; self->collision_pairs--; - Constraint2DSW *c = (Constraint2DSW*)p_data; + Constraint2DSW *c = (Constraint2DSW *)p_data; memdelete(c); } - -const SelfList<Body2DSW>::List& Space2DSW::get_active_body_list() const { +const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const { return active_list; } -void Space2DSW::body_add_to_active_list(SelfList<Body2DSW>* p_body) { +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) { +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) { - +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) { +void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) { inertia_update_list.remove(p_body); } @@ -1188,109 +1097,103 @@ BroadPhase2DSW *Space2DSW::get_broadphase() { void Space2DSW::add_object(CollisionObject2DSW *p_object) { - ERR_FAIL_COND( objects.has(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) ); + ERR_FAIL_COND(!objects.has(p_object)); objects.erase(p_object); } -const Set<CollisionObject2DSW*> &Space2DSW::get_objects() const { +const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const { return objects; } -void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW>* p_body) { +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) { +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) { +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) { +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) { +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) { +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 { +const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const { return area_moved_list; } - void Space2DSW::call_queries() { - while(state_query_list.first()) { + while (state_query_list.first()) { - Body2DSW * b = state_query_list.first()->self(); + Body2DSW *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()) { - Area2DSW * a = monitor_query_list.first()->self(); + 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; + contact_debug_count = 0; - while(inertia_update_list.first()) { + 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) { + 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; + 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) { + 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; @@ -1305,12 +1208,12 @@ real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const { void Space2DSW::lock() { - locked=true; + locked = true; } void Space2DSW::unlock() { - locked=false; + locked = false; } bool Space2DSW::is_locked() const { @@ -1325,43 +1228,36 @@ Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() { Space2DSW::Space2DSW() { + collision_pairs = 0; + active_objects = 0; + island_count = 0; - collision_pairs=0; - active_objects=0; - island_count=0; + contact_debug_count = 0; - contact_debug_count=0; - - locked=false; - contact_recycle_radius=1.0; - contact_max_separation=1.5; - contact_max_allowed_penetration= 0.3; + 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); - + 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; - + broadphase->set_pair_callback(_broadphase_pair, this); + broadphase->set_unpair_callback(_broadphase_unpair, this); + area = NULL; - for(int i=0;i<ELAPSED_TIME_MAX;i++) - elapsed_time[i]=0; + 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 ); + memdelete(direct_access); } - - - |