godot/servers/physics/body_sw.h

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/*  body_sw.h                                                            */
/*************************************************************************/
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/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
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#ifndef BODY_SW_H
#define BODY_SW_H

#include "collision_object_sw.h"
#include "vset.h"
#include "area_sw.h"

class ConstraintSW;


class BodySW : public CollisionObjectSW {


	PhysicsServer::BodyMode mode;

	Vector3 linear_velocity;
	Vector3 angular_velocity;

	Vector3 biased_linear_velocity;
	Vector3 biased_angular_velocity;
	real_t mass;
	real_t bounce;
	real_t friction;

	real_t linear_damp;
	real_t angular_damp;
	real_t gravity_scale;

	PhysicsServer::BodyAxisLock axis_lock;

	real_t _inv_mass;
	Vector3 _inv_inertia; // Relative to the principal axes of inertia

	// Relative to the local frame of reference
	Matrix3 principal_inertia_axes_local;
	Vector3 center_of_mass_local;

	// In world orientation with local origin
	Matrix3 _inv_inertia_tensor;
	Matrix3 principal_inertia_axes;
	Vector3 center_of_mass;

	Vector3 gravity;

	real_t still_time;

	Vector3 applied_force;
	Vector3 applied_torque;

	float area_angular_damp;
	float area_linear_damp;


	SelfList<BodySW> active_list;
	SelfList<BodySW> inertia_update_list;
	SelfList<BodySW> direct_state_query_list;

	VSet<RID> exceptions;
	bool omit_force_integration;
	bool active;

	bool first_integration;

	bool continuous_cd;
	bool can_sleep;
	bool first_time_kinematic;
	void _update_inertia();
	virtual void _shapes_changed();
	Transform new_transform;

	Map<ConstraintSW*,int> constraint_map;

	struct AreaCMP {

		AreaSW *area;
		int refCount;
		_FORCE_INLINE_ bool operator==(const AreaCMP& p_cmp) const { return area->get_self() == p_cmp.area->get_self();}
		_FORCE_INLINE_ bool operator<(const AreaCMP& p_cmp) const { return area->get_priority() < p_cmp.area->get_priority();}
		_FORCE_INLINE_ AreaCMP() {}
		_FORCE_INLINE_ AreaCMP(AreaSW *p_area) { area=p_area; refCount=1;}
	};

	Vector<AreaCMP> areas;

	struct Contact {


		Vector3 local_pos;
		Vector3 local_normal;
		float depth;
		int local_shape;
		Vector3 collider_pos;
		int collider_shape;
		ObjectID collider_instance_id;
		RID collider;
		Vector3 collider_velocity_at_pos;
	};

	Vector<Contact> contacts; //no contacts by default
	int contact_count;

	struct ForceIntegrationCallback {

		ObjectID id;
		StringName method;
		Variant udata;
	};

	ForceIntegrationCallback *fi_callback;


	uint64_t island_step;
	BodySW *island_next;
	BodySW *island_list_next;

	_FORCE_INLINE_ void _compute_area_gravity_and_dampenings(const AreaSW *p_area);

	_FORCE_INLINE_ void _update_transform_dependant();

friend class PhysicsDirectBodyStateSW; // i give up, too many functions to expose

public:


	void set_force_integration_callback(ObjectID p_id,const StringName& p_method,const Variant& p_udata=Variant());

	_FORCE_INLINE_ void add_area(AreaSW *p_area) {
		int index = areas.find(AreaCMP(p_area));
		if( index > -1 ) {
			areas[index].refCount += 1;
		} else {
			areas.ordered_insert(AreaCMP(p_area));
		}
	}

	_FORCE_INLINE_ void remove_area(AreaSW *p_area) {
		int index = areas.find(AreaCMP(p_area));
		if( index > -1 ) {
			areas[index].refCount -= 1;
			if( areas[index].refCount < 1 )
				areas.remove(index);
		}
	}

	_FORCE_INLINE_ void set_max_contacts_reported(int p_size) { contacts.resize(p_size); contact_count=0; if (mode==PhysicsServer::BODY_MODE_KINEMATIC && p_size) set_active(true);}
	_FORCE_INLINE_ int get_max_contacts_reported() const { return contacts.size(); }

	_FORCE_INLINE_ bool can_report_contacts() const { return !contacts.empty(); }
	_FORCE_INLINE_ void add_contact(const Vector3& p_local_pos,const Vector3& p_local_normal, float p_depth, int p_local_shape, const Vector3& p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID& p_collider,const Vector3& p_collider_velocity_at_pos);


	_FORCE_INLINE_ void add_exception(const RID& p_exception) { exceptions.insert(p_exception);}
	_FORCE_INLINE_ void remove_exception(const RID& p_exception) { exceptions.erase(p_exception);}
	_FORCE_INLINE_ bool has_exception(const RID& p_exception) const { return exceptions.has(p_exception);}
	_FORCE_INLINE_ const VSet<RID>& get_exceptions() const { return exceptions;}

	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step=p_step; }

	_FORCE_INLINE_ BodySW* get_island_next() const { return island_next; }
	_FORCE_INLINE_ void set_island_next(BodySW* p_next) { island_next=p_next; }

	_FORCE_INLINE_ BodySW* get_island_list_next() const { return island_list_next; }
	_FORCE_INLINE_ void set_island_list_next(BodySW* p_next) { island_list_next=p_next; }

	_FORCE_INLINE_ void add_constraint(ConstraintSW* p_constraint, int p_pos) { constraint_map[p_constraint]=p_pos; }
	_FORCE_INLINE_ void remove_constraint(ConstraintSW* p_constraint) { constraint_map.erase(p_constraint); }
	const Map<ConstraintSW*,int>& get_constraint_map() const { return constraint_map; }

	_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration=p_omit_force_integration; }
	_FORCE_INLINE_ bool get_omit_force_integration() const { return omit_force_integration; }

	_FORCE_INLINE_ Matrix3 get_principal_inertia_axes() const { return principal_inertia_axes; }
	_FORCE_INLINE_ Vector3 get_center_of_mass() const { return center_of_mass; }
	_FORCE_INLINE_ Vector3 xform_local_to_principal(const Vector3& p_pos) const { return principal_inertia_axes_local.xform(p_pos - center_of_mass_local); } 

	_FORCE_INLINE_ void set_linear_velocity(const Vector3& p_velocity) {linear_velocity=p_velocity; }
	_FORCE_INLINE_ Vector3 get_linear_velocity() const { return linear_velocity; }

	_FORCE_INLINE_ void set_angular_velocity(const Vector3& p_velocity) { angular_velocity=p_velocity; }
	_FORCE_INLINE_ Vector3 get_angular_velocity() const { return angular_velocity; }

	_FORCE_INLINE_ const Vector3& get_biased_linear_velocity() const { return biased_linear_velocity; }
	_FORCE_INLINE_ const Vector3& get_biased_angular_velocity() const { return biased_angular_velocity; }

	_FORCE_INLINE_ void apply_impulse(const Vector3& p_pos, const Vector3& p_j) {

		linear_velocity += p_j * _inv_mass;
		angular_velocity += _inv_inertia_tensor.xform( (p_pos-center_of_mass).cross(p_j) );
	}

	_FORCE_INLINE_ void apply_torque_impulse(const Vector3& p_j) {

		angular_velocity += _inv_inertia_tensor.xform(p_j);
	}

	_FORCE_INLINE_ void apply_bias_impulse(const Vector3& p_pos, const Vector3& p_j) {

		biased_linear_velocity += p_j * _inv_mass;
		biased_angular_velocity += _inv_inertia_tensor.xform( (p_pos-center_of_mass).cross(p_j) );
	}

	_FORCE_INLINE_ void apply_bias_torque_impulse(const Vector3& p_j) {

		biased_angular_velocity += _inv_inertia_tensor.xform(p_j);
	}

	_FORCE_INLINE_ void add_force(const Vector3& p_force, const Vector3& p_pos) {

		applied_force += p_force;
		applied_torque += p_pos.cross(p_force);
	}

	void set_active(bool p_active);
	_FORCE_INLINE_ bool is_active() const { return active; }

	_FORCE_INLINE_ void wakeup() {
		if ((!get_space()) || mode==PhysicsServer::BODY_MODE_STATIC || mode==PhysicsServer::BODY_MODE_KINEMATIC)
			return;
		set_active(true);
	}

	void set_param(PhysicsServer::BodyParameter p_param, float);
	float get_param(PhysicsServer::BodyParameter p_param) const;

	void set_mode(PhysicsServer::BodyMode p_mode);
	PhysicsServer::BodyMode get_mode() const;

	void set_state(PhysicsServer::BodyState p_state, const Variant& p_variant);
	Variant get_state(PhysicsServer::BodyState p_state) const;

	void set_applied_force(const Vector3& p_force) { applied_force=p_force; }
	Vector3 get_applied_force() const { return applied_force; }

	void set_applied_torque(const Vector3& p_torque) { applied_torque=p_torque; }
	Vector3 get_applied_torque() const { return applied_torque; }

	_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd=p_enable; }
	_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }

	void set_space(SpaceSW *p_space);

	void update_inertias();

	_FORCE_INLINE_ real_t get_inv_mass() const { return _inv_mass; }
	_FORCE_INLINE_ Vector3 get_inv_inertia() const { return _inv_inertia; }
	_FORCE_INLINE_ Matrix3 get_inv_inertia_tensor() const { return _inv_inertia_tensor; }
	_FORCE_INLINE_ real_t get_friction() const { return friction; }
	_FORCE_INLINE_ Vector3 get_gravity() const { return gravity; }
	_FORCE_INLINE_ real_t get_bounce() const { return bounce; }

	_FORCE_INLINE_ void set_axis_lock(PhysicsServer::BodyAxisLock p_lock) { axis_lock=p_lock; }
	_FORCE_INLINE_ PhysicsServer::BodyAxisLock get_axis_lock() const { return axis_lock; }

	void integrate_forces(real_t p_step);
	void integrate_velocities(real_t p_step);

	_FORCE_INLINE_ Vector3 get_velocity_in_local_point(const Vector3& rel_pos) const {

		return linear_velocity + angular_velocity.cross(rel_pos-center_of_mass);
	}

	_FORCE_INLINE_ real_t compute_impulse_denominator(const Vector3& p_pos, const Vector3& p_normal) const {

		 Vector3 r0 = p_pos - get_transform().origin - center_of_mass;

		 Vector3 c0 = (r0).cross(p_normal);

		 Vector3 vec = (_inv_inertia_tensor.xform_inv(c0)).cross(r0);

		 return _inv_mass + p_normal.dot(vec);

	 }

	_FORCE_INLINE_ real_t compute_angular_impulse_denominator(const Vector3& p_axis) const {

		return p_axis.dot( _inv_inertia_tensor.xform_inv(p_axis) );
	 }

	//void simulate_motion(const Transform& p_xform,real_t p_step);
	void call_queries();
	void wakeup_neighbours();

	bool sleep_test(real_t p_step);

	BodySW();
	~BodySW();

};


//add contact inline

void BodySW::add_contact(const Vector3& p_local_pos,const Vector3& p_local_normal, float p_depth, int p_local_shape, const Vector3& p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID& p_collider,const Vector3& p_collider_velocity_at_pos) {

	int c_max=contacts.size();

	if (c_max==0)
		return;

	Contact *c = &contacts[0];


	int idx=-1;

	if (contact_count<c_max) {
		idx=contact_count++;
	} else {

		float least_depth=1e20;
		int least_deep=-1;
		for(int i=0;i<c_max;i++) {

			if (i==0 || c[i].depth<least_depth) {
				least_deep=i;
				least_depth=c[i].depth;
			}
		}

		if (least_deep>=0 && least_depth<p_depth) {

			idx=least_deep;
		}
		if (idx==-1)
			return; //none least deepe than this
	}

	c[idx].local_pos=p_local_pos;
	c[idx].local_normal=p_local_normal;
	c[idx].depth=p_depth;
	c[idx].local_shape=p_local_shape;
	c[idx].collider_pos=p_collider_pos;
	c[idx].collider_shape=p_collider_shape;
	c[idx].collider_instance_id=p_collider_instance_id;
	c[idx].collider=p_collider;
	c[idx].collider_velocity_at_pos=p_collider_velocity_at_pos;

}


class PhysicsDirectBodyStateSW : public PhysicsDirectBodyState {

	GDCLASS( PhysicsDirectBodyStateSW, PhysicsDirectBodyState );

public:

	static PhysicsDirectBodyStateSW *singleton;
	BodySW *body;
	real_t step;

	virtual Vector3 get_total_gravity() const {  return body->gravity;  } // get gravity vector working on this body space/area
	virtual float get_total_angular_damp() const {  return body->area_angular_damp;  } // get density of this body space/area
	virtual float get_total_linear_damp() const {  return body->area_linear_damp;  } // get density of this body space/area

	virtual Vector3 get_center_of_mass() const { return body->get_center_of_mass(); }
	virtual Matrix3 get_principal_inertia_axes() const { return body->get_principal_inertia_axes(); }

	virtual float get_inverse_mass() const {  return body->get_inv_mass();  } // get the mass
	virtual Vector3 get_inverse_inertia() const { return body->get_inv_inertia();   } // get density of this body space
	virtual Matrix3 get_inverse_inertia_tensor() const { return body->get_inv_inertia_tensor();   } // get density of this body space

	virtual void set_linear_velocity(const Vector3& p_velocity) {  body->set_linear_velocity(p_velocity);  }
	virtual Vector3 get_linear_velocity() const {  return body->get_linear_velocity();  }

	virtual void set_angular_velocity(const Vector3& p_velocity) {  body->set_angular_velocity(p_velocity);  }
	virtual Vector3 get_angular_velocity() const {  return body->get_angular_velocity();  }

	virtual void set_transform(const Transform& p_transform) {  body->set_state(PhysicsServer::BODY_STATE_TRANSFORM,p_transform);  }
	virtual Transform get_transform() const {  return body->get_transform();  }

	virtual void add_force(const Vector3& p_force, const Vector3& p_pos) {  body->add_force(p_force,p_pos); }
	virtual void apply_impulse(const Vector3& p_pos, const Vector3& p_j) { body->apply_impulse(p_pos,p_j); }
	virtual void apply_torque_impulse(const Vector3& p_j) { body->apply_torque_impulse(p_j); }

	virtual void set_sleep_state(bool p_enable) {  body->set_active(!p_enable);  }
	virtual bool is_sleeping() const {  return !body->is_active();  }

	virtual int get_contact_count() const {  return body->contact_count;  }

	virtual Vector3 get_contact_local_pos(int p_contact_idx) const {
		ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3());
		return body->contacts[p_contact_idx].local_pos;
	}
	virtual Vector3 get_contact_local_normal(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3());   return body->contacts[p_contact_idx].local_normal;   }
	virtual int get_contact_local_shape(int p_contact_idx) const {  ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,-1);   return body->contacts[p_contact_idx].local_shape;   }

	virtual RID get_contact_collider(int p_contact_idx) const { ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,RID());   return body->contacts[p_contact_idx].collider;   }
	virtual Vector3 get_contact_collider_pos(int p_contact_idx) const {  ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3());   return body->contacts[p_contact_idx].collider_pos;  }
	virtual ObjectID get_contact_collider_id(int p_contact_idx) const {  ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,0);   return body->contacts[p_contact_idx].collider_instance_id;   }
	virtual int get_contact_collider_shape(int p_contact_idx) const {  ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,0); return body->contacts[p_contact_idx].collider_shape;  }
	virtual Vector3 get_contact_collider_velocity_at_pos(int p_contact_idx) const {  ERR_FAIL_INDEX_V(p_contact_idx,body->contact_count,Vector3()); return body->contacts[p_contact_idx].collider_velocity_at_pos;  }

	virtual PhysicsDirectSpaceState* get_space_state();


	virtual real_t get_step() const { return step; }
	PhysicsDirectBodyStateSW() { singleton=this; body=NULL; }
};


#endif // BODY__SW_H