godot/servers/physics_2d/space_2d_sw.cpp

/*************************************************************************/
/*  space_2d_sw.cpp                                                      */
/*************************************************************************/
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/*                           GODOT ENGINE                                */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                 */
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#include "space_2d_sw.h"
#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)
		return false;

	if (p_object->get_type()==CollisionObject2DSW::TYPE_AREA && !(p_type_mask&Physics2DDirectSpaceState::TYPE_MASK_AREA))
		return false;

	Body2DSW *body = static_cast<Body2DSW*>(p_object);

	return (1<<body->get_mode())&p_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);

	Vector2 begin,end;
	Vector2 normal;
	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);

	//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;
	int res_shape;
	const CollisionObject2DSW *res_obj;
	real_t min_d=1e10;


	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;

		const CollisionObject2DSW *col_obj=space->intersection_query_results[i];

		int shape_idx=space->intersection_query_subindex_results[i];
		Matrix32 inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();

		Vector2 local_from = inv_xform.xform(begin);
		Vector2 local_to = inv_xform.xform(end);

		/*local_from = col_obj->get_inv_transform().xform(begin);
		local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from);

		local_to = col_obj->get_inv_transform().xform(end);
		local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/

		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)) {


			//print_line("inters sgment!");
			Matrix32 xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
			shape_point=xform.xform(shape_point);

			real_t ld = normal.dot(shape_point);


			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;
			}
		}

	}

	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;

	return true;

}


int Physics2DDirectSpaceStateSW::intersect_shape(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,ShapeResult *r_results,int p_result_max,const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {

	if (p_result_max<=0)
		return 0;

	Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape,0);

	Rect2 aabb = p_xform.xform(shape->get_aabb());
	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);

	bool collided=false;
	int cc=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;

		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];

		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);

		cc++;

	}

	return cc;

}



bool Physics2DDirectSpaceStateSW::cast_motion(const RID& p_shape, const Matrix32& p_xform,const Vector2& p_motion,float p_margin,float &p_closest_safe,float &p_closest_unsafe, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {



	Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
	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);

	//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);

	float best_safe=1;
	float 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))
			continue;

		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];


		Matrix32 col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
		//test initial overlap, does it collide if going all the way?
		if (!CollisionSolver2DSW::solve(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)) {

			return false;
		}


		//just do kinematic solving
		float low=0;
		float hi=1;
		Vector2 mnormal=p_motion.normalized();

		for(int i=0;i<8;i++) { //steps should be customizable..

			Matrix32 xfa = p_xform;
			float 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);

			if (collided) {

				hi=ofs;
			} else {

				low=ofs;
			}
		}

		if (low<best_safe) {
			best_safe=low;
			best_unsafe=hi;
		}

	}

	p_closest_safe=best_safe;
	p_closest_unsafe=best_unsafe;

	return true;


}


bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,Vector2 *r_results,int p_result_max,int &r_result_count, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {


	if (p_result_max<=0)
		return 0;

	Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape,0);

	Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
	aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
	aabb=aabb.grow(p_margin);

	int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);

	bool collided=false;
	int cc=0;
	r_result_count=0;

	Physics2DServerSW::CollCbkData cbk;
	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;
	}


	for(int i=0;i<amount;i++) {

		if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
			continue;

		const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
		int shape_idx=space->intersection_query_subindex_results[i];

		if (p_exclude.has( col_obj->get_self() ))
			continue;


		if (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=true;
		}

	}

	r_result_count=cbk.amount;

	return collided;
}


struct _RestCallbackData2D {

	const CollisionObject2DSW *object;
	const CollisionObject2DSW *best_object;
	int shape;
	int best_shape;
	Vector2 best_contact;
	Vector2 best_normal;
	float best_len;
};

static void _rest_cbk_result(const Vector2& p_point_A,const Vector2& p_point_B,void *p_userdata) {


	_RestCallbackData2D *rd=(_RestCallbackData2D*)p_userdata;

	Vector2 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;


}


bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32& p_shape_xform,const Vector2& p_motion,float p_margin,ShapeRestInfo *r_info, const Set<RID>& p_exclude,uint32_t p_layer_mask,uint32_t p_object_type_mask) {


	Shape2DSW *shape = static_cast<Physics2DServerSW*>(Physics2DServer::get_singleton())->shape_owner.get(p_shape);
	ERR_FAIL_COND_V(!shape,0);

	Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
	aabb=aabb.merge(Rect2(aabb.pos+p_motion,aabb.size)); //motion
	aabb=aabb.grow(p_margin);

	int amount = space->broadphase->cull_aabb(aabb,space->intersection_query_results,Space2DSW::INTERSECTION_QUERY_MAX,space->intersection_query_subindex_results);

	_RestCallbackData2D rcd;
	rcd.best_len=0;
	rcd.best_object=NULL;
	rcd.best_shape=0;

	for(int i=0;i<amount;i++) {


		if (!_match_object_type_query(space->intersection_query_results[i],p_layer_mask,p_object_type_mask))
			continue;

		const CollisionObject2DSW *col_obj=space->intersection_query_results[i];
		int shape_idx=space->intersection_query_subindex_results[i];

		if (p_exclude.has( col_obj->get_self() ))
			continue;

		rcd.object=col_obj;
		rcd.shape=shape_idx;
		bool sc = CollisionSolver2DSW::solve(shape,p_shape_xform,p_motion,col_obj->get_shape(shape_idx),col_obj->get_transform() * col_obj->get_shape_transform(shape_idx),Vector2() ,_rest_cbk_result,&rcd,NULL,p_margin);
		if (!sc)
			continue;


	}

	if (rcd.best_len==0)
		return false;

	r_info->collider_id=rcd.best_object->get_instance_id();
	r_info->shape=rcd.best_shape;
	r_info->normal=rcd.best_normal;
	r_info->point=rcd.best_contact;
	r_info->rid=rcd.best_object->get_self();
	r_info->metadata=rcd.best_object->get_shape_metadata(rcd.best_shape);
	if (rcd.best_object->get_type()==CollisionObject2DSW::TYPE_BODY) {

		const Body2DSW *body = static_cast<const Body2DSW*>(rcd.best_object);
		Vector2 rel_vec = r_info->point-body->get_transform().get_origin();
		r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();

	} else {
		r_info->linear_velocity=Vector2();
	}

	return true;
}


Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {


	space=NULL;
}


////////////////////////////////////////////////////////////////////////////////////////////////////////////










void* Space2DSW::_broadphase_pair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_self) {


	CollisionObject2DSW::Type type_A=A->get_type();
	CollisionObject2DSW::Type type_B=B->get_type();
	if (type_A>type_B) {

		SWAP(A,B);
		SWAP(p_subindex_A,p_subindex_B);
		SWAP(type_A,type_B);
	}

	Space2DSW *self = (Space2DSW*)p_self;
	self->collision_pairs++;

	if (type_A==CollisionObject2DSW::TYPE_AREA) {

		ERR_FAIL_COND_V(type_B!=CollisionObject2DSW::TYPE_BODY,NULL);
		Area2DSW *area=static_cast<Area2DSW*>(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) );
		return b;

	}

	return NULL;
}

void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A,int p_subindex_A,CollisionObject2DSW *B,int p_subindex_B,void *p_data,void *p_self) {


	Space2DSW *self = (Space2DSW*)p_self;
	self->collision_pairs--;
	Constraint2DSW *c = (Constraint2DSW*)p_data;
	memdelete(c);
}


const SelfList<Body2DSW>::List& Space2DSW::get_active_body_list() const {

	return active_list;
}
void Space2DSW::body_add_to_active_list(SelfList<Body2DSW>* p_body) {

	active_list.add(p_body);
}
void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW>* p_body) {

	active_list.remove(p_body);

}

void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW>* p_body) {


	inertia_update_list.add(p_body);
}

void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW>* p_body) {

	inertia_update_list.remove(p_body);
}

BroadPhase2DSW *Space2DSW::get_broadphase() {

	return broadphase;
}

void Space2DSW::add_object(CollisionObject2DSW *p_object) {

	ERR_FAIL_COND( objects.has(p_object) );
	objects.insert(p_object);
}

void Space2DSW::remove_object(CollisionObject2DSW *p_object) {

	ERR_FAIL_COND( !objects.has(p_object) );
	objects.erase(p_object);
}

const Set<CollisionObject2DSW*> &Space2DSW::get_objects() const {

	return objects;
}

void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW>* p_body) {

	state_query_list.add(p_body);
}
void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW>* p_body) {

	state_query_list.remove(p_body);
}

void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW>* p_area) {

	monitor_query_list.add(p_area);
}
void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW>* p_area) {

	monitor_query_list.remove(p_area);
}

void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW>* p_area) {

	area_moved_list.add(p_area);
}

void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW>* p_area) {

	area_moved_list.remove(p_area);
}

const SelfList<Area2DSW>::List& Space2DSW::get_moved_area_list() const {

	return area_moved_list;
}


void Space2DSW::call_queries() {

	while(state_query_list.first()) {

		Body2DSW * b = state_query_list.first()->self();
		b->call_queries();
		state_query_list.remove(state_query_list.first());
	}

	while(monitor_query_list.first()) {

		Area2DSW * a = monitor_query_list.first()->self();
		a->call_queries();
		monitor_query_list.remove(monitor_query_list.first());
	}

}

void Space2DSW::setup() {


	while(inertia_update_list.first()) {
		inertia_update_list.first()->self()->update_inertias();
		inertia_update_list.remove(inertia_update_list.first());
	}


}

void Space2DSW::update() {

	broadphase->update();

}


void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_value) {

	switch(p_param) {

		case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius=p_value; break;
		case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation=p_value; break;
		case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration=p_value; break;
		case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold=p_value; break;
		case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold=p_value; break;
		case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep=p_value; break;
		case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: body_angular_velocity_damp_ratio=p_value; break;
		case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias=p_value; break;
	}
}

real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {

	switch(p_param) {

		case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
		case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
		case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
		case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold;
		case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold;
		case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
		case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_DAMP_RATIO: return body_angular_velocity_damp_ratio;
		case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
	}
	return 0;
}

void Space2DSW::lock() {

	locked=true;
}

void Space2DSW::unlock() {

	locked=false;
}

bool Space2DSW::is_locked() const {

	return locked;
}

Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {

	return direct_access;
}

Space2DSW::Space2DSW() {


	collision_pairs=0;
	active_objects=0;
	island_count=0;

	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_treshold=0.01;
	body_angular_velocity_sleep_treshold=(8.0 / 180.0 * Math_PI);
	body_time_to_sleep=0.5;
	body_angular_velocity_damp_ratio=15;


	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;
}

Space2DSW::~Space2DSW() {

	memdelete(broadphase);
	memdelete( direct_access );
}