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godot/servers/physics/physics_server_sw.h

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GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
/*************************************************************************/
/* physics_server_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
Update copyright to 2016 in headers
2016-01-01 21:50:53 +08:00
/* Copyright (c) 2007-2016 Juan Linietsky, Ariel Manzur. */
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef PHYSICS_SERVER_SW
#define PHYSICS_SERVER_SW
#include "servers/physics_server.h"
#include "shape_sw.h"
#include "space_sw.h"
#include "step_sw.h"
#include "joints_sw.h"
class PhysicsServerSW : public PhysicsServer {
OBJ_TYPE( PhysicsServerSW, PhysicsServer );
friend class PhysicsDirectSpaceStateSW;
bool active;
int iterations;
bool doing_sync;
real_t last_step;
3D Physics and Other Stuff -=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
2014-09-03 10:13:40 +08:00
int island_count;
int active_objects;
int collision_pairs;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
StepSW *stepper;
Set<const SpaceSW*> active_spaces;
PhysicsDirectBodyStateSW *direct_state;
mutable RID_Owner<ShapeSW> shape_owner;
mutable RID_Owner<SpaceSW> space_owner;
mutable RID_Owner<AreaSW> area_owner;
mutable RID_Owner<BodySW> body_owner;
mutable RID_Owner<JointSW> joint_owner;
// void _clear_query(QuerySW *p_query);
public:
3D Physics and Other Stuff -=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
2014-09-03 10:13:40 +08:00
struct CollCbkData {
int max;
int amount;
Vector3 *ptr;
};
static void _shape_col_cbk(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata);
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
virtual RID shape_create(ShapeType p_shape);
virtual void shape_set_data(RID p_shape, const Variant& p_data);
virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
virtual ShapeType shape_get_type(RID p_shape) const;
virtual Variant shape_get_data(RID p_shape) const;
virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
/* SPACE API */
virtual RID space_create();
virtual void space_set_active(RID p_space,bool p_active);
virtual bool space_is_active(RID p_space) const;
virtual void space_set_param(RID p_space,SpaceParameter p_param, real_t p_value);
virtual real_t space_get_param(RID p_space,SpaceParameter p_param) const;
// this function only works on fixed process, errors and returns null otherwise
virtual PhysicsDirectSpaceState* space_get_direct_state(RID p_space);
Ability to visually debug geometry visually: -Visible 2D and 3D Shapes, Polygons, Tile collisions, etc. -Visible Navmesh and Navpoly -Visible collision contacts for 2D and 3D as a red point -Customizable colors in project settings
2015-09-21 00:03:46 +08:00
virtual void space_set_debug_contacts(RID p_space,int p_max_contacts);
virtual Vector<Vector3> space_get_contacts(RID p_space) const;
virtual int space_get_contact_count(RID p_space) const;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
/* AREA API */
virtual RID area_create();
virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
virtual void area_set_space(RID p_area, RID p_space);
virtual RID area_get_space(RID p_area) const;
virtual void area_add_shape(RID p_area, RID p_shape, const Transform& p_transform=Transform());
virtual void area_set_shape(RID p_area, int p_shape_idx,RID p_shape);
virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform& p_transform);
virtual int area_get_shape_count(RID p_area) const;
virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;
virtual void area_remove_shape(RID p_area, int p_shape_idx);
virtual void area_clear_shapes(RID p_area);
virtual void area_attach_object_instance_ID(RID p_area,ObjectID p_ID);
virtual ObjectID area_get_object_instance_ID(RID p_area) const;
virtual void area_set_param(RID p_area,AreaParameter p_param,const Variant& p_value);
virtual void area_set_transform(RID p_area, const Transform& p_transform);
virtual Variant area_get_param(RID p_parea,AreaParameter p_param) const;
virtual Transform area_get_transform(RID p_area) const;
3D Physics Rework, Other Stuff -=-=-=-=-=-=-=-=-=-=-=-=-=- 3D Physics: -Fixed "Bounce" parameter in 3D -Fixed bug affecting Area (sometims it would not detect properly) -Vehicle Body has seen heavy work -Added Query API for doing space queries in 3D. Needs some docs though. -Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up: -PinJoint -HingeJoint (with motor) -SliderJoint -ConeTwistJoint -Generic6DOFJoint -Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions: -input_event (mouse or multitouch input over the body) -mouse_enter (mouse entered the body area) -mouse_exit (mouse exited body area) For Area it needs to be activated manually, as it isn't by default (ray goes thru). Other: -Begun working on Windows 8 (RT) port. Compiles but does not work yet. -Added TheoraPlayer library for improved to-texture and portable video support. -Fixed a few bugs in the renderer, collada importer, collada exporter, etc.
2014-09-15 22:33:30 +08:00
virtual void area_set_ray_pickable(RID p_area,bool p_enable);
virtual bool area_is_ray_pickable(RID p_area) const;
added ability for Area (3D) to detect other areas
2015-06-13 02:52:21 +08:00
virtual void area_set_monitorable(RID p_area,bool p_monitorable);
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
virtual void area_set_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method);
added ability for Area (3D) to detect other areas
2015-06-13 02:52:21 +08:00
virtual void area_set_area_monitor_callback(RID p_area,Object *p_receiver,const StringName& p_method);
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
/* BODY API */
// create a body of a given type
virtual RID body_create(BodyMode p_mode=BODY_MODE_RIGID,bool p_init_sleeping=false);
virtual void body_set_space(RID p_body, RID p_space);
virtual RID body_get_space(RID p_body) const;
virtual void body_set_mode(RID p_body, BodyMode p_mode);
Remove bogus argument in body_get_node
2015-12-28 08:32:12 +08:00
virtual BodyMode body_get_mode(RID p_body) const;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
virtual void body_add_shape(RID p_body, RID p_shape, const Transform& p_transform=Transform());
virtual void body_set_shape(RID p_body, int p_shape_idx,RID p_shape);
virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform& p_transform);
virtual int body_get_shape_count(RID p_body) const;
virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;
virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx,bool p_enable);
virtual bool body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const;
virtual void body_remove_shape(RID p_body, int p_shape_idx);
virtual void body_clear_shapes(RID p_body);
virtual void body_attach_object_instance_ID(RID p_body,uint32_t p_ID);
virtual uint32_t body_get_object_instance_ID(RID p_body) const;
virtual void body_set_enable_continuous_collision_detection(RID p_body,bool p_enable);
virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
3D Physics and Other Stuff -=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
2014-09-03 10:13:40 +08:00
virtual void body_set_layer_mask(RID p_body, uint32_t p_mask);
virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const;
virtual void body_set_param(RID p_body, BodyParameter p_param, float p_value);
virtual float body_get_param(RID p_body, BodyParameter p_param) const;
virtual void body_set_state(RID p_body, BodyState p_state, const Variant& p_variant);
virtual Variant body_get_state(RID p_body, BodyState p_state) const;
virtual void body_set_applied_force(RID p_body, const Vector3& p_force);
virtual Vector3 body_get_applied_force(RID p_body) const;
virtual void body_set_applied_torque(RID p_body, const Vector3& p_torque);
virtual Vector3 body_get_applied_torque(RID p_body) const;
virtual void body_apply_impulse(RID p_body, const Vector3& p_pos, const Vector3& p_impulse);
virtual void body_set_axis_velocity(RID p_body, const Vector3& p_axis_velocity);
A bit of everything: -IMA-ADPCM support for samples, this means that sound effects can be compressed and use 4 timess less RAM. -New 3D import workflow based on Wavefront OBJ. Import single objects as mesh resources instead of full scenes. Many people prefers to work this way. Just like the rest of the imported resources, these are updated in realtime if modified externally. -Mesh resources now support naming surfaces. This helps reimporting to identify which user-created materials must be kept. -Several fixes and improvements to SurfaceTool. -Anti Aliasing added to WorldEnvironment effects (using FXAA) -2D Physics bodies (RigidBody, KinematicBody, etc), Raycasts, Tilemap, etc support collision layers. This makes easy to group which objects collide against which. -2D Trigger shapes can now also trigger collision reporting in other 2D bodies (it used to be in Area2D before) -Viewport render target textures can now be filtered. -Few fixes in GDscript make it easier to work with static functions and class members. -Several and many bugfixes.
2014-05-14 12:22:15 +08:00
virtual void body_set_axis_lock(RID p_body,BodyAxisLock p_lock);
virtual BodyAxisLock body_get_axis_lock(RID p_body) const;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
virtual void body_add_collision_exception(RID p_body, RID p_body_b);
virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
virtual void body_set_contacts_reported_depth_treshold(RID p_body, float p_treshold);
virtual float body_get_contacts_reported_depth_treshold(RID p_body) const;
virtual void body_set_omit_force_integration(RID p_body,bool p_omit);
virtual bool body_is_omitting_force_integration(RID p_body) const;
virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
virtual int body_get_max_contacts_reported(RID p_body) const;
virtual void body_set_force_integration_callback(RID p_body,Object *p_receiver,const StringName& p_method,const Variant& p_udata=Variant());
Huge Amount of BugFix -=-=-=-=-=-=-=-=-=-=- -Fixes to Collada Exporter (avoid crash situtions) -Fixed to Collada Importer (Fixed Animation Optimizer Bugs) -Fixes to RigidBody/RigidBody2D body_enter/body_exit, was buggy -Fixed ability for RigidBody/RigidBody2D to get contacts reported and bodyin/out in Kinematic mode. -Added proper trigger support for 3D Physics shapes -Changed proper value for Z-Offset in OmniLight -Fixed spot attenuation bug in SpotLight -Fixed some 3D and 2D spatial soudn bugs related to distance attenuation. -Fixed bugs in EventPlayer (channels were muted by default) -Fix in ButtonGroup (get nodes in group are now returned in order) -Fixed Linear->SRGB Conversion, previous algo sucked, new algo works OK -Changed SRGB->Linear conversion to use hardware if supported, improves texture quality a lot -Fixed options for Y-Fov and X-Fov in camera, should be more intuitive. -Fixed bugs related to viewports and transparency Huge Amount of New Stuff: -=-=-=-=-=-=-=-==-=-=-=- -Ability to manually advance an AnimationPlayer that is inactive (with advance() function) -More work in WinRT platform -Added XY normalmap support, imports on this format by default. Reduces normlmap size and enables much nice compression using LATC -Added Anisotropic filter support to textures, can be specified on import -Added support for Non-Square, Isometric and Hexagonal tilemaps in TileMap. -Added Isometric Dungeon demo. -Added simple hexagonal map demo. -Added Truck-Town demo. Shows how most types of joints and vehicles are used. Please somebody make a nicer town, this one is too hardcore. -Added an Object-Picking API to both RigidBody and Area! (and relevant demo)
2014-10-03 11:10:51 +08:00
virtual void body_set_ray_pickable(RID p_body,bool p_enable);
virtual bool body_is_ray_pickable(RID p_body) const;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
/* JOINT API */
3D Physics Rework, Other Stuff -=-=-=-=-=-=-=-=-=-=-=-=-=- 3D Physics: -Fixed "Bounce" parameter in 3D -Fixed bug affecting Area (sometims it would not detect properly) -Vehicle Body has seen heavy work -Added Query API for doing space queries in 3D. Needs some docs though. -Added JOINTS! Adapted Bullet Joints: and created easy gizmos for setting them up: -PinJoint -HingeJoint (with motor) -SliderJoint -ConeTwistJoint -Generic6DOFJoint -Added OBJECT PICKING! based on the new query API. Any physics object now (Area or Body) has the following signals and virtual functions: -input_event (mouse or multitouch input over the body) -mouse_enter (mouse entered the body area) -mouse_exit (mouse exited body area) For Area it needs to be activated manually, as it isn't by default (ray goes thru). Other: -Begun working on Windows 8 (RT) port. Compiles but does not work yet. -Added TheoraPlayer library for improved to-texture and portable video support. -Fixed a few bugs in the renderer, collada importer, collada exporter, etc.
2014-09-15 22:33:30 +08:00
virtual RID joint_create_pin(RID p_body_A,const Vector3& p_local_A,RID p_body_B,const Vector3& p_local_B);
virtual void pin_joint_set_param(RID p_joint,PinJointParam p_param, float p_value);
virtual float pin_joint_get_param(RID p_joint,PinJointParam p_param) const;
virtual void pin_joint_set_local_A(RID p_joint, const Vector3& p_A);
virtual Vector3 pin_joint_get_local_A(RID p_joint) const;
virtual void pin_joint_set_local_B(RID p_joint, const Vector3& p_B);
virtual Vector3 pin_joint_get_local_B(RID p_joint) const;
virtual RID joint_create_hinge(RID p_body_A,const Transform& p_frame_A,RID p_body_B,const Transform& p_frame_B);
virtual RID joint_create_hinge_simple(RID p_body_A,const Vector3& p_pivot_A,const Vector3& p_axis_A,RID p_body_B,const Vector3& p_pivot_B,const Vector3& p_axis_B);
virtual void hinge_joint_set_param(RID p_joint,HingeJointParam p_param, float p_value);
virtual float hinge_joint_get_param(RID p_joint,HingeJointParam p_param) const;
virtual void hinge_joint_set_flag(RID p_joint,HingeJointFlag p_flag, bool p_value);
virtual bool hinge_joint_get_flag(RID p_joint,HingeJointFlag p_flag) const;
virtual RID joint_create_slider(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A
virtual void slider_joint_set_param(RID p_joint,SliderJointParam p_param, float p_value);
virtual float slider_joint_get_param(RID p_joint,SliderJointParam p_param) const;
virtual RID joint_create_cone_twist(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A
virtual void cone_twist_joint_set_param(RID p_joint,ConeTwistJointParam p_param, float p_value);
virtual float cone_twist_joint_get_param(RID p_joint,ConeTwistJointParam p_param) const;
virtual RID joint_create_generic_6dof(RID p_body_A,const Transform& p_local_frame_A,RID p_body_B,const Transform& p_local_frame_B); //reference frame is A
virtual void generic_6dof_joint_set_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param, float p_value);
virtual float generic_6dof_joint_get_param(RID p_joint,Vector3::Axis,G6DOFJointAxisParam p_param);
virtual void generic_6dof_joint_set_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag, bool p_enable);
virtual bool generic_6dof_joint_get_flag(RID p_joint,Vector3::Axis,G6DOFJointAxisFlag p_flag);
virtual JointType joint_get_type(RID p_joint) const;
Huge Amount of BugFix -=-=-=-=-=-=-=-=-=-=- -Fixes to Collada Exporter (avoid crash situtions) -Fixed to Collada Importer (Fixed Animation Optimizer Bugs) -Fixes to RigidBody/RigidBody2D body_enter/body_exit, was buggy -Fixed ability for RigidBody/RigidBody2D to get contacts reported and bodyin/out in Kinematic mode. -Added proper trigger support for 3D Physics shapes -Changed proper value for Z-Offset in OmniLight -Fixed spot attenuation bug in SpotLight -Fixed some 3D and 2D spatial soudn bugs related to distance attenuation. -Fixed bugs in EventPlayer (channels were muted by default) -Fix in ButtonGroup (get nodes in group are now returned in order) -Fixed Linear->SRGB Conversion, previous algo sucked, new algo works OK -Changed SRGB->Linear conversion to use hardware if supported, improves texture quality a lot -Fixed options for Y-Fov and X-Fov in camera, should be more intuitive. -Fixed bugs related to viewports and transparency Huge Amount of New Stuff: -=-=-=-=-=-=-=-==-=-=-=- -Ability to manually advance an AnimationPlayer that is inactive (with advance() function) -More work in WinRT platform -Added XY normalmap support, imports on this format by default. Reduces normlmap size and enables much nice compression using LATC -Added Anisotropic filter support to textures, can be specified on import -Added support for Non-Square, Isometric and Hexagonal tilemaps in TileMap. -Added Isometric Dungeon demo. -Added simple hexagonal map demo. -Added Truck-Town demo. Shows how most types of joints and vehicles are used. Please somebody make a nicer town, this one is too hardcore. -Added an Object-Picking API to both RigidBody and Area! (and relevant demo)
2014-10-03 11:10:51 +08:00
virtual void joint_set_solver_priority(RID p_joint,int p_priority);
virtual int joint_get_solver_priority(RID p_joint) const;
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
#if 0
virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value);
virtual real_t joint_get_param(RID p_joint,JointParam p_param) const;
virtual RID pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b=RID());
virtual RID groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b);
virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID());
virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value);
virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const;
virtual JointType joint_get_type(RID p_joint) const;
#endif
/* MISC */
virtual void free(RID p_rid);
virtual void set_active(bool p_active);
virtual void init();
virtual void step(float p_step);
virtual void sync();
virtual void flush_queries();
virtual void finish();
3D Physics and Other Stuff -=-=-=-=-=-=-=-=-=-=-=-=-= -New Vehicle (Based on Bullet's RaycastVehicle) - Vehiclebody/VehicleWheel. Demo will come soon, old vehicle (CarBody) will go away soon too. -A lot of fixes to the 3D physics engine -Added KinematicBody with demo -Fixed the space query API for 2D (demo will come soon). 3D is WIP. -Fixed long-standing bug with body_enter/body_exit for Area and Area2D -Performance variables now includes physics (active bodies, collision pairs and islands) -Ability to see what's inside of instanced scenes! -Fixed Blend Shapes (no bs+skeleton yet) -Added an Android JavaClassWrapper singleton for using Android native classes directly from GDScript. This is very Alpha!
2014-09-03 10:13:40 +08:00
int get_process_info(ProcessInfo p_info);
GODOT IS OPEN SOURCE
2014-02-10 09:10:30 +08:00
PhysicsServerSW();
~PhysicsServerSW();
};
#endif
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