godot/servers/physics_3d/collision_object_3d_sw.cpp

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/*  collision_object_3d_sw.cpp                                           */
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
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#include "collision_object_3d_sw.h"
#include "servers/physics_3d/physics_server_3d_sw.h"
#include "space_3d_sw.h"

void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform &p_transform, bool p_disabled) {
	Shape s;
	s.shape = p_shape;
	s.xform = p_transform;
	s.xform_inv = s.xform.affine_inverse();
	s.bpid = 0; //needs update
	s.disabled = p_disabled;
	shapes.push_back(s);
	p_shape->add_owner(this);

	if (!pending_shape_update_list.in_list()) {
		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
	}
	//_update_shapes();
	//_shapes_changed();
}

void CollisionObject3DSW::set_shape(int p_index, Shape3DSW *p_shape) {
	ERR_FAIL_INDEX(p_index, shapes.size());
	shapes[p_index].shape->remove_owner(this);
	shapes.write[p_index].shape = p_shape;

	p_shape->add_owner(this);
	if (!pending_shape_update_list.in_list()) {
		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
	}
	//_update_shapes();
	//_shapes_changed();
}

void CollisionObject3DSW::set_shape_transform(int p_index, const Transform &p_transform) {
	ERR_FAIL_INDEX(p_index, shapes.size());

	shapes.write[p_index].xform = p_transform;
	shapes.write[p_index].xform_inv = p_transform.affine_inverse();
	if (!pending_shape_update_list.in_list()) {
		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
	}
	//_update_shapes();
	//_shapes_changed();
}

void CollisionObject3DSW::set_shape_as_disabled(int p_idx, bool p_enable) {
	shapes.write[p_idx].disabled = p_enable;
	if (!pending_shape_update_list.in_list()) {
		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
	}
}

void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) {
	//remove a shape, all the times it appears
	for (int i = 0; i < shapes.size(); i++) {
		if (shapes[i].shape == p_shape) {
			remove_shape(i);
			i--;
		}
	}
}

void CollisionObject3DSW::remove_shape(int p_index) {
	//remove anything from shape to be erased to end, so subindices don't change
	ERR_FAIL_INDEX(p_index, shapes.size());
	for (int i = p_index; i < shapes.size(); i++) {
		if (shapes[i].bpid == 0) {
			continue;
		}
		//should never get here with a null owner
		space->get_broadphase()->remove(shapes[i].bpid);
		shapes.write[i].bpid = 0;
	}
	shapes[p_index].shape->remove_owner(this);
	shapes.remove(p_index);

	if (!pending_shape_update_list.in_list()) {
		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
	}
	//_update_shapes();
	//_shapes_changed();
}

void CollisionObject3DSW::_set_static(bool p_static) {
	if (_static == p_static) {
		return;
	}
	_static = p_static;

	if (!space) {
		return;
	}
	for (int i = 0; i < get_shape_count(); i++) {
		const Shape &s = shapes[i];
		if (s.bpid > 0) {
			space->get_broadphase()->set_static(s.bpid, _static);
		}
	}
}

void CollisionObject3DSW::_unregister_shapes() {
	for (int i = 0; i < shapes.size(); i++) {
		Shape &s = shapes.write[i];
		if (s.bpid > 0) {
			space->get_broadphase()->remove(s.bpid);
			s.bpid = 0;
		}
	}
}

void CollisionObject3DSW::_update_shapes() {
	if (!space) {
		return;
	}

	for (int i = 0; i < shapes.size(); i++) {
		Shape &s = shapes.write[i];

		//not quite correct, should compute the next matrix..
		AABB shape_aabb = s.shape->get_aabb();
		Transform xform = transform * s.xform;
		shape_aabb = xform.xform(shape_aabb);
		shape_aabb.grow_by((s.aabb_cache.size.x + s.aabb_cache.size.y) * 0.5 * 0.05);
		s.aabb_cache = shape_aabb;

		Vector3 scale = xform.get_basis().get_scale();
		s.area_cache = s.shape->get_area() * scale.x * scale.y * scale.z;

		if (s.bpid == 0) {
			s.bpid = space->get_broadphase()->create(this, i, shape_aabb, _static);
			space->get_broadphase()->set_static(s.bpid, _static);
		}

		space->get_broadphase()->move(s.bpid, shape_aabb);
	}
}

void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) {
	if (!space) {
		return;
	}

	for (int i = 0; i < shapes.size(); i++) {
		Shape &s = shapes.write[i];

		//not quite correct, should compute the next matrix..
		AABB shape_aabb = s.shape->get_aabb();
		Transform xform = transform * s.xform;
		shape_aabb = xform.xform(shape_aabb);
		shape_aabb.merge_with(AABB(shape_aabb.position + p_motion, shape_aabb.size)); //use motion
		s.aabb_cache = shape_aabb;

		if (s.bpid == 0) {
			s.bpid = space->get_broadphase()->create(this, i, shape_aabb, _static);
			space->get_broadphase()->set_static(s.bpid, _static);
		}

		space->get_broadphase()->move(s.bpid, shape_aabb);
	}
}

void CollisionObject3DSW::_set_space(Space3DSW *p_space) {
	if (space) {
		space->remove_object(this);

		for (int i = 0; i < shapes.size(); i++) {
			Shape &s = shapes.write[i];
			if (s.bpid) {
				space->get_broadphase()->remove(s.bpid);
				s.bpid = 0;
			}
		}
	}

	space = p_space;

	if (space) {
		space->add_object(this);
		_update_shapes();
	}
}

void CollisionObject3DSW::_shape_changed() {
	_update_shapes();
	_shapes_changed();
}

CollisionObject3DSW::CollisionObject3DSW(Type p_type) :
		pending_shape_update_list(this) {
	_static = true;
	type = p_type;
	space = nullptr;

	collision_layer = 1;
	collision_mask = 1;
	ray_pickable = true;
}