mirror of
https://github.com/godotengine/godot
synced 2024-11-02 10:25:48 +00:00
2273a78af1
Clarified space parameters for contacts and added missing ones. List of changes: -Add contact bias to space parameters -Add solver iterations to space parameters, instead of a specific physics server function -Renamed BODY_MAX_ALLOWED_PENETRATION to CONTACT_MAX_ALLOWED_PENETRATION to make it consistent with other contact parameters
403 lines
14 KiB
C++
403 lines
14 KiB
C++
/*************************************************************************/
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/* physics_server_3d_wrap_mt.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#ifndef PHYSICS_SERVER_3D_WRAP_MT_H
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#define PHYSICS_SERVER_3D_WRAP_MT_H
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#include "core/config/project_settings.h"
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#include "core/os/thread.h"
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#include "core/templates/command_queue_mt.h"
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#include "servers/physics_server_3d.h"
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#ifdef DEBUG_SYNC
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#define SYNC_DEBUG print_line("sync on: " + String(__FUNCTION__));
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#else
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#define SYNC_DEBUG
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#endif
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class PhysicsServer3DWrapMT : public PhysicsServer3D {
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mutable PhysicsServer3D *physics_3d_server;
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mutable CommandQueueMT command_queue;
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static void _thread_callback(void *_instance);
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void thread_loop();
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Thread::ID server_thread;
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Thread::ID main_thread;
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volatile bool exit = false;
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Thread thread;
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volatile bool step_thread_up = false;
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bool create_thread = false;
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Semaphore step_sem;
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void thread_step(real_t p_delta);
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void thread_exit();
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bool first_frame = true;
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Mutex alloc_mutex;
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int pool_max_size = 0;
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public:
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#define ServerName PhysicsServer3D
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#define ServerNameWrapMT PhysicsServer3DWrapMT
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#define server_name physics_3d_server
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#define WRITE_ACTION
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#include "servers/server_wrap_mt_common.h"
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//FUNC1RID(shape,ShapeType); todo fix
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FUNCRID(world_boundary_shape)
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FUNCRID(separation_ray_shape)
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FUNCRID(sphere_shape)
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FUNCRID(box_shape)
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FUNCRID(capsule_shape)
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FUNCRID(cylinder_shape)
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FUNCRID(convex_polygon_shape)
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FUNCRID(concave_polygon_shape)
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FUNCRID(heightmap_shape)
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FUNCRID(custom_shape)
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FUNC2(shape_set_data, RID, const Variant &);
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FUNC2(shape_set_custom_solver_bias, RID, real_t);
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FUNC2(shape_set_margin, RID, real_t)
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FUNC1RC(real_t, shape_get_margin, RID)
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FUNC1RC(ShapeType, shape_get_type, RID);
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FUNC1RC(Variant, shape_get_data, RID);
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FUNC1RC(real_t, shape_get_custom_solver_bias, RID);
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#if 0
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//these work well, but should be used from the main thread only
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bool shape_collide(RID p_shape_A, const Transform &p_xform_A, const Vector3 &p_motion_A, RID p_shape_B, const Transform &p_xform_B, const Vector3 &p_motion_B, Vector3 *r_results, int p_result_max, int &r_result_count) {
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ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
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return physics_3d_server->shape_collide(p_shape_A, p_xform_A, p_motion_A, p_shape_B, p_xform_B, p_motion_B, r_results, p_result_max, r_result_count);
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}
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#endif
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/* SPACE API */
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FUNCRID(space);
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FUNC2(space_set_active, RID, bool);
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FUNC1RC(bool, space_is_active, RID);
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FUNC3(space_set_param, RID, SpaceParameter, real_t);
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FUNC2RC(real_t, space_get_param, RID, SpaceParameter);
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// this function only works on physics process, errors and returns null otherwise
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PhysicsDirectSpaceState3D *space_get_direct_state(RID p_space) override {
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ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), nullptr);
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return physics_3d_server->space_get_direct_state(p_space);
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}
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FUNC2(space_set_debug_contacts, RID, int);
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virtual Vector<Vector3> space_get_contacts(RID p_space) const override {
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ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), Vector<Vector3>());
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return physics_3d_server->space_get_contacts(p_space);
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}
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virtual int space_get_contact_count(RID p_space) const override {
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ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), 0);
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return physics_3d_server->space_get_contact_count(p_space);
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}
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/* AREA API */
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//FUNC0RID(area);
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FUNCRID(area);
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FUNC2(area_set_space, RID, RID);
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FUNC1RC(RID, area_get_space, RID);
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FUNC4(area_add_shape, RID, RID, const Transform3D &, bool);
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FUNC3(area_set_shape, RID, int, RID);
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FUNC3(area_set_shape_transform, RID, int, const Transform3D &);
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FUNC3(area_set_shape_disabled, RID, int, bool);
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FUNC1RC(int, area_get_shape_count, RID);
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FUNC2RC(RID, area_get_shape, RID, int);
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FUNC2RC(Transform3D, area_get_shape_transform, RID, int);
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FUNC2(area_remove_shape, RID, int);
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FUNC1(area_clear_shapes, RID);
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FUNC2(area_attach_object_instance_id, RID, ObjectID);
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FUNC1RC(ObjectID, area_get_object_instance_id, RID);
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FUNC3(area_set_param, RID, AreaParameter, const Variant &);
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FUNC2(area_set_transform, RID, const Transform3D &);
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FUNC2RC(Variant, area_get_param, RID, AreaParameter);
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FUNC1RC(Transform3D, area_get_transform, RID);
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FUNC2(area_set_collision_mask, RID, uint32_t);
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FUNC2(area_set_collision_layer, RID, uint32_t);
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FUNC2(area_set_monitorable, RID, bool);
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FUNC2(area_set_ray_pickable, RID, bool);
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FUNC2(area_set_monitor_callback, RID, const Callable &);
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FUNC2(area_set_area_monitor_callback, RID, const Callable &);
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/* BODY API */
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//FUNC2RID(body,BodyMode,bool);
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FUNCRID(body)
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FUNC2(body_set_space, RID, RID);
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FUNC1RC(RID, body_get_space, RID);
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FUNC2(body_set_mode, RID, BodyMode);
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FUNC1RC(BodyMode, body_get_mode, RID);
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FUNC4(body_add_shape, RID, RID, const Transform3D &, bool);
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FUNC3(body_set_shape, RID, int, RID);
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FUNC3(body_set_shape_transform, RID, int, const Transform3D &);
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FUNC1RC(int, body_get_shape_count, RID);
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FUNC2RC(Transform3D, body_get_shape_transform, RID, int);
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FUNC2RC(RID, body_get_shape, RID, int);
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FUNC3(body_set_shape_disabled, RID, int, bool);
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FUNC2(body_remove_shape, RID, int);
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FUNC1(body_clear_shapes, RID);
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FUNC2(body_attach_object_instance_id, RID, ObjectID);
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FUNC1RC(ObjectID, body_get_object_instance_id, RID);
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FUNC2(body_set_enable_continuous_collision_detection, RID, bool);
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FUNC1RC(bool, body_is_continuous_collision_detection_enabled, RID);
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FUNC2(body_set_collision_layer, RID, uint32_t);
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FUNC1RC(uint32_t, body_get_collision_layer, RID);
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FUNC2(body_set_collision_mask, RID, uint32_t);
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FUNC1RC(uint32_t, body_get_collision_mask, RID);
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FUNC2(body_set_user_flags, RID, uint32_t);
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FUNC1RC(uint32_t, body_get_user_flags, RID);
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FUNC3(body_set_param, RID, BodyParameter, const Variant &);
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FUNC2RC(Variant, body_get_param, RID, BodyParameter);
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FUNC1(body_reset_mass_properties, RID);
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FUNC3(body_set_state, RID, BodyState, const Variant &);
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FUNC2RC(Variant, body_get_state, RID, BodyState);
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FUNC2(body_set_applied_force, RID, const Vector3 &);
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FUNC1RC(Vector3, body_get_applied_force, RID);
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FUNC2(body_set_applied_torque, RID, const Vector3 &);
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FUNC1RC(Vector3, body_get_applied_torque, RID);
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FUNC2(body_add_central_force, RID, const Vector3 &);
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FUNC3(body_add_force, RID, const Vector3 &, const Vector3 &);
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FUNC2(body_add_torque, RID, const Vector3 &);
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FUNC2(body_apply_torque_impulse, RID, const Vector3 &);
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FUNC2(body_apply_central_impulse, RID, const Vector3 &);
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FUNC3(body_apply_impulse, RID, const Vector3 &, const Vector3 &);
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FUNC2(body_set_axis_velocity, RID, const Vector3 &);
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FUNC3(body_set_axis_lock, RID, BodyAxis, bool);
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FUNC2RC(bool, body_is_axis_locked, RID, BodyAxis);
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FUNC2(body_add_collision_exception, RID, RID);
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FUNC2(body_remove_collision_exception, RID, RID);
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FUNC2S(body_get_collision_exceptions, RID, List<RID> *);
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FUNC2(body_set_max_contacts_reported, RID, int);
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FUNC1RC(int, body_get_max_contacts_reported, RID);
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FUNC2(body_set_contacts_reported_depth_threshold, RID, real_t);
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FUNC1RC(real_t, body_get_contacts_reported_depth_threshold, RID);
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FUNC2(body_set_omit_force_integration, RID, bool);
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FUNC1RC(bool, body_is_omitting_force_integration, RID);
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FUNC3(body_set_state_sync_callback, RID, void *, BodyStateCallback);
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FUNC3(body_set_force_integration_callback, RID, const Callable &, const Variant &);
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FUNC2(body_set_ray_pickable, RID, bool);
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bool body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result = nullptr) override {
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ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), false);
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return physics_3d_server->body_test_motion(p_body, p_parameters, r_result);
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}
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// this function only works on physics process, errors and returns null otherwise
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PhysicsDirectBodyState3D *body_get_direct_state(RID p_body) override {
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ERR_FAIL_COND_V(main_thread != Thread::get_caller_id(), nullptr);
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return physics_3d_server->body_get_direct_state(p_body);
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}
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/* SOFT BODY API */
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FUNCRID(soft_body)
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FUNC2(soft_body_update_rendering_server, RID, class RenderingServerHandler *)
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FUNC2(soft_body_set_space, RID, RID)
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FUNC1RC(RID, soft_body_get_space, RID)
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FUNC2(soft_body_set_ray_pickable, RID, bool);
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FUNC2(soft_body_set_collision_layer, RID, uint32_t)
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FUNC1RC(uint32_t, soft_body_get_collision_layer, RID)
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FUNC2(soft_body_set_collision_mask, RID, uint32_t)
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FUNC1RC(uint32_t, soft_body_get_collision_mask, RID)
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FUNC2(soft_body_add_collision_exception, RID, RID)
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FUNC2(soft_body_remove_collision_exception, RID, RID)
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FUNC2S(soft_body_get_collision_exceptions, RID, List<RID> *)
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FUNC3(soft_body_set_state, RID, BodyState, const Variant &);
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FUNC2RC(Variant, soft_body_get_state, RID, BodyState);
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FUNC2(soft_body_set_transform, RID, const Transform3D &);
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FUNC2(soft_body_set_simulation_precision, RID, int);
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FUNC1RC(int, soft_body_get_simulation_precision, RID);
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FUNC2(soft_body_set_total_mass, RID, real_t);
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FUNC1RC(real_t, soft_body_get_total_mass, RID);
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FUNC2(soft_body_set_linear_stiffness, RID, real_t);
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FUNC1RC(real_t, soft_body_get_linear_stiffness, RID);
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FUNC2(soft_body_set_pressure_coefficient, RID, real_t);
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FUNC1RC(real_t, soft_body_get_pressure_coefficient, RID);
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FUNC2(soft_body_set_damping_coefficient, RID, real_t);
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FUNC1RC(real_t, soft_body_get_damping_coefficient, RID);
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FUNC2(soft_body_set_drag_coefficient, RID, real_t);
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FUNC1RC(real_t, soft_body_get_drag_coefficient, RID);
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FUNC2(soft_body_set_mesh, RID, RID);
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FUNC1RC(AABB, soft_body_get_bounds, RID);
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FUNC3(soft_body_move_point, RID, int, const Vector3 &);
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FUNC2RC(Vector3, soft_body_get_point_global_position, RID, int);
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FUNC1(soft_body_remove_all_pinned_points, RID);
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FUNC3(soft_body_pin_point, RID, int, bool);
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FUNC2RC(bool, soft_body_is_point_pinned, RID, int);
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/* JOINT API */
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FUNCRID(joint)
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FUNC1(joint_clear, RID)
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FUNC5(joint_make_pin, RID, RID, const Vector3 &, RID, const Vector3 &)
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FUNC3(pin_joint_set_param, RID, PinJointParam, real_t)
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FUNC2RC(real_t, pin_joint_get_param, RID, PinJointParam)
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FUNC2(pin_joint_set_local_a, RID, const Vector3 &)
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FUNC1RC(Vector3, pin_joint_get_local_a, RID)
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FUNC2(pin_joint_set_local_b, RID, const Vector3 &)
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FUNC1RC(Vector3, pin_joint_get_local_b, RID)
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FUNC5(joint_make_hinge, RID, RID, const Transform3D &, RID, const Transform3D &)
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FUNC7(joint_make_hinge_simple, RID, RID, const Vector3 &, const Vector3 &, RID, const Vector3 &, const Vector3 &)
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FUNC3(hinge_joint_set_param, RID, HingeJointParam, real_t)
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FUNC2RC(real_t, hinge_joint_get_param, RID, HingeJointParam)
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FUNC3(hinge_joint_set_flag, RID, HingeJointFlag, bool)
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FUNC2RC(bool, hinge_joint_get_flag, RID, HingeJointFlag)
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FUNC5(joint_make_slider, RID, RID, const Transform3D &, RID, const Transform3D &)
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FUNC3(slider_joint_set_param, RID, SliderJointParam, real_t)
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FUNC2RC(real_t, slider_joint_get_param, RID, SliderJointParam)
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FUNC5(joint_make_cone_twist, RID, RID, const Transform3D &, RID, const Transform3D &)
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FUNC3(cone_twist_joint_set_param, RID, ConeTwistJointParam, real_t)
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FUNC2RC(real_t, cone_twist_joint_get_param, RID, ConeTwistJointParam)
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FUNC5(joint_make_generic_6dof, RID, RID, const Transform3D &, RID, const Transform3D &)
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FUNC4(generic_6dof_joint_set_param, RID, Vector3::Axis, G6DOFJointAxisParam, real_t)
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FUNC3RC(real_t, generic_6dof_joint_get_param, RID, Vector3::Axis, G6DOFJointAxisParam)
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FUNC4(generic_6dof_joint_set_flag, RID, Vector3::Axis, G6DOFJointAxisFlag, bool)
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FUNC3RC(bool, generic_6dof_joint_get_flag, RID, Vector3::Axis, G6DOFJointAxisFlag)
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FUNC1RC(JointType, joint_get_type, RID);
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FUNC2(joint_set_solver_priority, RID, int);
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FUNC1RC(int, joint_get_solver_priority, RID);
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FUNC2(joint_disable_collisions_between_bodies, RID, const bool);
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FUNC1RC(bool, joint_is_disabled_collisions_between_bodies, RID);
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/* MISC */
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FUNC1(free, RID);
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FUNC1(set_active, bool);
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virtual void init() override;
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virtual void step(real_t p_step) override;
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virtual void sync() override;
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virtual void end_sync() override;
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virtual void flush_queries() override;
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virtual void finish() override;
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virtual bool is_flushing_queries() const override {
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return physics_3d_server->is_flushing_queries();
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}
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int get_process_info(ProcessInfo p_info) override {
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return physics_3d_server->get_process_info(p_info);
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}
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PhysicsServer3DWrapMT(PhysicsServer3D *p_contained, bool p_create_thread);
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~PhysicsServer3DWrapMT();
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#undef ServerNameWrapMT
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#undef ServerName
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#undef server_name
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#undef WRITE_ACTION
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};
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#ifdef DEBUG_SYNC
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#undef DEBUG_SYNC
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#endif
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#undef SYNC_DEBUG
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#endif // PHYSICS_SERVER_3D_WRAP_MT_H
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