mirror of
https://github.com/space-wizards/RobustToolbox.git
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778 lines
24 KiB
C#
778 lines
24 KiB
C#
/*
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* Farseer Physics Engine:
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* Copyright (c) 2012 Ian Qvist
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*
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* Original source Box2D:
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* Copyright (c) 2006-2011 Erin Catto http://www.box2d.org
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*
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* This software is provided 'as-is', without any express or implied
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* warranty. In no event will the authors be held liable for any damages
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* arising from the use of this software.
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* Permission is granted to anyone to use this software for any purpose,
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* including commercial applications, and to alter it and redistribute it
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* freely, subject to the following restrictions:
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* 1. The origin of this software must not be misrepresented; you must not
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* claim that you wrote the original software. If you use this software
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* in a product, an acknowledgment in the product documentation would be
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* appreciated but is not required.
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* 2. Altered source versions must be plainly marked as such, and must not be
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* misrepresented as being the original software.
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* 3. This notice may not be removed or altered from any source distribution.
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*
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* PhysicsComponent is heavily modified from Box2D.
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*/
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using System;
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using System.Numerics;
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using Robust.Shared.GameObjects;
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using Robust.Shared.GameStates;
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using Robust.Shared.Map;
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using Robust.Shared.Maths;
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using Robust.Shared.Physics.Components;
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using Robust.Shared.Physics.Dynamics;
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using Robust.Shared.Physics.Events;
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using Robust.Shared.Utility;
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namespace Robust.Shared.Physics.Systems;
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public partial class SharedPhysicsSystem
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{
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#region Lifetime
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private void OnPhysicsInit(EntityUid uid, PhysicsComponent component, ComponentInit args)
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{
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var xform = Transform(uid);
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var manager = EnsureComp<FixturesComponent>(uid);
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if (component.CanCollide && (_containerSystem.IsEntityOrParentInContainer(uid) || xform.MapID == MapId.Nullspace))
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{
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SetCanCollide(uid, false, false, manager: manager, body: component);
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}
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if (component.CanCollide)
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{
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if (component.BodyType != BodyType.Static)
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{
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SetAwake(uid, component, true);
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}
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}
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// Gets added to broadphase via fixturessystem
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_fixtures.OnPhysicsInit(uid, manager, component);
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if (manager.FixtureCount == 0)
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component.CanCollide = false;
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var ev = new CollisionChangeEvent(uid, component, component.CanCollide);
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RaiseLocalEvent(ref ev);
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}
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private void OnPhysicsGetState(EntityUid uid, PhysicsComponent component, ref ComponentGetState args)
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{
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args.State = new PhysicsComponentState(
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component.CanCollide,
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component.SleepingAllowed,
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component.FixedRotation,
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component.BodyStatus,
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component.LinearVelocity,
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component.AngularVelocity,
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component.BodyType,
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component._friction,
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component.LinearDamping,
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component.AngularDamping);
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}
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private void OnPhysicsHandleState(EntityUid uid, PhysicsComponent component, ref ComponentHandleState args)
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{
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if (args.Current is not PhysicsComponentState newState)
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return;
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SetSleepingAllowed(uid, component, newState.SleepingAllowed);
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SetFixedRotation(uid, newState.FixedRotation, body: component);
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SetCanCollide(uid, newState.CanCollide, body: component);
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component.BodyStatus = newState.Status;
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// So transform doesn't apply MapId in the HandleComponentState because ??? so MapId can still be 0.
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// Fucking kill me, please. You have no idea deep the rabbit hole of shitcode goes to make this work.
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TryComp<FixturesComponent>(uid, out var manager);
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SetLinearVelocity(uid, newState.LinearVelocity, body: component, manager: manager);
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SetAngularVelocity(uid, newState.AngularVelocity, body: component, manager: manager);
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SetBodyType(uid, newState.BodyType, manager, component);
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SetFriction(uid, component, newState.Friction);
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SetLinearDamping(uid, component, newState.LinearDamping);
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SetAngularDamping(uid, component, newState.AngularDamping);
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}
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#endregion
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private bool IsMoveable(PhysicsComponent body)
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{
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return (body.BodyType & (BodyType.Dynamic | BodyType.KinematicController)) != 0x0;
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}
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#region Impulses
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public void ApplyAngularImpulse(EntityUid uid, float impulse, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body) || !IsMoveable(body) || !WakeBody(uid, manager: manager, body: body))
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{
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return;
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}
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SetAngularVelocity(uid, body.AngularVelocity + impulse * body.InvI, body: body);
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}
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public void ApplyForce(EntityUid uid, Vector2 force, Vector2 point, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body) || !IsMoveable(body) || !WakeBody(uid, manager: manager, body: body))
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{
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return;
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}
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body.Force += force;
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body.Torque += Vector2Helpers.Cross(point - body._localCenter, force);
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Dirty(uid, body);
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}
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public void ApplyForce(EntityUid uid, Vector2 force, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body) || !IsMoveable(body) || !WakeBody(uid, manager: manager, body: body))
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{
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return;
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}
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body.Force += force;
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Dirty(uid, body);
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}
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public void ApplyTorque(EntityUid uid, float torque, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body) || !IsMoveable(body) || !WakeBody(uid, manager: manager, body: body))
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{
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return;
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}
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body.Torque += torque;
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Dirty(uid, body);
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}
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public void ApplyLinearImpulse(EntityUid uid, Vector2 impulse, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body) || !IsMoveable(body) || !WakeBody(uid, manager: manager, body: body))
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{
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return;
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}
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SetLinearVelocity(uid,body.LinearVelocity + impulse * body._invMass, body: body);
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}
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public void ApplyLinearImpulse(EntityUid uid, Vector2 impulse, Vector2 point, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body) || !IsMoveable(body) || !WakeBody(uid, manager: manager, body: body))
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{
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return;
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}
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SetLinearVelocity(uid, body.LinearVelocity + impulse * body._invMass, body: body);
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SetAngularVelocity(uid, body.AngularVelocity + body.InvI * Vector2Helpers.Cross(point - body._localCenter, impulse), body: body);
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}
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#endregion
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#region Setters
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public void DestroyContacts(PhysicsComponent body)
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{
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if (body.Contacts.Count == 0) return;
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// This variable is only used in edge-case scenario when contact flagged Deleting raises
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// EndCollideEvent which will QueueDelete contact's entity
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ushort contactsFlaggedDeleting = 0;
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var node = body.Contacts.First;
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while (node != null)
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{
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var contact = node.Value;
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node = node.Next;
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// Destroy last so the linked-list doesn't get touched.
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if (!DestroyContact(contact))
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{
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contactsFlaggedDeleting++;
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}
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}
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// This contact will be deleted before SimulateWorld runs since it is already set to be Deleted
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DebugTools.Assert(body.Contacts.Count == contactsFlaggedDeleting);
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}
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/// <summary>
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/// Completely resets a dynamic body.
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/// </summary>
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public void ResetDynamics(EntityUid uid, PhysicsComponent body, bool dirty = true)
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{
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var updated = false;
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if (body.Torque != 0f)
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{
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body.Torque = 0f;
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updated = true;
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}
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if (body.AngularVelocity != 0f)
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{
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body.AngularVelocity = 0f;
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updated = true;
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}
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if (body.Force != Vector2.Zero)
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{
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body.Force = Vector2.Zero;
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updated = true;
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}
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if (body.LinearVelocity != Vector2.Zero)
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{
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body.LinearVelocity = Vector2.Zero;
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updated = true;
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}
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if (updated && dirty)
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Dirty(uid, body);
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}
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[Obsolete("Use overload that takes EntityUid")]
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public void ResetDynamics(PhysicsComponent body, bool dirty = true)
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{
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ResetDynamics(body.Owner, body, dirty);
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}
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public void ResetMassData(EntityUid uid, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body))
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return;
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if (!_fixturesQuery.Resolve(uid, ref manager))
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return;
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body._mass = 0.0f;
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body._invMass = 0.0f;
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body._inertia = 0.0f;
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body.InvI = 0.0f;
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var localCenter = Vector2.Zero;
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foreach (var fixture in manager.Fixtures.Values)
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{
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if (fixture.Density <= 0.0f) continue;
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var data = new MassData();
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FixtureSystem.GetMassData(fixture.Shape, ref data, fixture.Density);
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body._mass += data.Mass;
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localCenter += data.Center * data.Mass;
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body._inertia += data.I;
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}
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// Update this after re-calculating mass as content may want to use the sum of fixture masses instead.
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if (((int) body.BodyType & (int) (BodyType.Kinematic | BodyType.Static)) != 0)
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{
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body._localCenter = Vector2.Zero;
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Dirty(uid, body);
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return;
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}
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if (body._mass > 0.0f)
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{
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body._invMass = 1.0f / body._mass;
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localCenter *= body._invMass;
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}
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else
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{
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// Always need positive mass.
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body._mass = 1.0f;
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body._invMass = 1.0f;
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}
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if (body._inertia > 0.0f && !body.FixedRotation)
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{
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// Center inertia about center of mass.
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body._inertia -= body._mass * Vector2.Dot(localCenter, localCenter);
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DebugTools.Assert(body._inertia > 0.0f);
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body.InvI = 1.0f / body._inertia;
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}
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else
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{
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body._inertia = 0.0f;
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body.InvI = 0.0f;
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}
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var oldCenter = body._localCenter;
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body._localCenter = localCenter;
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// Update center of mass velocity.
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body.LinearVelocity += Vector2Helpers.Cross(body.AngularVelocity, localCenter - oldCenter);
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Dirty(uid, body);
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}
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public bool SetAngularVelocity(EntityUid uid, float value, bool dirty = true, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body))
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return false;
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if (body.BodyType == BodyType.Static)
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return false;
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if (value * value > 0.0f)
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{
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if (!WakeBody(uid, manager: manager, body: body))
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return false;
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}
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// CloseToPercent tolerance needs to be small enough such that an angular velocity just above
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// sleep-tolerance can damp down to sleeping.
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if (MathHelper.CloseToPercent(body.AngularVelocity, value, 0.00001f))
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return false;
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body.AngularVelocity = value;
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if (dirty)
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Dirty(uid, body);
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return true;
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}
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/// <summary>
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/// Attempts to set the body to collidable, wake it, then move it.
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/// </summary>
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public bool SetLinearVelocity(EntityUid uid, Vector2 velocity, bool dirty = true, bool wakeBody = true, FixturesComponent? manager = null, PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body))
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return false;
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if (body.BodyType == BodyType.Static)
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return false;
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if (wakeBody && Vector2.Dot(velocity, velocity) > 0.0f)
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{
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if (!WakeBody(uid, manager: manager, body: body))
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return false;
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}
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if (body.LinearVelocity.EqualsApprox(velocity, 0.0000001f))
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return false;
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body.LinearVelocity = velocity;
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if (dirty)
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Dirty(uid, body);
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return true;
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}
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public void SetAngularDamping(EntityUid uid, PhysicsComponent body, float value, bool dirty = true)
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{
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if (MathHelper.CloseTo(body.AngularDamping, value))
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return;
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body.AngularDamping = value;
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if (dirty)
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Dirty(uid, body);
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}
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[Obsolete("Use overload that takes EntityUid")]
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public void SetAngularDamping(PhysicsComponent body, float value, bool dirty = true)
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{
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SetAngularDamping(body.Owner, body, value, dirty);
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}
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public void SetLinearDamping(EntityUid uid, PhysicsComponent body, float value, bool dirty = true)
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{
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if (MathHelper.CloseTo(body.LinearDamping, value))
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return;
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body.LinearDamping = value;
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if (dirty)
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Dirty(uid, body);
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}
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[Obsolete("Use overload that takes EntityUid")]
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public void SetLinearDamping(PhysicsComponent body, float value, bool dirty = true)
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{
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SetLinearDamping(body.Owner, body, value, dirty);
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}
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[Obsolete("Use SetAwake with EntityUid<PhysicsComponent>")]
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public void SetAwake(EntityUid uid, PhysicsComponent body, bool value, bool updateSleepTime = true)
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{
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SetAwake(new Entity<PhysicsComponent>(uid, body), value, updateSleepTime);
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}
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public void SetAwake(Entity<PhysicsComponent> ent, bool value, bool updateSleepTime = true)
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{
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var (uid, body) = ent;
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var canWake = body.BodyType != BodyType.Static && body.CanCollide;
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if (body.Awake == value)
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{
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DebugTools.Assert(!body.Awake || canWake);
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return;
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}
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if (value && !canWake)
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return;
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body.Awake = value;
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if (value)
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{
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var ev = new PhysicsWakeEvent(uid, body);
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RaiseLocalEvent(uid, ref ev, true);
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}
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else
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{
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var ev = new PhysicsSleepEvent(uid, body);
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RaiseLocalEvent(uid, ref ev, true);
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ResetDynamics(ent, body, dirty: false);
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}
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// Update wake system last, if sleeping but still colliding.
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if (!value && body.CanCollide)
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_wakeSystem.UpdateCanCollide(ent, checkTerminating: false, dirty: false);
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if (updateSleepTime)
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SetSleepTime(body, 0);
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if (body.Awake != value)
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{
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Log.Error($"Found a corrupted physics awake state for {ToPrettyString(ent)}! Did you forget to cancel the sleep subscription? Forcing body awake");
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DebugTools.Assert(false);
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body.Awake = true;
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}
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UpdateMapAwakeState(uid, body);
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Dirty(ent);
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}
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public void TrySetBodyType(EntityUid uid, BodyType value, FixturesComponent? manager = null, PhysicsComponent? body = null, TransformComponent? xform = null)
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{
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if (_fixturesQuery.Resolve(uid, ref manager, false) &&
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PhysicsQuery.Resolve(uid, ref body, false) &&
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_xformQuery.Resolve(uid, ref xform, false))
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{
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SetBodyType(uid, value, manager, body, xform);
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}
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}
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public void SetBodyType(EntityUid uid, BodyType value, FixturesComponent? manager = null, PhysicsComponent? body = null, TransformComponent? xform = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body))
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return;
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if (body.BodyType == value)
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return;
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var oldType = body.BodyType;
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body.BodyType = value;
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ResetMassData(uid, manager, body);
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if (body.BodyType == BodyType.Static)
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{
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SetAwake(uid, body, false);
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body.LinearVelocity = Vector2.Zero;
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body.AngularVelocity = 0.0f;
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}
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// Even if it's dynamic if it can't collide then don't force it awake.
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else if (body.CanCollide)
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{
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SetAwake(uid, body, true);
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}
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body.Force = Vector2.Zero;
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body.Torque = 0.0f;
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_broadphase.RegenerateContacts(uid, body, manager, xform);
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if (body.Initialized)
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{
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var ev = new PhysicsBodyTypeChangedEvent(uid, body.BodyType, oldType, body);
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RaiseLocalEvent(uid, ref ev, true);
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}
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}
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public void SetBodyStatus(EntityUid uid, PhysicsComponent body, BodyStatus status, bool dirty = true)
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{
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if (body.BodyStatus == status)
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return;
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body.BodyStatus = status;
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if (dirty)
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Dirty(uid, body);
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}
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[Obsolete("Use overload that takes EntityUid")]
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public void SetBodyStatus(PhysicsComponent body, BodyStatus status, bool dirty = true)
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{
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SetBodyStatus(body.Owner, body, status, dirty);
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}
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/// <summary>
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/// Sets the <see cref="PhysicsComponent.CanCollide"/> property; this handles whether the body is enabled.
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/// </summary>
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/// <returns>CanCollide</returns>
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/// <param name="force">Bypasses fixture and container checks</param>
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public bool SetCanCollide(
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EntityUid uid,
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bool value,
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bool dirty = true,
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bool force = false,
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FixturesComponent? manager = null,
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PhysicsComponent? body = null)
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{
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if (!PhysicsQuery.Resolve(uid, ref body))
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return false;
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|
|
if (body.CanCollide == value)
|
|
return value;
|
|
|
|
if (value)
|
|
{
|
|
if (!force)
|
|
{
|
|
// If we're recursively in a container then never set this.
|
|
if (_containerSystem.IsEntityOrParentInContainer(uid))
|
|
return false;
|
|
|
|
if (!_fixturesQuery.Resolve(uid, ref manager) || manager.FixtureCount == 0 && !_mapManager.IsGrid(uid))
|
|
return false;
|
|
}
|
|
else
|
|
{
|
|
DebugTools.Assert(!_containerSystem.IsEntityOrParentInContainer(uid));
|
|
DebugTools.Assert((Resolve(uid, ref manager) && manager.FixtureCount > 0) || _mapManager.IsGrid(uid));
|
|
}
|
|
}
|
|
|
|
// Need to do this before SetAwake to avoid double-changing it.
|
|
body.CanCollide = value;
|
|
|
|
if (!value)
|
|
SetAwake(uid, body, false);
|
|
|
|
if (body.Initialized)
|
|
{
|
|
var ev = new CollisionChangeEvent(uid, body, value);
|
|
RaiseLocalEvent(ref ev);
|
|
}
|
|
|
|
if (dirty)
|
|
Dirty(uid, body);
|
|
|
|
return value;
|
|
}
|
|
|
|
public void SetFixedRotation(EntityUid uid, bool value, bool dirty = true, FixturesComponent? manager = null, PhysicsComponent? body = null)
|
|
{
|
|
if (!PhysicsQuery.Resolve(uid, ref body) || body.FixedRotation == value)
|
|
return;
|
|
|
|
body.FixedRotation = value;
|
|
body.AngularVelocity = 0.0f;
|
|
ResetMassData(uid, manager: manager, body: body);
|
|
|
|
if (dirty)
|
|
Dirty(uid, body);
|
|
}
|
|
|
|
public void SetFriction(EntityUid uid, PhysicsComponent body, float value, bool dirty = true)
|
|
{
|
|
if (MathHelper.CloseTo(body.Friction, value))
|
|
return;
|
|
|
|
body._friction = value;
|
|
|
|
if (dirty)
|
|
Dirty(uid, body);
|
|
}
|
|
|
|
[Obsolete("Use overload that takes EntityUid")]
|
|
public void SetFriction(PhysicsComponent body, float value, bool dirty = true)
|
|
{
|
|
SetFriction(body.Owner, body, value, dirty);
|
|
}
|
|
|
|
public void SetInertia(EntityUid uid, PhysicsComponent body, float value, bool dirty = true)
|
|
{
|
|
DebugTools.Assert(!float.IsNaN(value));
|
|
|
|
if (body.BodyType != BodyType.Dynamic) return;
|
|
|
|
if (MathHelper.CloseToPercent(body._inertia, value)) return;
|
|
|
|
if (value > 0.0f && !body.FixedRotation)
|
|
{
|
|
body._inertia = value - body.Mass * Vector2.Dot(body._localCenter, body._localCenter);
|
|
DebugTools.Assert(body._inertia > 0.0f);
|
|
body.InvI = 1.0f / body._inertia;
|
|
|
|
if (dirty)
|
|
Dirty(uid, body);
|
|
}
|
|
}
|
|
|
|
[Obsolete("Use overload that takes EntityUid")]
|
|
public void SetInertia(PhysicsComponent body, float value, bool dirty = true)
|
|
{
|
|
SetInertia(body.Owner, body, value, dirty);
|
|
}
|
|
|
|
public void SetLocalCenter(EntityUid uid, PhysicsComponent body, Vector2 value)
|
|
{
|
|
if (body.BodyType != BodyType.Dynamic) return;
|
|
|
|
if (value.EqualsApprox(body._localCenter)) return;
|
|
|
|
body._localCenter = value;
|
|
}
|
|
|
|
public void SetSleepingAllowed(EntityUid uid, PhysicsComponent body, bool value, bool dirty = true)
|
|
{
|
|
if (body.SleepingAllowed == value)
|
|
return;
|
|
|
|
if (!value)
|
|
SetAwake(uid, body, true);
|
|
|
|
body.SleepingAllowed = value;
|
|
|
|
if (dirty)
|
|
Dirty(uid, body);
|
|
}
|
|
|
|
public void SetSleepTime(PhysicsComponent body, float value)
|
|
{
|
|
DebugTools.Assert(!float.IsNaN(value));
|
|
|
|
if (MathHelper.CloseToPercent(value, body.SleepTime))
|
|
return;
|
|
|
|
body.SleepTime = value;
|
|
}
|
|
|
|
/// <summary>
|
|
/// Tries to enable the body and also set it awake.
|
|
/// </summary>
|
|
/// <param name="force">Bypasses fixture and container checks</param>
|
|
/// <returns>true if the body is collidable and awake</returns>
|
|
public bool WakeBody(EntityUid uid, bool force = false, FixturesComponent? manager = null, PhysicsComponent? body = null)
|
|
{
|
|
if (!PhysicsQuery.Resolve(uid, ref body))
|
|
return false;
|
|
|
|
if (!SetCanCollide(uid, true, manager: manager, body: body, force: force))
|
|
return false;
|
|
|
|
SetAwake((uid, body), true);
|
|
return body.Awake;
|
|
}
|
|
|
|
#endregion
|
|
|
|
public Transform GetPhysicsTransform(EntityUid uid, TransformComponent? xform = null)
|
|
{
|
|
if (!_xformQuery.Resolve(uid, ref xform))
|
|
return Physics.Transform.Empty;
|
|
|
|
var (worldPos, worldRot) = _transform.GetWorldPositionRotation(xform);
|
|
|
|
return new Transform(worldPos, worldRot);
|
|
}
|
|
|
|
/// <summary>
|
|
/// Gets the physics World AABB, only considering fixtures.
|
|
/// </summary>
|
|
public Box2 GetWorldAABB(EntityUid uid, FixturesComponent? manager = null, PhysicsComponent? body = null, TransformComponent? xform = null)
|
|
{
|
|
if (!Resolve(uid, ref manager, ref body, ref xform))
|
|
return new Box2();
|
|
|
|
var (worldPos, worldRot) = _transform.GetWorldPositionRotation(xform);
|
|
|
|
var transform = new Transform(worldPos, (float) worldRot.Theta);
|
|
|
|
var bounds = new Box2(transform.Position, transform.Position);
|
|
|
|
foreach (var fixture in manager.Fixtures.Values)
|
|
{
|
|
for (var i = 0; i < fixture.Shape.ChildCount; i++)
|
|
{
|
|
var boundy = fixture.Shape.ComputeAABB(transform, i);
|
|
bounds = bounds.Union(boundy);
|
|
}
|
|
}
|
|
|
|
return bounds;
|
|
}
|
|
|
|
public Box2 GetHardAABB(EntityUid uid, FixturesComponent? manager = null, PhysicsComponent? body = null, TransformComponent? xform = null)
|
|
{
|
|
if (!PhysicsQuery.Resolve(uid, ref body)
|
|
|| !_fixturesQuery.Resolve(uid, ref manager)
|
|
|| !Resolve(uid, ref xform))
|
|
{
|
|
return Box2.Empty;
|
|
}
|
|
|
|
var (worldPos, worldRot) = _transform.GetWorldPositionRotation(xform);
|
|
|
|
var transform = new Transform(worldPos, (float) worldRot.Theta);
|
|
|
|
var bounds = new Box2(transform.Position, transform.Position);
|
|
|
|
foreach (var fixture in manager.Fixtures.Values)
|
|
{
|
|
if (!fixture.Hard) continue;
|
|
|
|
for (var i = 0; i < fixture.Shape.ChildCount; i++)
|
|
{
|
|
var boundy = fixture.Shape.ComputeAABB(transform, i);
|
|
bounds = bounds.Union(boundy);
|
|
}
|
|
}
|
|
|
|
return bounds;
|
|
}
|
|
|
|
public (int Layer, int Mask) GetHardCollision(EntityUid uid, FixturesComponent? manager = null)
|
|
{
|
|
if (!_fixturesQuery.Resolve(uid, ref manager, false))
|
|
{
|
|
return (0, 0);
|
|
}
|
|
|
|
var layer = 0;
|
|
var mask = 0;
|
|
|
|
foreach (var fixture in manager.Fixtures.Values)
|
|
{
|
|
if (!fixture.Hard)
|
|
continue;
|
|
|
|
layer |= fixture.CollisionLayer;
|
|
mask |= fixture.CollisionMask;
|
|
}
|
|
|
|
return (layer, mask);
|
|
}
|
|
|
|
public virtual void UpdateIsPredicted(EntityUid? uid, PhysicsComponent? physics = null)
|
|
{
|
|
// See client-side system
|
|
}
|
|
}
|