text: /*************************************************************************/
  /*  physics_2d_server_sw.cpp                                             */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md)    */
  /*                                                                       */
  /* 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.                */
  /*************************************************************************/
  
  #include "physics_2d_server_sw.h"
  #include "broad_phase_2d_basic.h"
  #include "broad_phase_2d_hash_grid.h"
  #include "collision_solver_2d_sw.h"
  #include "core/os/os.h"
  #include "core/project_settings.h"
  #include "core/script_language.h"
  
  RID Physics2DServerSW::_shape_create(ShapeType p_shape) {
  
  	Shape2DSW *shape = NULL;
  	switch (p_shape) {
  
  		case SHAPE_LINE: {
  
  			shape = memnew(LineShape2DSW);
  		} break;
  		case SHAPE_RAY: {
  
  			shape = memnew(RayShape2DSW);
  		} break;
  		case SHAPE_SEGMENT: {
  
  			shape = memnew(SegmentShape2DSW);
  		} break;
  		case SHAPE_CIRCLE: {
  
  			shape = memnew(CircleShape2DSW);
  		} break;
  		case SHAPE_RECTANGLE: {
  
  			shape = memnew(RectangleShape2DSW);
  		} break;
  		case SHAPE_CAPSULE: {
  
  			shape = memnew(CapsuleShape2DSW);
  		} break;
  		case SHAPE_CONVEX_POLYGON: {
  
  			shape = memnew(ConvexPolygonShape2DSW);
  		} break;
  		case SHAPE_CONCAVE_POLYGON: {
  
  			shape = memnew(ConcavePolygonShape2DSW);
  		} break;
  		case SHAPE_CUSTOM: {
  
  			ERR_FAIL_V(RID());
  
  		} break;
  	}
  
  	RID id = shape_owner.make_rid(shape);
  	shape->set_self(id);
  
  	return id;
  }
  
  RID Physics2DServerSW::line_shape_create() {
  
  	return _shape_create(SHAPE_LINE);
  }
  
  RID Physics2DServerSW::ray_shape_create() {
  
  	return _shape_create(SHAPE_RAY);
  }
  RID Physics2DServerSW::segment_shape_create() {
  
  	return _shape_create(SHAPE_SEGMENT);
  }
  RID Physics2DServerSW::circle_shape_create() {
  
  	return _shape_create(SHAPE_CIRCLE);
  }
  RID Physics2DServerSW::rectangle_shape_create() {
  
  	return _shape_create(SHAPE_RECTANGLE);
  }
  RID Physics2DServerSW::capsule_shape_create() {
  
  	return _shape_create(SHAPE_CAPSULE);
  }
  
  RID Physics2DServerSW::convex_polygon_shape_create() {
  
  	return _shape_create(SHAPE_CONVEX_POLYGON);
  }
  RID Physics2DServerSW::concave_polygon_shape_create() {
  
  	return _shape_create(SHAPE_CONCAVE_POLYGON);
  }
  
  void Physics2DServerSW::shape_set_data(RID p_shape, const Variant &p_data) {
  
  	Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND(!shape);
  	shape->set_data(p_data);
  };
  
  void Physics2DServerSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
  
  	Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND(!shape);
  	shape->set_custom_bias(p_bias);
  }
  
  Physics2DServer::ShapeType Physics2DServerSW::shape_get_type(RID p_shape) const {
  
  	const Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
  	return shape->get_type();
  };
  
  Variant Physics2DServerSW::shape_get_data(RID p_shape) const {
  
  	const Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, Variant());
  	ERR_FAIL_COND_V(!shape->is_configured(), Variant());
  	return shape->get_data();
  };
  
  real_t Physics2DServerSW::shape_get_custom_solver_bias(RID p_shape) const {
  
  	const Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, 0);
  	return shape->get_custom_bias();
  }
  
  void Physics2DServerSW::_shape_col_cbk(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
  
  	CollCbkData *cbk = (CollCbkData *)p_userdata;
  
  	if (cbk->max == 0)
  		return;
  
  	if (cbk->valid_dir != Vector2()) {
  		if (p_point_A.distance_squared_to(p_point_B) > cbk->valid_depth * cbk->valid_depth) {
  			cbk->invalid_by_dir++;
  			return;
  		}
  		Vector2 rel_dir = (p_point_A - p_point_B).normalized();
  
  		if (cbk->valid_dir.dot(rel_dir) < 0.7071) { //sqrt(2)/2.0 - 45 degrees
  			cbk->invalid_by_dir++;
  
  			/*
  			print_line("A: "+p_point_A);
  			print_line("B: "+p_point_B);
  			print_line("discard too angled "+rtos(cbk->valid_dir.dot((p_point_A-p_point_B))));
  			print_line("resnorm: "+(p_point_A-p_point_B).normalized());
  			print_line("distance: "+rtos(p_point_A.distance_to(p_point_B)));
  			*/
  			return;
  		}
  	}
  
  	if (cbk->amount == cbk->max) {
  		//find least deep
  		real_t min_depth = 1e20;
  		int min_depth_idx = 0;
  		for (int i = 0; i < cbk->amount; i++) {
  
  			real_t d = cbk->ptr[i * 2 + 0].distance_squared_to(cbk->ptr[i * 2 + 1]);
  			if (d < min_depth) {
  				min_depth = d;
  				min_depth_idx = i;
  			}
  		}
  
  		real_t d = p_point_A.distance_squared_to(p_point_B);
  		if (d < min_depth)
  			return;
  		cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
  		cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
  
  	} else {
  
  		cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
  		cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
  		cbk->amount++;
  	}
  }
  
  bool Physics2DServerSW::shape_collide(RID p_shape_A, const Transform2D &p_xform_A, const Vector2 &p_motion_A, RID p_shape_B, const Transform2D &p_xform_B, const Vector2 &p_motion_B, Vector2 *r_results, int p_result_max, int &r_result_count) {
  
  	Shape2DSW *shape_A = shape_owner.get(p_shape_A);
  	ERR_FAIL_COND_V(!shape_A, false);
  	Shape2DSW *shape_B = shape_owner.get(p_shape_B);
  	ERR_FAIL_COND_V(!shape_B, false);
  
  	if (p_result_max == 0) {
  
  		return CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, NULL, NULL);
  	}
  
  	CollCbkData cbk;
  	cbk.max = p_result_max;
  	cbk.amount = 0;
  	cbk.ptr = r_results;
  
  	bool res = CollisionSolver2DSW::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, _shape_col_cbk, &cbk);
  	r_result_count = cbk.amount;
  	return res;
  }
  
  RID Physics2DServerSW::space_create() {
  
  	Space2DSW *space = memnew(Space2DSW);
  	RID id = space_owner.make_rid(space);
  	space->set_self(id);
  	RID area_id = area_create();
  	Area2DSW *area = area_owner.get(area_id);
  	ERR_FAIL_COND_V(!area, RID());
  	space->set_default_area(area);
  	area->set_space(space);
  	area->set_priority(-1);
  
  	return id;
  };
  
  void Physics2DServerSW::space_set_active(RID p_space, bool p_active) {
  
  	Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND(!space);
  	if (p_active)
  		active_spaces.insert(space);
  	else
  		active_spaces.erase(space);
  }
  
  bool Physics2DServerSW::space_is_active(RID p_space) const {
  
  	const Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND_V(!space, false);
  
  	return active_spaces.has(space);
  }
  
  void Physics2DServerSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
  
  	Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND(!space);
  
  	space->set_param(p_param, p_value);
  }
  
  real_t Physics2DServerSW::space_get_param(RID p_space, SpaceParameter p_param) const {
  
  	const Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND_V(!space, 0);
  	return space->get_param(p_param);
  }
  
  void Physics2DServerSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {
  
  	Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND(!space);
  	space->set_debug_contacts(p_max_contacts);
  }
  
  Vector<Vector2> Physics2DServerSW::space_get_contacts(RID p_space) const {
  
  	Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND_V(!space, Vector<Vector2>());
  	return space->get_debug_contacts();
  }
  
  int Physics2DServerSW::space_get_contact_count(RID p_space) const {
  
  	Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND_V(!space, 0);
  	return space->get_debug_contact_count();
  }
  
  Physics2DDirectSpaceState *Physics2DServerSW::space_get_direct_state(RID p_space) {
  
  	Space2DSW *space = space_owner.get(p_space);
  	ERR_FAIL_COND_V(!space, NULL);
  	if ((using_threads && !doing_sync) || space->is_locked()) {
  
  		ERR_EXPLAIN("Space state is inaccessible right now, wait for iteration or physics process notification.");
  		ERR_FAIL_V(NULL);
  	}
  
  	return space->get_direct_state();
  }
  
  RID Physics2DServerSW::area_create() {
  
  	Area2DSW *area = memnew(Area2DSW);
  	RID rid = area_owner.make_rid(area);
  	area->set_self(rid);
  	return rid;
  };
  
  void Physics2DServerSW::area_set_space(RID p_area, RID p_space) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	Space2DSW *space = NULL;
  	if (p_space.is_valid()) {
  		space = space_owner.get(p_space);
  		ERR_FAIL_COND(!space);
  	}
  
  	if (area->get_space() == space)
  		return; //pointless
  
  	area->clear_constraints();
  	area->set_space(space);
  };
  
  RID Physics2DServerSW::area_get_space(RID p_area) const {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, RID());
  
  	Space2DSW *space = area->get_space();
  	if (!space)
  		return RID();
  	return space->get_self();
  };
  
  void Physics2DServerSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_space_override_mode(p_mode);
  }
  
  Physics2DServer::AreaSpaceOverrideMode Physics2DServerSW::area_get_space_override_mode(RID p_area) const {
  
  	const Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
  
  	return area->get_space_override_mode();
  }
  
  void Physics2DServerSW::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND(!shape);
  
  	area->add_shape(shape, p_transform);
  }
  
  void Physics2DServerSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND(!shape);
  	ERR_FAIL_COND(!shape->is_configured());
  
  	area->set_shape(p_shape_idx, shape);
  }
  void Physics2DServerSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_shape_transform(p_shape_idx, p_transform);
  }
  
  void Physics2DServerSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	ERR_FAIL_INDEX(p_shape, area->get_shape_count());
  	area->set_shape_as_disabled(p_shape, p_disabled);
  }
  
  int Physics2DServerSW::area_get_shape_count(RID p_area) const {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, -1);
  
  	return area->get_shape_count();
  }
  RID Physics2DServerSW::area_get_shape(RID p_area, int p_shape_idx) const {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, RID());
  
  	Shape2DSW *shape = area->get_shape(p_shape_idx);
  	ERR_FAIL_COND_V(!shape, RID());
  
  	return shape->get_self();
  }
  Transform2D Physics2DServerSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, Transform2D());
  
  	return area->get_shape_transform(p_shape_idx);
  }
  
  void Physics2DServerSW::area_remove_shape(RID p_area, int p_shape_idx) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->remove_shape(p_shape_idx);
  }
  
  void Physics2DServerSW::area_clear_shapes(RID p_area) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	while (area->get_shape_count())
  		area->remove_shape(0);
  }
  
  void Physics2DServerSW::area_attach_object_instance_id(RID p_area, ObjectID p_ID) {
  
  	if (space_owner.owns(p_area)) {
  		Space2DSW *space = space_owner.get(p_area);
  		p_area = space->get_default_area()->get_self();
  	}
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  	area->set_instance_id(p_ID);
  }
  ObjectID Physics2DServerSW::area_get_object_instance_id(RID p_area) const {
  
  	if (space_owner.owns(p_area)) {
  		Space2DSW *space = space_owner.get(p_area);
  		p_area = space->get_default_area()->get_self();
  	}
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, 0);
  	return area->get_instance_id();
  }
  
  void Physics2DServerSW::area_attach_canvas_instance_id(RID p_area, ObjectID p_ID) {
  
  	if (space_owner.owns(p_area)) {
  		Space2DSW *space = space_owner.get(p_area);
  		p_area = space->get_default_area()->get_self();
  	}
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  	area->set_canvas_instance_id(p_ID);
  }
  ObjectID Physics2DServerSW::area_get_canvas_instance_id(RID p_area) const {
  
  	if (space_owner.owns(p_area)) {
  		Space2DSW *space = space_owner.get(p_area);
  		p_area = space->get_default_area()->get_self();
  	}
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, 0);
  	return area->get_canvas_instance_id();
  }
  
  void Physics2DServerSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
  
  	if (space_owner.owns(p_area)) {
  		Space2DSW *space = space_owner.get(p_area);
  		p_area = space->get_default_area()->get_self();
  	}
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  	area->set_param(p_param, p_value);
  };
  
  void Physics2DServerSW::area_set_transform(RID p_area, const Transform2D &p_transform) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  	area->set_transform(p_transform);
  };
  
  Variant Physics2DServerSW::area_get_param(RID p_area, AreaParameter p_param) const {
  
  	if (space_owner.owns(p_area)) {
  		Space2DSW *space = space_owner.get(p_area);
  		p_area = space->get_default_area()->get_self();
  	}
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, Variant());
  
  	return area->get_param(p_param);
  };
  
  Transform2D Physics2DServerSW::area_get_transform(RID p_area) const {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND_V(!area, Transform2D());
  
  	return area->get_transform();
  };
  
  void Physics2DServerSW::area_set_pickable(RID p_area, bool p_pickable) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  	area->set_pickable(p_pickable);
  }
  
  void Physics2DServerSW::area_set_monitorable(RID p_area, bool p_monitorable) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_monitorable(p_monitorable);
  }
  
  void Physics2DServerSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_collision_mask(p_mask);
  }
  
  void Physics2DServerSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_collision_layer(p_layer);
  }
  
  void Physics2DServerSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
  }
  
  void Physics2DServerSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
  
  	Area2DSW *area = area_owner.get(p_area);
  	ERR_FAIL_COND(!area);
  
  	area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : 0, p_method);
  }
  
  /* BODY API */
  
  RID Physics2DServerSW::body_create() {
  
  	Body2DSW *body = memnew(Body2DSW);
  	RID rid = body_owner.make_rid(body);
  	body->set_self(rid);
  	return rid;
  }
  
  void Physics2DServerSW::body_set_space(RID p_body, RID p_space) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	Space2DSW *space = NULL;
  	if (p_space.is_valid()) {
  		space = space_owner.get(p_space);
  		ERR_FAIL_COND(!space);
  	}
  
  	if (body->get_space() == space)
  		return; //pointless
  
  	body->clear_constraint_map();
  	body->set_space(space);
  };
  
  RID Physics2DServerSW::body_get_space(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, RID());
  
  	Space2DSW *space = body->get_space();
  	if (!space)
  		return RID();
  	return space->get_self();
  };
  
  void Physics2DServerSW::body_set_mode(RID p_body, BodyMode p_mode) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_mode(p_mode);
  };
  
  Physics2DServer::BodyMode Physics2DServerSW::body_get_mode(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
  
  	return body->get_mode();
  };
  
  void Physics2DServerSW::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND(!shape);
  
  	body->add_shape(shape, p_transform);
  }
  
  void Physics2DServerSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	Shape2DSW *shape = shape_owner.get(p_shape);
  	ERR_FAIL_COND(!shape);
  	ERR_FAIL_COND(!shape->is_configured());
  
  	body->set_shape(p_shape_idx, shape);
  }
  void Physics2DServerSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_shape_transform(p_shape_idx, p_transform);
  }
  
  void Physics2DServerSW::body_set_shape_metadata(RID p_body, int p_shape_idx, const Variant &p_metadata) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_shape_metadata(p_shape_idx, p_metadata);
  }
  
  Variant Physics2DServerSW::body_get_shape_metadata(RID p_body, int p_shape_idx) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, Variant());
  	return body->get_shape_metadata(p_shape_idx);
  }
  
  int Physics2DServerSW::body_get_shape_count(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, -1);
  
  	return body->get_shape_count();
  }
  RID Physics2DServerSW::body_get_shape(RID p_body, int p_shape_idx) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, RID());
  
  	Shape2DSW *shape = body->get_shape(p_shape_idx);
  	ERR_FAIL_COND_V(!shape, RID());
  
  	return shape->get_self();
  }
  Transform2D Physics2DServerSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, Transform2D());
  
  	return body->get_shape_transform(p_shape_idx);
  }
  
  void Physics2DServerSW::body_remove_shape(RID p_body, int p_shape_idx) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->remove_shape(p_shape_idx);
  }
  
  void Physics2DServerSW::body_clear_shapes(RID p_body) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	while (body->get_shape_count())
  		body->remove_shape(0);
  }
  
  void Physics2DServerSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
  
  	body->set_shape_as_disabled(p_shape_idx, p_disabled);
  }
  void Physics2DServerSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
  
  	body->set_shape_as_one_way_collision(p_shape_idx, p_enable);
  }
  
  void Physics2DServerSW::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_continuous_collision_detection_mode(p_mode);
  }
  
  Physics2DServerSW::CCDMode Physics2DServerSW::body_get_continuous_collision_detection_mode(RID p_body) const {
  
  	const Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED);
  
  	return body->get_continuous_collision_detection_mode();
  }
  
  void Physics2DServerSW::body_attach_object_instance_id(RID p_body, uint32_t p_ID) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_instance_id(p_ID);
  };
  
  uint32_t Physics2DServerSW::body_get_object_instance_id(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  
  	return body->get_instance_id();
  };
  
  void Physics2DServerSW::body_attach_canvas_instance_id(RID p_body, uint32_t p_ID) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_canvas_instance_id(p_ID);
  };
  
  uint32_t Physics2DServerSW::body_get_canvas_instance_id(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  
  	return body->get_canvas_instance_id();
  };
  
  void Physics2DServerSW::body_set_collision_layer(RID p_body, uint32_t p_layer) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_collision_layer(p_layer);
  };
  
  uint32_t Physics2DServerSW::body_get_collision_layer(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  
  	return body->get_collision_layer();
  };
  
  void Physics2DServerSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_collision_mask(p_mask);
  };
  
  uint32_t Physics2DServerSW::body_get_collision_mask(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  
  	return body->get_collision_mask();
  };
  
  void Physics2DServerSW::body_set_param(RID p_body, BodyParameter p_param, real_t p_value) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_param(p_param, p_value);
  };
  
  real_t Physics2DServerSW::body_get_param(RID p_body, BodyParameter p_param) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  
  	return body->get_param(p_param);
  };
  
  void Physics2DServerSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_state(p_state, p_variant);
  };
  
  Variant Physics2DServerSW::body_get_state(RID p_body, BodyState p_state) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, Variant());
  
  	return body->get_state(p_state);
  };
  
  void Physics2DServerSW::body_set_applied_force(RID p_body, const Vector2 &p_force) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_applied_force(p_force);
  	body->wakeup();
  };
  
  Vector2 Physics2DServerSW::body_get_applied_force(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, Vector2());
  	return body->get_applied_force();
  };
  
  void Physics2DServerSW::body_set_applied_torque(RID p_body, real_t p_torque) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_applied_torque(p_torque);
  	body->wakeup();
  };
  
  real_t Physics2DServerSW::body_get_applied_torque(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  
  	return body->get_applied_torque();
  };
  
  void Physics2DServerSW::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) {
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->apply_central_impulse(p_impulse);
  	body->wakeup();
  }
  
  void Physics2DServerSW::body_apply_torque_impulse(RID p_body, real_t p_torque) {
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->apply_torque_impulse(p_torque);
  }
  
  void Physics2DServerSW::body_apply_impulse(RID p_body, const Vector2 &p_pos, const Vector2 &p_impulse) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->apply_impulse(p_pos, p_impulse);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_add_central_force(RID p_body, const Vector2 &p_force) {
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->add_central_force(p_force);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_add_force(RID p_body, const Vector2 &p_offset, const Vector2 &p_force) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->add_force(p_offset, p_force);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_add_torque(RID p_body, real_t p_torque) {
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->add_torque(p_torque);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	Vector2 v = body->get_linear_velocity();
  	Vector2 axis = p_axis_velocity.normalized();
  	v -= axis * axis.dot(v);
  	v += p_axis_velocity;
  	body->set_linear_velocity(v);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_add_collision_exception(RID p_body, RID p_body_b) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->add_exception(p_body_b);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->remove_exception(p_body_b);
  	body->wakeup();
  };
  
  void Physics2DServerSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	for (int i = 0; i < body->get_exceptions().size(); i++) {
  		p_exceptions->push_back(body->get_exceptions()[i]);
  	}
  };
  
  void Physics2DServerSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  };
  
  real_t Physics2DServerSW::body_get_contacts_reported_depth_threshold(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, 0);
  	return 0;
  };
  
  void Physics2DServerSW::body_set_omit_force_integration(RID p_body, bool p_omit) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  
  	body->set_omit_force_integration(p_omit);
  };
  
  bool Physics2DServerSW::body_is_omitting_force_integration(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, false);
  	return body->get_omit_force_integration();
  };
  
  void Physics2DServerSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_max_contacts_reported(p_contacts);
  }
  
  int Physics2DServerSW::body_get_max_contacts_reported(RID p_body) const {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, -1);
  	return body->get_max_contacts_reported();
  }
  
  void Physics2DServerSW::body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_force_integration_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(0), p_method, p_udata);
  }
  
  bool Physics2DServerSW::body_collide_shape(RID p_body, int p_body_shape, RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, Vector2 *r_results, int p_result_max, int &r_result_count) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, false);
  	ERR_FAIL_INDEX_V(p_body_shape, body->get_shape_count(), false);
  
  	return shape_collide(body->get_shape(p_body_shape)->get_self(), body->get_transform() * body->get_shape_transform(p_body_shape), Vector2(), p_shape, p_shape_xform, p_motion, r_results, p_result_max, r_result_count);
  }
  
  void Physics2DServerSW::body_set_pickable(RID p_body, bool p_pickable) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND(!body);
  	body->set_pickable(p_pickable);
  }
  
  bool Physics2DServerSW::body_test_motion(RID p_body, const Transform2D &p_from, const Vector2 &p_motion, bool p_infinite_inertia, real_t p_margin, MotionResult *r_result, bool p_exclude_raycast_shapes) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, false);
  	ERR_FAIL_COND_V(!body->get_space(), false);
  	ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
  
  	return body->get_space()->test_body_motion(body, p_from, p_motion, p_infinite_inertia, p_margin, r_result, p_exclude_raycast_shapes);
  }
  
  int Physics2DServerSW::body_test_ray_separation(RID p_body, const Transform2D &p_transform, bool p_infinite_inertia, Vector2 &r_recover_motion, SeparationResult *r_results, int p_result_max, float p_margin) {
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, false);
  	ERR_FAIL_COND_V(!body->get_space(), false);
  	ERR_FAIL_COND_V(body->get_space()->is_locked(), false);
  
  	return body->get_space()->test_body_ray_separation(body, p_transform, p_infinite_inertia, r_recover_motion, r_results, p_result_max, p_margin);
  }
  
  Physics2DDirectBodyState *Physics2DServerSW::body_get_direct_state(RID p_body) {
  
  	if ((using_threads && !doing_sync)) {
  		ERR_EXPLAIN("Body state is inaccessible right now, wait for iteration or physics process notification.");
  		ERR_FAIL_V(NULL);
  	}
  
  	if (!body_owner.owns(p_body))
  		return NULL;
  
  	Body2DSW *body = body_owner.get(p_body);
  	ERR_FAIL_COND_V(!body, NULL);
  
  	if (body->get_space()->is_locked()) {
  
  		ERR_EXPLAIN("Body state is inaccessible right now, wait for iteration or physics process notification.");
  		ERR_FAIL_V(NULL);
  	}
  
  	direct_state->body = body;
  	return direct_state;
  }
  
  /* JOINT API */
  
  void Physics2DServerSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
  
  	Joint2DSW *joint = joint_owner.get(p_joint);
  	ERR_FAIL_COND(!joint);
  
  	switch (p_param) {
  		case JOINT_PARAM_BIAS: joint->set_bias(p_value); break;
  		case JOINT_PARAM_MAX_BIAS: joint->set_max_bias(p_value); break;
  		case JOINT_PARAM_MAX_FORCE: joint->set_max_force(p_value); break;
  	}
  }
  
  real_t Physics2DServerSW::joint_get_param(RID p_joint, JointParam p_param) const {
  
  	const Joint2DSW *joint = joint_owner.get(p_joint);
  	ERR_FAIL_COND_V(!joint, -1);
  
  	switch (p_param) {
  		case JOINT_PARAM_BIAS: return joint->get_bias(); break;
  		case JOINT_PARAM_MAX_BIAS: return joint->get_max_bias(); break;
  		case JOINT_PARAM_MAX_FORCE: return joint->get_max_force(); break;
  	}
  
  	return 0;
  }
  
  void Physics2DServerSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
  	Joint2DSW *joint = joint_owner.get(p_joint);
  	ERR_FAIL_COND(!joint);
  
  	joint->disable_collisions_between_bodies(p_disable);
  
  	if (2 == joint->get_body_count()) {
  		Body2DSW *body_a = *joint->get_body_ptr();
  		Body2DSW *body_b = *(joint->get_body_ptr() + 1);
  
  		if (p_disable) {
  			body_add_collision_exception(body_a->get_self(), body_b->get_self());
  			body_add_collision_exception(body_b->get_self(), body_a->get_self());
  		} else {
  			body_remove_collision_exception(body_a->get_self(), body_b->get_self());
  			body_remove_collision_exception(body_b->get_self(), body_a->get_self());
  		}
  	}
  }
  
  bool Physics2DServerSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
  	const Joint2DSW *joint = joint_owner.get(p_joint);
  	ERR_FAIL_COND_V(!joint, true);
  
  	return joint->is_disabled_collisions_between_bodies();
  }
  
  RID Physics2DServerSW::pin_joint_create(const Vector2 &p_pos, RID p_body_a, RID p_body_b) {
  
  	Body2DSW *A = body_owner.get(p_body_a);
  	ERR_FAIL_COND_V(!A, RID());
  	Body2DSW *B = NULL;
  	if (body_owner.owns(p_body_b)) {
  		B = body_owner.get(p_body_b);
  		ERR_FAIL_COND_V(!B, RID());
  	}
  
  	Joint2DSW *joint = memnew(PinJoint2DSW(p_pos, A, B));
  	RID self = joint_owner.make_rid(joint);
  	joint->set_self(self);
  
  	return self;
  }
  
  RID Physics2DServerSW::groove_joint_create(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) {
  
  	Body2DSW *A = body_owner.get(p_body_a);
  	ERR_FAIL_COND_V(!A, RID());
  
  	Body2DSW *B = body_owner.get(p_body_b);
  	ERR_FAIL_COND_V(!B, RID());
  
  	Joint2DSW *joint = memnew(GrooveJoint2DSW(p_a_groove1, p_a_groove2, p_b_anchor, A, B));
  	RID self = joint_owner.make_rid(joint);
  	joint->set_self(self);
  	return self;
  }
  
  RID Physics2DServerSW::damped_spring_joint_create(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) {
  
  	Body2DSW *A = body_owner.get(p_body_a);
  	ERR_FAIL_COND_V(!A, RID());
  
  	Body2DSW *B = body_owner.get(p_body_b);
  	ERR_FAIL_COND_V(!B, RID());
  
  	Joint2DSW *joint = memnew(DampedSpringJoint2DSW(p_anchor_a, p_anchor_b, A, B));
  	RID self = joint_owner.make_rid(joint);
  	joint->set_self(self);
  	return self;
  }
  
  void Physics2DServerSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
  
  	Joint2DSW *j = joint_owner.get(p_joint);
  	ERR_FAIL_COND(!j);
  	ERR_FAIL_COND(j->get_type() != JOINT_PIN);
  
  	PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j);
  	pin_joint->set_param(p_param, p_value);
  }
  
  real_t Physics2DServerSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
  	Joint2DSW *j = joint_owner.get(p_joint);
  	ERR_FAIL_COND_V(!j, 0);
  	ERR_FAIL_COND_V(j->get_type() != JOINT_PIN, 0);
  
  	PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j);
  	return pin_joint->get_param(p_param);
  }
  
  void Physics2DServerSW::damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value) {
  
  	Joint2DSW *j = joint_owner.get(p_joint);
  	ERR_FAIL_COND(!j);
  	ERR_FAIL_COND(j->get_type() != JOINT_DAMPED_SPRING);
  
  	DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j);
  	dsj->set_param(p_param, p_value);
  }
  
  real_t Physics2DServerSW::damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const {
  
  	Joint2DSW *j = joint_owner.get(p_joint);
  	ERR_FAIL_COND_V(!j, 0);
  	ERR_FAIL_COND_V(j->get_type() != JOINT_DAMPED_SPRING, 0);
  
  	DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j);
  	return dsj->get_param(p_param);
  }
  
  Physics2DServer::JointType Physics2DServerSW::joint_get_type(RID p_joint) const {
  
  	Joint2DSW *joint = joint_owner.get(p_joint);
  	ERR_FAIL_COND_V(!joint, JOINT_PIN);
  
  	return joint->get_type();
  }
  
  void Physics2DServerSW::free(RID p_rid) {
  
  	if (shape_owner.owns(p_rid)) {
  
  		Shape2DSW *shape = shape_owner.get(p_rid);
  
  		while (shape->get_owners().size()) {
  			ShapeOwner2DSW *so = shape->get_owners().front()->key();
  			so->remove_shape(shape);
  		}
  
  		shape_owner.free(p_rid);
  		memdelete(shape);
  	} else if (body_owner.owns(p_rid)) {
  
  		Body2DSW *body = body_owner.get(p_rid);
  
  		/*
  		if (body->get_state_query())
  			_clear_query(body->get_state_query());
  
  		if (body->get_direct_state_query())
  			_clear_query(body->get_direct_state_query());
  		*/
  
  		body_set_space(p_rid, RID());
  
  		while (body->get_shape_count()) {
  
  			body->remove_shape(0);
  		}
  
  		body_owner.free(p_rid);
  		memdelete(body);
  
  	} else if (area_owner.owns(p_rid)) {
  
  		Area2DSW *area = area_owner.get(p_rid);
  
  		/*
  		if (area->get_monitor_query())
  			_clear_query(area->get_monitor_query());
  		*/
  
  		area->set_space(NULL);
  
  		while (area->get_shape_count()) {
  
  			area->remove_shape(0);
  		}
  
  		area_owner.free(p_rid);
  		memdelete(area);
  	} else if (space_owner.owns(p_rid)) {
  
  		Space2DSW *space = space_owner.get(p_rid);
  
  		while (space->get_objects().size()) {
  			CollisionObject2DSW *co = (CollisionObject2DSW *)space->get_objects().front()->get();
  			co->set_space(NULL);
  		}
  
  		active_spaces.erase(space);
  		free(space->get_default_area()->get_self());
  		space_owner.free(p_rid);
  		memdelete(space);
  	} else if (joint_owner.owns(p_rid)) {
  
  		Joint2DSW *joint = joint_owner.get(p_rid);
  
  		joint_owner.free(p_rid);
  		memdelete(joint);
  
  	} else {
  
  		ERR_EXPLAIN("Invalid ID");
  		ERR_FAIL();
  	}
  };
  
  void Physics2DServerSW::set_active(bool p_active) {
  
  	active = p_active;
  };
  
  void Physics2DServerSW::init() {
  
  	doing_sync = false;
  	last_step = 0.001;
  	iterations = 8; // 8?
  	stepper = memnew(Step2DSW);
  	direct_state = memnew(Physics2DDirectBodyStateSW);
  };
  
  void Physics2DServerSW::step(real_t p_step) {
  
  	if (!active)
  		return;
  
  	doing_sync = false;
  
  	last_step = p_step;
  	Physics2DDirectBodyStateSW::singleton->step = p_step;
  	island_count = 0;
  	active_objects = 0;
  	collision_pairs = 0;
  	for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
  
  		stepper->step((Space2DSW *)E->get(), p_step, iterations);
  		island_count += E->get()->get_island_count();
  		active_objects += E->get()->get_active_objects();
  		collision_pairs += E->get()->get_collision_pairs();
  	}
  };
  
  void Physics2DServerSW::sync() {
  
  	doing_sync = true;
  };
  
  void Physics2DServerSW::flush_queries() {
  
  	if (!active)
  		return;
  
  	uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
  
  	for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
  
  		Space2DSW *space = (Space2DSW *)E->get();
  		space->call_queries();
  	}
  
  	if (ScriptDebugger::get_singleton() && ScriptDebugger::get_singleton()->is_profiling()) {
  
  		uint64_t total_time[Space2DSW::ELAPSED_TIME_MAX];
  		static const char *time_name[Space2DSW::ELAPSED_TIME_MAX] = {
  			"integrate_forces",
  			"generate_islands",
  			"setup_constraints",
  			"solve_constraints",
  			"integrate_velocities"
  		};
  
  		for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) {
  			total_time[i] = 0;
  		}
  
  		for (Set<const Space2DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
  
  			for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) {
  				total_time[i] += E->get()->get_elapsed_time(Space2DSW::ElapsedTime(i));
  			}
  		}
  
  		Array values;
  		values.resize(Space2DSW::ELAPSED_TIME_MAX * 2);
  		for (int i = 0; i < Space2DSW::ELAPSED_TIME_MAX; i++) {
  			values[i * 2 + 0] = time_name[i];
  			values[i * 2 + 1] = USEC_TO_SEC(total_time[i]);
  		}
  		values.push_back("flush_queries");
  		values.push_back(USEC_TO_SEC(OS::get_singleton()->get_ticks_usec() - time_beg));
  
  		ScriptDebugger::get_singleton()->add_profiling_frame_data("physics_2d", values);
  	}
  }
  
  void Physics2DServerSW::end_sync() {
  	doing_sync = false;
  }
  
  void Physics2DServerSW::finish() {
  
  	memdelete(stepper);
  	memdelete(direct_state);
  };
  
  int Physics2DServerSW::get_process_info(ProcessInfo p_info) {
  
  	switch (p_info) {
  
  		case INFO_ACTIVE_OBJECTS: {
  
  			return active_objects;
  		} break;
  		case INFO_COLLISION_PAIRS: {
  			return collision_pairs;
  		} break;
  		case INFO_ISLAND_COUNT: {
  
  			return island_count;
  		} break;
  	}
  
  	return 0;
  }
  
  Physics2DServerSW *Physics2DServerSW::singletonsw = NULL;
  
  Physics2DServerSW::Physics2DServerSW() {
  
  	singletonsw = this;
  	BroadPhase2DSW::create_func = BroadPhase2DHashGrid::_create;
  	//BroadPhase2DSW::create_func=BroadPhase2DBasic::_create;
  
  	active = true;
  	island_count = 0;
  	active_objects = 0;
  	collision_pairs = 0;
  	using_threads = int(ProjectSettings::get_singleton()->get("physics/2d/thread_model")) == 2;
  };
  
  Physics2DServerSW::~Physics2DServerSW(){
  
  };
  