text: /*************************************************************************/
  /*  physics_server_sw.h                                                  */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                    http://www.godotengine.org                         */
  /*************************************************************************/
  /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2017 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.                */
  /*************************************************************************/
  #ifndef PHYSICS_SERVER_SW
  #define PHYSICS_SERVER_SW
  
  #include "joints_sw.h"
  #include "servers/physics_server.h"
  #include "shape_sw.h"
  #include "space_sw.h"
  #include "step_sw.h"
  
  class PhysicsServerSW : public PhysicsServer {
  
  	GDCLASS(PhysicsServerSW, PhysicsServer);
  
  	friend class PhysicsDirectSpaceStateSW;
  	bool active;
  	int iterations;
  	bool doing_sync;
  	real_t last_step;
  
  	int island_count;
  	int active_objects;
  	int collision_pairs;
  
  	StepSW *stepper;
  	Set<const SpaceSW *> active_spaces;
  
  	PhysicsDirectBodyStateSW *direct_state;
  
  	mutable RID_Owner<ShapeSW> shape_owner;
  	mutable RID_Owner<SpaceSW> space_owner;
  	mutable RID_Owner<AreaSW> area_owner;
  	mutable RID_Owner<BodySW> body_owner;
  	mutable RID_Owner<JointSW> joint_owner;
  
  	//void _clear_query(QuerySW *p_query);
  public:
  	struct CollCbkData {
  
  		int max;
  		int amount;
  		Vector3 *ptr;
  	};
  
  	static void _shape_col_cbk(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);
  
  	virtual RID shape_create(ShapeType p_shape);
  	virtual void shape_set_data(RID p_shape, const Variant &p_data);
  	virtual void shape_set_custom_solver_bias(RID p_shape, real_t p_bias);
  
  	virtual ShapeType shape_get_type(RID p_shape) const;
  	virtual Variant shape_get_data(RID p_shape) const;
  	virtual real_t shape_get_custom_solver_bias(RID p_shape) const;
  
  	/* SPACE API */
  
  	virtual RID space_create();
  	virtual void space_set_active(RID p_space, bool p_active);
  	virtual bool space_is_active(RID p_space) const;
  
  	virtual void space_set_param(RID p_space, SpaceParameter p_param, real_t p_value);
  	virtual real_t space_get_param(RID p_space, SpaceParameter p_param) const;
  
  	// this function only works on fixed process, errors and returns null otherwise
  	virtual PhysicsDirectSpaceState *space_get_direct_state(RID p_space);
  
  	virtual void space_set_debug_contacts(RID p_space, int p_max_contacts);
  	virtual Vector<Vector3> space_get_contacts(RID p_space) const;
  	virtual int space_get_contact_count(RID p_space) const;
  
  	/* AREA API */
  
  	virtual RID area_create();
  
  	virtual void area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode);
  	virtual AreaSpaceOverrideMode area_get_space_override_mode(RID p_area) const;
  
  	virtual void area_set_space(RID p_area, RID p_space);
  	virtual RID area_get_space(RID p_area) const;
  
  	virtual void area_add_shape(RID p_area, RID p_shape, const Transform &p_transform = Transform());
  	virtual void area_set_shape(RID p_area, int p_shape_idx, RID p_shape);
  	virtual void area_set_shape_transform(RID p_area, int p_shape_idx, const Transform &p_transform);
  
  	virtual int area_get_shape_count(RID p_area) const;
  	virtual RID area_get_shape(RID p_area, int p_shape_idx) const;
  	virtual Transform area_get_shape_transform(RID p_area, int p_shape_idx) const;
  
  	virtual void area_remove_shape(RID p_area, int p_shape_idx);
  	virtual void area_clear_shapes(RID p_area);
  
  	virtual void area_attach_object_instance_ID(RID p_area, ObjectID p_ID);
  	virtual ObjectID area_get_object_instance_ID(RID p_area) const;
  
  	virtual void area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value);
  	virtual void area_set_transform(RID p_area, const Transform &p_transform);
  
  	virtual Variant area_get_param(RID p_parea, AreaParameter p_param) const;
  	virtual Transform area_get_transform(RID p_area) const;
  
  	virtual void area_set_ray_pickable(RID p_area, bool p_enable);
  	virtual bool area_is_ray_pickable(RID p_area) const;
  
  	virtual void area_set_collision_mask(RID p_area, uint32_t p_mask);
  	virtual void area_set_layer_mask(RID p_area, uint32_t p_mask);
  
  	virtual void area_set_monitorable(RID p_area, bool p_monitorable);
  
  	virtual void area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
  	virtual void area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method);
  
  	/* BODY API */
  
  	// create a body of a given type
  	virtual RID body_create(BodyMode p_mode = BODY_MODE_RIGID, bool p_init_sleeping = false);
  
  	virtual void body_set_space(RID p_body, RID p_space);
  	virtual RID body_get_space(RID p_body) const;
  
  	virtual void body_set_mode(RID p_body, BodyMode p_mode);
  	virtual BodyMode body_get_mode(RID p_body) const;
  
  	virtual void body_add_shape(RID p_body, RID p_shape, const Transform &p_transform = Transform());
  	virtual void body_set_shape(RID p_body, int p_shape_idx, RID p_shape);
  	virtual void body_set_shape_transform(RID p_body, int p_shape_idx, const Transform &p_transform);
  
  	virtual int body_get_shape_count(RID p_body) const;
  	virtual RID body_get_shape(RID p_body, int p_shape_idx) const;
  	virtual Transform body_get_shape_transform(RID p_body, int p_shape_idx) const;
  
  	virtual void body_set_shape_as_trigger(RID p_body, int p_shape_idx, bool p_enable);
  	virtual bool body_is_shape_set_as_trigger(RID p_body, int p_shape_idx) const;
  
  	virtual void body_remove_shape(RID p_body, int p_shape_idx);
  	virtual void body_clear_shapes(RID p_body);
  
  	virtual void body_attach_object_instance_ID(RID p_body, uint32_t p_ID);
  	virtual uint32_t body_get_object_instance_ID(RID p_body) const;
  
  	virtual void body_set_enable_continuous_collision_detection(RID p_body, bool p_enable);
  	virtual bool body_is_continuous_collision_detection_enabled(RID p_body) const;
  
  	virtual void body_set_layer_mask(RID p_body, uint32_t p_mask);
  	virtual uint32_t body_get_layer_mask(RID p_body, uint32_t p_mask) const;
  
  	virtual void body_set_collision_mask(RID p_body, uint32_t p_mask);
  	virtual uint32_t body_get_collision_mask(RID p_body, uint32_t p_mask) const;
  
  	virtual void body_set_user_flags(RID p_body, uint32_t p_flags);
  	virtual uint32_t body_get_user_flags(RID p_body, uint32_t p_flags) const;
  
  	virtual void body_set_param(RID p_body, BodyParameter p_param, real_t p_value);
  	virtual real_t body_get_param(RID p_body, BodyParameter p_param) const;
  
  	virtual void body_set_state(RID p_body, BodyState p_state, const Variant &p_variant);
  	virtual Variant body_get_state(RID p_body, BodyState p_state) const;
  
  	virtual void body_set_applied_force(RID p_body, const Vector3 &p_force);
  	virtual Vector3 body_get_applied_force(RID p_body) const;
  
  	virtual void body_set_applied_torque(RID p_body, const Vector3 &p_torque);
  	virtual Vector3 body_get_applied_torque(RID p_body) const;
  
  	virtual void body_apply_impulse(RID p_body, const Vector3 &p_pos, const Vector3 &p_impulse);
  	virtual void body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse);
  	virtual void body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity);
  
  	virtual void body_set_axis_lock(RID p_body, BodyAxisLock p_lock);
  	virtual BodyAxisLock body_get_axis_lock(RID p_body) const;
  
  	virtual void body_add_collision_exception(RID p_body, RID p_body_b);
  	virtual void body_remove_collision_exception(RID p_body, RID p_body_b);
  	virtual void body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions);
  
  	virtual void body_set_contacts_reported_depth_treshold(RID p_body, real_t p_treshold);
  	virtual real_t body_get_contacts_reported_depth_treshold(RID p_body) const;
  
  	virtual void body_set_omit_force_integration(RID p_body, bool p_omit);
  	virtual bool body_is_omitting_force_integration(RID p_body) const;
  
  	virtual void body_set_max_contacts_reported(RID p_body, int p_contacts);
  	virtual int body_get_max_contacts_reported(RID p_body) const;
  
  	virtual void body_set_force_integration_callback(RID p_body, Object *p_receiver, const StringName &p_method, const Variant &p_udata = Variant());
  
  	virtual void body_set_ray_pickable(RID p_body, bool p_enable);
  	virtual bool body_is_ray_pickable(RID p_body) const;
  
  	/* JOINT API */
  
  	virtual RID joint_create_pin(RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B);
  
  	virtual void pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value);
  	virtual real_t pin_joint_get_param(RID p_joint, PinJointParam p_param) const;
  
  	virtual void pin_joint_set_local_A(RID p_joint, const Vector3 &p_A);
  	virtual Vector3 pin_joint_get_local_A(RID p_joint) const;
  
  	virtual void pin_joint_set_local_B(RID p_joint, const Vector3 &p_B);
  	virtual Vector3 pin_joint_get_local_B(RID p_joint) const;
  
  	virtual RID joint_create_hinge(RID p_body_A, const Transform &p_frame_A, RID p_body_B, const Transform &p_frame_B);
  	virtual RID joint_create_hinge_simple(RID p_body_A, const Vector3 &p_pivot_A, const Vector3 &p_axis_A, RID p_body_B, const Vector3 &p_pivot_B, const Vector3 &p_axis_B);
  
  	virtual void hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value);
  	virtual real_t hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const;
  
  	virtual void hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value);
  	virtual bool hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const;
  
  	virtual RID joint_create_slider(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); //reference frame is A
  
  	virtual void slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value);
  	virtual real_t slider_joint_get_param(RID p_joint, SliderJointParam p_param) const;
  
  	virtual RID joint_create_cone_twist(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); //reference frame is A
  
  	virtual void cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value);
  	virtual real_t cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const;
  
  	virtual RID joint_create_generic_6dof(RID p_body_A, const Transform &p_local_frame_A, RID p_body_B, const Transform &p_local_frame_B); //reference frame is A
  
  	virtual void generic_6dof_joint_set_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param, real_t p_value);
  	virtual real_t generic_6dof_joint_get_param(RID p_joint, Vector3::Axis, G6DOFJointAxisParam p_param);
  
  	virtual void generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag, bool p_enable);
  	virtual bool generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis, G6DOFJointAxisFlag p_flag);
  
  	virtual JointType joint_get_type(RID p_joint) const;
  
  	virtual void joint_set_solver_priority(RID p_joint, int p_priority);
  	virtual int joint_get_solver_priority(RID p_joint) const;
  
  #if 0
  	virtual void joint_set_param(RID p_joint, JointParam p_param, real_t p_value);
  	virtual real_t joint_get_param(RID p_joint,JointParam p_param) const;
  
  	virtual RID pin_joint_create(const Vector3& p_pos,RID p_body_a,RID p_body_b=RID());
  	virtual RID groove_joint_create(const Vector3& p_a_groove1,const Vector3& p_a_groove2, const Vector3& p_b_anchor, RID p_body_a,RID p_body_b);
  	virtual RID damped_spring_joint_create(const Vector3& p_anchor_a,const Vector3& p_anchor_b,RID p_body_a,RID p_body_b=RID());
  	virtual void damped_string_joint_set_param(RID p_joint, DampedStringParam p_param, real_t p_value);
  	virtual real_t damped_string_joint_get_param(RID p_joint, DampedStringParam p_param) const;
  
  	virtual JointType joint_get_type(RID p_joint) const;
  #endif
  	/* MISC */
  
  	virtual void free(RID p_rid);
  
  	virtual void set_active(bool p_active);
  	virtual void init();
  	virtual void step(real_t p_step);
  	virtual void sync();
  	virtual void flush_queries();
  	virtual void finish();
  
  	int get_process_info(ProcessInfo p_info);
  
  	PhysicsServerSW();
  	~PhysicsServerSW();
  };
  
  #endif
  