text: /*************************************************************************/
  /*  space_2d_sw.cpp                                                      */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2019 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2019 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       */
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  /* permit persons to whom the Software is furnished to do so, subject to */
  /* the following conditions:                                             */
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  /* 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     */
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  /*************************************************************************/
  #include "space_2d_sw.h"
  #include "collision_solver_2d_sw.h"
  #include "physics_2d_server_sw.h"
  
  _FORCE_INLINE_ static bool _match_object_type_query(CollisionObject2DSW *p_object, uint32_t p_layer_mask, uint32_t p_type_mask) {
  
  	if ((p_object->get_layer_mask() & p_layer_mask) == 0)
  		return false;
  
  	if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA)
  		return p_type_mask & Physics2DDirectSpaceState::TYPE_MASK_AREA;
  
  	Body2DSW *body = static_cast<Body2DSW *>(p_object);
  
  	return (1 << body->get_mode()) & p_type_mask;
  }
  
  int Physics2DDirectSpaceStateSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask, bool p_pick_point) {
  
  	if (p_result_max <= 0)
  		return 0;
  
  	Rect2 aabb;
  	aabb.pos = p_point - Vector2(0.00001, 0.00001);
  	aabb.size = Vector2(0.00002, 0.00002);
  
  	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
  
  	int cc = 0;
  
  	for (int i = 0; i < amount; i++) {
  
  		if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
  			continue;
  
  		if (p_exclude.has(space->intersection_query_results[i]->get_self()))
  			continue;
  
  		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
  
  		if (p_pick_point && !col_obj->is_pickable())
  			continue;
  
  		int shape_idx = space->intersection_query_subindex_results[i];
  
  		Shape2DSW *shape = col_obj->get_shape(shape_idx);
  
  		Vector2 local_point = (col_obj->get_transform() * col_obj->get_shape_transform(shape_idx)).affine_inverse().xform(p_point);
  
  		if (!shape->contains_point(local_point))
  			continue;
  
  		if (cc >= p_result_max)
  			continue;
  
  		r_results[cc].collider_id = col_obj->get_instance_id();
  		if (r_results[cc].collider_id != 0)
  			r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
  		r_results[cc].rid = col_obj->get_self();
  		r_results[cc].shape = shape_idx;
  		r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
  
  		cc++;
  	}
  
  	return cc;
  }
  
  bool Physics2DDirectSpaceStateSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) {
  
  	ERR_FAIL_COND_V(space->locked, false);
  
  	Vector2 begin, end;
  	Vector2 normal;
  	begin = p_from;
  	end = p_to;
  	normal = (end - begin).normalized();
  
  	int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
  
  	//todo, create another array tha references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
  
  	bool collided = false;
  	Vector2 res_point, res_normal;
  	int res_shape;
  	const CollisionObject2DSW *res_obj;
  	real_t min_d = 1e10;
  
  	for (int i = 0; i < amount; i++) {
  
  		if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
  			continue;
  
  		if (p_exclude.has(space->intersection_query_results[i]->get_self()))
  			continue;
  
  		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
  
  		int shape_idx = space->intersection_query_subindex_results[i];
  		Matrix32 inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
  
  		Vector2 local_from = inv_xform.xform(begin);
  		Vector2 local_to = inv_xform.xform(end);
  
  		/*local_from = col_obj->get_inv_transform().xform(begin);
  		local_from = col_obj->get_shape_inv_transform(shape_idx).xform(local_from);
  
  		local_to = col_obj->get_inv_transform().xform(end);
  		local_to = col_obj->get_shape_inv_transform(shape_idx).xform(local_to);*/
  
  		const Shape2DSW *shape = col_obj->get_shape(shape_idx);
  
  		Vector2 shape_point, shape_normal;
  
  		if (shape->intersect_segment(local_from, local_to, shape_point, shape_normal)) {
  
  			Matrix32 xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
  			shape_point = xform.xform(shape_point);
  
  			real_t ld = normal.dot(shape_point);
  
  			if (ld < min_d) {
  
  				min_d = ld;
  				res_point = shape_point;
  				res_normal = inv_xform.basis_xform_inv(shape_normal).normalized();
  				res_shape = shape_idx;
  				res_obj = col_obj;
  				collided = true;
  			}
  		}
  	}
  
  	if (!collided)
  		return false;
  
  	r_result.collider_id = res_obj->get_instance_id();
  	if (r_result.collider_id != 0)
  		r_result.collider = ObjectDB::get_instance(r_result.collider_id);
  	r_result.normal = res_normal;
  	r_result.metadata = res_obj->get_shape_metadata(res_shape);
  	r_result.position = res_point;
  	r_result.rid = res_obj->get_self();
  	r_result.shape = res_shape;
  
  	return true;
  }
  
  int Physics2DDirectSpaceStateSW::intersect_shape(const RID &p_shape, const Matrix32 &p_xform, const Vector2 &p_motion, float p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) {
  
  	if (p_result_max <= 0)
  		return 0;
  
  	Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, 0);
  
  	Rect2 aabb = p_xform.xform(shape->get_aabb());
  	aabb = aabb.grow(p_margin);
  
  	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, p_result_max, space->intersection_query_subindex_results);
  
  	int cc = 0;
  
  	for (int i = 0; i < amount; i++) {
  
  		if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
  			continue;
  
  		if (p_exclude.has(space->intersection_query_results[i]->get_self()))
  			continue;
  
  		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
  		int shape_idx = space->intersection_query_subindex_results[i];
  
  		if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), NULL, NULL, NULL, p_margin))
  			continue;
  
  		r_results[cc].collider_id = col_obj->get_instance_id();
  		if (r_results[cc].collider_id != 0)
  			r_results[cc].collider = ObjectDB::get_instance(r_results[cc].collider_id);
  		r_results[cc].rid = col_obj->get_self();
  		r_results[cc].shape = shape_idx;
  		r_results[cc].metadata = col_obj->get_shape_metadata(shape_idx);
  
  		cc++;
  	}
  
  	return cc;
  }
  
  bool Physics2DDirectSpaceStateSW::cast_motion(const RID &p_shape, const Matrix32 &p_xform, const Vector2 &p_motion, float p_margin, float &p_closest_safe, float &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) {
  
  	Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, false);
  
  	Rect2 aabb = p_xform.xform(shape->get_aabb());
  	aabb = aabb.merge(Rect2(aabb.pos + p_motion, aabb.size)); //motion
  	aabb = aabb.grow(p_margin);
  
  	//if (p_motion!=Vector2())
  	//	print_line(p_motion);
  
  	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
  
  	float best_safe = 1;
  	float best_unsafe = 1;
  
  	for (int i = 0; i < amount; i++) {
  
  		if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
  			continue;
  
  		if (p_exclude.has(space->intersection_query_results[i]->get_self()))
  			continue; //ignore excluded
  
  		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
  		int shape_idx = space->intersection_query_subindex_results[i];
  
  		/*if (col_obj->get_type()==CollisionObject2DSW::TYPE_BODY) {
  
  			const Body2DSW *body=static_cast<const Body2DSW*>(col_obj);
  			if (body->get_one_way_collision_direction()!=Vector2() && p_motion.dot(body->get_one_way_collision_direction())<=CMP_EPSILON) {
  				print_line("failed in motion dir");
  				continue;
  			}
  		}*/
  
  		Matrix32 col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
  		//test initial overlap, does it collide if going all the way?
  		if (!CollisionSolver2DSW::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
  			continue;
  		}
  
  		//test initial overlap
  		if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, p_margin)) {
  
  			if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  				//if one way collision direction ignore initial overlap
  				const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  				if (body->get_one_way_collision_direction() != Vector2()) {
  					continue;
  				}
  			}
  
  			return false;
  		}
  
  		//just do kinematic solving
  		float low = 0;
  		float hi = 1;
  		Vector2 mnormal = p_motion.normalized();
  
  		for (int i = 0; i < 8; i++) { //steps should be customizable..
  
  			float ofs = (low + hi) * 0.5;
  
  			Vector2 sep = mnormal; //important optimization for this to work fast enough
  			bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, p_margin);
  
  			if (collided) {
  
  				hi = ofs;
  			} else {
  
  				low = ofs;
  			}
  		}
  
  		if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  			const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  			if (body->get_one_way_collision_direction() != Vector2()) {
  
  				Vector2 cd[2];
  				Physics2DServerSW::CollCbkData cbk;
  				cbk.max = 1;
  				cbk.amount = 0;
  				cbk.ptr = cd;
  				cbk.valid_dir = body->get_one_way_collision_direction();
  				cbk.valid_depth = body->get_one_way_collision_max_depth();
  
  				Vector2 sep = mnormal; //important optimization for this to work fast enough
  				bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * (hi + space->contact_max_allowed_penetration), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, p_margin);
  				if (!collided || cbk.amount == 0) {
  					continue;
  				}
  			}
  		}
  
  		if (low < best_safe) {
  			best_safe = low;
  			best_unsafe = hi;
  		}
  	}
  
  	p_closest_safe = best_safe;
  	p_closest_unsafe = best_unsafe;
  
  	return true;
  }
  
  bool Physics2DDirectSpaceStateSW::collide_shape(RID p_shape, const Matrix32 &p_shape_xform, const Vector2 &p_motion, float p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) {
  
  	if (p_result_max <= 0)
  		return 0;
  
  	Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, 0);
  
  	Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
  	aabb = aabb.merge(Rect2(aabb.pos + p_motion, aabb.size)); //motion
  	aabb = aabb.grow(p_margin);
  
  	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
  
  	bool collided = false;
  	r_result_count = 0;
  
  	Physics2DServerSW::CollCbkData cbk;
  	cbk.max = p_result_max;
  	cbk.amount = 0;
  	cbk.ptr = r_results;
  	CollisionSolver2DSW::CallbackResult cbkres = NULL;
  
  	Physics2DServerSW::CollCbkData *cbkptr = NULL;
  	if (p_result_max > 0) {
  		cbkptr = &cbk;
  		cbkres = Physics2DServerSW::_shape_col_cbk;
  	}
  
  	for (int i = 0; i < amount; i++) {
  
  		if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
  			continue;
  
  		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
  		int shape_idx = space->intersection_query_subindex_results[i];
  
  		if (p_exclude.has(col_obj->get_self()))
  			continue;
  		if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  			const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  			cbk.valid_dir = body->get_one_way_collision_direction();
  			cbk.valid_depth = body->get_one_way_collision_max_depth();
  		} else {
  			cbk.valid_dir = Vector2();
  			cbk.valid_depth = 0;
  		}
  
  		if (CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
  			collided = p_result_max == 0 || cbk.amount > 0;
  		}
  	}
  
  	r_result_count = cbk.amount;
  
  	return collided;
  }
  
  struct _RestCallbackData2D {
  
  	const CollisionObject2DSW *object;
  	const CollisionObject2DSW *best_object;
  	int shape;
  	int best_shape;
  	Vector2 best_contact;
  	Vector2 best_normal;
  	float best_len;
  	Vector2 valid_dir;
  	float valid_depth;
  };
  
  static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata) {
  
  	_RestCallbackData2D *rd = (_RestCallbackData2D *)p_userdata;
  
  	if (rd->valid_dir != Vector2()) {
  		if (p_point_A.distance_squared_to(p_point_B) > rd->valid_depth * rd->valid_depth)
  			return;
  		if (rd->valid_dir.dot((p_point_A - p_point_B).normalized()) < Math_PI * 0.25)
  			return;
  	}
  
  	Vector2 contact_rel = p_point_B - p_point_A;
  	float len = contact_rel.length();
  	if (len <= rd->best_len)
  		return;
  
  	rd->best_len = len;
  	rd->best_contact = p_point_B;
  	rd->best_normal = contact_rel / len;
  	rd->best_object = rd->object;
  	rd->best_shape = rd->shape;
  }
  
  bool Physics2DDirectSpaceStateSW::rest_info(RID p_shape, const Matrix32 &p_shape_xform, const Vector2 &p_motion, float p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_layer_mask, uint32_t p_object_type_mask) {
  
  	Shape2DSW *shape = Physics2DServerSW::singletonsw->shape_owner.get(p_shape);
  	ERR_FAIL_COND_V(!shape, 0);
  
  	Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
  	aabb = aabb.merge(Rect2(aabb.pos + p_motion, aabb.size)); //motion
  	aabb = aabb.grow(p_margin);
  
  	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
  
  	_RestCallbackData2D rcd;
  	rcd.best_len = 0;
  	rcd.best_object = NULL;
  	rcd.best_shape = 0;
  
  	for (int i = 0; i < amount; i++) {
  
  		if (!_match_object_type_query(space->intersection_query_results[i], p_layer_mask, p_object_type_mask))
  			continue;
  
  		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
  		int shape_idx = space->intersection_query_subindex_results[i];
  
  		if (p_exclude.has(col_obj->get_self()))
  			continue;
  
  		if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  			const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  			rcd.valid_dir = body->get_one_way_collision_direction();
  			rcd.valid_depth = body->get_one_way_collision_max_depth();
  		} else {
  			rcd.valid_dir = Vector2();
  			rcd.valid_depth = 0;
  		}
  
  		rcd.object = col_obj;
  		rcd.shape = shape_idx;
  		bool sc = CollisionSolver2DSW::solve(shape, p_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
  		if (!sc)
  			continue;
  	}
  
  	if (rcd.best_len == 0)
  		return false;
  
  	r_info->collider_id = rcd.best_object->get_instance_id();
  	r_info->shape = rcd.best_shape;
  	r_info->normal = rcd.best_normal;
  	r_info->point = rcd.best_contact;
  	r_info->rid = rcd.best_object->get_self();
  	r_info->metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
  	if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  		const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
  		Vector2 rel_vec = r_info->point - body->get_transform().get_origin();
  		r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
  
  	} else {
  		r_info->linear_velocity = Vector2();
  	}
  
  	return true;
  }
  
  Physics2DDirectSpaceStateSW::Physics2DDirectSpaceStateSW() {
  
  	space = NULL;
  }
  
  ////////////////////////////////////////////////////////////////////////////////////////////////////////////
  
  int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
  
  	int amount = broadphase->cull_aabb(p_aabb, intersection_query_results, INTERSECTION_QUERY_MAX, intersection_query_subindex_results);
  
  	for (int i = 0; i < amount; i++) {
  
  		bool keep = true;
  
  		if (intersection_query_results[i] == p_body)
  			keep = false;
  		else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA)
  			keep = false;
  		else if ((static_cast<Body2DSW *>(intersection_query_results[i])->test_collision_mask(p_body)) == 0)
  			keep = false;
  		else if (static_cast<Body2DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self()))
  			keep = false;
  		else if (static_cast<Body2DSW *>(intersection_query_results[i])->is_shape_set_as_trigger(intersection_query_subindex_results[i]))
  			keep = false;
  
  		if (!keep) {
  
  			if (i < amount - 1) {
  				SWAP(intersection_query_results[i], intersection_query_results[amount - 1]);
  				SWAP(intersection_query_subindex_results[i], intersection_query_subindex_results[amount - 1]);
  			}
  
  			amount--;
  			i--;
  		}
  	}
  
  	return amount;
  }
  
  bool Space2DSW::test_body_motion(Body2DSW *p_body, const Matrix32 &p_from, const Vector2 &p_motion, float p_margin, Physics2DServer::MotionResult *r_result) {
  
  	//give me back regular physics engine logic
  	//this is madness
  	//and most people using this function will think
  	//what it does is simpler than using physics
  	//this took about a week to get right..
  	//but is it right? who knows at this point..
  
  	if (r_result) {
  		r_result->collider_id = 0;
  		r_result->collider_shape = 0;
  	}
  	Rect2 body_aabb;
  
  	for (int i = 0; i < p_body->get_shape_count(); i++) {
  
  		if (i == 0)
  			body_aabb = p_body->get_shape_aabb(i);
  		else
  			body_aabb = body_aabb.merge(p_body->get_shape_aabb(i));
  	}
  
  	// Undo the currently transform the physics server is aware of and apply the provided one
  	body_aabb = p_from.xform(p_body->get_inv_transform().xform(body_aabb));
  
  	body_aabb = body_aabb.grow(p_margin);
  
  	Matrix32 body_transform = p_from;
  
  	{
  		//STEP 1, FREE BODY IF STUCK
  
  		const int max_results = 32;
  		int recover_attempts = 4;
  		Vector2 sr[max_results * 2];
  
  		do {
  
  			Physics2DServerSW::CollCbkData cbk;
  			cbk.max = max_results;
  			cbk.amount = 0;
  			cbk.ptr = sr;
  
  			CollisionSolver2DSW::CallbackResult cbkres = NULL;
  
  			Physics2DServerSW::CollCbkData *cbkptr = NULL;
  			cbkptr = &cbk;
  			cbkres = Physics2DServerSW::_shape_col_cbk;
  
  			bool collided = false;
  
  			int amount = _cull_aabb_for_body(p_body, body_aabb);
  
  			for (int j = 0; j < p_body->get_shape_count(); j++) {
  				if (p_body->is_shape_set_as_trigger(j))
  					continue;
  
  				Matrix32 body_shape_xform = body_transform * p_body->get_shape_transform(j);
  				Shape2DSW *body_shape = p_body->get_shape(j);
  				for (int i = 0; i < amount; i++) {
  
  					const CollisionObject2DSW *col_obj = intersection_query_results[i];
  					int shape_idx = intersection_query_subindex_results[i];
  
  					if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  						const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  
  						Vector2 cdir = body->get_one_way_collision_direction();
  						//if (cdir!=Vector2() && p_motion.dot(cdir)<0)
  						//	continue;
  
  						cbk.valid_dir = cdir;
  						cbk.valid_depth = body->get_one_way_collision_max_depth();
  					} else {
  						cbk.valid_dir = Vector2();
  						cbk.valid_depth = 0;
  					}
  
  					if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), cbkres, cbkptr, NULL, p_margin)) {
  						collided = cbk.amount > 0;
  					}
  				}
  			}
  
  			if (!collided)
  				break;
  
  			Vector2 recover_motion;
  
  			for (int i = 0; i < cbk.amount; i++) {
  
  				Vector2 a = sr[i * 2 + 0];
  				Vector2 b = sr[i * 2 + 1];
  
  #if 0
  				Vector2 rel = b-a;
  				float d = rel.length();
  				if (d==0)
  					continue;
  
  				Vector2 n = rel/d;
  				float traveled = n.dot(recover_motion);
  				a+=n*traveled;
  
  #endif
  				//	float d = a.distance_to(b);
  
  				//if (d<margin)
  				///	continue;
  				recover_motion += (b - a) * 0.4;
  			}
  
  			if (recover_motion == Vector2()) {
  				collided = false;
  				break;
  			}
  
  			body_transform.elements[2] += recover_motion;
  			body_aabb.pos += recover_motion;
  
  			recover_attempts--;
  
  		} while (recover_attempts);
  	}
  
  	float safe = 1.0;
  	float unsafe = 1.0;
  	int best_shape = -1;
  
  	{
  		// STEP 2 ATTEMPT MOTION
  
  		Rect2 motion_aabb = body_aabb;
  		motion_aabb.pos += p_motion;
  		motion_aabb = motion_aabb.merge(body_aabb);
  
  		int amount = _cull_aabb_for_body(p_body, motion_aabb);
  
  		for (int j = 0; j < p_body->get_shape_count(); j++) {
  
  			if (p_body->is_shape_set_as_trigger(j))
  				continue;
  
  			Matrix32 body_shape_xform = body_transform * p_body->get_shape_transform(j);
  			Shape2DSW *body_shape = p_body->get_shape(j);
  
  			bool stuck = false;
  
  			float best_safe = 1;
  			float best_unsafe = 1;
  
  			for (int i = 0; i < amount; i++) {
  
  				const CollisionObject2DSW *col_obj = intersection_query_results[i];
  				int shape_idx = intersection_query_subindex_results[i];
  
  				Matrix32 col_obj_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
  				//test initial overlap, does it collide if going all the way?
  				if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
  					continue;
  				}
  
  				//test initial overlap
  				if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, NULL, 0)) {
  
  					if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  						//if one way collision direction ignore initial overlap
  						const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  						if (body->get_one_way_collision_direction() != Vector2()) {
  							continue;
  						}
  					}
  
  					stuck = true;
  					break;
  				}
  
  				//just do kinematic solving
  				float low = 0;
  				float hi = 1;
  				Vector2 mnormal = p_motion.normalized();
  
  				for (int i = 0; i < 8; i++) { //steps should be customizable..
  
  					float ofs = (low + hi) * 0.5;
  
  					Vector2 sep = mnormal; //important optimization for this to work fast enough
  					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * ofs, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), NULL, NULL, &sep, 0);
  
  					if (collided) {
  
  						hi = ofs;
  					} else {
  
  						low = ofs;
  					}
  				}
  
  				if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  					const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  					if (body->get_one_way_collision_direction() != Vector2()) {
  
  						Vector2 cd[2];
  						Physics2DServerSW::CollCbkData cbk;
  						cbk.max = 1;
  						cbk.amount = 0;
  						cbk.ptr = cd;
  						cbk.valid_dir = body->get_one_way_collision_direction();
  						cbk.valid_depth = 10e20; //body is already unstuck; no need for depth testing at this stage
  
  						Vector2 sep = mnormal; //important optimization for this to work fast enough
  						bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), Physics2DServerSW::_shape_col_cbk, &cbk, &sep, 0);
  						if (!collided || cbk.amount == 0) {
  							continue;
  						}
  					}
  				}
  
  				if (low < best_safe) {
  					best_safe = low;
  					best_unsafe = hi;
  				}
  			}
  
  			if (stuck) {
  
  				safe = 0;
  				unsafe = 0;
  				best_shape = j; //sadly it's the best
  				break;
  			}
  			if (best_safe == 1.0) {
  				continue;
  			}
  			if (best_safe < safe) {
  
  				safe = best_safe;
  				unsafe = best_unsafe;
  				best_shape = j;
  			}
  		}
  	}
  
  	bool collided = false;
  	if (safe >= 1) {
  		//not collided
  		collided = false;
  		if (r_result) {
  
  			r_result->motion = p_motion;
  			r_result->remainder = Vector2();
  			r_result->motion += (body_transform.elements[2] - p_from.elements[2]);
  		}
  
  	} else {
  
  		//it collided, let's get the rest info in unsafe advance
  		Matrix32 ugt = body_transform;
  		ugt.elements[2] += p_motion * unsafe;
  
  		_RestCallbackData2D rcd;
  		rcd.best_len = 0;
  		rcd.best_object = NULL;
  		rcd.best_shape = 0;
  
  		Matrix32 body_shape_xform = ugt * p_body->get_shape_transform(best_shape);
  		Shape2DSW *body_shape = p_body->get_shape(best_shape);
  
  		body_aabb.pos += p_motion * unsafe;
  
  		int amount = _cull_aabb_for_body(p_body, body_aabb);
  
  		for (int i = 0; i < amount; i++) {
  
  			const CollisionObject2DSW *col_obj = intersection_query_results[i];
  			int shape_idx = intersection_query_subindex_results[i];
  
  			if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
  
  				const Body2DSW *body = static_cast<const Body2DSW *>(col_obj);
  				rcd.valid_dir = body->get_one_way_collision_direction();
  				rcd.valid_depth = body->get_one_way_collision_max_depth();
  			} else {
  				rcd.valid_dir = Vector2();
  				rcd.valid_depth = 0;
  			}
  
  			rcd.object = col_obj;
  			rcd.shape = shape_idx;
  			bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), _rest_cbk_result, &rcd, NULL, p_margin);
  			if (!sc)
  				continue;
  		}
  
  		if (rcd.best_len != 0) {
  
  			if (r_result) {
  				r_result->collider = rcd.best_object->get_self();
  				r_result->collider_id = rcd.best_object->get_instance_id();
  				r_result->collider_shape = rcd.best_shape;
  				r_result->collision_normal = rcd.best_normal;
  				r_result->collision_point = rcd.best_contact;
  				r_result->collider_metadata = rcd.best_object->get_shape_metadata(rcd.best_shape);
  
  				const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
  				Vector2 rel_vec = r_result->collision_point - body->get_transform().get_origin();
  				r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
  
  				r_result->motion = safe * p_motion;
  				r_result->remainder = p_motion - safe * p_motion;
  				r_result->motion += (body_transform.elements[2] - p_from.elements[2]);
  			}
  
  			collided = true;
  		} else {
  			if (r_result) {
  
  				r_result->motion = p_motion;
  				r_result->remainder = Vector2();
  				r_result->motion += (body_transform.elements[2] - p_from.elements[2]);
  			}
  
  			collided = false;
  		}
  	}
  
  	return collided;
  
  #if 0
  	//give me back regular physics engine logic
  	//this is madness
  	//and most people using this function will think
  	//what it does is simpler than using physics
  	//this took about a week to get right..
  	//but is it right? who knows at this point..
  
  
  	colliding=false;
  	ERR_FAIL_COND_V(!is_inside_tree(),Vector2());
  	Physics2DDirectSpaceState *dss = Physics2DServer::get_singleton()->space_get_direct_state(get_world_2d()->get_space());
  	ERR_FAIL_COND_V(!dss,Vector2());
  	const int max_shapes=32;
  	Vector2 sr[max_shapes*2];
  	int res_shapes;
  
  	Set<RID> exclude;
  	exclude.insert(get_rid());
  
  
  	//recover first
  	int recover_attempts=4;
  
  	bool collided=false;
  	uint32_t mask=0;
  	if (collide_static)
  		mask|=Physics2DDirectSpaceState::TYPE_MASK_STATIC_BODY;
  	if (collide_kinematic)
  		mask|=Physics2DDirectSpaceState::TYPE_MASK_KINEMATIC_BODY;
  	if (collide_rigid)
  		mask|=Physics2DDirectSpaceState::TYPE_MASK_RIGID_BODY;
  	if (collide_character)
  		mask|=Physics2DDirectSpaceState::TYPE_MASK_CHARACTER_BODY;
  
  //	print_line("motion: "+p_motion+" margin: "+rtos(margin));
  
  	//print_line("margin: "+rtos(margin));
  	do {
  
  		//motion recover
  		for(int i=0;i<get_shape_count();i++) {
  
  			if (is_shape_set_as_trigger(i))
  				continue;
  			if (dss->collide_shape(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i),Vector2(),margin,sr,max_shapes,res_shapes,exclude,get_layer_mask(),mask))
  				collided=true;
  
  		}
  
  		if (!collided)
  			break;
  
  		Vector2 recover_motion;
  
  		for(int i=0;i<res_shapes;i++) {
  
  			Vector2 a = sr[i*2+0];
  			Vector2 b = sr[i*2+1];
  
  			float d = a.distance_to(b);
  
  			//if (d<margin)
  			///	continue;
  			recover_motion+=(b-a)*0.4;
  		}
  
  		if (recover_motion==Vector2()) {
  			collided=false;
  			break;
  		}
  
  		Matrix32 gt = get_global_transform();
  		gt.elements[2]+=recover_motion;
  		set_global_transform(gt);
  
  		recover_attempts--;
  
  	} while (recover_attempts);
  
  
  	//move second
  	float safe = 1.0;
  	float unsafe = 1.0;
  	int best_shape=-1;
  
  	for(int i=0;i<get_shape_count();i++) {
  
  		if (is_shape_set_as_trigger(i))
  			continue;
  
  		float lsafe,lunsafe;
  		bool valid = dss->cast_motion(get_shape(i)->get_rid(), get_global_transform() * get_shape_transform(i), p_motion, 0,lsafe,lunsafe,exclude,get_layer_mask(),mask);
  		//print_line("shape: "+itos(i)+" travel:"+rtos(ltravel));
  		if (!valid) {
  
  			safe=0;
  			unsafe=0;
  			best_shape=i; //sadly it's the best
  			break;
  		}
  		if (lsafe==1.0) {
  			continue;
  		}
  		if (lsafe < safe) {
  
  			safe=lsafe;
  			unsafe=lunsafe;
  			best_shape=i;
  		}
  	}
  
  
  	//print_line("best shape: "+itos(best_shape)+" motion "+p_motion);
  
  	if (safe>=1) {
  		//not collided
  		colliding=false;
  	} else {
  
  		//it collided, let's get the rest info in unsafe advance
  		Matrix32 ugt = get_global_transform();
  		ugt.elements[2]+=p_motion*unsafe;
  		Physics2DDirectSpaceState::ShapeRestInfo rest_info;
  		bool c2 = dss->rest_info(get_shape(best_shape)->get_rid(), ugt*get_shape_transform(best_shape), Vector2(), margin,&rest_info,exclude,get_layer_mask(),mask);
  		if (!c2) {
  			//should not happen, but floating point precision is so weird..
  
  			colliding=false;
  		} else {
  
  
  			//print_line("Travel: "+rtos(travel));
  			colliding=true;
  			collision=rest_info.point;
  			normal=rest_info.normal;
  			collider=rest_info.collider_id;
  			collider_vel=rest_info.linear_velocity;
  			collider_shape=rest_info.shape;
  			collider_metadata=rest_info.metadata;
  		}
  
  	}
  
  	Vector2 motion=p_motion*safe;
  	Matrix32 gt = get_global_transform();
  	gt.elements[2]+=motion;
  	set_global_transform(gt);
  
  	return p_motion-motion;
  
  #endif
  	return false;
  }
  
  void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
  
  	CollisionObject2DSW::Type type_A = A->get_type();
  	CollisionObject2DSW::Type type_B = B->get_type();
  	if (type_A > type_B) {
  
  		SWAP(A, B);
  		SWAP(p_subindex_A, p_subindex_B);
  		SWAP(type_A, type_B);
  	}
  
  	Space2DSW *self = (Space2DSW *)p_self;
  	self->collision_pairs++;
  
  	if (type_A == CollisionObject2DSW::TYPE_AREA) {
  
  		Area2DSW *area = static_cast<Area2DSW *>(A);
  		if (type_B == CollisionObject2DSW::TYPE_AREA) {
  
  			Area2DSW *area_b = static_cast<Area2DSW *>(B);
  			Area2Pair2DSW *area2_pair = memnew(Area2Pair2DSW(area_b, p_subindex_B, area, p_subindex_A));
  			return area2_pair;
  		} else {
  
  			Body2DSW *body = static_cast<Body2DSW *>(B);
  			AreaPair2DSW *area_pair = memnew(AreaPair2DSW(body, p_subindex_B, area, p_subindex_A));
  			return area_pair;
  		}
  
  	} else {
  
  		BodyPair2DSW *b = memnew(BodyPair2DSW((Body2DSW *)A, p_subindex_A, (Body2DSW *)B, p_subindex_B));
  		return b;
  	}
  
  	return NULL;
  }
  
  void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) {
  
  	Space2DSW *self = (Space2DSW *)p_self;
  	self->collision_pairs--;
  	Constraint2DSW *c = (Constraint2DSW *)p_data;
  	memdelete(c);
  }
  
  const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const {
  
  	return active_list;
  }
  void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) {
  
  	active_list.add(p_body);
  }
  void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
  
  	active_list.remove(p_body);
  }
  
  void Space2DSW::body_add_to_inertia_update_list(SelfList<Body2DSW> *p_body) {
  
  	inertia_update_list.add(p_body);
  }
  
  void Space2DSW::body_remove_from_inertia_update_list(SelfList<Body2DSW> *p_body) {
  
  	inertia_update_list.remove(p_body);
  }
  
  BroadPhase2DSW *Space2DSW::get_broadphase() {
  
  	return broadphase;
  }
  
  void Space2DSW::add_object(CollisionObject2DSW *p_object) {
  
  	ERR_FAIL_COND(objects.has(p_object));
  	objects.insert(p_object);
  }
  
  void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
  
  	ERR_FAIL_COND(!objects.has(p_object));
  	objects.erase(p_object);
  }
  
  const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const {
  
  	return objects;
  }
  
  void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) {
  
  	state_query_list.add(p_body);
  }
  void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) {
  
  	state_query_list.remove(p_body);
  }
  
  void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) {
  
  	monitor_query_list.add(p_area);
  }
  void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) {
  
  	monitor_query_list.remove(p_area);
  }
  
  void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) {
  
  	area_moved_list.add(p_area);
  }
  
  void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) {
  
  	area_moved_list.remove(p_area);
  }
  
  const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const {
  
  	return area_moved_list;
  }
  
  void Space2DSW::call_queries() {
  
  	while (state_query_list.first()) {
  
  		Body2DSW *b = state_query_list.first()->self();
  		state_query_list.remove(state_query_list.first());
  		b->call_queries();
  	}
  
  	while (monitor_query_list.first()) {
  
  		Area2DSW *a = monitor_query_list.first()->self();
  		monitor_query_list.remove(monitor_query_list.first());
  		a->call_queries();
  	}
  }
  
  void Space2DSW::setup() {
  
  	contact_debug_count = 0;
  
  	while (inertia_update_list.first()) {
  		inertia_update_list.first()->self()->update_inertias();
  		inertia_update_list.remove(inertia_update_list.first());
  	}
  }
  
  void Space2DSW::update() {
  
  	broadphase->update();
  }
  
  void Space2DSW::set_param(Physics2DServer::SpaceParameter p_param, real_t p_value) {
  
  	switch (p_param) {
  
  		case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: contact_recycle_radius = p_value; break;
  		case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: contact_max_separation = p_value; break;
  		case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: contact_max_allowed_penetration = p_value; break;
  		case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: body_linear_velocity_sleep_treshold = p_value; break;
  		case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: body_angular_velocity_sleep_treshold = p_value; break;
  		case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: body_time_to_sleep = p_value; break;
  		case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: constraint_bias = p_value; break;
  	}
  }
  
  real_t Space2DSW::get_param(Physics2DServer::SpaceParameter p_param) const {
  
  	switch (p_param) {
  
  		case Physics2DServer::SPACE_PARAM_CONTACT_RECYCLE_RADIUS: return contact_recycle_radius;
  		case Physics2DServer::SPACE_PARAM_CONTACT_MAX_SEPARATION: return contact_max_separation;
  		case Physics2DServer::SPACE_PARAM_BODY_MAX_ALLOWED_PENETRATION: return contact_max_allowed_penetration;
  		case Physics2DServer::SPACE_PARAM_BODY_LINEAR_VELOCITY_SLEEP_TRESHOLD: return body_linear_velocity_sleep_treshold;
  		case Physics2DServer::SPACE_PARAM_BODY_ANGULAR_VELOCITY_SLEEP_TRESHOLD: return body_angular_velocity_sleep_treshold;
  		case Physics2DServer::SPACE_PARAM_BODY_TIME_TO_SLEEP: return body_time_to_sleep;
  		case Physics2DServer::SPACE_PARAM_CONSTRAINT_DEFAULT_BIAS: return constraint_bias;
  	}
  	return 0;
  }
  
  void Space2DSW::lock() {
  
  	locked = true;
  }
  
  void Space2DSW::unlock() {
  
  	locked = false;
  }
  
  bool Space2DSW::is_locked() const {
  
  	return locked;
  }
  
  Physics2DDirectSpaceStateSW *Space2DSW::get_direct_state() {
  
  	return direct_access;
  }
  
  Space2DSW::Space2DSW() {
  
  	collision_pairs = 0;
  	active_objects = 0;
  	island_count = 0;
  
  	contact_debug_count = 0;
  
  	locked = false;
  	contact_recycle_radius = 1.0;
  	contact_max_separation = 1.5;
  	contact_max_allowed_penetration = 0.3;
  
  	constraint_bias = 0.2;
  	body_linear_velocity_sleep_treshold = GLOBAL_DEF("physics_2d/sleep_threashold_linear", 2.0);
  	body_angular_velocity_sleep_treshold = GLOBAL_DEF("physics_2d/sleep_threshold_angular", (8.0 / 180.0 * Math_PI));
  	body_time_to_sleep = GLOBAL_DEF("physics_2d/time_before_sleep", 0.5);
  
  	broadphase = BroadPhase2DSW::create_func();
  	broadphase->set_pair_callback(_broadphase_pair, this);
  	broadphase->set_unpair_callback(_broadphase_unpair, this);
  	area = NULL;
  
  	direct_access = memnew(Physics2DDirectSpaceStateSW);
  	direct_access->space = this;
  
  	for (int i = 0; i < ELAPSED_TIME_MAX; i++)
  		elapsed_time[i] = 0;
  }
  
  Space2DSW::~Space2DSW() {
  
  	memdelete(broadphase);
  	memdelete(direct_access);
  }
  