text: /*************************************************************************/
  /*  soft_body.cpp                                                        */
  /*************************************************************************/
  /*                       This file is part of:                           */
  /*                           GODOT ENGINE                                */
  /*                      https://godotengine.org                          */
  /*************************************************************************/
  /* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur.                 */
  /* Copyright (c) 2014-2020 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 "soft_body.h"
  #include "core/list.h"
  #include "core/object.h"
  #include "core/os/os.h"
  #include "core/rid.h"
  #include "scene/3d/collision_object.h"
  #include "scene/3d/physics_body.h"
  #include "scene/3d/skeleton.h"
  #include "servers/physics_server.h"
  
  SoftBodyVisualServerHandler::SoftBodyVisualServerHandler() {}
  
  void SoftBodyVisualServerHandler::prepare(RID p_mesh, int p_surface) {
  	clear();
  
  	ERR_FAIL_COND(!p_mesh.is_valid());
  
  	mesh = p_mesh;
  	surface = p_surface;
  #ifndef _MSC_VER
  #warning Softbody is not working, needs to be redone considering that these functions no longer exist
  #endif
  #if 0
  	const uint32_t surface_format = VS::get_singleton()->mesh_surface_get_format(mesh, surface);
  	const int surface_vertex_len = VS::get_singleton()->mesh_surface_get_array_len(mesh, p_surface);
  	const int surface_index_len = VS::get_singleton()->mesh_surface_get_array_index_len(mesh, p_surface);
  	uint32_t surface_offsets[VS::ARRAY_MAX];
  
  	buffer = VS::get_singleton()->mesh_surface_get_array(mesh, surface);
  	stride = VS::get_singleton()->mesh_surface_make_offsets_from_format(surface_format, surface_vertex_len, surface_index_len, surface_offsets);
  	offset_vertices = surface_offsets[VS::ARRAY_VERTEX];
  	offset_normal = surface_offsets[VS::ARRAY_NORMAL];
  #endif
  }
  
  void SoftBodyVisualServerHandler::clear() {
  
  	if (mesh.is_valid()) {
  		buffer.resize(0);
  	}
  
  	mesh = RID();
  }
  
  void SoftBodyVisualServerHandler::open() {
  	write_buffer = buffer.write();
  }
  
  void SoftBodyVisualServerHandler::close() {
  	write_buffer.release();
  }
  
  void SoftBodyVisualServerHandler::commit_changes() {
  	VS::get_singleton()->mesh_surface_update_region(mesh, surface, 0, buffer);
  }
  
  void SoftBodyVisualServerHandler::set_vertex(int p_vertex_id, const void *p_vector3) {
  	copymem(&write_buffer[p_vertex_id * stride + offset_vertices], p_vector3, sizeof(float) * 3);
  }
  
  void SoftBodyVisualServerHandler::set_normal(int p_vertex_id, const void *p_vector3) {
  	copymem(&write_buffer[p_vertex_id * stride + offset_normal], p_vector3, sizeof(float) * 3);
  }
  
  void SoftBodyVisualServerHandler::set_aabb(const AABB &p_aabb) {
  	VS::get_singleton()->mesh_set_custom_aabb(mesh, p_aabb);
  }
  
  SoftBody::PinnedPoint::PinnedPoint() :
  		point_index(-1),
  		spatial_attachment(NULL) {
  }
  
  SoftBody::PinnedPoint::PinnedPoint(const PinnedPoint &obj_tocopy) {
  	point_index = obj_tocopy.point_index;
  	spatial_attachment_path = obj_tocopy.spatial_attachment_path;
  	spatial_attachment = obj_tocopy.spatial_attachment;
  	offset = obj_tocopy.offset;
  }
  
  SoftBody::PinnedPoint SoftBody::PinnedPoint::operator=(const PinnedPoint &obj) {
  	point_index = obj.point_index;
  	spatial_attachment_path = obj.spatial_attachment_path;
  	spatial_attachment = obj.spatial_attachment;
  	offset = obj.offset;
  	return *this;
  }
  
  void SoftBody::_update_pickable() {
  	if (!is_inside_tree())
  		return;
  	bool pickable = ray_pickable && is_visible_in_tree();
  	PhysicsServer::get_singleton()->soft_body_set_ray_pickable(physics_rid, pickable);
  }
  
  bool SoftBody::_set(const StringName &p_name, const Variant &p_value) {
  	String name = p_name;
  	String which = name.get_slicec('/', 0);
  
  	if ("pinned_points" == which) {
  
  		return _set_property_pinned_points_indices(p_value);
  
  	} else if ("attachments" == which) {
  
  		int idx = name.get_slicec('/', 1).to_int();
  		String what = name.get_slicec('/', 2);
  
  		return _set_property_pinned_points_attachment(idx, what, p_value);
  	}
  
  	return false;
  }
  
  bool SoftBody::_get(const StringName &p_name, Variant &r_ret) const {
  	String name = p_name;
  	String which = name.get_slicec('/', 0);
  
  	if ("pinned_points" == which) {
  		Array arr_ret;
  		const int pinned_points_indices_size = pinned_points.size();
  		PoolVector<PinnedPoint>::Read r = pinned_points.read();
  		arr_ret.resize(pinned_points_indices_size);
  
  		for (int i = 0; i < pinned_points_indices_size; ++i) {
  			arr_ret[i] = r[i].point_index;
  		}
  
  		r_ret = arr_ret;
  		return true;
  
  	} else if ("attachments" == which) {
  
  		int idx = name.get_slicec('/', 1).to_int();
  		String what = name.get_slicec('/', 2);
  
  		return _get_property_pinned_points(idx, what, r_ret);
  	}
  
  	return false;
  }
  
  void SoftBody::_get_property_list(List<PropertyInfo> *p_list) const {
  
  	const int pinned_points_indices_size = pinned_points.size();
  
  	p_list->push_back(PropertyInfo(Variant::POOL_INT_ARRAY, "pinned_points"));
  
  	for (int i = 0; i < pinned_points_indices_size; ++i) {
  		p_list->push_back(PropertyInfo(Variant::INT, "attachments/" + itos(i) + "/point_index"));
  		p_list->push_back(PropertyInfo(Variant::NODE_PATH, "attachments/" + itos(i) + "/spatial_attachment_path"));
  		p_list->push_back(PropertyInfo(Variant::VECTOR3, "attachments/" + itos(i) + "/offset"));
  	}
  }
  
  bool SoftBody::_set_property_pinned_points_indices(const Array &p_indices) {
  
  	const int p_indices_size = p_indices.size();
  
  	{ // Remove the pined points on physics server that will be removed by resize
  		PoolVector<PinnedPoint>::Read r = pinned_points.read();
  		if (p_indices_size < pinned_points.size()) {
  			for (int i = pinned_points.size() - 1; i >= p_indices_size; --i) {
  				pin_point(r[i].point_index, false);
  			}
  		}
  	}
  
  	pinned_points.resize(p_indices_size);
  
  	PoolVector<PinnedPoint>::Write w = pinned_points.write();
  	int point_index;
  	for (int i = 0; i < p_indices_size; ++i) {
  		point_index = p_indices.get(i);
  		if (w[i].point_index != point_index) {
  			if (-1 != w[i].point_index)
  				pin_point(w[i].point_index, false);
  			w[i].point_index = point_index;
  			pin_point(w[i].point_index, true);
  		}
  	}
  	return true;
  }
  
  bool SoftBody::_set_property_pinned_points_attachment(int p_item, const String &p_what, const Variant &p_value) {
  	if (pinned_points.size() <= p_item) {
  		return false;
  	}
  
  	if ("spatial_attachment_path" == p_what) {
  		PoolVector<PinnedPoint>::Write w = pinned_points.write();
  		pin_point(w[p_item].point_index, true, p_value);
  		_make_cache_dirty();
  	} else if ("offset" == p_what) {
  		PoolVector<PinnedPoint>::Write w = pinned_points.write();
  		w[p_item].offset = p_value;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  bool SoftBody::_get_property_pinned_points(int p_item, const String &p_what, Variant &r_ret) const {
  	if (pinned_points.size() <= p_item) {
  		return false;
  	}
  	PoolVector<PinnedPoint>::Read r = pinned_points.read();
  
  	if ("point_index" == p_what) {
  		r_ret = r[p_item].point_index;
  	} else if ("spatial_attachment_path" == p_what) {
  		r_ret = r[p_item].spatial_attachment_path;
  	} else if ("offset" == p_what) {
  		r_ret = r[p_item].offset;
  	} else {
  		return false;
  	}
  
  	return true;
  }
  
  void SoftBody::_changed_callback(Object *p_changed, const char *p_prop) {
  	prepare_physics_server();
  	_reset_points_offsets();
  #ifdef TOOLS_ENABLED
  	if (p_changed == this) {
  		update_configuration_warning();
  	}
  #endif
  }
  
  void SoftBody::_notification(int p_what) {
  	switch (p_what) {
  		case NOTIFICATION_ENTER_WORLD: {
  
  			if (Engine::get_singleton()->is_editor_hint()) {
  
  				add_change_receptor(this);
  			}
  
  			RID space = get_world()->get_space();
  			PhysicsServer::get_singleton()->soft_body_set_space(physics_rid, space);
  			prepare_physics_server();
  		} break;
  		case NOTIFICATION_READY: {
  			if (!parent_collision_ignore.is_empty())
  				add_collision_exception_with(get_node(parent_collision_ignore));
  
  		} break;
  		case NOTIFICATION_TRANSFORM_CHANGED: {
  
  			if (Engine::get_singleton()->is_editor_hint()) {
  				_reset_points_offsets();
  				return;
  			}
  
  			PhysicsServer::get_singleton()->soft_body_set_transform(physics_rid, get_global_transform());
  
  			set_notify_transform(false);
  			// Required to be top level with Transform at center of world in order to modify VisualServer only to support custom Transform
  			set_as_toplevel(true);
  			set_transform(Transform());
  			set_notify_transform(true);
  
  		} break;
  		case NOTIFICATION_VISIBILITY_CHANGED: {
  
  			_update_pickable();
  
  		} break;
  		case NOTIFICATION_EXIT_WORLD: {
  
  			PhysicsServer::get_singleton()->soft_body_set_space(physics_rid, RID());
  
  		} break;
  	}
  
  #ifdef TOOLS_ENABLED
  
  	if (p_what == NOTIFICATION_LOCAL_TRANSFORM_CHANGED) {
  		if (Engine::get_singleton()->is_editor_hint()) {
  			update_configuration_warning();
  		}
  	}
  
  #endif
  }
  
  void SoftBody::_bind_methods() {
  
  	ClassDB::bind_method(D_METHOD("_draw_soft_mesh"), &SoftBody::_draw_soft_mesh);
  
  	ClassDB::bind_method(D_METHOD("set_collision_mask", "collision_mask"), &SoftBody::set_collision_mask);
  	ClassDB::bind_method(D_METHOD("get_collision_mask"), &SoftBody::get_collision_mask);
  
  	ClassDB::bind_method(D_METHOD("set_collision_layer", "collision_layer"), &SoftBody::set_collision_layer);
  	ClassDB::bind_method(D_METHOD("get_collision_layer"), &SoftBody::get_collision_layer);
  
  	ClassDB::bind_method(D_METHOD("set_collision_mask_bit", "bit", "value"), &SoftBody::set_collision_mask_bit);
  	ClassDB::bind_method(D_METHOD("get_collision_mask_bit", "bit"), &SoftBody::get_collision_mask_bit);
  
  	ClassDB::bind_method(D_METHOD("set_collision_layer_bit", "bit", "value"), &SoftBody::set_collision_layer_bit);
  	ClassDB::bind_method(D_METHOD("get_collision_layer_bit", "bit"), &SoftBody::get_collision_layer_bit);
  
  	ClassDB::bind_method(D_METHOD("set_parent_collision_ignore", "parent_collision_ignore"), &SoftBody::set_parent_collision_ignore);
  	ClassDB::bind_method(D_METHOD("get_parent_collision_ignore"), &SoftBody::get_parent_collision_ignore);
  
  	ClassDB::bind_method(D_METHOD("get_collision_exceptions"), &SoftBody::get_collision_exceptions);
  	ClassDB::bind_method(D_METHOD("add_collision_exception_with", "body"), &SoftBody::add_collision_exception_with);
  	ClassDB::bind_method(D_METHOD("remove_collision_exception_with", "body"), &SoftBody::remove_collision_exception_with);
  
  	ClassDB::bind_method(D_METHOD("set_simulation_precision", "simulation_precision"), &SoftBody::set_simulation_precision);
  	ClassDB::bind_method(D_METHOD("get_simulation_precision"), &SoftBody::get_simulation_precision);
  
  	ClassDB::bind_method(D_METHOD("set_total_mass", "mass"), &SoftBody::set_total_mass);
  	ClassDB::bind_method(D_METHOD("get_total_mass"), &SoftBody::get_total_mass);
  
  	ClassDB::bind_method(D_METHOD("set_linear_stiffness", "linear_stiffness"), &SoftBody::set_linear_stiffness);
  	ClassDB::bind_method(D_METHOD("get_linear_stiffness"), &SoftBody::get_linear_stiffness);
  
  	ClassDB::bind_method(D_METHOD("set_areaAngular_stiffness", "areaAngular_stiffness"), &SoftBody::set_areaAngular_stiffness);
  	ClassDB::bind_method(D_METHOD("get_areaAngular_stiffness"), &SoftBody::get_areaAngular_stiffness);
  
  	ClassDB::bind_method(D_METHOD("set_volume_stiffness", "volume_stiffness"), &SoftBody::set_volume_stiffness);
  	ClassDB::bind_method(D_METHOD("get_volume_stiffness"), &SoftBody::get_volume_stiffness);
  
  	ClassDB::bind_method(D_METHOD("set_pressure_coefficient", "pressure_coefficient"), &SoftBody::set_pressure_coefficient);
  	ClassDB::bind_method(D_METHOD("get_pressure_coefficient"), &SoftBody::get_pressure_coefficient);
  
  	ClassDB::bind_method(D_METHOD("set_pose_matching_coefficient", "pose_matching_coefficient"), &SoftBody::set_pose_matching_coefficient);
  	ClassDB::bind_method(D_METHOD("get_pose_matching_coefficient"), &SoftBody::get_pose_matching_coefficient);
  
  	ClassDB::bind_method(D_METHOD("set_damping_coefficient", "damping_coefficient"), &SoftBody::set_damping_coefficient);
  	ClassDB::bind_method(D_METHOD("get_damping_coefficient"), &SoftBody::get_damping_coefficient);
  
  	ClassDB::bind_method(D_METHOD("set_drag_coefficient", "drag_coefficient"), &SoftBody::set_drag_coefficient);
  	ClassDB::bind_method(D_METHOD("get_drag_coefficient"), &SoftBody::get_drag_coefficient);
  
  	ClassDB::bind_method(D_METHOD("set_ray_pickable", "ray_pickable"), &SoftBody::set_ray_pickable);
  	ClassDB::bind_method(D_METHOD("is_ray_pickable"), &SoftBody::is_ray_pickable);
  
  	ADD_GROUP("Collision", "collision_");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_layer", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_layer", "get_collision_layer");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "collision_mask", PROPERTY_HINT_LAYERS_3D_PHYSICS), "set_collision_mask", "get_collision_mask");
  
  	ADD_PROPERTY(PropertyInfo(Variant::NODE_PATH, "parent_collision_ignore", PROPERTY_HINT_PROPERTY_OF_VARIANT_TYPE, "Parent collision object"), "set_parent_collision_ignore", "get_parent_collision_ignore");
  	ADD_PROPERTY(PropertyInfo(Variant::INT, "simulation_precision", PROPERTY_HINT_RANGE, "1,100,1"), "set_simulation_precision", "get_simulation_precision");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "total_mass", PROPERTY_HINT_RANGE, "0.01,10000,1"), "set_total_mass", "get_total_mass");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "linear_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_linear_stiffness", "get_linear_stiffness");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "areaAngular_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_areaAngular_stiffness", "get_areaAngular_stiffness");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "volume_stiffness", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_volume_stiffness", "get_volume_stiffness");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "pressure_coefficient"), "set_pressure_coefficient", "get_pressure_coefficient");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "damping_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_damping_coefficient", "get_damping_coefficient");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "drag_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_drag_coefficient", "get_drag_coefficient");
  	ADD_PROPERTY(PropertyInfo(Variant::REAL, "pose_matching_coefficient", PROPERTY_HINT_RANGE, "0,1,0.01"), "set_pose_matching_coefficient", "get_pose_matching_coefficient");
  
  	ADD_PROPERTY(PropertyInfo(Variant::BOOL, "ray_pickable"), "set_ray_pickable", "is_ray_pickable");
  }
  
  String SoftBody::get_configuration_warning() const {
  
  	String warning = MeshInstance::get_configuration_warning();
  
  	if (get_mesh().is_null()) {
  		if (!warning.empty())
  			warning += "\n\n";
  
  		warning += TTR("This body will be ignored until you set a mesh.");
  	}
  
  	Transform t = get_transform();
  	if ((ABS(t.basis.get_axis(0).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(1).length() - 1.0) > 0.05 || ABS(t.basis.get_axis(2).length() - 1.0) > 0.05)) {
  		if (!warning.empty())
  			warning += "\n\n";
  
  		warning += TTR("Size changes to SoftBody will be overridden by the physics engine when running.\nChange the size in children collision shapes instead.");
  	}
  
  	return warning;
  }
  
  void SoftBody::_update_physics_server() {
  	if (!simulation_started)
  		return;
  
  	_update_cache_pin_points_datas();
  	// Submit bone attachment
  	const int pinned_points_indices_size = pinned_points.size();
  	PoolVector<PinnedPoint>::Read r = pinned_points.read();
  	for (int i = 0; i < pinned_points_indices_size; ++i) {
  		if (r[i].spatial_attachment) {
  			PhysicsServer::get_singleton()->soft_body_move_point(physics_rid, r[i].point_index, r[i].spatial_attachment->get_global_transform().xform(r[i].offset));
  		}
  	}
  }
  
  void SoftBody::_draw_soft_mesh() {
  	if (get_mesh().is_null())
  		return;
  
  	if (!visual_server_handler.is_ready()) {
  
  		visual_server_handler.prepare(get_mesh()->get_rid(), 0);
  
  		/// Necessary in order to render the mesh correctly (Soft body nodes are in global space)
  		simulation_started = true;
  		call_deferred("set_as_toplevel", true);
  		call_deferred("set_transform", Transform());
  	}
  
  	_update_physics_server();
  
  	visual_server_handler.open();
  	PhysicsServer::get_singleton()->soft_body_update_visual_server(physics_rid, &visual_server_handler);
  	visual_server_handler.close();
  
  	visual_server_handler.commit_changes();
  }
  
  void SoftBody::prepare_physics_server() {
  
  	if (Engine::get_singleton()->is_editor_hint()) {
  
  		if (get_mesh().is_valid())
  			PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, get_mesh());
  		else
  			PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, NULL);
  
  		return;
  	}
  
  	if (get_mesh().is_valid()) {
  
  		become_mesh_owner();
  		PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, get_mesh());
  		VS::get_singleton()->connect("frame_pre_draw", this, "_draw_soft_mesh");
  	} else {
  
  		PhysicsServer::get_singleton()->soft_body_set_mesh(physics_rid, NULL);
  		if (VS::get_singleton()->is_connected("frame_pre_draw", this, "_draw_soft_mesh")) {
  			VS::get_singleton()->disconnect("frame_pre_draw", this, "_draw_soft_mesh");
  		}
  	}
  }
  
  void SoftBody::become_mesh_owner() {
  	if (mesh.is_null())
  		return;
  
  	if (!mesh_owner) {
  		mesh_owner = true;
  
  		Vector<Ref<Material> > copy_materials;
  		copy_materials.append_array(materials);
  
  		ERR_FAIL_COND(!mesh->get_surface_count());
  
  		// Get current mesh array and create new mesh array with necessary flag for softbody
  		Array surface_arrays = mesh->surface_get_arrays(0);
  		Array surface_blend_arrays = mesh->surface_get_blend_shape_arrays(0);
  		Dictionary surface_lods = mesh->surface_get_lods(0);
  		uint32_t surface_format = mesh->surface_get_format(0);
  
  		surface_format &= ~(Mesh::ARRAY_COMPRESS_NORMAL);
  		surface_format |= Mesh::ARRAY_FLAG_USE_DYNAMIC_UPDATE;
  
  		Ref<ArrayMesh> soft_mesh;
  		soft_mesh.instance();
  		soft_mesh->add_surface_from_arrays(Mesh::PRIMITIVE_TRIANGLES, surface_arrays, surface_blend_arrays, surface_lods, surface_format);
  		soft_mesh->surface_set_material(0, mesh->surface_get_material(0));
  
  		set_mesh(soft_mesh);
  
  		for (int i = copy_materials.size() - 1; 0 <= i; --i) {
  			set_surface_material(i, copy_materials[i]);
  		}
  	}
  }
  
  void SoftBody::set_collision_mask(uint32_t p_mask) {
  	collision_mask = p_mask;
  	PhysicsServer::get_singleton()->soft_body_set_collision_mask(physics_rid, p_mask);
  }
  
  uint32_t SoftBody::get_collision_mask() const {
  	return collision_mask;
  }
  void SoftBody::set_collision_layer(uint32_t p_layer) {
  	collision_layer = p_layer;
  	PhysicsServer::get_singleton()->soft_body_set_collision_layer(physics_rid, p_layer);
  }
  
  uint32_t SoftBody::get_collision_layer() const {
  	return collision_layer;
  }
  
  void SoftBody::set_collision_mask_bit(int p_bit, bool p_value) {
  	uint32_t mask = get_collision_mask();
  	if (p_value)
  		mask |= 1 << p_bit;
  	else
  		mask &= ~(1 << p_bit);
  	set_collision_mask(mask);
  }
  
  bool SoftBody::get_collision_mask_bit(int p_bit) const {
  	return get_collision_mask() & (1 << p_bit);
  }
  
  void SoftBody::set_collision_layer_bit(int p_bit, bool p_value) {
  	uint32_t layer = get_collision_layer();
  	if (p_value)
  		layer |= 1 << p_bit;
  	else
  		layer &= ~(1 << p_bit);
  	set_collision_layer(layer);
  }
  
  bool SoftBody::get_collision_layer_bit(int p_bit) const {
  	return get_collision_layer() & (1 << p_bit);
  }
  
  void SoftBody::set_parent_collision_ignore(const NodePath &p_parent_collision_ignore) {
  	parent_collision_ignore = p_parent_collision_ignore;
  }
  
  const NodePath &SoftBody::get_parent_collision_ignore() const {
  	return parent_collision_ignore;
  }
  
  void SoftBody::set_pinned_points_indices(PoolVector<SoftBody::PinnedPoint> p_pinned_points_indices) {
  	pinned_points = p_pinned_points_indices;
  	PoolVector<PinnedPoint>::Read w = pinned_points.read();
  	for (int i = pinned_points.size() - 1; 0 <= i; --i) {
  		pin_point(p_pinned_points_indices[i].point_index, true);
  	}
  }
  
  PoolVector<SoftBody::PinnedPoint> SoftBody::get_pinned_points_indices() {
  	return pinned_points;
  }
  
  Array SoftBody::get_collision_exceptions() {
  	List<RID> exceptions;
  	PhysicsServer::get_singleton()->soft_body_get_collision_exceptions(physics_rid, &exceptions);
  	Array ret;
  	for (List<RID>::Element *E = exceptions.front(); E; E = E->next()) {
  		RID body = E->get();
  		ObjectID instance_id = PhysicsServer::get_singleton()->body_get_object_instance_id(body);
  		Object *obj = ObjectDB::get_instance(instance_id);
  		PhysicsBody *physics_body = Object::cast_to<PhysicsBody>(obj);
  		ret.append(physics_body);
  	}
  	return ret;
  }
  
  void SoftBody::add_collision_exception_with(Node *p_node) {
  	ERR_FAIL_NULL(p_node);
  	CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node);
  	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject.");
  	PhysicsServer::get_singleton()->soft_body_add_collision_exception(physics_rid, collision_object->get_rid());
  }
  
  void SoftBody::remove_collision_exception_with(Node *p_node) {
  	ERR_FAIL_NULL(p_node);
  	CollisionObject *collision_object = Object::cast_to<CollisionObject>(p_node);
  	ERR_FAIL_COND_MSG(!collision_object, "Collision exception only works between two CollisionObject.");
  	PhysicsServer::get_singleton()->soft_body_remove_collision_exception(physics_rid, collision_object->get_rid());
  }
  
  int SoftBody::get_simulation_precision() {
  	return PhysicsServer::get_singleton()->soft_body_get_simulation_precision(physics_rid);
  }
  
  void SoftBody::set_simulation_precision(int p_simulation_precision) {
  	PhysicsServer::get_singleton()->soft_body_set_simulation_precision(physics_rid, p_simulation_precision);
  }
  
  real_t SoftBody::get_total_mass() {
  	return PhysicsServer::get_singleton()->soft_body_get_total_mass(physics_rid);
  }
  
  void SoftBody::set_total_mass(real_t p_total_mass) {
  	PhysicsServer::get_singleton()->soft_body_set_total_mass(physics_rid, p_total_mass);
  }
  
  void SoftBody::set_linear_stiffness(real_t p_linear_stiffness) {
  	PhysicsServer::get_singleton()->soft_body_set_linear_stiffness(physics_rid, p_linear_stiffness);
  }
  
  real_t SoftBody::get_linear_stiffness() {
  	return PhysicsServer::get_singleton()->soft_body_get_linear_stiffness(physics_rid);
  }
  
  void SoftBody::set_areaAngular_stiffness(real_t p_areaAngular_stiffness) {
  	PhysicsServer::get_singleton()->soft_body_set_areaAngular_stiffness(physics_rid, p_areaAngular_stiffness);
  }
  
  real_t SoftBody::get_areaAngular_stiffness() {
  	return PhysicsServer::get_singleton()->soft_body_get_areaAngular_stiffness(physics_rid);
  }
  
  void SoftBody::set_volume_stiffness(real_t p_volume_stiffness) {
  	PhysicsServer::get_singleton()->soft_body_set_volume_stiffness(physics_rid, p_volume_stiffness);
  }
  
  real_t SoftBody::get_volume_stiffness() {
  	return PhysicsServer::get_singleton()->soft_body_get_volume_stiffness(physics_rid);
  }
  
  real_t SoftBody::get_pressure_coefficient() {
  	return PhysicsServer::get_singleton()->soft_body_get_pressure_coefficient(physics_rid);
  }
  
  void SoftBody::set_pose_matching_coefficient(real_t p_pose_matching_coefficient) {
  	PhysicsServer::get_singleton()->soft_body_set_pose_matching_coefficient(physics_rid, p_pose_matching_coefficient);
  }
  
  real_t SoftBody::get_pose_matching_coefficient() {
  	return PhysicsServer::get_singleton()->soft_body_get_pose_matching_coefficient(physics_rid);
  }
  
  void SoftBody::set_pressure_coefficient(real_t p_pressure_coefficient) {
  	PhysicsServer::get_singleton()->soft_body_set_pressure_coefficient(physics_rid, p_pressure_coefficient);
  }
  
  real_t SoftBody::get_damping_coefficient() {
  	return PhysicsServer::get_singleton()->soft_body_get_damping_coefficient(physics_rid);
  }
  
  void SoftBody::set_damping_coefficient(real_t p_damping_coefficient) {
  	PhysicsServer::get_singleton()->soft_body_set_damping_coefficient(physics_rid, p_damping_coefficient);
  }
  
  real_t SoftBody::get_drag_coefficient() {
  	return PhysicsServer::get_singleton()->soft_body_get_drag_coefficient(physics_rid);
  }
  
  void SoftBody::set_drag_coefficient(real_t p_drag_coefficient) {
  	PhysicsServer::get_singleton()->soft_body_set_drag_coefficient(physics_rid, p_drag_coefficient);
  }
  
  Vector3 SoftBody::get_point_transform(int p_point_index) {
  	return PhysicsServer::get_singleton()->soft_body_get_point_global_position(physics_rid, p_point_index);
  }
  
  void SoftBody::pin_point_toggle(int p_point_index) {
  	pin_point(p_point_index, !(-1 != _has_pinned_point(p_point_index)));
  }
  
  void SoftBody::pin_point(int p_point_index, bool pin, const NodePath &p_spatial_attachment_path) {
  	_pin_point_on_physics_server(p_point_index, pin);
  	if (pin) {
  		_add_pinned_point(p_point_index, p_spatial_attachment_path);
  	} else {
  		_remove_pinned_point(p_point_index);
  	}
  }
  
  bool SoftBody::is_point_pinned(int p_point_index) const {
  	return -1 != _has_pinned_point(p_point_index);
  }
  
  void SoftBody::set_ray_pickable(bool p_ray_pickable) {
  
  	ray_pickable = p_ray_pickable;
  	_update_pickable();
  }
  
  bool SoftBody::is_ray_pickable() const {
  
  	return ray_pickable;
  }
  
  SoftBody::SoftBody() :
  		physics_rid(PhysicsServer::get_singleton()->soft_body_create()),
  		mesh_owner(false),
  		collision_mask(1),
  		collision_layer(1),
  		simulation_started(false),
  		pinned_points_cache_dirty(true),
  		ray_pickable(true) {
  
  	PhysicsServer::get_singleton()->body_attach_object_instance_id(physics_rid, get_instance_id());
  }
  
  SoftBody::~SoftBody() {
  	PhysicsServer::get_singleton()->free(physics_rid);
  }
  
  void SoftBody::reset_softbody_pin() {
  	PhysicsServer::get_singleton()->soft_body_remove_all_pinned_points(physics_rid);
  	PoolVector<PinnedPoint>::Read pps = pinned_points.read();
  	for (int i = pinned_points.size() - 1; 0 < i; --i) {
  		PhysicsServer::get_singleton()->soft_body_pin_point(physics_rid, pps[i].point_index, true);
  	}
  }
  
  void SoftBody::_make_cache_dirty() {
  	pinned_points_cache_dirty = true;
  }
  
  void SoftBody::_update_cache_pin_points_datas() {
  	if (!pinned_points_cache_dirty)
  		return;
  
  	pinned_points_cache_dirty = false;
  
  	PoolVector<PinnedPoint>::Write w = pinned_points.write();
  	for (int i = pinned_points.size() - 1; 0 <= i; --i) {
  
  		if (!w[i].spatial_attachment_path.is_empty()) {
  			w[i].spatial_attachment = Object::cast_to<Spatial>(get_node(w[i].spatial_attachment_path));
  		}
  		if (!w[i].spatial_attachment) {
  			ERR_PRINT("Spatial node not defined in the pinned point, Softbody undefined behaviour!");
  		}
  	}
  }
  
  void SoftBody::_pin_point_on_physics_server(int p_point_index, bool pin) {
  	PhysicsServer::get_singleton()->soft_body_pin_point(physics_rid, p_point_index, pin);
  }
  
  void SoftBody::_add_pinned_point(int p_point_index, const NodePath &p_spatial_attachment_path) {
  	SoftBody::PinnedPoint *pinned_point;
  	if (-1 == _get_pinned_point(p_point_index, pinned_point)) {
  
  		// Create new
  		PinnedPoint pp;
  		pp.point_index = p_point_index;
  		pp.spatial_attachment_path = p_spatial_attachment_path;
  
  		if (!p_spatial_attachment_path.is_empty() && has_node(p_spatial_attachment_path)) {
  			pp.spatial_attachment = Object::cast_to<Spatial>(get_node(p_spatial_attachment_path));
  			pp.offset = (pp.spatial_attachment->get_global_transform().affine_inverse() * get_global_transform()).xform(PhysicsServer::get_singleton()->soft_body_get_point_global_position(physics_rid, pp.point_index));
  		}
  
  		pinned_points.push_back(pp);
  
  	} else {
  
  		pinned_point->point_index = p_point_index;
  		pinned_point->spatial_attachment_path = p_spatial_attachment_path;
  
  		if (!p_spatial_attachment_path.is_empty() && has_node(p_spatial_attachment_path)) {
  			pinned_point->spatial_attachment = Object::cast_to<Spatial>(get_node(p_spatial_attachment_path));
  			pinned_point->offset = (pinned_point->spatial_attachment->get_global_transform().affine_inverse() * get_global_transform()).xform(PhysicsServer::get_singleton()->soft_body_get_point_global_position(physics_rid, pinned_point->point_index));
  		}
  	}
  }
  
  void SoftBody::_reset_points_offsets() {
  
  	if (!Engine::get_singleton()->is_editor_hint())
  		return;
  
  	PoolVector<PinnedPoint>::Read r = pinned_points.read();
  	PoolVector<PinnedPoint>::Write w = pinned_points.write();
  	for (int i = pinned_points.size() - 1; 0 <= i; --i) {
  
  		if (!r[i].spatial_attachment)
  			w[i].spatial_attachment = Object::cast_to<Spatial>(get_node(r[i].spatial_attachment_path));
  
  		if (!r[i].spatial_attachment)
  			continue;
  
  		w[i].offset = (r[i].spatial_attachment->get_global_transform().affine_inverse() * get_global_transform()).xform(PhysicsServer::get_singleton()->soft_body_get_point_global_position(physics_rid, r[i].point_index));
  	}
  }
  
  void SoftBody::_remove_pinned_point(int p_point_index) {
  	const int id(_has_pinned_point(p_point_index));
  	if (-1 != id) {
  		pinned_points.remove(id);
  	}
  }
  
  int SoftBody::_get_pinned_point(int p_point_index, SoftBody::PinnedPoint *&r_point) const {
  	const int id = _has_pinned_point(p_point_index);
  	if (-1 == id) {
  		r_point = NULL;
  		return -1;
  	} else {
  		r_point = const_cast<SoftBody::PinnedPoint *>(&pinned_points.read()[id]);
  		return id;
  	}
  }
  
  int SoftBody::_has_pinned_point(int p_point_index) const {
  	PoolVector<PinnedPoint>::Read r = pinned_points.read();
  	for (int i = pinned_points.size() - 1; 0 <= i; --i) {
  		if (p_point_index == r[i].point_index) {
  			return i;
  		}
  	}
  	return -1;
  }
  