Merge pull request #53980 from nekomatata/rename-godot-physics-classes

scene/register_scene_types.cpp

@@ -941,10 +941,8 @@ void register_scene_types() {
 	ClassDB::add_compatibility_class("Path", "Path3D");
 	ClassDB::add_compatibility_class("PathFollow", "PathFollow3D");
 	ClassDB::add_compatibility_class("PhysicalBone", "PhysicalBone3D");
-	ClassDB::add_compatibility_class("Physics2DDirectBodyStateSW", "PhysicsDirectBodyState2DSW");
 	ClassDB::add_compatibility_class("Physics2DDirectBodyState", "PhysicsDirectBodyState2D");
 	ClassDB::add_compatibility_class("Physics2DDirectSpaceState", "PhysicsDirectSpaceState2D");
-	ClassDB::add_compatibility_class("Physics2DServerSW", "PhysicsServer2DSW");
 	ClassDB::add_compatibility_class("Physics2DServer", "PhysicsServer2D");
 	ClassDB::add_compatibility_class("Physics2DShapeQueryParameters", "PhysicsShapeQueryParameters2D");
 	ClassDB::add_compatibility_class("Physics2DTestMotionResult", "PhysicsTestMotionResult2D");

servers/physics_2d/area_2d_sw.cpp → servers/physics_2d/godot_area_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_2d_sw.cpp                                                       */
+/*  godot_area_2d.cpp                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,31 +28,31 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "area_2d_sw.h"
-#include "body_2d_sw.h"
-#include "space_2d_sw.h"
+#include "godot_area_2d.h"
+#include "godot_body_2d.h"
+#include "godot_space_2d.h"
 
-Area2DSW::BodyKey::BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+GodotArea2D::BodyKey::BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	rid = p_body->get_self();
 	instance_id = p_body->get_instance_id();
 	body_shape = p_body_shape;
 	area_shape = p_area_shape;
 }
 
-Area2DSW::BodyKey::BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+GodotArea2D::BodyKey::BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	rid = p_body->get_self();
 	instance_id = p_body->get_instance_id();
 	body_shape = p_body_shape;
 	area_shape = p_area_shape;
 }
 
-void Area2DSW::_shapes_changed() {
+void GodotArea2D::_shapes_changed() {
 	if (!moved_list.in_list() && get_space()) {
 		get_space()->area_add_to_moved_list(&moved_list);
 	}
 }
 
-void Area2DSW::set_transform(const Transform2D &p_transform) {
+void GodotArea2D::set_transform(const Transform2D &p_transform) {
 	if (!moved_list.in_list() && get_space()) {
 		get_space()->area_add_to_moved_list(&moved_list);
 	}
@@ -61,7 +61,7 @@ void Area2DSW::set_transform(const Transform2D &p_transform) {
 	_set_inv_transform(p_transform.affine_inverse());
 }
 
-void Area2DSW::set_space(Space2DSW *p_space) {
+void GodotArea2D::set_space(GodotSpace2D *p_space) {
 	if (get_space()) {
 		if (monitor_query_list.in_list()) {
 			get_space()->area_remove_from_monitor_query_list(&monitor_query_list);
@@ -77,7 +77,7 @@ void Area2DSW::set_space(Space2DSW *p_space) {
 	_set_space(p_space);
 }
 
-void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
+void GodotArea2D::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
 	if (p_id == monitor_callback_id) {
 		monitor_callback_method = p_method;
 		return;
@@ -98,7 +98,7 @@ void Area2DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
 	}
 }
 
-void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
+void GodotArea2D::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
 	if (p_id == area_monitor_callback_id) {
 		area_monitor_callback_method = p_method;
 		return;
@@ -119,7 +119,7 @@ void Area2DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_meth
 	}
 }
 
-void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) {
+void GodotArea2D::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_mode) {
 	bool do_override = p_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED;
 	if (do_override == (space_override_mode != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED)) {
 		return;
@@ -129,7 +129,7 @@ void Area2DSW::set_space_override_mode(PhysicsServer2D::AreaSpaceOverrideMode p_
 	_shape_changed();
 }
 
-void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) {
+void GodotArea2D::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value) {
 	switch (p_param) {
 		case PhysicsServer2D::AREA_PARAM_GRAVITY:
 			gravity = p_value;
@@ -158,7 +158,7 @@ void Area2DSW::set_param(PhysicsServer2D::AreaParameter p_param, const Variant &
 	}
 }
 
-Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const {
+Variant GodotArea2D::get_param(PhysicsServer2D::AreaParameter p_param) const {
 	switch (p_param) {
 		case PhysicsServer2D::AREA_PARAM_GRAVITY:
 			return gravity;
@@ -181,7 +181,7 @@ Variant Area2DSW::get_param(PhysicsServer2D::AreaParameter p_param) const {
 	return Variant();
 }
 
-void Area2DSW::_queue_monitor_update() {
+void GodotArea2D::_queue_monitor_update() {
 	ERR_FAIL_COND(!get_space());
 
 	if (!monitor_query_list.in_list()) {
@@ -189,7 +189,7 @@ void Area2DSW::_queue_monitor_update() {
 	}
 }
 
-void Area2DSW::set_monitorable(bool p_monitorable) {
+void GodotArea2D::set_monitorable(bool p_monitorable) {
 	if (monitorable == p_monitorable) {
 		return;
 	}
@@ -198,7 +198,7 @@ void Area2DSW::set_monitorable(bool p_monitorable) {
 	_set_static(!monitorable);
 }
 
-void Area2DSW::call_queries() {
+void GodotArea2D::call_queries() {
 	if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) {
 		Variant res[5];
 		Variant *resptr[5];
@@ -274,7 +274,7 @@ void Area2DSW::call_queries() {
 	}
 }
 
-void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const {
+void GodotArea2D::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const {
 	if (is_gravity_point()) {
 		const real_t gravity_distance_scale = get_gravity_distance_scale();
 		Vector2 v = get_transform().xform(get_gravity_vector()) - p_position;
@@ -294,12 +294,12 @@ void Area2DSW::compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) co
 	}
 }
 
-Area2DSW::Area2DSW() :
-		CollisionObject2DSW(TYPE_AREA),
+GodotArea2D::GodotArea2D() :
+		GodotCollisionObject2D(TYPE_AREA),
 		monitor_query_list(this),
 		moved_list(this) {
 	_set_static(true); //areas are not active by default
 }
 
-Area2DSW::~Area2DSW() {
+GodotArea2D::~GodotArea2D() {
 }

servers/physics_2d/area_2d_sw.h → servers/physics_2d/godot_area_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_2d_sw.h                                                         */
+/*  godot_area_2d.h                                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,18 +28,19 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef AREA_2D_SW_H
-#define AREA_2D_SW_H
+#ifndef GODOT_AREA_2D_H
+#define GODOT_AREA_2D_H
+
+#include "godot_collision_object_2d.h"
 
-#include "collision_object_2d_sw.h"
 #include "core/templates/self_list.h"
 #include "servers/physics_server_2d.h"
 
-class Space2DSW;
-class Body2DSW;
-class Constraint2DSW;
+class GodotSpace2D;
+class GodotBody2D;
+class GodotConstraint2D;
 
-class Area2DSW : public CollisionObject2DSW {
+class GodotArea2D : public GodotCollisionObject2D {
 	PhysicsServer2D::AreaSpaceOverrideMode space_override_mode = PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED;
 	real_t gravity = 9.80665;
 	Vector2 gravity_vector = Vector2(0, -1);
@@ -57,8 +58,8 @@ class Area2DSW : public CollisionObject2DSW {
 	ObjectID area_monitor_callback_id;
 	StringName area_monitor_callback_method;
 
-	SelfList<Area2DSW> monitor_query_list;
-	SelfList<Area2DSW> moved_list;
+	SelfList<GodotArea2D> monitor_query_list;
+	SelfList<GodotArea2D> moved_list;
 
 	struct BodyKey {
 		RID rid;
@@ -79,8 +80,8 @@ class Area2DSW : public CollisionObject2DSW {
 		}
 
 		_FORCE_INLINE_ BodyKey() {}
-		BodyKey(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
-		BodyKey(Area2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+		BodyKey(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+		BodyKey(GodotArea2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
 	};
 
 	struct BodyState {
@@ -92,7 +93,7 @@ class Area2DSW : public CollisionObject2DSW {
 	Map<BodyKey, BodyState> monitored_bodies;
 	Map<BodyKey, BodyState> monitored_areas;
 
-	Set<Constraint2DSW *> constraints;
+	Set<GodotConstraint2D *> constraints;
 
 	virtual void _shapes_changed();
 	void _queue_monitor_update();
@@ -104,11 +105,11 @@ public:
 	void set_area_monitor_callback(ObjectID p_id, const StringName &p_method);
 	_FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); }
 
-	_FORCE_INLINE_ void add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
-	_FORCE_INLINE_ void remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+	_FORCE_INLINE_ void add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+	_FORCE_INLINE_ void remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
 
-	_FORCE_INLINE_ void add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
-	_FORCE_INLINE_ void remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
+	_FORCE_INLINE_ void add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
+	_FORCE_INLINE_ void remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
 
 	void set_param(PhysicsServer2D::AreaParameter p_param, const Variant &p_value);
 	Variant get_param(PhysicsServer2D::AreaParameter p_param) const;
@@ -140,9 +141,9 @@ public:
 	_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
 	_FORCE_INLINE_ int get_priority() const { return priority; }
 
-	_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint) { constraints.insert(p_constraint); }
-	_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint) { constraints.erase(p_constraint); }
-	_FORCE_INLINE_ const Set<Constraint2DSW *> &get_constraints() const { return constraints; }
+	_FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint) { constraints.insert(p_constraint); }
+	_FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint) { constraints.erase(p_constraint); }
+	_FORCE_INLINE_ const Set<GodotConstraint2D *> &get_constraints() const { return constraints; }
 	_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
 
 	void set_monitorable(bool p_monitorable);
@@ -150,17 +151,17 @@ public:
 
 	void set_transform(const Transform2D &p_transform);
 
-	void set_space(Space2DSW *p_space);
+	void set_space(GodotSpace2D *p_space);
 
 	void call_queries();
 
 	void compute_gravity(const Vector2 &p_position, Vector2 &r_gravity) const;
 
-	Area2DSW();
-	~Area2DSW();
+	GodotArea2D();
+	~GodotArea2D();
 };
 
-void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+void GodotArea2D::add_body_to_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	BodyKey bk(p_body, p_body_shape, p_area_shape);
 	monitored_bodies[bk].inc();
 	if (!monitor_query_list.in_list()) {
@@ -168,7 +169,7 @@ void Area2DSW::add_body_to_query(Body2DSW *p_body, uint32_t p_body_shape, uint32
 	}
 }
 
-void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+void GodotArea2D::remove_body_from_query(GodotBody2D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	BodyKey bk(p_body, p_body_shape, p_area_shape);
 	monitored_bodies[bk].dec();
 	if (!monitor_query_list.in_list()) {
@@ -176,7 +177,7 @@ void Area2DSW::remove_body_from_query(Body2DSW *p_body, uint32_t p_body_shape, u
 	}
 }
 
-void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
+void GodotArea2D::add_area_to_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
 	BodyKey bk(p_area, p_area_shape, p_self_shape);
 	monitored_areas[bk].inc();
 	if (!monitor_query_list.in_list()) {
@@ -184,7 +185,7 @@ void Area2DSW::add_area_to_query(Area2DSW *p_area, uint32_t p_area_shape, uint32
 	}
 }
 
-void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
+void GodotArea2D::remove_area_from_query(GodotArea2D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
 	BodyKey bk(p_area, p_area_shape, p_self_shape);
 	monitored_areas[bk].dec();
 	if (!monitor_query_list.in_list()) {
@@ -192,4 +193,4 @@ void Area2DSW::remove_area_from_query(Area2DSW *p_area, uint32_t p_area_shape, u
 	}
 }
 
-#endif // AREA_2D_SW_H
+#endif // GODOT_AREA_2D_H

servers/physics_2d/area_pair_2d_sw.cpp → servers/physics_2d/godot_area_pair_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_pair_2d_sw.cpp                                                  */
+/*  godot_area_pair_2d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,12 +28,12 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "area_pair_2d_sw.h"
-#include "collision_solver_2d_sw.h"
+#include "godot_area_pair_2d.h"
+#include "godot_collision_solver_2d.h"
 
-bool AreaPair2DSW::setup(real_t p_step) {
+bool GodotAreaPair2D::setup(real_t p_step) {
 	bool result = false;
-	if (area->collides_with(body) && CollisionSolver2DSW::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
+	if (area->collides_with(body) && GodotCollisionSolver2D::solve(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), Vector2(), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), Vector2(), nullptr, this)) {
 		result = true;
 	}
 
@@ -51,7 +51,7 @@ bool AreaPair2DSW::setup(real_t p_step) {
 	return process_collision;
 }
 
-bool AreaPair2DSW::pre_solve(real_t p_step) {
+bool GodotAreaPair2D::pre_solve(real_t p_step) {
 	if (!process_collision) {
 		return false;
 	}
@@ -77,11 +77,11 @@ bool AreaPair2DSW::pre_solve(real_t p_step) {
 	return false; // Never do any post solving.
 }
 
-void AreaPair2DSW::solve(real_t p_step) {
+void GodotAreaPair2D::solve(real_t p_step) {
 	// Nothing to do.
 }
 
-AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape) {
+GodotAreaPair2D::GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape) {
 	body = p_body;
 	area = p_area;
 	body_shape = p_body_shape;
@@ -93,7 +93,7 @@ AreaPair2DSW::AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area,
 	}
 }
 
-AreaPair2DSW::~AreaPair2DSW() {
+GodotAreaPair2D::~GodotAreaPair2D() {
 	if (colliding) {
 		if (area->get_space_override_mode() != PhysicsServer2D::AREA_SPACE_OVERRIDE_DISABLED) {
 			body->remove_area(area);
@@ -108,10 +108,10 @@ AreaPair2DSW::~AreaPair2DSW() {
 
 //////////////////////////////////
 
-bool Area2Pair2DSW::setup(real_t p_step) {
+bool GodotArea2Pair2D::setup(real_t p_step) {
 	bool result_a = area_a->collides_with(area_b);
 	bool result_b = area_b->collides_with(area_a);
-	if ((result_a || result_b) && !CollisionSolver2DSW::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
+	if ((result_a || result_b) && !GodotCollisionSolver2D::solve(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), Vector2(), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), Vector2(), nullptr, this)) {
 		result_a = false;
 		result_b = false;
 	}
@@ -139,7 +139,7 @@ bool Area2Pair2DSW::setup(real_t p_step) {
 	return process_collision;
 }
 
-bool Area2Pair2DSW::pre_solve(real_t p_step) {
+bool GodotArea2Pair2D::pre_solve(real_t p_step) {
 	if (process_collision_a) {
 		if (colliding_a) {
 			area_a->add_area_to_query(area_b, shape_b, shape_a);
@@ -159,11 +159,11 @@ bool Area2Pair2DSW::pre_solve(real_t p_step) {
 	return false; // Never do any post solving.
 }
 
-void Area2Pair2DSW::solve(real_t p_step) {
+void GodotArea2Pair2D::solve(real_t p_step) {
 	// Nothing to do.
 }
 
-Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b) {
+GodotArea2Pair2D::GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b) {
 	area_a = p_area_a;
 	area_b = p_area_b;
 	shape_a = p_shape_a;
@@ -172,7 +172,7 @@ Area2Pair2DSW::Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area
 	area_b->add_constraint(this);
 }
 
-Area2Pair2DSW::~Area2Pair2DSW() {
+GodotArea2Pair2D::~GodotArea2Pair2D() {
 	if (colliding_a) {
 		if (area_a->has_area_monitor_callback()) {
 			area_a->remove_area_from_query(area_b, shape_b, shape_a);

servers/physics_2d/area_pair_2d_sw.h → servers/physics_2d/godot_area_pair_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_pair_2d_sw.h                                                    */
+/*  godot_area_pair_2d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,16 +28,16 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef AREA_PAIR_2D_SW_H
-#define AREA_PAIR_2D_SW_H
+#ifndef GODOT_AREA_PAIR_2D_H
+#define GODOT_AREA_PAIR_2D_H
 
-#include "area_2d_sw.h"
-#include "body_2d_sw.h"
-#include "constraint_2d_sw.h"
+#include "godot_area_2d.h"
+#include "godot_body_2d.h"
+#include "godot_constraint_2d.h"
 
-class AreaPair2DSW : public Constraint2DSW {
-	Body2DSW *body = nullptr;
-	Area2DSW *area = nullptr;
+class GodotAreaPair2D : public GodotConstraint2D {
+	GodotBody2D *body = nullptr;
+	GodotArea2D *area = nullptr;
 	int body_shape = 0;
 	int area_shape = 0;
 	bool colliding = false;
@@ -48,13 +48,13 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	AreaPair2DSW(Body2DSW *p_body, int p_body_shape, Area2DSW *p_area, int p_area_shape);
-	~AreaPair2DSW();
+	GodotAreaPair2D(GodotBody2D *p_body, int p_body_shape, GodotArea2D *p_area, int p_area_shape);
+	~GodotAreaPair2D();
 };
 
-class Area2Pair2DSW : public Constraint2DSW {
-	Area2DSW *area_a = nullptr;
-	Area2DSW *area_b = nullptr;
+class GodotArea2Pair2D : public GodotConstraint2D {
+	GodotArea2D *area_a = nullptr;
+	GodotArea2D *area_b = nullptr;
 	int shape_a = 0;
 	int shape_b = 0;
 	bool colliding_a = false;
@@ -67,8 +67,8 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	Area2Pair2DSW(Area2DSW *p_area_a, int p_shape_a, Area2DSW *p_area_b, int p_shape_b);
-	~Area2Pair2DSW();
+	GodotArea2Pair2D(GodotArea2D *p_area_a, int p_shape_a, GodotArea2D *p_area_b, int p_shape_b);
+	~GodotArea2Pair2D();
 };
 
-#endif // AREA_PAIR_2D_SW_H
+#endif // GODOT_AREA_PAIR_2D_H

servers/physics_2d/body_2d_sw.cpp → servers/physics_2d/godot_body_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_2d_sw.cpp                                                       */
+/*  godot_body_2d.cpp                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,19 +28,19 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "body_2d_sw.h"
+#include "godot_body_2d.h"
 
-#include "area_2d_sw.h"
-#include "body_direct_state_2d_sw.h"
-#include "space_2d_sw.h"
+#include "godot_area_2d.h"
+#include "godot_body_direct_state_2d.h"
+#include "godot_space_2d.h"
 
-void Body2DSW::_mass_properties_changed() {
+void GodotBody2D::_mass_properties_changed() {
 	if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) {
 		get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list);
 	}
 }
 
-void Body2DSW::update_mass_properties() {
+void GodotBody2D::update_mass_properties() {
 	//update shapes and motions
 
 	switch (mode) {
@@ -83,7 +83,7 @@ void Body2DSW::update_mass_properties() {
 						continue;
 					}
 
-					const Shape2DSW *shape = get_shape(i);
+					const GodotShape2D *shape = get_shape(i);
 
 					real_t area = get_shape_aabb(i).get_area();
 					if (area == 0.0) {
@@ -121,13 +121,13 @@ void Body2DSW::update_mass_properties() {
 	}
 }
 
-void Body2DSW::reset_mass_properties() {
+void GodotBody2D::reset_mass_properties() {
 	calculate_inertia = true;
 	calculate_center_of_mass = true;
 	_mass_properties_changed();
 }
 
-void Body2DSW::set_active(bool p_active) {
+void GodotBody2D::set_active(bool p_active) {
 	if (active == p_active) {
 		return;
 	}
@@ -146,7 +146,7 @@ void Body2DSW::set_active(bool p_active) {
 	}
 }
 
-void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) {
+void GodotBody2D::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &p_value) {
 	switch (p_param) {
 		case PhysicsServer2D::BODY_PARAM_BOUNCE: {
 			bounce = p_value;
@@ -195,7 +195,7 @@ void Body2DSW::set_param(PhysicsServer2D::BodyParameter p_param, const Variant &
 	}
 }
 
-Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
+Variant GodotBody2D::get_param(PhysicsServer2D::BodyParameter p_param) const {
 	switch (p_param) {
 		case PhysicsServer2D::BODY_PARAM_BOUNCE: {
 			return bounce;
@@ -228,7 +228,7 @@ Variant Body2DSW::get_param(PhysicsServer2D::BodyParameter p_param) const {
 	return 0;
 }
 
-void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
+void GodotBody2D::set_mode(PhysicsServer2D::BodyMode p_mode) {
 	PhysicsServer2D::BodyMode prev = mode;
 	mode = p_mode;
 
@@ -267,16 +267,16 @@ void Body2DSW::set_mode(PhysicsServer2D::BodyMode p_mode) {
 	}
 }
 
-PhysicsServer2D::BodyMode Body2DSW::get_mode() const {
+PhysicsServer2D::BodyMode GodotBody2D::get_mode() const {
 	return mode;
 }
 
-void Body2DSW::_shapes_changed() {
+void GodotBody2D::_shapes_changed() {
 	_mass_properties_changed();
 	wakeup_neighbours();
 }
 
-void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
+void GodotBody2D::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_variant) {
 	switch (p_state) {
 		case PhysicsServer2D::BODY_STATE_TRANSFORM: {
 			if (mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
@@ -344,7 +344,7 @@ void Body2DSW::set_state(PhysicsServer2D::BodyState p_state, const Variant &p_va
 	}
 }
 
-Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
+Variant GodotBody2D::get_state(PhysicsServer2D::BodyState p_state) const {
 	switch (p_state) {
 		case PhysicsServer2D::BODY_STATE_TRANSFORM: {
 			return get_transform();
@@ -366,7 +366,7 @@ Variant Body2DSW::get_state(PhysicsServer2D::BodyState p_state) const {
 	return Variant();
 }
 
-void Body2DSW::set_space(Space2DSW *p_space) {
+void GodotBody2D::set_space(GodotSpace2D *p_space) {
 	if (get_space()) {
 		wakeup_neighbours();
 
@@ -391,7 +391,7 @@ void Body2DSW::set_space(Space2DSW *p_space) {
 	}
 }
 
-void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) {
+void GodotBody2D::_compute_area_gravity_and_damping(const GodotArea2D *p_area) {
 	Vector2 area_gravity;
 	p_area->compute_gravity(get_transform().get_origin(), area_gravity);
 	gravity += area_gravity;
@@ -400,13 +400,13 @@ void Body2DSW::_compute_area_gravity_and_damping(const Area2DSW *p_area) {
 	area_angular_damp += p_area->get_angular_damp();
 }
 
-void Body2DSW::integrate_forces(real_t p_step) {
+void GodotBody2D::integrate_forces(real_t p_step) {
 	if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
 		return;
 	}
 
-	Area2DSW *def_area = get_space()->get_default_area();
-	// Area2DSW *damp_area = def_area;
+	GodotArea2D *def_area = get_space()->get_default_area();
+	// GodotArea2D *damp_area = def_area;
 	ERR_FAIL_COND(!def_area);
 
 	int ac = areas.size();
@@ -528,7 +528,7 @@ void Body2DSW::integrate_forces(real_t p_step) {
 	contact_count = 0;
 }
 
-void Body2DSW::integrate_velocities(real_t p_step) {
+void GodotBody2D::integrate_velocities(real_t p_step) {
 	if (mode == PhysicsServer2D::BODY_MODE_STATIC) {
 		return;
 	}
@@ -570,17 +570,17 @@ void Body2DSW::integrate_velocities(real_t p_step) {
 	}
 }
 
-void Body2DSW::wakeup_neighbours() {
-	for (const Pair<Constraint2DSW *, int> &E : constraint_list) {
-		const Constraint2DSW *c = E.first;
-		Body2DSW **n = c->get_body_ptr();
+void GodotBody2D::wakeup_neighbours() {
+	for (const Pair<GodotConstraint2D *, int> &E : constraint_list) {
+		const GodotConstraint2D *c = E.first;
+		GodotBody2D **n = c->get_body_ptr();
 		int bc = c->get_body_count();
 
 		for (int i = 0; i < bc; i++) {
 			if (i == E.second) {
 				continue;
 			}
-			Body2DSW *b = n[i];
+			GodotBody2D *b = n[i];
 			if (b->mode < PhysicsServer2D::BODY_MODE_DYNAMIC) {
 				continue;
 			}
@@ -592,7 +592,7 @@ void Body2DSW::wakeup_neighbours() {
 	}
 }
 
-void Body2DSW::call_queries() {
+void GodotBody2D::call_queries() {
 	if (fi_callback_data) {
 		if (!fi_callback_data->callable.get_object()) {
 			set_force_integration_callback(Callable());
@@ -616,7 +616,7 @@ void Body2DSW::call_queries() {
 	}
 }
 
-bool Body2DSW::sleep_test(real_t p_step) {
+bool GodotBody2D::sleep_test(real_t p_step) {
 	if (mode == PhysicsServer2D::BODY_MODE_STATIC || mode == PhysicsServer2D::BODY_MODE_KINEMATIC) {
 		return true;
 	} else if (!can_sleep) {
@@ -633,12 +633,12 @@ bool Body2DSW::sleep_test(real_t p_step) {
 	}
 }
 
-void Body2DSW::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) {
+void GodotBody2D::set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback) {
 	body_state_callback_instance = p_instance;
 	body_state_callback = p_callback;
 }
 
-void Body2DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
+void GodotBody2D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
 	if (p_callable.get_object()) {
 		if (!fi_callback_data) {
 			fi_callback_data = memnew(ForceIntegrationCallbackData);
@@ -651,23 +651,23 @@ void Body2DSW::set_force_integration_callback(const Callable &p_callable, const
 	}
 }
 
-PhysicsDirectBodyState2DSW *Body2DSW::get_direct_state() {
+GodotPhysicsDirectBodyState2D *GodotBody2D::get_direct_state() {
 	if (!direct_state) {
-		direct_state = memnew(PhysicsDirectBodyState2DSW);
+		direct_state = memnew(GodotPhysicsDirectBodyState2D);
 		direct_state->body = this;
 	}
 	return direct_state;
 }
 
-Body2DSW::Body2DSW() :
-		CollisionObject2DSW(TYPE_BODY),
+GodotBody2D::GodotBody2D() :
+		GodotCollisionObject2D(TYPE_BODY),
 		active_list(this),
 		mass_properties_update_list(this),
 		direct_state_query_list(this) {
 	_set_static(false);
 }
 
-Body2DSW::~Body2DSW() {
+GodotBody2D::~GodotBody2D() {
 	if (fi_callback_data) {
 		memdelete(fi_callback_data);
 	}

servers/physics_2d/body_2d_sw.h → servers/physics_2d/godot_body_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_2d_sw.h                                                         */
+/*  godot_body_2d.h                                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,19 +28,20 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BODY_2D_SW_H
-#define BODY_2D_SW_H
+#ifndef GODOT_BODY_2D_H
+#define GODOT_BODY_2D_H
+
+#include "godot_area_2d.h"
+#include "godot_collision_object_2d.h"
 
-#include "area_2d_sw.h"
-#include "collision_object_2d_sw.h"
 #include "core/templates/list.h"
 #include "core/templates/pair.h"
 #include "core/templates/vset.h"
 
-class Constraint2DSW;
-class PhysicsDirectBodyState2DSW;
+class GodotConstraint2D;
+class GodotPhysicsDirectBodyState2D;
 
-class Body2DSW : public CollisionObject2DSW {
+class GodotBody2D : public GodotCollisionObject2D {
 	PhysicsServer2D::BodyMode mode = PhysicsServer2D::BODY_MODE_DYNAMIC;
 
 	Vector2 biased_linear_velocity;
@@ -79,9 +80,9 @@ class Body2DSW : public CollisionObject2DSW {
 	Vector2 applied_force;
 	real_t applied_torque = 0.0;
 
-	SelfList<Body2DSW> active_list;
-	SelfList<Body2DSW> mass_properties_update_list;
-	SelfList<Body2DSW> direct_state_query_list;
+	SelfList<GodotBody2D> active_list;
+	SelfList<GodotBody2D> mass_properties_update_list;
+	SelfList<GodotBody2D> direct_state_query_list;
 
 	VSet<RID> exceptions;
 	PhysicsServer2D::CCDMode continuous_cd_mode = PhysicsServer2D::CCD_MODE_DISABLED;
@@ -93,15 +94,15 @@ class Body2DSW : public CollisionObject2DSW {
 	virtual void _shapes_changed();
 	Transform2D new_transform;
 
-	List<Pair<Constraint2DSW *, int>> constraint_list;
+	List<Pair<GodotConstraint2D *, int>> constraint_list;
 
 	struct AreaCMP {
-		Area2DSW *area = nullptr;
+		GodotArea2D *area = nullptr;
 		int refCount = 0;
 		_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
 		_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
 		_FORCE_INLINE_ AreaCMP() {}
-		_FORCE_INLINE_ AreaCMP(Area2DSW *p_area) {
+		_FORCE_INLINE_ AreaCMP(GodotArea2D *p_area) {
 			area = p_area;
 			refCount = 1;
 		}
@@ -134,21 +135,21 @@ class Body2DSW : public CollisionObject2DSW {
 
 	ForceIntegrationCallbackData *fi_callback_data = nullptr;
 
-	PhysicsDirectBodyState2DSW *direct_state = nullptr;
+	GodotPhysicsDirectBodyState2D *direct_state = nullptr;
 
 	uint64_t island_step = 0;
 
-	_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area2DSW *p_area);
+	_FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea2D *p_area);
 
-	friend class PhysicsDirectBodyState2DSW; // i give up, too many functions to expose
+	friend class GodotPhysicsDirectBodyState2D; // i give up, too many functions to expose
 
 public:
 	void set_state_sync_callback(void *p_instance, PhysicsServer2D::BodyStateCallback p_callback);
 	void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
 
-	PhysicsDirectBodyState2DSW *get_direct_state();
+	GodotPhysicsDirectBodyState2D *get_direct_state();
 
-	_FORCE_INLINE_ void add_area(Area2DSW *p_area) {
+	_FORCE_INLINE_ void add_area(GodotArea2D *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
 			areas.write[index].refCount += 1;
@@ -157,7 +158,7 @@ public:
 		}
 	}
 
-	_FORCE_INLINE_ void remove_area(Area2DSW *p_area) {
+	_FORCE_INLINE_ void remove_area(GodotArea2D *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
 			areas.write[index].refCount -= 1;
@@ -188,9 +189,9 @@ public:
 	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
 	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
 
-	_FORCE_INLINE_ void add_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
-	_FORCE_INLINE_ void remove_constraint(Constraint2DSW *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
-	const List<Pair<Constraint2DSW *, int>> &get_constraint_list() const { return constraint_list; }
+	_FORCE_INLINE_ void add_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.push_back({ p_constraint, p_pos }); }
+	_FORCE_INLINE_ void remove_constraint(GodotConstraint2D *p_constraint, int p_pos) { constraint_list.erase({ p_constraint, p_pos }); }
+	const List<Pair<GodotConstraint2D *, int>> &get_constraint_list() const { return constraint_list; }
 	_FORCE_INLINE_ void clear_constraint_list() { constraint_list.clear(); }
 
 	_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
@@ -267,7 +268,7 @@ public:
 	_FORCE_INLINE_ void set_continuous_collision_detection_mode(PhysicsServer2D::CCDMode p_mode) { continuous_cd_mode = p_mode; }
 	_FORCE_INLINE_ PhysicsServer2D::CCDMode get_continuous_collision_detection_mode() const { return continuous_cd_mode; }
 
-	void set_space(Space2DSW *p_space);
+	void set_space(GodotSpace2D *p_space);
 
 	void update_mass_properties();
 	void reset_mass_properties();
@@ -302,13 +303,13 @@ public:
 
 	bool sleep_test(real_t p_step);
 
-	Body2DSW();
-	~Body2DSW();
+	GodotBody2D();
+	~GodotBody2D();
 };
 
 //add contact inline
 
-void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) {
+void GodotBody2D::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_normal, real_t p_depth, int p_local_shape, const Vector2 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector2 &p_collider_velocity_at_pos) {
 	int c_max = contacts.size();
 
 	if (c_max == 0) {
@@ -350,4 +351,4 @@ void Body2DSW::add_contact(const Vector2 &p_local_pos, const Vector2 &p_local_no
 	c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
 }
 
-#endif // BODY_2D_SW_H
+#endif // GODOT_BODY_2D_H

servers/physics_2d/body_direct_state_2d_sw.cpp → servers/physics_2d/godot_body_direct_state_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_direct_state_2d_sw.cpp                                          */
+/*  godot_body_direct_state_2d.cpp                                       */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,151 +28,151 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "body_direct_state_2d_sw.h"
+#include "godot_body_direct_state_2d.h"
 
-#include "body_2d_sw.h"
-#include "physics_server_2d_sw.h"
-#include "space_2d_sw.h"
+#include "godot_body_2d.h"
+#include "godot_physics_server_2d.h"
+#include "godot_space_2d.h"
 
-Vector2 PhysicsDirectBodyState2DSW::get_total_gravity() const {
+Vector2 GodotPhysicsDirectBodyState2D::get_total_gravity() const {
 	return body->gravity;
 }
 
-real_t PhysicsDirectBodyState2DSW::get_total_angular_damp() const {
+real_t GodotPhysicsDirectBodyState2D::get_total_angular_damp() const {
 	return body->area_angular_damp;
 }
 
-real_t PhysicsDirectBodyState2DSW::get_total_linear_damp() const {
+real_t GodotPhysicsDirectBodyState2D::get_total_linear_damp() const {
 	return body->area_linear_damp;
 }
 
-Vector2 PhysicsDirectBodyState2DSW::get_center_of_mass() const {
+Vector2 GodotPhysicsDirectBodyState2D::get_center_of_mass() const {
 	return body->get_center_of_mass();
 }
 
-real_t PhysicsDirectBodyState2DSW::get_inverse_mass() const {
+real_t GodotPhysicsDirectBodyState2D::get_inverse_mass() const {
 	return body->get_inv_mass();
 }
 
-real_t PhysicsDirectBodyState2DSW::get_inverse_inertia() const {
+real_t GodotPhysicsDirectBodyState2D::get_inverse_inertia() const {
 	return body->get_inv_inertia();
 }
 
-void PhysicsDirectBodyState2DSW::set_linear_velocity(const Vector2 &p_velocity) {
+void GodotPhysicsDirectBodyState2D::set_linear_velocity(const Vector2 &p_velocity) {
 	body->wakeup();
 	body->set_linear_velocity(p_velocity);
 }
 
-Vector2 PhysicsDirectBodyState2DSW::get_linear_velocity() const {
+Vector2 GodotPhysicsDirectBodyState2D::get_linear_velocity() const {
 	return body->get_linear_velocity();
 }
 
-void PhysicsDirectBodyState2DSW::set_angular_velocity(real_t p_velocity) {
+void GodotPhysicsDirectBodyState2D::set_angular_velocity(real_t p_velocity) {
 	body->wakeup();
 	body->set_angular_velocity(p_velocity);
 }
 
-real_t PhysicsDirectBodyState2DSW::get_angular_velocity() const {
+real_t GodotPhysicsDirectBodyState2D::get_angular_velocity() const {
 	return body->get_angular_velocity();
 }
 
-void PhysicsDirectBodyState2DSW::set_transform(const Transform2D &p_transform) {
+void GodotPhysicsDirectBodyState2D::set_transform(const Transform2D &p_transform) {
 	body->set_state(PhysicsServer2D::BODY_STATE_TRANSFORM, p_transform);
 }
 
-Transform2D PhysicsDirectBodyState2DSW::get_transform() const {
+Transform2D GodotPhysicsDirectBodyState2D::get_transform() const {
 	return body->get_transform();
 }
 
-Vector2 PhysicsDirectBodyState2DSW::get_velocity_at_local_position(const Vector2 &p_position) const {
+Vector2 GodotPhysicsDirectBodyState2D::get_velocity_at_local_position(const Vector2 &p_position) const {
 	return body->get_velocity_in_local_point(p_position);
 }
 
-void PhysicsDirectBodyState2DSW::add_central_force(const Vector2 &p_force) {
+void GodotPhysicsDirectBodyState2D::add_central_force(const Vector2 &p_force) {
 	body->wakeup();
 	body->add_central_force(p_force);
 }
 
-void PhysicsDirectBodyState2DSW::add_force(const Vector2 &p_force, const Vector2 &p_position) {
+void GodotPhysicsDirectBodyState2D::add_force(const Vector2 &p_force, const Vector2 &p_position) {
 	body->wakeup();
 	body->add_force(p_force, p_position);
 }
 
-void PhysicsDirectBodyState2DSW::add_torque(real_t p_torque) {
+void GodotPhysicsDirectBodyState2D::add_torque(real_t p_torque) {
 	body->wakeup();
 	body->add_torque(p_torque);
 }
 
-void PhysicsDirectBodyState2DSW::apply_central_impulse(const Vector2 &p_impulse) {
+void GodotPhysicsDirectBodyState2D::apply_central_impulse(const Vector2 &p_impulse) {
 	body->wakeup();
 	body->apply_central_impulse(p_impulse);
 }
 
-void PhysicsDirectBodyState2DSW::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
+void GodotPhysicsDirectBodyState2D::apply_impulse(const Vector2 &p_impulse, const Vector2 &p_position) {
 	body->wakeup();
 	body->apply_impulse(p_impulse, p_position);
 }
 
-void PhysicsDirectBodyState2DSW::apply_torque_impulse(real_t p_torque) {
+void GodotPhysicsDirectBodyState2D::apply_torque_impulse(real_t p_torque) {
 	body->wakeup();
 	body->apply_torque_impulse(p_torque);
 }
 
-void PhysicsDirectBodyState2DSW::set_sleep_state(bool p_enable) {
+void GodotPhysicsDirectBodyState2D::set_sleep_state(bool p_enable) {
 	body->set_active(!p_enable);
 }
 
-bool PhysicsDirectBodyState2DSW::is_sleeping() const {
+bool GodotPhysicsDirectBodyState2D::is_sleeping() const {
 	return !body->is_active();
 }
 
-int PhysicsDirectBodyState2DSW::get_contact_count() const {
+int GodotPhysicsDirectBodyState2D::get_contact_count() const {
 	return body->contact_count;
 }
 
-Vector2 PhysicsDirectBodyState2DSW::get_contact_local_position(int p_contact_idx) const {
+Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_position(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
 	return body->contacts[p_contact_idx].local_pos;
 }
 
-Vector2 PhysicsDirectBodyState2DSW::get_contact_local_normal(int p_contact_idx) const {
+Vector2 GodotPhysicsDirectBodyState2D::get_contact_local_normal(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
 	return body->contacts[p_contact_idx].local_normal;
 }
 
-int PhysicsDirectBodyState2DSW::get_contact_local_shape(int p_contact_idx) const {
+int GodotPhysicsDirectBodyState2D::get_contact_local_shape(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
 	return body->contacts[p_contact_idx].local_shape;
 }
 
-RID PhysicsDirectBodyState2DSW::get_contact_collider(int p_contact_idx) const {
+RID GodotPhysicsDirectBodyState2D::get_contact_collider(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
 	return body->contacts[p_contact_idx].collider;
 }
-Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_position(int p_contact_idx) const {
+Vector2 GodotPhysicsDirectBodyState2D::get_contact_collider_position(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
 	return body->contacts[p_contact_idx].collider_pos;
 }
 
-ObjectID PhysicsDirectBodyState2DSW::get_contact_collider_id(int p_contact_idx) const {
+ObjectID GodotPhysicsDirectBodyState2D::get_contact_collider_id(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
 	return body->contacts[p_contact_idx].collider_instance_id;
 }
 
-int PhysicsDirectBodyState2DSW::get_contact_collider_shape(int p_contact_idx) const {
+int GodotPhysicsDirectBodyState2D::get_contact_collider_shape(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
 	return body->contacts[p_contact_idx].collider_shape;
 }
 
-Vector2 PhysicsDirectBodyState2DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const {
+Vector2 GodotPhysicsDirectBodyState2D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector2());
 	return body->contacts[p_contact_idx].collider_velocity_at_pos;
 }
 
-PhysicsDirectSpaceState2D *PhysicsDirectBodyState2DSW::get_space_state() {
+PhysicsDirectSpaceState2D *GodotPhysicsDirectBodyState2D::get_space_state() {
 	return body->get_space()->get_direct_state();
 }
 
-real_t PhysicsDirectBodyState2DSW::get_step() const {
+real_t GodotPhysicsDirectBodyState2D::get_step() const {
 	return body->get_space()->get_last_step();
 }

servers/physics_2d/body_direct_state_2d_sw.h → servers/physics_2d/godot_body_direct_state_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_direct_state_2d_sw.h                                            */
+/*  godot_body_direct_state_2d.h                                         */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,18 +28,18 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BODY_DIRECT_STATE_2D_SW_H
-#define BODY_DIRECT_STATE_2D_SW_H
+#ifndef GODOT_BODY_DIRECT_STATE_2D_H
+#define GODOT_BODY_DIRECT_STATE_2D_H
 
 #include "servers/physics_server_2d.h"
 
-class Body2DSW;
+class GodotBody2D;
 
-class PhysicsDirectBodyState2DSW : public PhysicsDirectBodyState2D {
-	GDCLASS(PhysicsDirectBodyState2DSW, PhysicsDirectBodyState2D);
+class GodotPhysicsDirectBodyState2D : public PhysicsDirectBodyState2D {
+	GDCLASS(GodotPhysicsDirectBodyState2D, PhysicsDirectBodyState2D);
 
 public:
-	Body2DSW *body = nullptr;
+	GodotBody2D *body = nullptr;
 
 	virtual Vector2 get_total_gravity() const override;
 	virtual real_t get_total_angular_damp() const override;
@@ -88,4 +88,4 @@ public:
 	virtual real_t get_step() const override;
 };
 
-#endif // BODY_2D_SW_H
+#endif // GODOT_BODY_DIRECT_STATE_2D_H

servers/physics_2d/body_pair_2d_sw.cpp → servers/physics_2d/godot_body_pair_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_pair_2d_sw.cpp                                                  */
+/*  godot_body_pair_2d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,20 +28,20 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "body_pair_2d_sw.h"
-#include "collision_solver_2d_sw.h"
-#include "space_2d_sw.h"
+#include "godot_body_pair_2d.h"
+#include "godot_collision_solver_2d.h"
+#include "godot_space_2d.h"
 
 #define POSITION_CORRECTION
 #define ACCUMULATE_IMPULSES
 
-void BodyPair2DSW::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
-	BodyPair2DSW *self = (BodyPair2DSW *)p_self;
+void GodotBodyPair2D::_add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self) {
+	GodotBodyPair2D *self = (GodotBodyPair2D *)p_self;
 
 	self->_contact_added_callback(p_point_A, p_point_B);
 }
 
-void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
+void GodotBodyPair2D::_contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B) {
 	// check if we already have the contact
 
 	Vector2 local_A = A->get_inv_transform().basis_xform(p_point_A);
@@ -121,7 +121,7 @@ void BodyPair2DSW::_contact_added_callback(const Vector2 &p_point_A, const Vecto
 	}
 }
 
-void BodyPair2DSW::_validate_contacts() {
+void GodotBodyPair2D::_validate_contacts() {
 	//make sure to erase contacts that are no longer valid
 
 	real_t max_separation = space->get_contact_max_separation();
@@ -164,7 +164,7 @@ void BodyPair2DSW::_validate_contacts() {
 	}
 }
 
-bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) {
+bool GodotBodyPair2D::_test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result) {
 	Vector2 motion = p_A->get_linear_velocity() * p_step;
 	real_t mlen = motion.length();
 	if (mlen < CMP_EPSILON) {
@@ -217,15 +217,15 @@ bool BodyPair2DSW::_test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const
 	return true;
 }
 
-real_t combine_bounce(Body2DSW *A, Body2DSW *B) {
+real_t combine_bounce(GodotBody2D *A, GodotBody2D *B) {
 	return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1);
 }
 
-real_t combine_friction(Body2DSW *A, Body2DSW *B) {
+real_t combine_friction(GodotBody2D *A, GodotBody2D *B) {
 	return ABS(MIN(A->get_friction(), B->get_friction()));
 }
 
-bool BodyPair2DSW::setup(real_t p_step) {
+bool GodotBodyPair2D::setup(real_t p_step) {
 	if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
 		collided = false;
 		return false;
@@ -257,8 +257,8 @@ bool BodyPair2DSW::setup(real_t p_step) {
 	xform_Bu.elements[2] -= offset_A;
 	Transform2D xform_B = xform_Bu * B->get_shape_transform(shape_B);
 
-	Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
-	Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
+	GodotShape2D *shape_A_ptr = A->get_shape(shape_A);
+	GodotShape2D *shape_B_ptr = B->get_shape(shape_B);
 
 	Vector2 motion_A, motion_B;
 
@@ -271,7 +271,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
 
 	bool prev_collided = collided;
 
-	collided = CollisionSolver2DSW::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis);
+	collided = GodotCollisionSolver2D::solve(shape_A_ptr, xform_A, motion_A, shape_B_ptr, xform_B, motion_B, _add_contact, this, &sep_axis);
 	if (!collided) {
 		//test ccd (currently just a raycast)
 
@@ -344,7 +344,7 @@ bool BodyPair2DSW::setup(real_t p_step) {
 	return true;
 }
 
-bool BodyPair2DSW::pre_solve(real_t p_step) {
+bool GodotBodyPair2D::pre_solve(real_t p_step) {
 	if (!collided || oneway_disabled) {
 		return false;
 	}
@@ -353,8 +353,8 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
 
 	real_t bias = 0.3;
 
-	Shape2DSW *shape_A_ptr = A->get_shape(shape_A);
-	Shape2DSW *shape_B_ptr = B->get_shape(shape_B);
+	GodotShape2D *shape_A_ptr = A->get_shape(shape_A);
+	GodotShape2D *shape_B_ptr = B->get_shape(shape_B);
 
 	if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
 		if (shape_A_ptr->get_custom_bias() == 0) {
@@ -466,7 +466,7 @@ bool BodyPair2DSW::pre_solve(real_t p_step) {
 	return do_process;
 }
 
-void BodyPair2DSW::solve(real_t p_step) {
+void GodotBodyPair2D::solve(real_t p_step) {
 	if (!collided || oneway_disabled) {
 		return;
 	}
@@ -528,8 +528,8 @@ void BodyPair2DSW::solve(real_t p_step) {
 	}
 }
 
-BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B) :
-		Constraint2DSW(_arr, 2) {
+GodotBodyPair2D::GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B) :
+		GodotConstraint2D(_arr, 2) {
 	A = p_A;
 	B = p_B;
 	shape_A = p_shape_A;
@@ -539,7 +539,7 @@ BodyPair2DSW::BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_sh
 	B->add_constraint(this, 1);
 }
 
-BodyPair2DSW::~BodyPair2DSW() {
+GodotBodyPair2D::~GodotBodyPair2D() {
 	A->remove_constraint(this, 0);
 	B->remove_constraint(this, 1);
 }

servers/physics_2d/body_pair_2d_sw.h → servers/physics_2d/godot_body_pair_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_pair_2d_sw.h                                                    */
+/*  godot_body_pair_2d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,23 +28,23 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BODY_PAIR_2D_SW_H
-#define BODY_PAIR_2D_SW_H
+#ifndef GODOT_BODY_PAIR_2D_H
+#define GODOT_BODY_PAIR_2D_H
 
-#include "body_2d_sw.h"
-#include "constraint_2d_sw.h"
+#include "godot_body_2d.h"
+#include "godot_constraint_2d.h"
 
-class BodyPair2DSW : public Constraint2DSW {
+class GodotBodyPair2D : public GodotConstraint2D {
 	enum {
 		MAX_CONTACTS = 2
 	};
 	union {
 		struct {
-			Body2DSW *A;
-			Body2DSW *B;
+			GodotBody2D *A;
+			GodotBody2D *B;
 		};
 
-		Body2DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody2D *_arr[2] = { nullptr, nullptr };
 	};
 
 	int shape_A = 0;
@@ -53,7 +53,7 @@ class BodyPair2DSW : public Constraint2DSW {
 	bool collide_A = false;
 	bool collide_B = false;
 
-	Space2DSW *space = nullptr;
+	GodotSpace2D *space = nullptr;
 
 	struct Contact {
 		Vector2 position;
@@ -81,7 +81,7 @@ class BodyPair2DSW : public Constraint2DSW {
 	bool oneway_disabled = false;
 	bool report_contacts_only = false;
 
-	bool _test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false);
+	bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B, bool p_swap_result = false);
 	void _validate_contacts();
 	static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self);
 	_FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B);
@@ -91,8 +91,8 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B);
-	~BodyPair2DSW();
+	GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B);
+	~GodotBodyPair2D();
 };
 
-#endif // BODY_PAIR_2D_SW_H
+#endif // GODOT_BODY_PAIR_2D_H

servers/physics_2d/broad_phase_2d_sw.cpp → servers/physics_2d/godot_broad_phase_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_2d_sw.cpp                                                */
+/*  godot_broad_phase_2d.cpp                                             */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,9 +28,9 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "broad_phase_2d_sw.h"
+#include "godot_broad_phase_2d.h"
 
-BroadPhase2DSW::CreateFunction BroadPhase2DSW::create_func = nullptr;
+GodotBroadPhase2D::CreateFunction GodotBroadPhase2D::create_func = nullptr;
 
-BroadPhase2DSW::~BroadPhase2DSW() {
+GodotBroadPhase2D::~GodotBroadPhase2D() {
 }

servers/physics_2d/broad_phase_2d_sw.h → servers/physics_2d/godot_broad_phase_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_2d_sw.h                                                  */
+/*  godot_broad_phase_2d.h                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,44 +28,44 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BROAD_PHASE_2D_SW_H
-#define BROAD_PHASE_2D_SW_H
+#ifndef GODOT_BROAD_PHASE_2D_H
+#define GODOT_BROAD_PHASE_2D_H
 
 #include "core/math/math_funcs.h"
 #include "core/math/rect2.h"
 
-class CollisionObject2DSW;
+class GodotCollisionObject2D;
 
-class BroadPhase2DSW {
+class GodotBroadPhase2D {
 public:
-	typedef BroadPhase2DSW *(*CreateFunction)();
+	typedef GodotBroadPhase2D *(*CreateFunction)();
 
 	static CreateFunction create_func;
 
 	typedef uint32_t ID;
 
-	typedef void *(*PairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_userdata);
-	typedef void (*UnpairCallback)(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_userdata);
+	typedef void *(*PairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_userdata);
+	typedef void (*UnpairCallback)(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_userdata);
 
 	// 0 is an invalid ID
-	virtual ID create(CollisionObject2DSW *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0;
+	virtual ID create(GodotCollisionObject2D *p_object_, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false) = 0;
 	virtual void move(ID p_id, const Rect2 &p_aabb) = 0;
 	virtual void set_static(ID p_id, bool p_static) = 0;
 	virtual void remove(ID p_id) = 0;
 
-	virtual CollisionObject2DSW *get_object(ID p_id) const = 0;
+	virtual GodotCollisionObject2D *get_object(ID p_id) const = 0;
 	virtual bool is_static(ID p_id) const = 0;
 	virtual int get_subindex(ID p_id) const = 0;
 
-	virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
-	virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
+	virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
+	virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
 
 	virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0;
 	virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0;
 
 	virtual void update() = 0;
 
-	virtual ~BroadPhase2DSW();
+	virtual ~GodotBroadPhase2D();
 };
 
-#endif // BROAD_PHASE_2D_SW_H
+#endif // GODOT_BROAD_PHASE_2D_H

servers/physics_2d/broad_phase_2d_bvh.cpp → servers/physics_2d/godot_broad_phase_2d_bvh.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_2d_bvh.cpp                                               */
+/*  godot_broad_phase_2d_bvh.cpp                                         */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,51 +28,51 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "broad_phase_2d_bvh.h"
-#include "collision_object_2d_sw.h"
+#include "godot_broad_phase_2d_bvh.h"
+#include "godot_collision_object_2d.h"
 
-BroadPhase2DSW::ID BroadPhase2DBVH::create(CollisionObject2DSW *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
+GodotBroadPhase2D::ID GodotBroadPhase2DBVH::create(GodotCollisionObject2D *p_object, int p_subindex, const Rect2 &p_aabb, bool p_static) {
 	ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
 	return oid + 1;
 }
 
-void BroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
+void GodotBroadPhase2DBVH::move(ID p_id, const Rect2 &p_aabb) {
 	bvh.move(p_id - 1, p_aabb);
 }
 
-void BroadPhase2DBVH::set_static(ID p_id, bool p_static) {
-	CollisionObject2DSW *it = bvh.get(p_id - 1);
+void GodotBroadPhase2DBVH::set_static(ID p_id, bool p_static) {
+	GodotCollisionObject2D *it = bvh.get(p_id - 1);
 	bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
 }
 
-void BroadPhase2DBVH::remove(ID p_id) {
+void GodotBroadPhase2DBVH::remove(ID p_id) {
 	bvh.erase(p_id - 1);
 }
 
-CollisionObject2DSW *BroadPhase2DBVH::get_object(ID p_id) const {
-	CollisionObject2DSW *it = bvh.get(p_id - 1);
+GodotCollisionObject2D *GodotBroadPhase2DBVH::get_object(ID p_id) const {
+	GodotCollisionObject2D *it = bvh.get(p_id - 1);
 	ERR_FAIL_COND_V(!it, nullptr);
 	return it;
 }
 
-bool BroadPhase2DBVH::is_static(ID p_id) const {
+bool GodotBroadPhase2DBVH::is_static(ID p_id) const {
 	return !bvh.is_pairable(p_id - 1);
 }
 
-int BroadPhase2DBVH::get_subindex(ID p_id) const {
+int GodotBroadPhase2DBVH::get_subindex(ID p_id) const {
 	return bvh.get_subindex(p_id - 1);
 }
 
-int BroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) {
+int GodotBroadPhase2DBVH::cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
 	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
 }
 
-int BroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices) {
+int GodotBroadPhase2DBVH::cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices) {
 	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
 }
 
-void *BroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject2DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject2DSW *p_object_B, int subindex_B) {
-	BroadPhase2DBVH *bpo = (BroadPhase2DBVH *)(self);
+void *GodotBroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B) {
+	GodotBroadPhase2DBVH *bpo = (GodotBroadPhase2DBVH *)(self);
 	if (!bpo->pair_callback) {
 		return nullptr;
 	}
@@ -80,8 +80,8 @@ void *BroadPhase2DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject2
 	return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata);
 }
 
-void BroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject2DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject2DSW *p_object_B, int subindex_B, void *pairdata) {
-	BroadPhase2DBVH *bpo = (BroadPhase2DBVH *)(self);
+void GodotBroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject2D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject2D *p_object_B, int subindex_B, void *pairdata) {
+	GodotBroadPhase2DBVH *bpo = (GodotBroadPhase2DBVH *)(self);
 	if (!bpo->unpair_callback) {
 		return;
 	}
@@ -89,25 +89,25 @@ void BroadPhase2DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject
 	bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata);
 }
 
-void BroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
+void GodotBroadPhase2DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
 	pair_callback = p_pair_callback;
 	pair_userdata = p_userdata;
 }
 
-void BroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
+void GodotBroadPhase2DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
 	unpair_callback = p_unpair_callback;
 	unpair_userdata = p_userdata;
 }
 
-void BroadPhase2DBVH::update() {
+void GodotBroadPhase2DBVH::update() {
 	bvh.update();
 }
 
-BroadPhase2DSW *BroadPhase2DBVH::_create() {
-	return memnew(BroadPhase2DBVH);
+GodotBroadPhase2D *GodotBroadPhase2DBVH::_create() {
+	return memnew(GodotBroadPhase2DBVH);
 }
 
-BroadPhase2DBVH::BroadPhase2DBVH() {
+GodotBroadPhase2DBVH::GodotBroadPhase2DBVH() {
 	bvh.set_pair_callback(_pair_callback, this);
 	bvh.set_unpair_callback(_unpair_callback, this);
 }

servers/physics_2d/broad_phase_2d_bvh.h → servers/physics_2d/godot_broad_phase_2d_bvh.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_2d_bvh.h                                                 */
+/*  godot_broad_phase_2d_bvh.h                                           */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,19 +28,20 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BROAD_PHASE_2D_BVH_H
-#define BROAD_PHASE_2D_BVH_H
+#ifndef GODOT_BROAD_PHASE_2D_BVH_H
+#define GODOT_BROAD_PHASE_2D_BVH_H
+
+#include "godot_broad_phase_2d.h"
 
-#include "broad_phase_2d_sw.h"
 #include "core/math/bvh.h"
 #include "core/math/rect2.h"
 #include "core/math/vector2.h"
 
-class BroadPhase2DBVH : public BroadPhase2DSW {
-	BVH_Manager<CollisionObject2DSW, true, 128, Rect2, Vector2> bvh;
+class GodotBroadPhase2DBVH : public GodotBroadPhase2D {
+	BVH_Manager<GodotCollisionObject2D, true, 128, Rect2, Vector2> bvh;
 
-	static void *_pair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int);
-	static void _unpair_callback(void *, uint32_t, CollisionObject2DSW *, int, uint32_t, CollisionObject2DSW *, int, void *);
+	static void *_pair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int);
+	static void _unpair_callback(void *, uint32_t, GodotCollisionObject2D *, int, uint32_t, GodotCollisionObject2D *, int, void *);
 
 	PairCallback pair_callback = nullptr;
 	void *pair_userdata = nullptr;
@@ -49,25 +50,25 @@ class BroadPhase2DBVH : public BroadPhase2DSW {
 
 public:
 	// 0 is an invalid ID
-	virtual ID create(CollisionObject2DSW *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false);
+	virtual ID create(GodotCollisionObject2D *p_object, int p_subindex = 0, const Rect2 &p_aabb = Rect2(), bool p_static = false);
 	virtual void move(ID p_id, const Rect2 &p_aabb);
 	virtual void set_static(ID p_id, bool p_static);
 	virtual void remove(ID p_id);
 
-	virtual CollisionObject2DSW *get_object(ID p_id) const;
+	virtual GodotCollisionObject2D *get_object(ID p_id) const;
 	virtual bool is_static(ID p_id) const;
 	virtual int get_subindex(ID p_id) const;
 
-	virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
-	virtual int cull_aabb(const Rect2 &p_aabb, CollisionObject2DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
+	virtual int cull_segment(const Vector2 &p_from, const Vector2 &p_to, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr);
+	virtual int cull_aabb(const Rect2 &p_aabb, GodotCollisionObject2D **p_results, int p_max_results, int *p_result_indices = nullptr);
 
 	virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata);
 	virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata);
 
 	virtual void update();
 
-	static BroadPhase2DSW *_create();
-	BroadPhase2DBVH();
+	static GodotBroadPhase2D *_create();
+	GodotBroadPhase2DBVH();
 };
 
-#endif // BROAD_PHASE_2D_BVH_H
+#endif // GODOT_BROAD_PHASE_2D_BVH_H

servers/physics_2d/collision_object_2d_sw.cpp → servers/physics_2d/godot_collision_object_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_object_2d_sw.cpp                                           */
+/*  godot_collision_object_2d.cpp                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,11 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "collision_object_2d_sw.h"
-#include "servers/physics_2d/physics_server_2d_sw.h"
-#include "space_2d_sw.h"
+#include "godot_collision_object_2d.h"
+#include "godot_physics_server_2d.h"
+#include "godot_space_2d.h"
 
-void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_transform, bool p_disabled) {
+void GodotCollisionObject2D::add_shape(GodotShape2D *p_shape, const Transform2D &p_transform, bool p_disabled) {
 	Shape s;
 	s.shape = p_shape;
 	s.xform = p_transform;
@@ -45,11 +45,11 @@ void CollisionObject2DSW::add_shape(Shape2DSW *p_shape, const Transform2D &p_tra
 	p_shape->add_owner(this);
 
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
+void GodotCollisionObject2D::set_shape(int p_index, GodotShape2D *p_shape) {
 	ERR_FAIL_INDEX(p_index, shapes.size());
 	shapes[p_index].shape->remove_owner(this);
 	shapes.write[p_index].shape = p_shape;
@@ -57,25 +57,25 @@ void CollisionObject2DSW::set_shape(int p_index, Shape2DSW *p_shape) {
 	p_shape->add_owner(this);
 
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject2DSW::set_shape_transform(int p_index, const Transform2D &p_transform) {
+void GodotCollisionObject2D::set_shape_transform(int p_index, const Transform2D &p_transform) {
 	ERR_FAIL_INDEX(p_index, shapes.size());
 
 	shapes.write[p_index].xform = p_transform;
 	shapes.write[p_index].xform_inv = p_transform.affine_inverse();
 
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) {
+void GodotCollisionObject2D::set_shape_disabled(int p_idx, bool p_disabled) {
 	ERR_FAIL_INDEX(p_idx, shapes.size());
 
-	CollisionObject2DSW::Shape &shape = shapes.write[p_idx];
+	GodotCollisionObject2D::Shape &shape = shapes.write[p_idx];
 	if (shape.disabled == p_disabled) {
 		return;
 	}
@@ -90,16 +90,16 @@ void CollisionObject2DSW::set_shape_disabled(int p_idx, bool p_disabled) {
 		space->get_broadphase()->remove(shape.bpid);
 		shape.bpid = 0;
 		if (!pending_shape_update_list.in_list()) {
-			PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+			GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 		}
 	} else if (!p_disabled && shape.bpid == 0) {
 		if (!pending_shape_update_list.in_list()) {
-			PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+			GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 		}
 	}
 }
 
-void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) {
+void GodotCollisionObject2D::remove_shape(GodotShape2D *p_shape) {
 	//remove a shape, all the times it appears
 	for (int i = 0; i < shapes.size(); i++) {
 		if (shapes[i].shape == p_shape) {
@@ -109,7 +109,7 @@ void CollisionObject2DSW::remove_shape(Shape2DSW *p_shape) {
 	}
 }
 
-void CollisionObject2DSW::remove_shape(int p_index) {
+void GodotCollisionObject2D::remove_shape(int p_index) {
 	//remove anything from shape to be erased to end, so subindices don't change
 	ERR_FAIL_INDEX(p_index, shapes.size());
 	for (int i = p_index; i < shapes.size(); i++) {
@@ -124,13 +124,13 @@ void CollisionObject2DSW::remove_shape(int p_index) {
 	shapes.remove(p_index);
 
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer2DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer2D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 	// _update_shapes();
 	// _shapes_changed();
 }
 
-void CollisionObject2DSW::_set_static(bool p_static) {
+void GodotCollisionObject2D::_set_static(bool p_static) {
 	if (_static == p_static) {
 		return;
 	}
@@ -147,7 +147,7 @@ void CollisionObject2DSW::_set_static(bool p_static) {
 	}
 }
 
-void CollisionObject2DSW::_unregister_shapes() {
+void GodotCollisionObject2D::_unregister_shapes() {
 	for (int i = 0; i < shapes.size(); i++) {
 		Shape &s = shapes.write[i];
 		if (s.bpid > 0) {
@@ -157,7 +157,7 @@ void CollisionObject2DSW::_unregister_shapes() {
 	}
 }
 
-void CollisionObject2DSW::_update_shapes() {
+void GodotCollisionObject2D::_update_shapes() {
 	if (!space) {
 		return;
 	}
@@ -184,7 +184,7 @@ void CollisionObject2DSW::_update_shapes() {
 	}
 }
 
-void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) {
+void GodotCollisionObject2D::_update_shapes_with_motion(const Vector2 &p_motion) {
 	if (!space) {
 		return;
 	}
@@ -211,7 +211,7 @@ void CollisionObject2DSW::_update_shapes_with_motion(const Vector2 &p_motion) {
 	}
 }
 
-void CollisionObject2DSW::_set_space(Space2DSW *p_space) {
+void GodotCollisionObject2D::_set_space(GodotSpace2D *p_space) {
 	if (space) {
 		space->remove_object(this);
 
@@ -232,12 +232,12 @@ void CollisionObject2DSW::_set_space(Space2DSW *p_space) {
 	}
 }
 
-void CollisionObject2DSW::_shape_changed() {
+void GodotCollisionObject2D::_shape_changed() {
 	_update_shapes();
 	_shapes_changed();
 }
 
-CollisionObject2DSW::CollisionObject2DSW(Type p_type) :
+GodotCollisionObject2D::GodotCollisionObject2D(Type p_type) :
 		pending_shape_update_list(this) {
 	type = p_type;
 }

servers/physics_2d/collision_object_2d_sw.h → servers/physics_2d/godot_collision_object_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_object_2d_sw.h                                             */
+/*  godot_collision_object_2d.h                                          */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,17 +28,18 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef COLLISION_OBJECT_2D_SW_H
-#define COLLISION_OBJECT_2D_SW_H
+#ifndef GODOT_COLLISION_OBJECT_2D_H
+#define GODOT_COLLISION_OBJECT_2D_H
+
+#include "godot_broad_phase_2d.h"
+#include "godot_shape_2d.h"
 
-#include "broad_phase_2d_sw.h"
 #include "core/templates/self_list.h"
 #include "servers/physics_server_2d.h"
-#include "shape_2d_sw.h"
 
-class Space2DSW;
+class GodotSpace2D;
 
-class CollisionObject2DSW : public ShapeOwner2DSW {
+class GodotCollisionObject2D : public GodotShapeOwner2D {
 public:
 	enum Type {
 		TYPE_AREA,
@@ -55,23 +56,23 @@ private:
 	struct Shape {
 		Transform2D xform;
 		Transform2D xform_inv;
-		BroadPhase2DSW::ID bpid = 0;
+		GodotBroadPhase2D::ID bpid = 0;
 		Rect2 aabb_cache; //for rayqueries
-		Shape2DSW *shape = nullptr;
+		GodotShape2D *shape = nullptr;
 		bool disabled = false;
 		bool one_way_collision = false;
 		real_t one_way_collision_margin = 0.0;
 	};
 
 	Vector<Shape> shapes;
-	Space2DSW *space = nullptr;
+	GodotSpace2D *space = nullptr;
 	Transform2D transform;
 	Transform2D inv_transform;
 	uint32_t collision_mask = 1;
 	uint32_t collision_layer = 1;
 	bool _static = true;
 
-	SelfList<CollisionObject2DSW> pending_shape_update_list;
+	SelfList<GodotCollisionObject2D> pending_shape_update_list;
 
 	void _update_shapes();
 
@@ -89,9 +90,9 @@ protected:
 	void _set_static(bool p_static);
 
 	virtual void _shapes_changed() = 0;
-	void _set_space(Space2DSW *p_space);
+	void _set_space(GodotSpace2D *p_space);
 
-	CollisionObject2DSW(Type p_type);
+	GodotCollisionObject2D(Type p_type);
 
 public:
 	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
@@ -106,12 +107,12 @@ public:
 	void _shape_changed();
 
 	_FORCE_INLINE_ Type get_type() const { return type; }
-	void add_shape(Shape2DSW *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false);
-	void set_shape(int p_index, Shape2DSW *p_shape);
+	void add_shape(GodotShape2D *p_shape, const Transform2D &p_transform = Transform2D(), bool p_disabled = false);
+	void set_shape(int p_index, GodotShape2D *p_shape);
 	void set_shape_transform(int p_index, const Transform2D &p_transform);
 
 	_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
-	_FORCE_INLINE_ Shape2DSW *get_shape(int p_index) const {
+	_FORCE_INLINE_ GodotShape2D *get_shape(int p_index) const {
 		CRASH_BAD_INDEX(p_index, shapes.size());
 		return shapes[p_index].shape;
 	}
@@ -130,7 +131,7 @@ public:
 
 	_FORCE_INLINE_ const Transform2D &get_transform() const { return transform; }
 	_FORCE_INLINE_ const Transform2D &get_inv_transform() const { return inv_transform; }
-	_FORCE_INLINE_ Space2DSW *get_space() const { return space; }
+	_FORCE_INLINE_ GodotSpace2D *get_space() const { return space; }
 
 	void set_shape_disabled(int p_idx, bool p_disabled);
 	_FORCE_INLINE_ bool is_shape_disabled(int p_idx) const {
@@ -165,25 +166,25 @@ public:
 	}
 	_FORCE_INLINE_ uint32_t get_collision_layer() const { return collision_layer; }
 
-	void remove_shape(Shape2DSW *p_shape);
+	void remove_shape(GodotShape2D *p_shape);
 	void remove_shape(int p_index);
 
-	virtual void set_space(Space2DSW *p_space) = 0;
+	virtual void set_space(GodotSpace2D *p_space) = 0;
 
 	_FORCE_INLINE_ bool is_static() const { return _static; }
 
 	void set_pickable(bool p_pickable) { pickable = p_pickable; }
 	_FORCE_INLINE_ bool is_pickable() const { return pickable; }
 
-	_FORCE_INLINE_ bool collides_with(CollisionObject2DSW *p_other) const {
+	_FORCE_INLINE_ bool collides_with(GodotCollisionObject2D *p_other) const {
 		return p_other->collision_layer & collision_mask;
 	}
 
-	_FORCE_INLINE_ bool interacts_with(CollisionObject2DSW *p_other) const {
+	_FORCE_INLINE_ bool interacts_with(GodotCollisionObject2D *p_other) const {
 		return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
 	}
 
-	virtual ~CollisionObject2DSW() {}
+	virtual ~GodotCollisionObject2D() {}
 };
 
-#endif // COLLISION_OBJECT_2D_SW_H
+#endif // GODOT_COLLISION_OBJECT_2D_H

servers/physics_2d/collision_solver_2d_sw.cpp → servers/physics_2d/godot_collision_solver_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_2d_sw.cpp                                           */
+/*  godot_collision_solver_2d.cpp                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,14 +28,14 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "collision_solver_2d_sw.h"
-#include "collision_solver_2d_sat.h"
+#include "godot_collision_solver_2d.h"
+#include "godot_collision_solver_2d_sat.h"
 
 #define collision_solver sat_2d_calculate_penetration
 //#define collision_solver gjk_epa_calculate_penetration
 
-bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
-	const WorldBoundaryShape2DSW *world_boundary = static_cast<const WorldBoundaryShape2DSW *>(p_shape_A);
+bool GodotCollisionSolver2D::solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
+	const GodotWorldBoundaryShape2D *world_boundary = static_cast<const GodotWorldBoundaryShape2D *>(p_shape_A);
 	if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_WORLD_BOUNDARY) {
 		return false;
 	}
@@ -73,8 +73,8 @@ bool CollisionSolver2DSW::solve_static_world_boundary(const Shape2DSW *p_shape_A
 	return found;
 }
 
-bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) {
-	const SeparationRayShape2DSW *ray = static_cast<const SeparationRayShape2DSW *>(p_shape_A);
+bool GodotCollisionSolver2D::solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin) {
+	const GodotSeparationRayShape2D *ray = static_cast<const GodotSeparationRayShape2D *>(p_shape_A);
 	if (p_shape_B->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY) {
 		return false;
 	}
@@ -134,13 +134,13 @@ bool CollisionSolver2DSW::solve_separation_ray(const Shape2DSW *p_shape_A, const
 
 struct _ConcaveCollisionInfo2D {
 	const Transform2D *transform_A = nullptr;
-	const Shape2DSW *shape_A = nullptr;
+	const GodotShape2D *shape_A = nullptr;
 	const Transform2D *transform_B = nullptr;
 	Vector2 motion_A;
 	Vector2 motion_B;
 	real_t margin_A = 0.0;
 	real_t margin_B = 0.0;
-	CollisionSolver2DSW::CallbackResult result_callback;
+	GodotCollisionSolver2D::CallbackResult result_callback;
 	void *userdata = nullptr;
 	bool swap_result = false;
 	bool collided = false;
@@ -149,7 +149,7 @@ struct _ConcaveCollisionInfo2D {
 	Vector2 *sep_axis = nullptr;
 };
 
-bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
+bool GodotCollisionSolver2D::concave_callback(void *p_userdata, GodotShape2D *p_convex) {
 	_ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata);
 	cinfo.aabb_tests++;
 
@@ -165,8 +165,8 @@ bool CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex
 	return !cinfo.result_callback;
 }
 
-bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
-	const ConcaveShape2DSW *concave_B = static_cast<const ConcaveShape2DSW *>(p_shape_B);
+bool GodotCollisionSolver2D::solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
+	const GodotConcaveShape2D *concave_B = static_cast<const GodotConcaveShape2D *>(p_shape_B);
 
 	_ConcaveCollisionInfo2D cinfo;
 	cinfo.transform_A = &p_transform_A;
@@ -209,7 +209,7 @@ bool CollisionSolver2DSW::solve_concave(const Shape2DSW *p_shape_A, const Transf
 	return cinfo.collided;
 }
 
-bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
+bool GodotCollisionSolver2D::solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
 	PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
 	PhysicsServer2D::ShapeType type_B = p_shape_B->get_type();
 	bool concave_A = p_shape_A->is_concave();

servers/physics_2d/collision_solver_2d_sw.h → servers/physics_2d/godot_collision_solver_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_2d_sw.h                                             */
+/*  godot_collision_solver_2d.h                                          */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,23 +28,23 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef COLLISION_SOLVER_2D_SW_H
-#define COLLISION_SOLVER_2D_SW_H
+#ifndef GODOT_COLLISION_SOLVER_2D_H
+#define GODOT_COLLISION_SOLVER_2D_H
 
-#include "shape_2d_sw.h"
+#include "godot_shape_2d.h"
 
-class CollisionSolver2DSW {
+class GodotCollisionSolver2D {
 public:
 	typedef void (*CallbackResult)(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_userdata);
 
 private:
-	static bool solve_static_world_boundary(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
-	static bool concave_callback(void *p_userdata, Shape2DSW *p_convex);
-	static bool solve_concave(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
-	static bool solve_separation_ray(const Shape2DSW *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);
+	static bool solve_static_world_boundary(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+	static bool concave_callback(void *p_userdata, GodotShape2D *p_convex);
+	static bool solve_concave(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
+	static bool solve_separation_ray(const GodotShape2D *p_shape_A, const Vector2 &p_motion_A, const Transform2D &p_transform_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, Vector2 *r_sep_axis = nullptr, real_t p_margin = 0);
 
 public:
-	static bool solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
+	static bool solve(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
 };
 
-#endif // COLLISION_SOLVER_2D_SW_H
+#endif // GODOT_COLLISION_SOLVER_2D_H

servers/physics_2d/collision_solver_2d_sat.cpp → servers/physics_2d/godot_collision_solver_2d_sat.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_2d_sat.cpp                                          */
+/*  godot_collision_solver_2d_sat.cpp                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,12 +28,12 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "collision_solver_2d_sat.h"
+#include "godot_collision_solver_2d_sat.h"
 
 #include "core/math/geometry_2d.h"
 
 struct _CollectorCallback2D {
-	CollisionSolver2DSW::CallbackResult callback;
+	GodotCollisionSolver2D::CallbackResult callback;
 	void *userdata = nullptr;
 	bool swap = false;
 	bool collided = false;
@@ -384,14 +384,14 @@ public:
 			(castB && !separator.test_axis(((m_a) - ((m_b) + p_motion_b)).normalized())) || \
 			(castA && castB && !separator.test_axis(((m_a) + p_motion_a - ((m_b) + p_motion_b)).normalized())))
 
-typedef void (*CollisionFunc)(const Shape2DSW *, const Transform2D &, const Shape2DSW *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t);
+typedef void (*CollisionFunc)(const GodotShape2D *, const Transform2D &, const GodotShape2D *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t);
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
-	const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW *>(p_b);
+static void _collision_segment_segment(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
+	const GodotSegmentShape2D *segment_B = static_cast<const GodotSegmentShape2D *>(p_b);
 
-	SeparatorAxisTest2D<SegmentShape2DSW, SegmentShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotSegmentShape2D, GodotSegmentShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, segment_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -430,11 +430,11 @@ static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
-	const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b);
+static void _collision_segment_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
+	const GodotCircleShape2D *circle_B = static_cast<const GodotCircleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<SegmentShape2DSW, CircleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotSegmentShape2D, GodotCircleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -463,11 +463,11 @@ static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
-	const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
+static void _collision_segment_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
+	const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<SegmentShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotSegmentShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -534,11 +534,11 @@ static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
-	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
+static void _collision_segment_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
+	const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<SegmentShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotSegmentShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -575,11 +575,11 @@ static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
-	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
+static void _collision_segment_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotSegmentShape2D *segment_A = static_cast<const GodotSegmentShape2D *>(p_a);
+	const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
 
-	SeparatorAxisTest2D<SegmentShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotSegmentShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(segment_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -614,11 +614,11 @@ static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transf
 /////////
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
-	const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW *>(p_b);
+static void _collision_circle_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
+	const GodotCircleShape2D *circle_B = static_cast<const GodotCircleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<CircleShape2DSW, CircleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotCircleShape2D, GodotCircleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, circle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -636,11 +636,11 @@ static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
-	const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
+static void _collision_circle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
+	const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<CircleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotCircleShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -694,11 +694,11 @@ static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
-	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
+static void _collision_circle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
+	const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<CircleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotCircleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -727,11 +727,11 @@ static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
-	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
+static void _collision_circle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotCircleShape2D *circle_A = static_cast<const GodotCircleShape2D *>(p_a);
+	const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
 
-	SeparatorAxisTest2D<CircleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotCircleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(circle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -758,11 +758,11 @@ static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transfo
 /////////
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
-	const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
+static void _collision_rectangle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a);
+	const GodotRectangleShape2D *rectangle_B = static_cast<const GodotRectangleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<RectangleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotRectangleShape2D, GodotRectangleShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -832,11 +832,11 @@ static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
-	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
+static void _collision_rectangle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a);
+	const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<RectangleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotRectangleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -910,11 +910,11 @@ static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
-	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
+static void _collision_rectangle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotRectangleShape2D *rectangle_A = static_cast<const GodotRectangleShape2D *>(p_a);
+	const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
 
-	SeparatorAxisTest2D<RectangleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotRectangleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(rectangle_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -972,11 +972,11 @@ static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Tran
 /////////
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a);
-	const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
+static void _collision_capsule_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotCapsuleShape2D *capsule_A = static_cast<const GodotCapsuleShape2D *>(p_a);
+	const GodotCapsuleShape2D *capsule_B = static_cast<const GodotCapsuleShape2D *>(p_b);
 
-	SeparatorAxisTest2D<CapsuleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotCapsuleShape2D, GodotCapsuleShape2D, castA, castB, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1020,11 +1020,11 @@ static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &
 }
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW *>(p_a);
-	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
+static void _collision_capsule_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotCapsuleShape2D *capsule_A = static_cast<const GodotCapsuleShape2D *>(p_a);
+	const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
 
-	SeparatorAxisTest2D<CapsuleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotCapsuleShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(capsule_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1066,11 +1066,11 @@ static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transf
 /////////
 
 template <bool castA, bool castB, bool withMargin>
-static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
-	const ConvexPolygonShape2DSW *convex_A = static_cast<const ConvexPolygonShape2DSW *>(p_a);
-	const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
+static void _collision_convex_polygon_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) {
+	const GodotConvexPolygonShape2D *convex_A = static_cast<const GodotConvexPolygonShape2D *>(p_a);
+	const GodotConvexPolygonShape2D *convex_B = static_cast<const GodotConvexPolygonShape2D *>(p_b);
 
-	SeparatorAxisTest2D<ConvexPolygonShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
+	SeparatorAxisTest2D<GodotConvexPolygonShape2D, GodotConvexPolygonShape2D, castA, castB, withMargin> separator(convex_A, p_transform_a, convex_B, p_transform_b, p_collector, p_motion_a, p_motion_b, p_margin_A, p_margin_B);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1107,7 +1107,7 @@ static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const
 
 ////////
 
-bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
+bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
 	PhysicsServer2D::ShapeType type_A = p_shape_A->get_type();
 
 	ERR_FAIL_COND_V(type_A == PhysicsServer2D::SHAPE_WORLD_BOUNDARY, false);
@@ -1359,8 +1359,8 @@ bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D
 	callback.collided = false;
 	callback.sep_axis = sep_axis;
 
-	const Shape2DSW *A = p_shape_A;
-	const Shape2DSW *B = p_shape_B;
+	const GodotShape2D *A = p_shape_A;
+	const GodotShape2D *B = p_shape_B;
 	const Transform2D *transform_A = &p_transform_A;
 	const Transform2D *transform_B = &p_transform_B;
 	const Vector2 *motion_A = &p_motion_A;

servers/physics_2d/collision_solver_2d_sat.h → servers/physics_2d/godot_collision_solver_2d_sat.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_2d_sat.h                                            */
+/*  godot_collision_solver_2d_sat.h                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,11 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef COLLISION_SOLVER_2D_SAT_H
-#define COLLISION_SOLVER_2D_SAT_H
+#ifndef GODOT_COLLISION_SOLVER_2D_SAT_H
+#define GODOT_COLLISION_SOLVER_2D_SAT_H
 
-#include "collision_solver_2d_sw.h"
+#include "godot_collision_solver_2d.h"
 
-bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
+bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector2 *sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
 
-#endif // COLLISION_SOLVER_2D_SAT_H
+#endif // GODOT_COLLISION_SOLVER_2D_SAT_H

servers/physics_2d/constraint_2d_sw.h → servers/physics_2d/godot_constraint_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  constraint_2d_sw.h                                                   */
+/*  godot_constraint_2d.h                                                */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,13 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef CONSTRAINT_2D_SW_H
-#define CONSTRAINT_2D_SW_H
+#ifndef GODOT_CONSTRAINT_2D_H
+#define GODOT_CONSTRAINT_2D_H
 
-#include "body_2d_sw.h"
+#include "godot_body_2d.h"
 
-class Constraint2DSW {
-	Body2DSW **_body_ptr;
+class GodotConstraint2D {
+	GodotBody2D **_body_ptr;
 	int _body_count;
 	uint64_t island_step = 0;
 	bool disabled_collisions_between_bodies = true;
@@ -42,7 +42,7 @@ class Constraint2DSW {
 	RID self;
 
 protected:
-	Constraint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) {
+	GodotConstraint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) {
 		_body_ptr = p_body_ptr;
 		_body_count = p_body_count;
 	}
@@ -54,7 +54,7 @@ public:
 	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
 	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
 
-	_FORCE_INLINE_ Body2DSW **get_body_ptr() const { return _body_ptr; }
+	_FORCE_INLINE_ GodotBody2D **get_body_ptr() const { return _body_ptr; }
 	_FORCE_INLINE_ int get_body_count() const { return _body_count; }
 
 	_FORCE_INLINE_ void disable_collisions_between_bodies(const bool p_disabled) { disabled_collisions_between_bodies = p_disabled; }
@@ -64,7 +64,7 @@ public:
 	virtual bool pre_solve(real_t p_step) = 0;
 	virtual void solve(real_t p_step) = 0;
 
-	virtual ~Constraint2DSW() {}
+	virtual ~GodotConstraint2D() {}
 };
 
-#endif // CONSTRAINT_2D_SW_H
+#endif // GODOT_CONSTRAINT_2D_H

servers/physics_2d/joints_2d_sw.cpp → servers/physics_2d/godot_joints_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  joints_2d_sw.cpp                                                     */
+/*  godot_joints_2d.cpp                                                  */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,9 +28,9 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "joints_2d_sw.h"
+#include "godot_joints_2d.h"
 
-#include "space_2d_sw.h"
+#include "godot_space_2d.h"
 
 //based on chipmunk joint constraints
 
@@ -55,7 +55,7 @@
  * SOFTWARE.
  */
 
-void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) {
+void GodotJoint2D::copy_settings_from(GodotJoint2D *p_joint) {
 	set_self(p_joint->get_self());
 	set_max_force(p_joint->get_max_force());
 	set_bias(p_joint->get_bias());
@@ -63,7 +63,7 @@ void Joint2DSW::copy_settings_from(Joint2DSW *p_joint) {
 	disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
 }
 
-static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) {
+static inline real_t k_scalar(GodotBody2D *a, GodotBody2D *b, const Vector2 &rA, const Vector2 &rB, const Vector2 &n) {
 	real_t value = 0.0;
 
 	{
@@ -82,7 +82,7 @@ static inline real_t k_scalar(Body2DSW *a, Body2DSW *b, const Vector2 &rA, const
 }
 
 static inline Vector2
-relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) {
+relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB) {
 	Vector2 sum = a->get_linear_velocity() - (rA - a->get_center_of_mass()).orthogonal() * a->get_angular_velocity();
 	if (b) {
 		return (b->get_linear_velocity() - (rB - b->get_center_of_mass()).orthogonal() * b->get_angular_velocity()) - sum;
@@ -92,11 +92,11 @@ relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB) {
 }
 
 static inline real_t
-normal_relative_velocity(Body2DSW *a, Body2DSW *b, Vector2 rA, Vector2 rB, Vector2 n) {
+normal_relative_velocity(GodotBody2D *a, GodotBody2D *b, Vector2 rA, Vector2 rB, Vector2 n) {
 	return relative_velocity(a, b, rA, rB).dot(n);
 }
 
-bool PinJoint2DSW::setup(real_t p_step) {
+bool GodotPinJoint2D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
 
@@ -104,7 +104,7 @@ bool PinJoint2DSW::setup(real_t p_step) {
 		return false;
 	}
 
-	Space2DSW *space = A->get_space();
+	GodotSpace2D *space = A->get_space();
 	ERR_FAIL_COND_V(!space, false);
 
 	rA = A->get_transform().basis_xform(anchor_A);
@@ -158,7 +158,7 @@ inline Vector2 custom_cross(const Vector2 &p_vec, real_t p_other) {
 	return Vector2(p_other * p_vec.y, -p_other * p_vec.x);
 }
 
-bool PinJoint2DSW::pre_solve(real_t p_step) {
+bool GodotPinJoint2D::pre_solve(real_t p_step) {
 	// Apply accumulated impulse.
 	if (dynamic_A) {
 		A->apply_impulse(-P, rA);
@@ -170,7 +170,7 @@ bool PinJoint2DSW::pre_solve(real_t p_step) {
 	return true;
 }
 
-void PinJoint2DSW::solve(real_t p_step) {
+void GodotPinJoint2D::solve(real_t p_step) {
 	// compute relative velocity
 	Vector2 vA = A->get_linear_velocity() - custom_cross(rA - A->get_center_of_mass(), A->get_angular_velocity());
 
@@ -193,21 +193,21 @@ void PinJoint2DSW::solve(real_t p_step) {
 	P += impulse;
 }
 
-void PinJoint2DSW::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) {
+void GodotPinJoint2D::set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value) {
 	if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
 		softness = p_value;
 	}
 }
 
-real_t PinJoint2DSW::get_param(PhysicsServer2D::PinJointParam p_param) const {
+real_t GodotPinJoint2D::get_param(PhysicsServer2D::PinJointParam p_param) const {
 	if (p_param == PhysicsServer2D::PIN_JOINT_SOFTNESS) {
 		return softness;
 	}
 	ERR_FAIL_V(0);
 }
 
-PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b) :
-		Joint2DSW(_arr, p_body_b ? 2 : 1) {
+GodotPinJoint2D::GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b) :
+		GodotJoint2D(_arr, p_body_b ? 2 : 1) {
 	A = p_body_a;
 	B = p_body_b;
 	anchor_A = p_body_a->get_inv_transform().xform(p_pos);
@@ -224,7 +224,7 @@ PinJoint2DSW::PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p
 //////////////////////////////////////////////
 
 static inline void
-k_tensor(Body2DSW *a, Body2DSW *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) {
+k_tensor(GodotBody2D *a, GodotBody2D *b, Vector2 r1, Vector2 r2, Vector2 *k1, Vector2 *k2) {
 	// calculate mass matrix
 	// If I wasn't lazy and wrote a proper matrix class, this wouldn't be so gross...
 	real_t k11, k12, k21, k22;
@@ -273,7 +273,7 @@ mult_k(const Vector2 &vr, const Vector2 &k1, const Vector2 &k2) {
 	return Vector2(vr.dot(k1), vr.dot(k2));
 }
 
-bool GrooveJoint2DSW::setup(real_t p_step) {
+bool GodotGrooveJoint2D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
 
@@ -281,7 +281,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
 		return false;
 	}
 
-	Space2DSW *space = A->get_space();
+	GodotSpace2D *space = A->get_space();
 	ERR_FAIL_COND_V(!space, false);
 
 	// calculate endpoints in worldspace
@@ -329,7 +329,7 @@ bool GrooveJoint2DSW::setup(real_t p_step) {
 	return true;
 }
 
-bool GrooveJoint2DSW::pre_solve(real_t p_step) {
+bool GodotGrooveJoint2D::pre_solve(real_t p_step) {
 	// Apply accumulated impulse.
 	if (dynamic_A) {
 		A->apply_impulse(-jn_acc, rA);
@@ -341,7 +341,7 @@ bool GrooveJoint2DSW::pre_solve(real_t p_step) {
 	return true;
 }
 
-void GrooveJoint2DSW::solve(real_t p_step) {
+void GodotGrooveJoint2D::solve(real_t p_step) {
 	// compute impulse
 	Vector2 vr = relative_velocity(A, B, rA, rB);
 
@@ -361,8 +361,8 @@ void GrooveJoint2DSW::solve(real_t p_step) {
 	}
 }
 
-GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b) :
-		Joint2DSW(_arr, 2) {
+GodotGrooveJoint2D::GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b) :
+		GodotJoint2D(_arr, 2) {
 	A = p_body_a;
 	B = p_body_b;
 
@@ -379,7 +379,7 @@ GrooveJoint2DSW::GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_
 //////////////////////////////////////////////
 //////////////////////////////////////////////
 
-bool DampedSpringJoint2DSW::setup(real_t p_step) {
+bool GodotDampedSpringJoint2D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC);
 
@@ -412,7 +412,7 @@ bool DampedSpringJoint2DSW::setup(real_t p_step) {
 	return true;
 }
 
-bool DampedSpringJoint2DSW::pre_solve(real_t p_step) {
+bool GodotDampedSpringJoint2D::pre_solve(real_t p_step) {
 	// Apply spring force.
 	if (dynamic_A) {
 		A->apply_impulse(-j, rA);
@@ -424,7 +424,7 @@ bool DampedSpringJoint2DSW::pre_solve(real_t p_step) {
 	return true;
 }
 
-void DampedSpringJoint2DSW::solve(real_t p_step) {
+void GodotDampedSpringJoint2D::solve(real_t p_step) {
 	// compute relative velocity
 	real_t vrn = normal_relative_velocity(A, B, rA, rB, n) - target_vrn;
 
@@ -442,7 +442,7 @@ void DampedSpringJoint2DSW::solve(real_t p_step) {
 	}
 }
 
-void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
+void GodotDampedSpringJoint2D::set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
 			rest_length = p_value;
@@ -456,7 +456,7 @@ void DampedSpringJoint2DSW::set_param(PhysicsServer2D::DampedSpringParam p_param
 	}
 }
 
-real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_param) const {
+real_t GodotDampedSpringJoint2D::get_param(PhysicsServer2D::DampedSpringParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer2D::DAMPED_SPRING_REST_LENGTH: {
 			return rest_length;
@@ -472,8 +472,8 @@ real_t DampedSpringJoint2DSW::get_param(PhysicsServer2D::DampedSpringParam p_par
 	ERR_FAIL_V(0);
 }
 
-DampedSpringJoint2DSW::DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b) :
-		Joint2DSW(_arr, 2) {
+GodotDampedSpringJoint2D::GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b) :
+		GodotJoint2D(_arr, 2) {
 	A = p_body_a;
 	B = p_body_b;
 	anchor_A = A->get_inv_transform().xform(p_anchor_a);

servers/physics_2d/joints_2d_sw.h → servers/physics_2d/godot_joints_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  joints_2d_sw.h                                                       */
+/*  godot_joints_2d.h                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,13 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef JOINTS_2D_SW_H
-#define JOINTS_2D_SW_H
+#ifndef GODOT_JOINTS_2D_H
+#define GODOT_JOINTS_2D_H
 
-#include "body_2d_sw.h"
-#include "constraint_2d_sw.h"
+#include "godot_body_2d.h"
+#include "godot_constraint_2d.h"
 
-class Joint2DSW : public Constraint2DSW {
+class GodotJoint2D : public GodotConstraint2D {
 	real_t bias = 0;
 	real_t max_bias = 3.40282e+38;
 	real_t max_force = 3.40282e+38;
@@ -57,15 +57,15 @@ public:
 	virtual bool pre_solve(real_t p_step) override { return false; }
 	virtual void solve(real_t p_step) override {}
 
-	void copy_settings_from(Joint2DSW *p_joint);
+	void copy_settings_from(GodotJoint2D *p_joint);
 
 	virtual PhysicsServer2D::JointType get_type() const { return PhysicsServer2D::JOINT_TYPE_MAX; }
-	Joint2DSW(Body2DSW **p_body_ptr = nullptr, int p_body_count = 0) :
-			Constraint2DSW(p_body_ptr, p_body_count) {}
+	GodotJoint2D(GodotBody2D **p_body_ptr = nullptr, int p_body_count = 0) :
+			GodotConstraint2D(p_body_ptr, p_body_count) {}
 
-	virtual ~Joint2DSW() {
+	virtual ~GodotJoint2D() {
 		for (int i = 0; i < get_body_count(); i++) {
-			Body2DSW *body = get_body_ptr()[i];
+			GodotBody2D *body = get_body_ptr()[i];
 			if (body) {
 				body->remove_constraint(this, i);
 			}
@@ -73,14 +73,14 @@ public:
 	};
 };
 
-class PinJoint2DSW : public Joint2DSW {
+class GodotPinJoint2D : public GodotJoint2D {
 	union {
 		struct {
-			Body2DSW *A;
-			Body2DSW *B;
+			GodotBody2D *A;
+			GodotBody2D *B;
 		};
 
-		Body2DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody2D *_arr[2] = { nullptr, nullptr };
 	};
 
 	Transform2D M;
@@ -101,17 +101,17 @@ public:
 	void set_param(PhysicsServer2D::PinJointParam p_param, real_t p_value);
 	real_t get_param(PhysicsServer2D::PinJointParam p_param) const;
 
-	PinJoint2DSW(const Vector2 &p_pos, Body2DSW *p_body_a, Body2DSW *p_body_b = nullptr);
+	GodotPinJoint2D(const Vector2 &p_pos, GodotBody2D *p_body_a, GodotBody2D *p_body_b = nullptr);
 };
 
-class GrooveJoint2DSW : public Joint2DSW {
+class GodotGrooveJoint2D : public GodotJoint2D {
 	union {
 		struct {
-			Body2DSW *A;
-			Body2DSW *B;
+			GodotBody2D *A;
+			GodotBody2D *B;
 		};
 
-		Body2DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody2D *_arr[2] = { nullptr, nullptr };
 	};
 
 	Vector2 A_groove_1;
@@ -135,17 +135,17 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	GrooveJoint2DSW(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, Body2DSW *p_body_a, Body2DSW *p_body_b);
+	GodotGrooveJoint2D(const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, GodotBody2D *p_body_a, GodotBody2D *p_body_b);
 };
 
-class DampedSpringJoint2DSW : public Joint2DSW {
+class GodotDampedSpringJoint2D : public GodotJoint2D {
 	union {
 		struct {
-			Body2DSW *A;
-			Body2DSW *B;
+			GodotBody2D *A;
+			GodotBody2D *B;
 		};
 
-		Body2DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody2D *_arr[2] = { nullptr, nullptr };
 	};
 
 	Vector2 anchor_A;
@@ -172,7 +172,7 @@ public:
 	void set_param(PhysicsServer2D::DampedSpringParam p_param, real_t p_value);
 	real_t get_param(PhysicsServer2D::DampedSpringParam p_param) const;
 
-	DampedSpringJoint2DSW(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, Body2DSW *p_body_a, Body2DSW *p_body_b);
+	GodotDampedSpringJoint2D(const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, GodotBody2D *p_body_a, GodotBody2D *p_body_b);
 };
 
-#endif // JOINTS_2D_SW_H
+#endif // GODOT_JOINTS_2D_H

servers/physics_2d/godot_physics_server_2d.cpp

@@ -0,0 +1,1350 @@
+/*************************************************************************/
+/*  godot_physics_server_2d.cpp                                          */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2021 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 "godot_physics_server_2d.h"
+
+#include "godot_body_direct_state_2d.h"
+#include "godot_broad_phase_2d_bvh.h"
+#include "godot_collision_solver_2d.h"
+
+#include "core/config/project_settings.h"
+#include "core/debugger/engine_debugger.h"
+#include "core/os/os.h"
+
+#define FLUSH_QUERY_CHECK(m_object) \
+	ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
+
+RID GodotPhysicsServer2D::_shape_create(ShapeType p_shape) {
+	GodotShape2D *shape = nullptr;
+	switch (p_shape) {
+		case SHAPE_WORLD_BOUNDARY: {
+			shape = memnew(GodotWorldBoundaryShape2D);
+		} break;
+		case SHAPE_SEPARATION_RAY: {
+			shape = memnew(GodotSeparationRayShape2D);
+		} break;
+		case SHAPE_SEGMENT: {
+			shape = memnew(GodotSegmentShape2D);
+		} break;
+		case SHAPE_CIRCLE: {
+			shape = memnew(GodotCircleShape2D);
+		} break;
+		case SHAPE_RECTANGLE: {
+			shape = memnew(GodotRectangleShape2D);
+		} break;
+		case SHAPE_CAPSULE: {
+			shape = memnew(GodotCapsuleShape2D);
+		} break;
+		case SHAPE_CONVEX_POLYGON: {
+			shape = memnew(GodotConvexPolygonShape2D);
+		} break;
+		case SHAPE_CONCAVE_POLYGON: {
+			shape = memnew(GodotConcavePolygonShape2D);
+		} break;
+		case SHAPE_CUSTOM: {
+			ERR_FAIL_V(RID());
+
+		} break;
+	}
+
+	RID id = shape_owner.make_rid(shape);
+	shape->set_self(id);
+
+	return id;
+}
+
+RID GodotPhysicsServer2D::world_boundary_shape_create() {
+	return _shape_create(SHAPE_WORLD_BOUNDARY);
+}
+
+RID GodotPhysicsServer2D::separation_ray_shape_create() {
+	return _shape_create(SHAPE_SEPARATION_RAY);
+}
+
+RID GodotPhysicsServer2D::segment_shape_create() {
+	return _shape_create(SHAPE_SEGMENT);
+}
+
+RID GodotPhysicsServer2D::circle_shape_create() {
+	return _shape_create(SHAPE_CIRCLE);
+}
+
+RID GodotPhysicsServer2D::rectangle_shape_create() {
+	return _shape_create(SHAPE_RECTANGLE);
+}
+
+RID GodotPhysicsServer2D::capsule_shape_create() {
+	return _shape_create(SHAPE_CAPSULE);
+}
+
+RID GodotPhysicsServer2D::convex_polygon_shape_create() {
+	return _shape_create(SHAPE_CONVEX_POLYGON);
+}
+
+RID GodotPhysicsServer2D::concave_polygon_shape_create() {
+	return _shape_create(SHAPE_CONCAVE_POLYGON);
+}
+
+void GodotPhysicsServer2D::shape_set_data(RID p_shape, const Variant &p_data) {
+	GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	shape->set_data(p_data);
+};
+
+void GodotPhysicsServer2D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
+	GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	shape->set_custom_bias(p_bias);
+}
+
+PhysicsServer2D::ShapeType GodotPhysicsServer2D::shape_get_type(RID p_shape) const {
+	const GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
+	return shape->get_type();
+};
+
+Variant GodotPhysicsServer2D::shape_get_data(RID p_shape) const {
+	const GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND_V(!shape, Variant());
+	ERR_FAIL_COND_V(!shape->is_configured(), Variant());
+	return shape->get_data();
+};
+
+real_t GodotPhysicsServer2D::shape_get_custom_solver_bias(RID p_shape) const {
+	const GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND_V(!shape, 0);
+	return shape->get_custom_bias();
+}
+
+void GodotPhysicsServer2D::_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;
+	}
+
+	Vector2 rel_dir = (p_point_A - p_point_B);
+	real_t rel_length2 = rel_dir.length_squared();
+	if (cbk->valid_dir != Vector2()) {
+		if (cbk->valid_depth < 10e20) {
+			if (rel_length2 > cbk->valid_depth * cbk->valid_depth ||
+					(rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) {
+				cbk->invalid_by_dir++;
+				return;
+			}
+		} else {
+			if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) {
+				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;
+			}
+		}
+
+		if (rel_length2 < min_depth) {
+			return;
+		}
+		cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
+		cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
+		cbk->passed++;
+
+	} else {
+		cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
+		cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
+		cbk->amount++;
+		cbk->passed++;
+	}
+}
+
+bool GodotPhysicsServer2D::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) {
+	GodotShape2D *shape_A = shape_owner.get_or_null(p_shape_A);
+	ERR_FAIL_COND_V(!shape_A, false);
+	GodotShape2D *shape_B = shape_owner.get_or_null(p_shape_B);
+	ERR_FAIL_COND_V(!shape_B, false);
+
+	if (p_result_max == 0) {
+		return GodotCollisionSolver2D::solve(shape_A, p_xform_A, p_motion_A, shape_B, p_xform_B, p_motion_B, nullptr, nullptr);
+	}
+
+	CollCbkData cbk;
+	cbk.max = p_result_max;
+	cbk.amount = 0;
+	cbk.passed = 0;
+	cbk.ptr = r_results;
+
+	bool res = GodotCollisionSolver2D::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 GodotPhysicsServer2D::space_create() {
+	GodotSpace2D *space = memnew(GodotSpace2D);
+	RID id = space_owner.make_rid(space);
+	space->set_self(id);
+	RID area_id = area_create();
+	GodotArea2D *area = area_owner.get_or_null(area_id);
+	ERR_FAIL_COND_V(!area, RID());
+	space->set_default_area(area);
+	area->set_space(space);
+	area->set_priority(-1);
+
+	return id;
+};
+
+void GodotPhysicsServer2D::space_set_active(RID p_space, bool p_active) {
+	GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND(!space);
+	if (p_active) {
+		active_spaces.insert(space);
+	} else {
+		active_spaces.erase(space);
+	}
+}
+
+bool GodotPhysicsServer2D::space_is_active(RID p_space) const {
+	const GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, false);
+
+	return active_spaces.has(space);
+}
+
+void GodotPhysicsServer2D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
+	GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND(!space);
+
+	space->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer2D::space_get_param(RID p_space, SpaceParameter p_param) const {
+	const GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, 0);
+	return space->get_param(p_param);
+}
+
+void GodotPhysicsServer2D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
+	GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND(!space);
+	space->set_debug_contacts(p_max_contacts);
+}
+
+Vector<Vector2> GodotPhysicsServer2D::space_get_contacts(RID p_space) const {
+	GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, Vector<Vector2>());
+	return space->get_debug_contacts();
+}
+
+int GodotPhysicsServer2D::space_get_contact_count(RID p_space) const {
+	GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, 0);
+	return space->get_debug_contact_count();
+}
+
+PhysicsDirectSpaceState2D *GodotPhysicsServer2D::space_get_direct_state(RID p_space) {
+	GodotSpace2D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, nullptr);
+	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
+
+	return space->get_direct_state();
+}
+
+RID GodotPhysicsServer2D::area_create() {
+	GodotArea2D *area = memnew(GodotArea2D);
+	RID rid = area_owner.make_rid(area);
+	area->set_self(rid);
+	return rid;
+};
+
+void GodotPhysicsServer2D::area_set_space(RID p_area, RID p_space) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	GodotSpace2D *space = nullptr;
+	if (p_space.is_valid()) {
+		space = space_owner.get_or_null(p_space);
+		ERR_FAIL_COND(!space);
+	}
+
+	if (area->get_space() == space) {
+		return; //pointless
+	}
+
+	area->clear_constraints();
+	area->set_space(space);
+};
+
+RID GodotPhysicsServer2D::area_get_space(RID p_area) const {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, RID());
+
+	GodotSpace2D *space = area->get_space();
+	if (!space) {
+		return RID();
+	}
+	return space->get_self();
+};
+
+void GodotPhysicsServer2D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_space_override_mode(p_mode);
+}
+
+PhysicsServer2D::AreaSpaceOverrideMode GodotPhysicsServer2D::area_get_space_override_mode(RID p_area) const {
+	const GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
+
+	return area->get_space_override_mode();
+}
+
+void GodotPhysicsServer2D::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+
+	area->add_shape(shape, p_transform, p_disabled);
+}
+
+void GodotPhysicsServer2D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	ERR_FAIL_COND(!shape->is_configured());
+
+	area->set_shape(p_shape_idx, shape);
+}
+
+void GodotPhysicsServer2D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_shape_transform(p_shape_idx, p_transform);
+}
+
+void GodotPhysicsServer2D::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	ERR_FAIL_INDEX(p_shape, area->get_shape_count());
+	FLUSH_QUERY_CHECK(area);
+
+	area->set_shape_disabled(p_shape, p_disabled);
+}
+
+int GodotPhysicsServer2D::area_get_shape_count(RID p_area) const {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, -1);
+
+	return area->get_shape_count();
+}
+
+RID GodotPhysicsServer2D::area_get_shape(RID p_area, int p_shape_idx) const {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, RID());
+
+	GodotShape2D *shape = area->get_shape(p_shape_idx);
+	ERR_FAIL_COND_V(!shape, RID());
+
+	return shape->get_self();
+}
+
+Transform2D GodotPhysicsServer2D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, Transform2D());
+
+	return area->get_shape_transform(p_shape_idx);
+}
+
+void GodotPhysicsServer2D::area_remove_shape(RID p_area, int p_shape_idx) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->remove_shape(p_shape_idx);
+}
+
+void GodotPhysicsServer2D::area_clear_shapes(RID p_area) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	while (area->get_shape_count()) {
+		area->remove_shape(0);
+	}
+}
+
+void GodotPhysicsServer2D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
+	if (space_owner.owns(p_area)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_instance_id(p_id);
+}
+
+ObjectID GodotPhysicsServer2D::area_get_object_instance_id(RID p_area) const {
+	if (space_owner.owns(p_area)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, ObjectID());
+	return area->get_instance_id();
+}
+
+void GodotPhysicsServer2D::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) {
+	if (space_owner.owns(p_area)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_canvas_instance_id(p_id);
+}
+
+ObjectID GodotPhysicsServer2D::area_get_canvas_instance_id(RID p_area) const {
+	if (space_owner.owns(p_area)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, ObjectID());
+	return area->get_canvas_instance_id();
+}
+
+void GodotPhysicsServer2D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
+	if (space_owner.owns(p_area)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_param(p_param, p_value);
+};
+
+void GodotPhysicsServer2D::area_set_transform(RID p_area, const Transform2D &p_transform) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_transform(p_transform);
+};
+
+Variant GodotPhysicsServer2D::area_get_param(RID p_area, AreaParameter p_param) const {
+	if (space_owner.owns(p_area)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, Variant());
+
+	return area->get_param(p_param);
+};
+
+Transform2D GodotPhysicsServer2D::area_get_transform(RID p_area) const {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, Transform2D());
+
+	return area->get_transform();
+};
+
+void GodotPhysicsServer2D::area_set_pickable(RID p_area, bool p_pickable) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_pickable(p_pickable);
+}
+
+void GodotPhysicsServer2D::area_set_monitorable(RID p_area, bool p_monitorable) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	FLUSH_QUERY_CHECK(area);
+
+	area->set_monitorable(p_monitorable);
+}
+
+void GodotPhysicsServer2D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_collision_mask(p_mask);
+}
+
+void GodotPhysicsServer2D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_collision_layer(p_layer);
+}
+
+void GodotPhysicsServer2D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
+}
+
+void GodotPhysicsServer2D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
+	GodotArea2D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
+}
+
+/* BODY API */
+
+RID GodotPhysicsServer2D::body_create() {
+	GodotBody2D *body = memnew(GodotBody2D);
+	RID rid = body_owner.make_rid(body);
+	body->set_self(rid);
+	return rid;
+}
+
+void GodotPhysicsServer2D::body_set_space(RID p_body, RID p_space) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	GodotSpace2D *space = nullptr;
+	if (p_space.is_valid()) {
+		space = space_owner.get_or_null(p_space);
+		ERR_FAIL_COND(!space);
+	}
+
+	if (body->get_space() == space) {
+		return; //pointless
+	}
+
+	body->clear_constraint_list();
+	body->set_space(space);
+};
+
+RID GodotPhysicsServer2D::body_get_space(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, RID());
+
+	GodotSpace2D *space = body->get_space();
+	if (!space) {
+		return RID();
+	}
+	return space->get_self();
+};
+
+void GodotPhysicsServer2D::body_set_mode(RID p_body, BodyMode p_mode) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	FLUSH_QUERY_CHECK(body);
+
+	body->set_mode(p_mode);
+};
+
+PhysicsServer2D::BodyMode GodotPhysicsServer2D::body_get_mode(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
+
+	return body->get_mode();
+};
+
+void GodotPhysicsServer2D::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+
+	body->add_shape(shape, p_transform, p_disabled);
+}
+
+void GodotPhysicsServer2D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	GodotShape2D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	ERR_FAIL_COND(!shape->is_configured());
+
+	body->set_shape(p_shape_idx, shape);
+}
+
+void GodotPhysicsServer2D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_shape_transform(p_shape_idx, p_transform);
+}
+
+int GodotPhysicsServer2D::body_get_shape_count(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, -1);
+
+	return body->get_shape_count();
+}
+
+RID GodotPhysicsServer2D::body_get_shape(RID p_body, int p_shape_idx) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, RID());
+
+	GodotShape2D *shape = body->get_shape(p_shape_idx);
+	ERR_FAIL_COND_V(!shape, RID());
+
+	return shape->get_self();
+}
+
+Transform2D GodotPhysicsServer2D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Transform2D());
+
+	return body->get_shape_transform(p_shape_idx);
+}
+
+void GodotPhysicsServer2D::body_remove_shape(RID p_body, int p_shape_idx) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->remove_shape(p_shape_idx);
+}
+
+void GodotPhysicsServer2D::body_clear_shapes(RID p_body) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	while (body->get_shape_count()) {
+		body->remove_shape(0);
+	}
+}
+
+void GodotPhysicsServer2D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
+	FLUSH_QUERY_CHECK(body);
+
+	body->set_shape_disabled(p_shape_idx, p_disabled);
+}
+
+void GodotPhysicsServer2D::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
+	FLUSH_QUERY_CHECK(body);
+
+	body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin);
+}
+
+void GodotPhysicsServer2D::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_continuous_collision_detection_mode(p_mode);
+}
+
+GodotPhysicsServer2D::CCDMode GodotPhysicsServer2D::body_get_continuous_collision_detection_mode(RID p_body) const {
+	const GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED);
+
+	return body->get_continuous_collision_detection_mode();
+}
+
+void GodotPhysicsServer2D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_instance_id(p_id);
+};
+
+ObjectID GodotPhysicsServer2D::body_get_object_instance_id(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, ObjectID());
+
+	return body->get_instance_id();
+};
+
+void GodotPhysicsServer2D::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_canvas_instance_id(p_id);
+};
+
+ObjectID GodotPhysicsServer2D::body_get_canvas_instance_id(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, ObjectID());
+
+	return body->get_canvas_instance_id();
+};
+
+void GodotPhysicsServer2D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_collision_layer(p_layer);
+};
+
+uint32_t GodotPhysicsServer2D::body_get_collision_layer(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_collision_layer();
+};
+
+void GodotPhysicsServer2D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_collision_mask(p_mask);
+};
+
+uint32_t GodotPhysicsServer2D::body_get_collision_mask(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_collision_mask();
+};
+
+void GodotPhysicsServer2D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_param(p_param, p_value);
+};
+
+Variant GodotPhysicsServer2D::body_get_param(RID p_body, BodyParameter p_param) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_param(p_param);
+};
+
+void GodotPhysicsServer2D::body_reset_mass_properties(RID p_body) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	return body->reset_mass_properties();
+}
+
+void GodotPhysicsServer2D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_state(p_state, p_variant);
+};
+
+Variant GodotPhysicsServer2D::body_get_state(RID p_body, BodyState p_state) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Variant());
+
+	return body->get_state(p_state);
+};
+
+void GodotPhysicsServer2D::body_set_applied_force(RID p_body, const Vector2 &p_force) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_applied_force(p_force);
+	body->wakeup();
+};
+
+Vector2 GodotPhysicsServer2D::body_get_applied_force(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Vector2());
+	return body->get_applied_force();
+};
+
+void GodotPhysicsServer2D::body_set_applied_torque(RID p_body, real_t p_torque) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_applied_torque(p_torque);
+	body->wakeup();
+};
+
+real_t GodotPhysicsServer2D::body_get_applied_torque(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_applied_torque();
+};
+
+void GodotPhysicsServer2D::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->apply_central_impulse(p_impulse);
+	body->wakeup();
+}
+
+void GodotPhysicsServer2D::body_apply_torque_impulse(RID p_body, real_t p_torque) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	body->apply_torque_impulse(p_torque);
+	body->wakeup();
+}
+
+void GodotPhysicsServer2D::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	body->apply_impulse(p_impulse, p_position);
+	body->wakeup();
+};
+
+void GodotPhysicsServer2D::body_add_central_force(RID p_body, const Vector2 &p_force) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_central_force(p_force);
+	body->wakeup();
+};
+
+void GodotPhysicsServer2D::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_force(p_force, p_position);
+	body->wakeup();
+};
+
+void GodotPhysicsServer2D::body_add_torque(RID p_body, real_t p_torque) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_torque(p_torque);
+	body->wakeup();
+};
+
+void GodotPhysicsServer2D::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	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 GodotPhysicsServer2D::body_add_collision_exception(RID p_body, RID p_body_b) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_exception(p_body_b);
+	body->wakeup();
+};
+
+void GodotPhysicsServer2D::body_remove_collision_exception(RID p_body, RID p_body_b) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->remove_exception(p_body_b);
+	body->wakeup();
+};
+
+void GodotPhysicsServer2D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
+	GodotBody2D *body = body_owner.get_or_null(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 GodotPhysicsServer2D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+};
+
+real_t GodotPhysicsServer2D::body_get_contacts_reported_depth_threshold(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+	return 0;
+};
+
+void GodotPhysicsServer2D::body_set_omit_force_integration(RID p_body, bool p_omit) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_omit_force_integration(p_omit);
+};
+
+bool GodotPhysicsServer2D::body_is_omitting_force_integration(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, false);
+	return body->get_omit_force_integration();
+};
+
+void GodotPhysicsServer2D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_max_contacts_reported(p_contacts);
+}
+
+int GodotPhysicsServer2D::body_get_max_contacts_reported(RID p_body) const {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, -1);
+	return body->get_max_contacts_reported();
+}
+
+void GodotPhysicsServer2D::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_state_sync_callback(p_instance, p_callback);
+}
+
+void GodotPhysicsServer2D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_force_integration_callback(p_callable, p_udata);
+}
+
+bool GodotPhysicsServer2D::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) {
+	GodotBody2D *body = body_owner.get_or_null(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 GodotPhysicsServer2D::body_set_pickable(RID p_body, bool p_pickable) {
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_pickable(p_pickable);
+}
+
+bool GodotPhysicsServer2D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
+	GodotBody2D *body = body_owner.get_or_null(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);
+
+	_update_shapes();
+
+	return body->get_space()->test_body_motion(body, p_parameters, r_result);
+}
+
+PhysicsDirectBodyState2D *GodotPhysicsServer2D::body_get_direct_state(RID p_body) {
+	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
+
+	GodotBody2D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, nullptr);
+
+	ERR_FAIL_COND_V(!body->get_space(), nullptr);
+	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
+
+	return body->get_direct_state();
+}
+
+/* JOINT API */
+
+RID GodotPhysicsServer2D::joint_create() {
+	GodotJoint2D *joint = memnew(GodotJoint2D);
+	RID joint_rid = joint_owner.make_rid(joint);
+	joint->set_self(joint_rid);
+	return joint_rid;
+}
+
+void GodotPhysicsServer2D::joint_clear(RID p_joint) {
+	GodotJoint2D *joint = joint_owner.get_or_null(p_joint);
+	if (joint->get_type() != JOINT_TYPE_MAX) {
+		GodotJoint2D *empty_joint = memnew(GodotJoint2D);
+		empty_joint->copy_settings_from(joint);
+
+		joint_owner.replace(p_joint, empty_joint);
+		memdelete(joint);
+	}
+}
+
+void GodotPhysicsServer2D::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
+	GodotJoint2D *joint = joint_owner.get_or_null(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 GodotPhysicsServer2D::joint_get_param(RID p_joint, JointParam p_param) const {
+	const GodotJoint2D *joint = joint_owner.get_or_null(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 GodotPhysicsServer2D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+	GodotJoint2D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+
+	joint->disable_collisions_between_bodies(p_disable);
+
+	if (2 == joint->get_body_count()) {
+		GodotBody2D *body_a = *joint->get_body_ptr();
+		GodotBody2D *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 GodotPhysicsServer2D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+	const GodotJoint2D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, true);
+
+	return joint->is_disabled_collisions_between_bodies();
+}
+
+void GodotPhysicsServer2D::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) {
+	GodotBody2D *A = body_owner.get_or_null(p_body_a);
+	ERR_FAIL_COND(!A);
+	GodotBody2D *B = nullptr;
+	if (body_owner.owns(p_body_b)) {
+		B = body_owner.get_or_null(p_body_b);
+		ERR_FAIL_COND(!B);
+	}
+
+	GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint2D *joint = memnew(GodotPinJoint2D(p_pos, A, B));
+
+	joint_owner.replace(p_joint, joint);
+	joint->copy_settings_from(prev_joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer2D::joint_make_groove(RID p_joint, const Vector2 &p_a_groove1, const Vector2 &p_a_groove2, const Vector2 &p_b_anchor, RID p_body_a, RID p_body_b) {
+	GodotBody2D *A = body_owner.get_or_null(p_body_a);
+	ERR_FAIL_COND(!A);
+
+	GodotBody2D *B = body_owner.get_or_null(p_body_b);
+	ERR_FAIL_COND(!B);
+
+	GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint2D *joint = memnew(GodotGrooveJoint2D(p_a_groove1, p_a_groove2, p_b_anchor, A, B));
+
+	joint_owner.replace(p_joint, joint);
+	joint->copy_settings_from(prev_joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer2D::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) {
+	GodotBody2D *A = body_owner.get_or_null(p_body_a);
+	ERR_FAIL_COND(!A);
+
+	GodotBody2D *B = body_owner.get_or_null(p_body_b);
+	ERR_FAIL_COND(!B);
+
+	GodotJoint2D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint2D *joint = memnew(GodotDampedSpringJoint2D(p_anchor_a, p_anchor_b, A, B));
+
+	joint_owner.replace(p_joint, joint);
+	joint->copy_settings_from(prev_joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer2D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
+	GodotJoint2D *j = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!j);
+	ERR_FAIL_COND(j->get_type() != JOINT_TYPE_PIN);
+
+	GodotPinJoint2D *pin_joint = static_cast<GodotPinJoint2D *>(j);
+	pin_joint->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer2D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
+	GodotJoint2D *j = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!j, 0);
+	ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_PIN, 0);
+
+	GodotPinJoint2D *pin_joint = static_cast<GodotPinJoint2D *>(j);
+	return pin_joint->get_param(p_param);
+}
+
+void GodotPhysicsServer2D::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) {
+	GodotJoint2D *j = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!j);
+	ERR_FAIL_COND(j->get_type() != JOINT_TYPE_DAMPED_SPRING);
+
+	GodotDampedSpringJoint2D *dsj = static_cast<GodotDampedSpringJoint2D *>(j);
+	dsj->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer2D::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const {
+	GodotJoint2D *j = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!j, 0);
+	ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_DAMPED_SPRING, 0);
+
+	GodotDampedSpringJoint2D *dsj = static_cast<GodotDampedSpringJoint2D *>(j);
+	return dsj->get_param(p_param);
+}
+
+PhysicsServer2D::JointType GodotPhysicsServer2D::joint_get_type(RID p_joint) const {
+	GodotJoint2D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN);
+
+	return joint->get_type();
+}
+
+void GodotPhysicsServer2D::free(RID p_rid) {
+	_update_shapes(); // just in case
+
+	if (shape_owner.owns(p_rid)) {
+		GodotShape2D *shape = shape_owner.get_or_null(p_rid);
+
+		while (shape->get_owners().size()) {
+			GodotShapeOwner2D *so = shape->get_owners().front()->key();
+			so->remove_shape(shape);
+		}
+
+		shape_owner.free(p_rid);
+		memdelete(shape);
+	} else if (body_owner.owns(p_rid)) {
+		GodotBody2D *body = body_owner.get_or_null(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)) {
+		GodotArea2D *area = area_owner.get_or_null(p_rid);
+
+		/*
+		if (area->get_monitor_query())
+			_clear_query(area->get_monitor_query());
+		*/
+
+		area->set_space(nullptr);
+
+		while (area->get_shape_count()) {
+			area->remove_shape(0);
+		}
+
+		area_owner.free(p_rid);
+		memdelete(area);
+	} else if (space_owner.owns(p_rid)) {
+		GodotSpace2D *space = space_owner.get_or_null(p_rid);
+
+		while (space->get_objects().size()) {
+			GodotCollisionObject2D *co = (GodotCollisionObject2D *)space->get_objects().front()->get();
+			co->set_space(nullptr);
+		}
+
+		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)) {
+		GodotJoint2D *joint = joint_owner.get_or_null(p_rid);
+
+		joint_owner.free(p_rid);
+		memdelete(joint);
+
+	} else {
+		ERR_FAIL_MSG("Invalid ID.");
+	}
+};
+
+void GodotPhysicsServer2D::set_active(bool p_active) {
+	active = p_active;
+};
+
+void GodotPhysicsServer2D::set_collision_iterations(int p_iterations) {
+	iterations = p_iterations;
+};
+
+void GodotPhysicsServer2D::init() {
+	doing_sync = false;
+	iterations = 8; // 8?
+	stepper = memnew(GodotStep2D);
+};
+
+void GodotPhysicsServer2D::step(real_t p_step) {
+	if (!active) {
+		return;
+	}
+
+	_update_shapes();
+
+	island_count = 0;
+	active_objects = 0;
+	collision_pairs = 0;
+	for (Set<const GodotSpace2D *>::Element *E = active_spaces.front(); E; E = E->next()) {
+		stepper->step((GodotSpace2D *)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 GodotPhysicsServer2D::sync() {
+	doing_sync = true;
+};
+
+void GodotPhysicsServer2D::flush_queries() {
+	if (!active) {
+		return;
+	}
+
+	flushing_queries = true;
+
+	uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
+
+	for (Set<const GodotSpace2D *>::Element *E = active_spaces.front(); E; E = E->next()) {
+		GodotSpace2D *space = (GodotSpace2D *)E->get();
+		space->call_queries();
+	}
+
+	flushing_queries = false;
+
+	if (EngineDebugger::is_profiling("servers")) {
+		uint64_t total_time[GodotSpace2D::ELAPSED_TIME_MAX];
+		static const char *time_name[GodotSpace2D::ELAPSED_TIME_MAX] = {
+			"integrate_forces",
+			"generate_islands",
+			"setup_constraints",
+			"solve_constraints",
+			"integrate_velocities"
+		};
+
+		for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) {
+			total_time[i] = 0;
+		}
+
+		for (Set<const GodotSpace2D *>::Element *E = active_spaces.front(); E; E = E->next()) {
+			for (int i = 0; i < GodotSpace2D::ELAPSED_TIME_MAX; i++) {
+				total_time[i] += E->get()->get_elapsed_time(GodotSpace2D::ElapsedTime(i));
+			}
+		}
+
+		Array values;
+		values.resize(GodotSpace2D::ELAPSED_TIME_MAX * 2);
+		for (int i = 0; i < GodotSpace2D::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));
+
+		values.push_front("physics_2d");
+		EngineDebugger::profiler_add_frame_data("servers", values);
+	}
+}
+
+void GodotPhysicsServer2D::end_sync() {
+	doing_sync = false;
+}
+
+void GodotPhysicsServer2D::finish() {
+	memdelete(stepper);
+};
+
+void GodotPhysicsServer2D::_update_shapes() {
+	while (pending_shape_update_list.first()) {
+		pending_shape_update_list.first()->self()->_shape_changed();
+		pending_shape_update_list.remove(pending_shape_update_list.first());
+	}
+}
+
+int GodotPhysicsServer2D::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;
+}
+
+GodotPhysicsServer2D *GodotPhysicsServer2D::godot_singleton = nullptr;
+
+GodotPhysicsServer2D::GodotPhysicsServer2D(bool p_using_threads) {
+	godot_singleton = this;
+	GodotBroadPhase2D::create_func = GodotBroadPhase2DBVH::_create;
+
+	using_threads = p_using_threads;
+};

servers/physics_2d/physics_server_2d_sw.h → servers/physics_2d/godot_physics_server_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  physics_server_2d_sw.h                                               */
+/*  godot_physics_server_2d.h                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,21 +28,22 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef PHYSICS_2D_SERVER_SW
-#define PHYSICS_2D_SERVER_SW
+#ifndef GODOT_PHYSICS_SERVER_2D_H
+#define GODOT_PHYSICS_SERVER_2D_H
+
+#include "godot_joints_2d.h"
+#include "godot_shape_2d.h"
+#include "godot_space_2d.h"
+#include "godot_step_2d.h"
 
 #include "core/templates/rid_owner.h"
-#include "joints_2d_sw.h"
 #include "servers/physics_server_2d.h"
-#include "shape_2d_sw.h"
-#include "space_2d_sw.h"
-#include "step_2d_sw.h"
 
-class PhysicsServer2DSW : public PhysicsServer2D {
-	GDCLASS(PhysicsServer2DSW, PhysicsServer2D);
+class GodotPhysicsServer2D : public PhysicsServer2D {
+	GDCLASS(GodotPhysicsServer2D, PhysicsServer2D);
 
-	friend class PhysicsDirectSpaceState2DSW;
-	friend class PhysicsDirectBodyState2DSW;
+	friend class GodotPhysicsDirectSpaceState2D;
+	friend class GodotPhysicsDirectBodyState2D;
 	bool active = true;
 	int iterations = 0;
 	bool doing_sync = false;
@@ -55,20 +56,19 @@ class PhysicsServer2DSW : public PhysicsServer2D {
 
 	bool flushing_queries = false;
 
-	Step2DSW *stepper = nullptr;
-	Set<const Space2DSW *> active_spaces;
+	GodotStep2D *stepper = nullptr;
+	Set<const GodotSpace2D *> active_spaces;
 
-	mutable RID_PtrOwner<Shape2DSW, true> shape_owner;
-	mutable RID_PtrOwner<Space2DSW, true> space_owner;
-	mutable RID_PtrOwner<Area2DSW, true> area_owner;
-	mutable RID_PtrOwner<Body2DSW, true> body_owner;
-	mutable RID_PtrOwner<Joint2DSW, true> joint_owner;
+	mutable RID_PtrOwner<GodotShape2D, true> shape_owner;
+	mutable RID_PtrOwner<GodotSpace2D, true> space_owner;
+	mutable RID_PtrOwner<GodotArea2D, true> area_owner;
+	mutable RID_PtrOwner<GodotBody2D, true> body_owner;
+	mutable RID_PtrOwner<GodotJoint2D, true> joint_owner;
 
-	static PhysicsServer2DSW *singletonsw;
+	static GodotPhysicsServer2D *godot_singleton;
 
-	//void _clear_query(Query2DSW *p_query);
-	friend class CollisionObject2DSW;
-	SelfList<CollisionObject2DSW>::List pending_shape_update_list;
+	friend class GodotCollisionObject2D;
+	SelfList<GodotCollisionObject2D>::List pending_shape_update_list;
 	void _update_shapes();
 
 	RID _shape_create(ShapeType p_shape);
@@ -292,8 +292,8 @@ public:
 
 	int get_process_info(ProcessInfo p_info) override;
 
-	PhysicsServer2DSW(bool p_using_threads = false);
-	~PhysicsServer2DSW() {}
+	GodotPhysicsServer2D(bool p_using_threads = false);
+	~GodotPhysicsServer2D() {}
 };
 
-#endif
+#endif // GODOT_PHYSICS_SERVER_2D_H

servers/physics_2d/shape_2d_sw.cpp → servers/physics_2d/godot_shape_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  shape_2d_sw.cpp                                                      */
+/*  godot_shape_2d.cpp                                                   */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,29 +28,29 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "shape_2d_sw.h"
+#include "godot_shape_2d.h"
 
 #include "core/math/geometry_2d.h"
 #include "core/templates/sort_array.h"
 
-void Shape2DSW::configure(const Rect2 &p_aabb) {
+void GodotShape2D::configure(const Rect2 &p_aabb) {
 	aabb = p_aabb;
 	configured = true;
-	for (const KeyValue<ShapeOwner2DSW *, int> &E : owners) {
-		ShapeOwner2DSW *co = (ShapeOwner2DSW *)E.key;
+	for (const KeyValue<GodotShapeOwner2D *, int> &E : owners) {
+		GodotShapeOwner2D *co = (GodotShapeOwner2D *)E.key;
 		co->_shape_changed();
 	}
 }
 
-Vector2 Shape2DSW::get_support(const Vector2 &p_normal) const {
+Vector2 GodotShape2D::get_support(const Vector2 &p_normal) const {
 	Vector2 res[2];
 	int amnt;
 	get_supports(p_normal, res, amnt);
 	return res[0];
 }
 
-void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) {
-	Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner);
+void GodotShape2D::add_owner(GodotShapeOwner2D *p_owner) {
+	Map<GodotShapeOwner2D *, int>::Element *E = owners.find(p_owner);
 	if (E) {
 		E->get()++;
 	} else {
@@ -58,8 +58,8 @@ void Shape2DSW::add_owner(ShapeOwner2DSW *p_owner) {
 	}
 }
 
-void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) {
-	Map<ShapeOwner2DSW *, int>::Element *E = owners.find(p_owner);
+void GodotShape2D::remove_owner(GodotShapeOwner2D *p_owner) {
+	Map<GodotShapeOwner2D *, int>::Element *E = owners.find(p_owner);
 	ERR_FAIL_COND(!E);
 	E->get()--;
 	if (E->get() == 0) {
@@ -67,15 +67,15 @@ void Shape2DSW::remove_owner(ShapeOwner2DSW *p_owner) {
 	}
 }
 
-bool Shape2DSW::is_owner(ShapeOwner2DSW *p_owner) const {
+bool GodotShape2D::is_owner(GodotShapeOwner2D *p_owner) const {
 	return owners.has(p_owner);
 }
 
-const Map<ShapeOwner2DSW *, int> &Shape2DSW::get_owners() const {
+const Map<GodotShapeOwner2D *, int> &GodotShape2D::get_owners() const {
 	return owners;
 }
 
-Shape2DSW::~Shape2DSW() {
+GodotShape2D::~GodotShape2D() {
 	ERR_FAIL_COND(owners.size());
 }
 
@@ -83,15 +83,15 @@ Shape2DSW::~Shape2DSW() {
 /*********************************************************/
 /*********************************************************/
 
-void WorldBoundaryShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotWorldBoundaryShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	r_amount = 0;
 }
 
-bool WorldBoundaryShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotWorldBoundaryShape2D::contains_point(const Vector2 &p_point) const {
 	return normal.dot(p_point) < d;
 }
 
-bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotWorldBoundaryShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	Vector2 segment = p_begin - p_end;
 	real_t den = normal.dot(segment);
 
@@ -113,11 +113,11 @@ bool WorldBoundaryShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec
 	return true;
 }
 
-real_t WorldBoundaryShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotWorldBoundaryShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	return 0;
 }
 
-void WorldBoundaryShape2DSW::set_data(const Variant &p_data) {
+void GodotWorldBoundaryShape2D::set_data(const Variant &p_data) {
 	ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY);
 	Array arr = p_data;
 	ERR_FAIL_COND(arr.size() != 2);
@@ -126,7 +126,7 @@ void WorldBoundaryShape2DSW::set_data(const Variant &p_data) {
 	configure(Rect2(Vector2(-1e4, -1e4), Vector2(1e4 * 2, 1e4 * 2)));
 }
 
-Variant WorldBoundaryShape2DSW::get_data() const {
+Variant GodotWorldBoundaryShape2D::get_data() const {
 	Array arr;
 	arr.resize(2);
 	arr[0] = normal;
@@ -138,7 +138,7 @@ Variant WorldBoundaryShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void SeparationRayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotSeparationRayShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	r_amount = 1;
 
 	if (p_normal.y > 0) {
@@ -148,26 +148,26 @@ void SeparationRayShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su
 	}
 }
 
-bool SeparationRayShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotSeparationRayShape2D::contains_point(const Vector2 &p_point) const {
 	return false;
 }
 
-bool SeparationRayShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotSeparationRayShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	return false; //rays can't be intersected
 }
 
-real_t SeparationRayShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotSeparationRayShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	return 0; //rays are mass-less
 }
 
-void SeparationRayShape2DSW::set_data(const Variant &p_data) {
+void GodotSeparationRayShape2D::set_data(const Variant &p_data) {
 	Dictionary d = p_data;
 	length = d["length"];
 	slide_on_slope = d["slide_on_slope"];
 	configure(Rect2(0, 0, 0.001, length));
 }
 
-Variant SeparationRayShape2DSW::get_data() const {
+Variant GodotSeparationRayShape2D::get_data() const {
 	Dictionary d;
 	d["length"] = length;
 	d["slide_on_slope"] = slide_on_slope;
@@ -178,7 +178,7 @@ Variant SeparationRayShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotSegmentShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	if (Math::abs(p_normal.dot(n)) > _SEGMENT_IS_VALID_SUPPORT_THRESHOLD) {
 		r_supports[0] = a;
 		r_supports[1] = b;
@@ -195,11 +195,11 @@ void SegmentShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports
 	r_amount = 1;
 }
 
-bool SegmentShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotSegmentShape2D::contains_point(const Vector2 &p_point) const {
 	return false;
 }
 
-bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotSegmentShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	if (!Geometry2D::segment_intersects_segment(p_begin, p_end, a, b, &r_point)) {
 		return false;
 	}
@@ -213,11 +213,11 @@ bool SegmentShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
 	return true;
 }
 
-real_t SegmentShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotSegmentShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	return p_mass * ((a * p_scale).distance_squared_to(b * p_scale)) / 12;
 }
 
-void SegmentShape2DSW::set_data(const Variant &p_data) {
+void GodotSegmentShape2D::set_data(const Variant &p_data) {
 	ERR_FAIL_COND(p_data.get_type() != Variant::RECT2);
 
 	Rect2 r = p_data;
@@ -237,7 +237,7 @@ void SegmentShape2DSW::set_data(const Variant &p_data) {
 	configure(aabb);
 }
 
-Variant SegmentShape2DSW::get_data() const {
+Variant GodotSegmentShape2D::get_data() const {
 	Rect2 r;
 	r.position = a;
 	r.size = b;
@@ -248,16 +248,16 @@ Variant SegmentShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void CircleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotCircleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	r_amount = 1;
 	*r_supports = p_normal * radius;
 }
 
-bool CircleShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotCircleShape2D::contains_point(const Vector2 &p_point) const {
 	return p_point.length_squared() < radius * radius;
 }
 
-bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotCircleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	Vector2 line_vec = p_end - p_begin;
 
 	real_t a, b, c;
@@ -283,19 +283,19 @@ bool CircleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p
 	return true;
 }
 
-real_t CircleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotCircleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	real_t a = radius * p_scale.x;
 	real_t b = radius * p_scale.y;
 	return p_mass * (a * a + b * b) / 4;
 }
 
-void CircleShape2DSW::set_data(const Variant &p_data) {
+void GodotCircleShape2D::set_data(const Variant &p_data) {
 	ERR_FAIL_COND(!p_data.is_num());
 	radius = p_data;
 	configure(Rect2(-radius, -radius, radius * 2, radius * 2));
 }
 
-Variant CircleShape2DSW::get_data() const {
+Variant GodotCircleShape2D::get_data() const {
 	return radius;
 }
 
@@ -303,7 +303,7 @@ Variant CircleShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotRectangleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	for (int i = 0; i < 2; i++) {
 		Vector2 ag;
 		ag[i] = 1.0;
@@ -333,7 +333,7 @@ void RectangleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_suppor
 			(p_normal.y < 0) ? -half_extents.y : half_extents.y);
 }
 
-bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotRectangleShape2D::contains_point(const Vector2 &p_point) const {
 	real_t x = p_point.x;
 	real_t y = p_point.y;
 	real_t edge_x = half_extents.x;
@@ -341,23 +341,23 @@ bool RectangleShape2DSW::contains_point(const Vector2 &p_point) const {
 	return (x >= -edge_x) && (x < edge_x) && (y >= -edge_y) && (y < edge_y);
 }
 
-bool RectangleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotRectangleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	return get_aabb().intersects_segment(p_begin, p_end, &r_point, &r_normal);
 }
 
-real_t RectangleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotRectangleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	Vector2 he2 = half_extents * 2 * p_scale;
 	return p_mass * he2.dot(he2) / 12.0;
 }
 
-void RectangleShape2DSW::set_data(const Variant &p_data) {
+void GodotRectangleShape2D::set_data(const Variant &p_data) {
 	ERR_FAIL_COND(p_data.get_type() != Variant::VECTOR2);
 
 	half_extents = p_data;
 	configure(Rect2(-half_extents, half_extents * 2.0));
 }
 
-Variant RectangleShape2DSW::get_data() const {
+Variant GodotRectangleShape2D::get_data() const {
 	return half_extents;
 }
 
@@ -365,7 +365,7 @@ Variant RectangleShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotCapsuleShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	Vector2 n = p_normal;
 
 	real_t d = n.y;
@@ -392,7 +392,7 @@ void CapsuleShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports
 	}
 }
 
-bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotCapsuleShape2D::contains_point(const Vector2 &p_point) const {
 	Vector2 p = p_point;
 	p.y = Math::abs(p.y);
 	p.y -= height * 0.5 - radius;
@@ -403,7 +403,7 @@ bool CapsuleShape2DSW::contains_point(const Vector2 &p_point) const {
 	return p.length_squared() < radius * radius;
 }
 
-bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotCapsuleShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	real_t d = 1e10;
 	Vector2 n = (p_end - p_begin).normalized();
 	bool collided = false;
@@ -463,12 +463,12 @@ bool CapsuleShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &
 	return collided; //todo
 }
 
-real_t CapsuleShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotCapsuleShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	Vector2 he2 = Vector2(radius * 2, height) * p_scale;
 	return p_mass * he2.dot(he2) / 12.0;
 }
 
-void CapsuleShape2DSW::set_data(const Variant &p_data) {
+void GodotCapsuleShape2D::set_data(const Variant &p_data) {
 	ERR_FAIL_COND(p_data.get_type() != Variant::ARRAY && p_data.get_type() != Variant::VECTOR2);
 
 	if (p_data.get_type() == Variant::ARRAY) {
@@ -486,7 +486,7 @@ void CapsuleShape2DSW::set_data(const Variant &p_data) {
 	configure(Rect2(-he, he * 2));
 }
 
-Variant CapsuleShape2DSW::get_data() const {
+Variant GodotCapsuleShape2D::get_data() const {
 	return Point2(height, radius);
 }
 
@@ -494,7 +494,7 @@ Variant CapsuleShape2DSW::get_data() const {
 /*********************************************************/
 /*********************************************************/
 
-void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotConvexPolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	int support_idx = -1;
 	real_t d = -1e10;
 	r_amount = 0;
@@ -522,7 +522,7 @@ void ConvexPolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_su
 	r_supports[0] = points[support_idx].pos;
 }
 
-bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotConvexPolygonShape2D::contains_point(const Vector2 &p_point) const {
 	bool out = false;
 	bool in = false;
 
@@ -538,7 +538,7 @@ bool ConvexPolygonShape2DSW::contains_point(const Vector2 &p_point) const {
 	return in != out;
 }
 
-bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotConvexPolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	Vector2 n = (p_end - p_begin).normalized();
 	real_t d = 1e10;
 	bool inters = false;
@@ -568,7 +568,7 @@ bool ConvexPolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vec
 	return inters;
 }
 
-real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
+real_t GodotConvexPolygonShape2D::get_moment_of_inertia(real_t p_mass, const Size2 &p_scale) const {
 	ERR_FAIL_COND_V_MSG(point_count == 0, 0, "Convex polygon shape has no points.");
 	Rect2 aabb;
 	aabb.position = points[0].pos * p_scale;
@@ -579,7 +579,7 @@ real_t ConvexPolygonShape2DSW::get_moment_of_inertia(real_t p_mass, const Size2
 	return p_mass * aabb.size.dot(aabb.size) / 12.0;
 }
 
-void ConvexPolygonShape2DSW::set_data(const Variant &p_data) {
+void GodotConvexPolygonShape2D::set_data(const Variant &p_data) {
 #ifdef REAL_T_IS_DOUBLE
 	ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY);
 #else
@@ -635,7 +635,7 @@ void ConvexPolygonShape2DSW::set_data(const Variant &p_data) {
 	configure(aabb);
 }
 
-Variant ConvexPolygonShape2DSW::get_data() const {
+Variant GodotConvexPolygonShape2D::get_data() const {
 	Vector<Vector2> dvr;
 
 	dvr.resize(point_count);
@@ -647,7 +647,7 @@ Variant ConvexPolygonShape2DSW::get_data() const {
 	return dvr;
 }
 
-ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() {
+GodotConvexPolygonShape2D::~GodotConvexPolygonShape2D() {
 	if (points) {
 		memdelete_arr(points);
 	}
@@ -655,7 +655,7 @@ ConvexPolygonShape2DSW::~ConvexPolygonShape2DSW() {
 
 //////////////////////////////////////////////////
 
-void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
+void GodotConcavePolygonShape2D::get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const {
 	real_t d = -1e10;
 	int idx = -1;
 	for (int i = 0; i < points.size(); i++) {
@@ -671,11 +671,11 @@ void ConcavePolygonShape2DSW::get_supports(const Vector2 &p_normal, Vector2 *r_s
 	*r_supports = points[idx];
 }
 
-bool ConcavePolygonShape2DSW::contains_point(const Vector2 &p_point) const {
+bool GodotConcavePolygonShape2D::contains_point(const Vector2 &p_point) const {
 	return false; //sorry
 }
 
-bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
+bool GodotConcavePolygonShape2D::intersect_segment(const Vector2 &p_begin, const Vector2 &p_end, Vector2 &r_point, Vector2 &r_normal) const {
 	if (segments.size() == 0 || points.size() == 0) {
 		return false;
 	}
@@ -783,7 +783,7 @@ bool ConcavePolygonShape2DSW::intersect_segment(const Vector2 &p_begin, const Ve
 	return inters;
 }
 
-int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
+int GodotConcavePolygonShape2D::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
 	if (p_len == 1) {
 		bvh_depth = MAX(p_depth, bvh_depth);
 		bvh.push_back(*p_bvh);
@@ -821,7 +821,7 @@ int ConcavePolygonShape2DSW::_generate_bvh(BVH *p_bvh, int p_len, int p_depth) {
 	return node_idx;
 }
 
-void ConcavePolygonShape2DSW::set_data(const Variant &p_data) {
+void GodotConcavePolygonShape2D::set_data(const Variant &p_data) {
 #ifdef REAL_T_IS_DOUBLE
 	ERR_FAIL_COND(p_data.get_type() != Variant::PACKED_VECTOR2_ARRAY && p_data.get_type() != Variant::PACKED_FLOAT64_ARRAY);
 #else
@@ -898,7 +898,7 @@ void ConcavePolygonShape2DSW::set_data(const Variant &p_data) {
 	configure(aabb);
 }
 
-Variant ConcavePolygonShape2DSW::get_data() const {
+Variant GodotConcavePolygonShape2D::get_data() const {
 	Vector<Vector2> rsegments;
 	int len = segments.size();
 	rsegments.resize(len * 2);
@@ -911,7 +911,7 @@ Variant ConcavePolygonShape2DSW::get_data() const {
 	return rsegments;
 }
 
-void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
+void GodotConcavePolygonShape2D::cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const {
 	uint32_t *stack = (uint32_t *)alloca(sizeof(int) * bvh_depth);
 
 	enum {
@@ -957,7 +957,7 @@ void ConcavePolygonShape2DSW::cull(const Rect2 &p_local_aabb, QueryCallback p_ca
 						Vector2 a = pointptr[s.points[0]];
 						Vector2 b = pointptr[s.points[1]];
 
-						SegmentShape2DSW ss(a, b, (b - a).orthogonal().normalized());
+						GodotSegmentShape2D ss(a, b, (b - a).orthogonal().normalized());
 
 						if (p_callback(p_userdata, &ss)) {
 							return;

servers/physics_2d/shape_2d_sw.h → servers/physics_2d/godot_shape_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  shape_2d_sw.h                                                        */
+/*  godot_shape_2d.h                                                     */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,29 +28,29 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef SHAPE_2D_2DSW_H
-#define SHAPE_2D_2DSW_H
+#ifndef GODOT_SHAPE_2D_H
+#define GODOT_SHAPE_2D_H
 
 #include "servers/physics_server_2d.h"
 #define _SEGMENT_IS_VALID_SUPPORT_THRESHOLD 0.99998
 
-class Shape2DSW;
+class GodotShape2D;
 
-class ShapeOwner2DSW {
+class GodotShapeOwner2D {
 public:
 	virtual void _shape_changed() = 0;
-	virtual void remove_shape(Shape2DSW *p_shape) = 0;
+	virtual void remove_shape(GodotShape2D *p_shape) = 0;
 
-	virtual ~ShapeOwner2DSW() {}
+	virtual ~GodotShapeOwner2D() {}
 };
 
-class Shape2DSW {
+class GodotShape2D {
 	RID self;
 	Rect2 aabb;
 	bool configured = false;
 	real_t custom_bias = 0.0;
 
-	Map<ShapeOwner2DSW *, int> owners;
+	Map<GodotShapeOwner2D *, int> owners;
 
 protected:
 	void configure(const Rect2 &p_aabb);
@@ -83,10 +83,10 @@ public:
 	_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
 	_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
 
-	void add_owner(ShapeOwner2DSW *p_owner);
-	void remove_owner(ShapeOwner2DSW *p_owner);
-	bool is_owner(ShapeOwner2DSW *p_owner) const;
-	const Map<ShapeOwner2DSW *, int> &get_owners() const;
+	void add_owner(GodotShapeOwner2D *p_owner);
+	void remove_owner(GodotShapeOwner2D *p_owner);
+	bool is_owner(GodotShapeOwner2D *p_owner) const;
+	const Map<GodotShapeOwner2D *, int> &get_owners() const;
 
 	_FORCE_INLINE_ void get_supports_transformed_cast(const Vector2 &p_cast, const Vector2 &p_normal, const Transform2D &p_xform, Vector2 *r_supports, int &r_amount) const {
 		get_supports(p_xform.basis_xform_inv(p_normal).normalized(), r_supports, r_amount);
@@ -121,8 +121,8 @@ public:
 			}
 		}
 	}
-	Shape2DSW() {}
-	virtual ~Shape2DSW();
+	GodotShape2D() {}
+	virtual ~GodotShape2D();
 };
 
 //let the optimizer do the magic
@@ -141,7 +141,7 @@ public:
 		r_max = MAX(maxa, maxb);                                                                                                                                    \
 	}
 
-class WorldBoundaryShape2DSW : public Shape2DSW {
+class GodotWorldBoundaryShape2D : public GodotShape2D {
 	Vector2 normal;
 	real_t d = 0.0;
 
@@ -178,7 +178,7 @@ public:
 	}
 };
 
-class SeparationRayShape2DSW : public Shape2DSW {
+class GodotSeparationRayShape2D : public GodotShape2D {
 	real_t length = 0.0;
 	bool slide_on_slope = false;
 
@@ -211,11 +211,11 @@ public:
 
 	DEFAULT_PROJECT_RANGE_CAST
 
-	_FORCE_INLINE_ SeparationRayShape2DSW() {}
-	_FORCE_INLINE_ SeparationRayShape2DSW(real_t p_length) { length = p_length; }
+	_FORCE_INLINE_ GodotSeparationRayShape2D() {}
+	_FORCE_INLINE_ GodotSeparationRayShape2D(real_t p_length) { length = p_length; }
 };
 
-class SegmentShape2DSW : public Shape2DSW {
+class GodotSegmentShape2D : public GodotShape2D {
 	Vector2 a;
 	Vector2 b;
 	Vector2 n;
@@ -251,15 +251,15 @@ public:
 
 	DEFAULT_PROJECT_RANGE_CAST
 
-	_FORCE_INLINE_ SegmentShape2DSW() {}
-	_FORCE_INLINE_ SegmentShape2DSW(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) {
+	_FORCE_INLINE_ GodotSegmentShape2D() {}
+	_FORCE_INLINE_ GodotSegmentShape2D(const Vector2 &p_a, const Vector2 &p_b, const Vector2 &p_n) {
 		a = p_a;
 		b = p_b;
 		n = p_n;
 	}
 };
 
-class CircleShape2DSW : public Shape2DSW {
+class GodotCircleShape2D : public GodotShape2D {
 	real_t radius;
 
 public:
@@ -292,7 +292,7 @@ public:
 	DEFAULT_PROJECT_RANGE_CAST
 };
 
-class RectangleShape2DSW : public Shape2DSW {
+class GodotRectangleShape2D : public GodotShape2D {
 	Vector2 half_extents;
 
 public:
@@ -336,7 +336,7 @@ public:
 		return (p_xform.xform(he) - p_circle).normalized();
 	}
 
-	_FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const RectangleShape2DSW *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const {
+	_FORCE_INLINE_ Vector2 get_box_axis(const Transform2D &p_xform, const Transform2D &p_xform_inv, const GodotRectangleShape2D *p_B, const Transform2D &p_B_xform, const Transform2D &p_B_xform_inv) const {
 		Vector2 a, b;
 
 		{
@@ -364,7 +364,7 @@ public:
 	DEFAULT_PROJECT_RANGE_CAST
 };
 
-class CapsuleShape2DSW : public Shape2DSW {
+class GodotCapsuleShape2D : public GodotShape2D {
 	real_t radius = 0.0;
 	real_t height = 0.0;
 
@@ -405,7 +405,7 @@ public:
 	DEFAULT_PROJECT_RANGE_CAST
 };
 
-class ConvexPolygonShape2DSW : public Shape2DSW {
+class GodotConvexPolygonShape2D : public GodotShape2D {
 	struct Point {
 		Vector2 pos;
 		Vector2 normal; //normal to next segment
@@ -457,21 +457,21 @@ public:
 
 	DEFAULT_PROJECT_RANGE_CAST
 
-	ConvexPolygonShape2DSW() {}
-	~ConvexPolygonShape2DSW();
+	GodotConvexPolygonShape2D() {}
+	~GodotConvexPolygonShape2D();
 };
 
-class ConcaveShape2DSW : public Shape2DSW {
+class GodotConcaveShape2D : public GodotShape2D {
 public:
 	virtual bool is_concave() const override { return true; }
 
 	// Returns true to stop the query.
-	typedef bool (*QueryCallback)(void *p_userdata, Shape2DSW *p_convex);
+	typedef bool (*QueryCallback)(void *p_userdata, GodotShape2D *p_convex);
 
 	virtual void cull(const Rect2 &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
 };
 
-class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
+class GodotConcavePolygonShape2D : public GodotConcaveShape2D {
 	struct Segment {
 		int points[2] = {};
 	};
@@ -507,13 +507,13 @@ public:
 	virtual void project_rangev(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const override {
 		r_min = 0;
 		r_max = 0;
-		ERR_FAIL_MSG("Unsupported call to project_rangev in ConcavePolygonShape2DSW");
+		ERR_FAIL_MSG("Unsupported call to project_rangev in GodotConcavePolygonShape2D");
 	}
 
 	void project_range(const Vector2 &p_normal, const Transform2D &p_transform, real_t &r_min, real_t &r_max) const {
 		r_min = 0;
 		r_max = 0;
-		ERR_FAIL_MSG("Unsupported call to project_range in ConcavePolygonShape2DSW");
+		ERR_FAIL_MSG("Unsupported call to project_range in GodotConcavePolygonShape2D");
 	}
 
 	virtual void get_supports(const Vector2 &p_normal, Vector2 *r_supports, int &r_amount) const override;
@@ -533,4 +533,4 @@ public:
 
 #undef DEFAULT_PROJECT_RANGE_CAST
 
-#endif // SHAPE_2D_2DSW_H
+#endif // GODOT_SHAPE_2D_H

servers/physics_2d/space_2d_sw.cpp → servers/physics_2d/godot_space_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  space_2d_sw.cpp                                                      */
+/*  godot_space_2d.cpp                                                   */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,32 +28,33 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "space_2d_sw.h"
+#include "godot_space_2d.h"
+
+#include "godot_collision_solver_2d.h"
+#include "godot_physics_server_2d.h"
 
-#include "collision_solver_2d_sw.h"
 #include "core/os/os.h"
 #include "core/templates/pair.h"
-#include "physics_server_2d_sw.h"
 
 #define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
 
-_FORCE_INLINE_ static bool _can_collide_with(CollisionObject2DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject2D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (!(p_object->get_collision_layer() & p_collision_mask)) {
 		return false;
 	}
 
-	if (p_object->get_type() == CollisionObject2DSW::TYPE_AREA && !p_collide_with_areas) {
+	if (p_object->get_type() == GodotCollisionObject2D::TYPE_AREA && !p_collide_with_areas) {
 		return false;
 	}
 
-	if (p_object->get_type() == CollisionObject2DSW::TYPE_BODY && !p_collide_with_bodies) {
+	if (p_object->get_type() == GodotCollisionObject2D::TYPE_BODY && !p_collide_with_bodies) {
 		return false;
 	}
 
 	return true;
 }
 
-int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) {
+int GodotPhysicsDirectSpaceState2D::_intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas, ObjectID p_canvas_instance_id) {
 	if (p_result_max <= 0) {
 		return 0;
 	}
@@ -62,7 +63,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
 	aabb.position = 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 amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	int cc = 0;
 
@@ -75,7 +76,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
 			continue;
 		}
 
-		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
 
 		if (p_pick_point && !col_obj->is_pickable()) {
 			continue;
@@ -87,7 +88,7 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
 
 		int shape_idx = space->intersection_query_subindex_results[i];
 
-		Shape2DSW *shape = col_obj->get_shape(shape_idx);
+		GodotShape2D *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);
 
@@ -112,15 +113,15 @@ int PhysicsDirectSpaceState2DSW::_intersect_point_impl(const Vector2 &p_point, S
 	return cc;
 }
 
-int PhysicsDirectSpaceState2DSW::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
+int GodotPhysicsDirectSpaceState2D::intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
 	return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point);
 }
 
-int PhysicsDirectSpaceState2DSW::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
+int GodotPhysicsDirectSpaceState2D::intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point) {
 	return _intersect_point_impl(p_point, r_results, p_result_max, p_exclude, p_collision_mask, p_collide_with_bodies, p_collide_with_areas, p_pick_point, true, p_canvas_instance_id);
 }
 
-bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool GodotPhysicsDirectSpaceState2D::intersect_ray(const Vector2 &p_from, const Vector2 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	ERR_FAIL_COND_V(space->locked, false);
 
 	Vector2 begin, end;
@@ -129,14 +130,14 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
 	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);
+	int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	//todo, create another array that 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;
+	const GodotCollisionObject2D *res_obj;
 	real_t min_d = 1e10;
 
 	for (int i = 0; i < amount; i++) {
@@ -148,7 +149,7 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
 			continue;
 		}
 
-		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
 
 		int shape_idx = space->intersection_query_subindex_results[i];
 		Transform2D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
@@ -162,7 +163,7 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
 		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);
+		const GodotShape2D *shape = col_obj->get_shape(shape_idx);
 
 		Vector2 shape_point, shape_normal;
 
@@ -199,18 +200,18 @@ bool PhysicsDirectSpaceState2DSW::intersect_ray(const Vector2 &p_from, const Vec
 	return true;
 }
 
-int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+int GodotPhysicsDirectSpaceState2D::intersect_shape(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (p_result_max <= 0) {
 		return 0;
 	}
 
-	Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
+	GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(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, Space2DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	int cc = 0;
 
@@ -227,10 +228,10 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans
 			continue;
 		}
 
-		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject2D *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(), nullptr, nullptr, nullptr, p_margin)) {
+		if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), Vector2(), nullptr, nullptr, nullptr, p_margin)) {
 			continue;
 		}
 
@@ -247,15 +248,15 @@ int PhysicsDirectSpaceState2DSW::intersect_shape(const RID &p_shape, const Trans
 	return cc;
 }
 
-bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
+bool GodotPhysicsDirectSpaceState2D::cast_motion(const RID &p_shape, const Transform2D &p_xform, const Vector2 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+	GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, false);
 
 	Rect2 aabb = p_xform.xform(shape->get_aabb());
 	aabb = aabb.merge(Rect2(aabb.position + 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);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	real_t best_safe = 1;
 	real_t best_unsafe = 1;
@@ -269,17 +270,17 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
 			continue; //ignore excluded
 		}
 
-		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
 		Transform2D 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(), nullptr, nullptr, nullptr, p_margin)) {
+		if (!GodotCollisionSolver2D::solve(shape, p_xform, p_motion, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
 			continue;
 		}
 
 		//test initial overlap, ignore objects it's inside of.
-		if (CollisionSolver2DSW::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
+		if (GodotCollisionSolver2D::solve(shape, p_xform, Vector2(), col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, nullptr, p_margin)) {
 			continue;
 		}
 
@@ -293,7 +294,7 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
 			real_t fraction = low + (hi - low) * fraction_coeff;
 
 			Vector2 sep = mnormal; //important optimization for this to work fast enough
-			bool collided = CollisionSolver2DSW::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
+			bool collided = GodotCollisionSolver2D::solve(shape, p_xform, p_motion * fraction, col_obj->get_shape(shape_idx), col_obj_xform, Vector2(), nullptr, nullptr, &sep, p_margin);
 
 			if (collided) {
 				hi = fraction;
@@ -330,38 +331,38 @@ bool PhysicsDirectSpaceState2DSW::cast_motion(const RID &p_shape, const Transfor
 	return true;
 }
 
-bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool GodotPhysicsDirectSpaceState2D::collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (p_result_max <= 0) {
 		return false;
 	}
 
-	Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
+	GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, 0);
 
 	Rect2 aabb = p_shape_xform.xform(shape->get_aabb());
 	aabb = aabb.merge(Rect2(aabb.position + 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);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	bool collided = false;
 	r_result_count = 0;
 
-	PhysicsServer2DSW::CollCbkData cbk;
+	GodotPhysicsServer2D::CollCbkData cbk;
 	cbk.max = p_result_max;
 	cbk.amount = 0;
 	cbk.passed = 0;
 	cbk.ptr = r_results;
-	CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
+	GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk;
 
-	PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
+	GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk;
 
 	for (int i = 0; i < amount; i++) {
 		if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
 			continue;
 		}
 
-		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
@@ -372,7 +373,7 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
 		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, nullptr, p_margin)) {
+		if (GodotCollisionSolver2D::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, nullptr, p_margin)) {
 			collided = cbk.amount > 0;
 		}
 	}
@@ -383,8 +384,8 @@ bool PhysicsDirectSpaceState2DSW::collide_shape(RID p_shape, const Transform2D &
 }
 
 struct _RestCallbackData2D {
-	const CollisionObject2DSW *object = nullptr;
-	const CollisionObject2DSW *best_object = nullptr;
+	const GodotCollisionObject2D *object = nullptr;
+	const GodotCollisionObject2D *best_object = nullptr;
 	int local_shape = 0;
 	int best_local_shape = 0;
 	int shape = 0;
@@ -431,8 +432,8 @@ static void _rest_cbk_result(const Vector2 &p_point_A, const Vector2 &p_point_B,
 	rd->best_local_shape = rd->local_shape;
 }
 
-bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	Shape2DSW *shape = PhysicsServer2DSW::singletonsw->shape_owner.get_or_null(p_shape);
+bool GodotPhysicsDirectSpaceState2D::rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+	GodotShape2D *shape = GodotPhysicsServer2D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, 0);
 
 	real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
@@ -441,7 +442,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 	aabb = aabb.merge(Rect2(aabb.position + 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);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace2D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	_RestCallbackData2D rcd;
 	rcd.best_len = 0;
@@ -454,7 +455,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 			continue;
 		}
 
-		const CollisionObject2DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject2D *col_obj = space->intersection_query_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
@@ -466,7 +467,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 		rcd.object = col_obj;
 		rcd.shape = shape_idx;
 		rcd.local_shape = 0;
-		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, nullptr, p_margin);
+		bool sc = GodotCollisionSolver2D::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, nullptr, p_margin);
 		if (!sc) {
 			continue;
 		}
@@ -481,8 +482,8 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 	r_info->normal = rcd.best_normal;
 	r_info->point = rcd.best_contact;
 	r_info->rid = rcd.best_object->get_self();
-	if (rcd.best_object->get_type() == CollisionObject2DSW::TYPE_BODY) {
-		const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
+	if (rcd.best_object->get_type() == GodotCollisionObject2D::TYPE_BODY) {
+		const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object);
 		Vector2 rel_vec = r_info->point - (body->get_transform().get_origin() + body->get_center_of_mass());
 		r_info->linear_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
 
@@ -495,7 +496,7 @@ bool PhysicsDirectSpaceState2DSW::rest_info(RID p_shape, const Transform2D &p_sh
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
+int GodotSpace2D::_cull_aabb_for_body(GodotBody2D *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++) {
@@ -503,11 +504,11 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
 
 		if (intersection_query_results[i] == p_body) {
 			keep = false;
-		} else if (intersection_query_results[i]->get_type() == CollisionObject2DSW::TYPE_AREA) {
+		} else if (intersection_query_results[i]->get_type() == GodotCollisionObject2D::TYPE_AREA) {
 			keep = false;
-		} else if (!p_body->collides_with(static_cast<Body2DSW *>(intersection_query_results[i]))) {
+		} else if (!p_body->collides_with(static_cast<GodotBody2D *>(intersection_query_results[i]))) {
 			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())) {
+		} else if (static_cast<GodotBody2D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
 			keep = false;
 		}
 
@@ -525,7 +526,7 @@ int Space2DSW::_cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb) {
 	return amount;
 }
 
-bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) {
+bool GodotSpace2D::test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -587,7 +588,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 		Vector2 sr[max_results * 2];
 
 		do {
-			PhysicsServer2DSW::CollCbkData cbk;
+			GodotPhysicsServer2D::CollCbkData cbk;
 			cbk.max = max_results;
 			cbk.amount = 0;
 			cbk.passed = 0;
@@ -595,8 +596,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 			cbk.invalid_by_dir = 0;
 			excluded_shape_pair_count = 0; //last step is the one valid
 
-			PhysicsServer2DSW::CollCbkData *cbkptr = &cbk;
-			CollisionSolver2DSW::CallbackResult cbkres = PhysicsServer2DSW::_shape_col_cbk;
+			GodotPhysicsServer2D::CollCbkData *cbkptr = &cbk;
+			GodotCollisionSolver2D::CallbackResult cbkres = GodotPhysicsServer2D::_shape_col_cbk;
 
 			bool collided = false;
 
@@ -607,11 +608,11 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 					continue;
 				}
 
-				Shape2DSW *body_shape = p_body->get_shape(j);
+				GodotShape2D *body_shape = p_body->get_shape(j);
 				Transform2D body_shape_xform = body_transform * p_body->get_shape_transform(j);
 
 				for (int i = 0; i < amount; i++) {
-					const CollisionObject2DSW *col_obj = intersection_query_results[i];
+					const GodotCollisionObject2D *col_obj = intersection_query_results[i];
 					if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 						continue;
 					}
@@ -630,8 +631,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 						cbk.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
 						cbk.invalid_by_dir = 0;
 
-						if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
-							const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
+						if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
+							const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
 							if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
 								//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
 								Vector2 lv = b->get_linear_velocity();
@@ -651,8 +652,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 					int current_passed = cbk.passed; //save how many points passed collision
 					bool did_collide = false;
 
-					Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
-					if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
+					GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
+					if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), cbkres, cbkptr, nullptr, p_parameters.margin)) {
 						did_collide = cbk.passed > current_passed; //more passed, so collision actually existed
 					}
 
@@ -727,13 +728,13 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 				continue;
 			}
 
-			Shape2DSW *body_shape = p_body->get_shape(body_shape_idx);
+			GodotShape2D *body_shape = p_body->get_shape(body_shape_idx);
 
 			// Colliding separation rays allows to properly snap to the ground,
 			// otherwise it's not needed in regular motion.
 			if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer2D::SHAPE_SEPARATION_RAY)) {
 				// When slide on slope is on, separation ray shape acts like a regular shape.
-				if (!static_cast<SeparationRayShape2DSW *>(body_shape)->get_slide_on_slope()) {
+				if (!static_cast<GodotSeparationRayShape2D *>(body_shape)->get_slide_on_slope()) {
 					continue;
 				}
 			}
@@ -746,7 +747,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 			real_t best_unsafe = 1;
 
 			for (int i = 0; i < amount; i++) {
-				const CollisionObject2DSW *col_obj = intersection_query_results[i];
+				const GodotCollisionObject2D *col_obj = intersection_query_results[i];
 				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
@@ -755,7 +756,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 				}
 
 				int col_shape_idx = intersection_query_subindex_results[i];
-				Shape2DSW *against_shape = col_obj->get_shape(col_shape_idx);
+				GodotShape2D *against_shape = col_obj->get_shape(col_shape_idx);
 
 				bool excluded = false;
 
@@ -772,12 +773,12 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 
 				Transform2D col_obj_shape_xform = col_obj->get_transform() * col_obj->get_shape_transform(col_shape_idx);
 				//test initial overlap, does it collide if going all the way?
-				if (!CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
+				if (!GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
 					continue;
 				}
 
 				//test initial overlap
-				if (CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
+				if (GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, nullptr, 0)) {
 					if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
 						Vector2 direction = col_obj_shape_xform.get_axis(1).normalized();
 						if (motion_normal.dot(direction) < 0) {
@@ -797,7 +798,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 					real_t fraction = low + (hi - low) * fraction_coeff;
 
 					Vector2 sep = motion_normal; //important optimization for this to work fast enough
-					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
+					bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * fraction, against_shape, col_obj_shape_xform, Vector2(), nullptr, nullptr, &sep, 0);
 
 					if (collided) {
 						hi = fraction;
@@ -824,7 +825,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 
 				if (body_shape->allows_one_way_collision() && col_obj->is_shape_set_as_one_way_collision(col_shape_idx)) {
 					Vector2 cd[2];
-					PhysicsServer2DSW::CollCbkData cbk;
+					GodotPhysicsServer2D::CollCbkData cbk;
 					cbk.max = 1;
 					cbk.amount = 0;
 					cbk.passed = 0;
@@ -834,7 +835,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 					cbk.valid_depth = 10e20;
 
 					Vector2 sep = motion_normal; //important optimization for this to work fast enough
-					bool collided = CollisionSolver2DSW::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), PhysicsServer2DSW::_shape_col_cbk, &cbk, &sep, 0);
+					bool collided = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, p_parameters.motion * (hi + contact_max_allowed_penetration), col_obj->get_shape(col_shape_idx), col_obj_shape_xform, Vector2(), GodotPhysicsServer2D::_shape_col_cbk, &cbk, &sep, 0);
 					if (!collided || cbk.amount == 0) {
 						continue;
 					}
@@ -891,14 +892,14 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 			}
 
 			Transform2D body_shape_xform = ugt * p_body->get_shape_transform(j);
-			Shape2DSW *body_shape = p_body->get_shape(j);
+			GodotShape2D *body_shape = p_body->get_shape(j);
 
 			body_aabb.position += p_parameters.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];
+				const GodotCollisionObject2D *col_obj = intersection_query_results[i];
 				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
@@ -908,7 +909,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 
 				int shape_idx = intersection_query_subindex_results[i];
 
-				Shape2DSW *against_shape = col_obj->get_shape(shape_idx);
+				GodotShape2D *against_shape = col_obj->get_shape(shape_idx);
 
 				bool excluded = false;
 				for (int k = 0; k < excluded_shape_pair_count; k++) {
@@ -929,8 +930,8 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 					real_t owc_margin = col_obj->get_shape_one_way_collision_margin(shape_idx);
 					rcd.valid_depth = MAX(owc_margin, p_parameters.margin); //user specified, but never less than actual margin or it won't work
 
-					if (col_obj->get_type() == CollisionObject2DSW::TYPE_BODY) {
-						const Body2DSW *b = static_cast<const Body2DSW *>(col_obj);
+					if (col_obj->get_type() == GodotCollisionObject2D::TYPE_BODY) {
+						const GodotBody2D *b = static_cast<const GodotBody2D *>(col_obj);
 						if (b->get_mode() == PhysicsServer2D::BODY_MODE_KINEMATIC || b->get_mode() == PhysicsServer2D::BODY_MODE_DYNAMIC) {
 							//fix for moving platforms (kinematic and dynamic), margin is increased by how much it moved in the given direction
 							Vector2 lv = b->get_linear_velocity();
@@ -949,7 +950,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 				rcd.object = col_obj;
 				rcd.shape = shape_idx;
 				rcd.local_shape = j;
-				bool sc = CollisionSolver2DSW::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
+				bool sc = GodotCollisionSolver2D::solve(body_shape, body_shape_xform, Vector2(), against_shape, col_obj_shape_xform, Vector2(), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
 				if (!sc) {
 					continue;
 				}
@@ -968,7 +969,7 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 				r_result->collision_safe_fraction = safe;
 				r_result->collision_unsafe_fraction = unsafe;
 
-				const Body2DSW *body = static_cast<const Body2DSW *>(rcd.best_object);
+				const GodotBody2D *body = static_cast<const GodotBody2D *>(rcd.best_object);
 				Vector2 rel_vec = r_result->collision_point - (body->get_transform().get_origin() + body->get_center_of_mass());
 				r_result->collider_velocity = Vector2(-body->get_angular_velocity() * rel_vec.y, body->get_angular_velocity() * rel_vec.x) + body->get_linear_velocity();
 
@@ -990,134 +991,134 @@ bool Space2DSW::test_body_motion(Body2DSW *p_body, const PhysicsServer2D::Motion
 	return collided;
 }
 
-void *Space2DSW::_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self) {
+void *GodotSpace2D::_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self) {
 	if (!A->interacts_with(B)) {
 		return nullptr;
 	}
 
-	CollisionObject2DSW::Type type_A = A->get_type();
-	CollisionObject2DSW::Type type_B = B->get_type();
+	GodotCollisionObject2D::Type type_A = A->get_type();
+	GodotCollisionObject2D::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;
+	GodotSpace2D *self = (GodotSpace2D *)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));
+	if (type_A == GodotCollisionObject2D::TYPE_AREA) {
+		GodotArea2D *area = static_cast<GodotArea2D *>(A);
+		if (type_B == GodotCollisionObject2D::TYPE_AREA) {
+			GodotArea2D *area_b = static_cast<GodotArea2D *>(B);
+			GodotArea2Pair2D *area2_pair = memnew(GodotArea2Pair2D(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));
+			GodotBody2D *body = static_cast<GodotBody2D *>(B);
+			GodotAreaPair2D *area_pair = memnew(GodotAreaPair2D(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));
+		GodotBodyPair2D *b = memnew(GodotBodyPair2D((GodotBody2D *)A, p_subindex_A, (GodotBody2D *)B, p_subindex_B));
 		return b;
 	}
 
 	return nullptr;
 }
 
-void Space2DSW::_broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self) {
+void GodotSpace2D::_broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self) {
 	if (!p_data) {
 		return;
 	}
 
-	Space2DSW *self = (Space2DSW *)p_self;
+	GodotSpace2D *self = (GodotSpace2D *)p_self;
 	self->collision_pairs--;
-	Constraint2DSW *c = (Constraint2DSW *)p_data;
+	GodotConstraint2D *c = (GodotConstraint2D *)p_data;
 	memdelete(c);
 }
 
-const SelfList<Body2DSW>::List &Space2DSW::get_active_body_list() const {
+const SelfList<GodotBody2D>::List &GodotSpace2D::get_active_body_list() const {
 	return active_list;
 }
 
-void Space2DSW::body_add_to_active_list(SelfList<Body2DSW> *p_body) {
+void GodotSpace2D::body_add_to_active_list(SelfList<GodotBody2D> *p_body) {
 	active_list.add(p_body);
 }
 
-void Space2DSW::body_remove_from_active_list(SelfList<Body2DSW> *p_body) {
+void GodotSpace2D::body_remove_from_active_list(SelfList<GodotBody2D> *p_body) {
 	active_list.remove(p_body);
 }
 
-void Space2DSW::body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body) {
+void GodotSpace2D::body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body) {
 	mass_properties_update_list.add(p_body);
 }
 
-void Space2DSW::body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body) {
+void GodotSpace2D::body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body) {
 	mass_properties_update_list.remove(p_body);
 }
 
-BroadPhase2DSW *Space2DSW::get_broadphase() {
+GodotBroadPhase2D *GodotSpace2D::get_broadphase() {
 	return broadphase;
 }
 
-void Space2DSW::add_object(CollisionObject2DSW *p_object) {
+void GodotSpace2D::add_object(GodotCollisionObject2D *p_object) {
 	ERR_FAIL_COND(objects.has(p_object));
 	objects.insert(p_object);
 }
 
-void Space2DSW::remove_object(CollisionObject2DSW *p_object) {
+void GodotSpace2D::remove_object(GodotCollisionObject2D *p_object) {
 	ERR_FAIL_COND(!objects.has(p_object));
 	objects.erase(p_object);
 }
 
-const Set<CollisionObject2DSW *> &Space2DSW::get_objects() const {
+const Set<GodotCollisionObject2D *> &GodotSpace2D::get_objects() const {
 	return objects;
 }
 
-void Space2DSW::body_add_to_state_query_list(SelfList<Body2DSW> *p_body) {
+void GodotSpace2D::body_add_to_state_query_list(SelfList<GodotBody2D> *p_body) {
 	state_query_list.add(p_body);
 }
 
-void Space2DSW::body_remove_from_state_query_list(SelfList<Body2DSW> *p_body) {
+void GodotSpace2D::body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body) {
 	state_query_list.remove(p_body);
 }
 
-void Space2DSW::area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area) {
+void GodotSpace2D::area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area) {
 	monitor_query_list.add(p_area);
 }
 
-void Space2DSW::area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area) {
+void GodotSpace2D::area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area) {
 	monitor_query_list.remove(p_area);
 }
 
-void Space2DSW::area_add_to_moved_list(SelfList<Area2DSW> *p_area) {
+void GodotSpace2D::area_add_to_moved_list(SelfList<GodotArea2D> *p_area) {
 	area_moved_list.add(p_area);
 }
 
-void Space2DSW::area_remove_from_moved_list(SelfList<Area2DSW> *p_area) {
+void GodotSpace2D::area_remove_from_moved_list(SelfList<GodotArea2D> *p_area) {
 	area_moved_list.remove(p_area);
 }
 
-const SelfList<Area2DSW>::List &Space2DSW::get_moved_area_list() const {
+const SelfList<GodotArea2D>::List &GodotSpace2D::get_moved_area_list() const {
 	return area_moved_list;
 }
 
-void Space2DSW::call_queries() {
+void GodotSpace2D::call_queries() {
 	while (state_query_list.first()) {
-		Body2DSW *b = state_query_list.first()->self();
+		GodotBody2D *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();
+		GodotArea2D *a = monitor_query_list.first()->self();
 		monitor_query_list.remove(monitor_query_list.first());
 		a->call_queries();
 	}
 }
 
-void Space2DSW::setup() {
+void GodotSpace2D::setup() {
 	contact_debug_count = 0;
 
 	while (mass_properties_update_list.first()) {
@@ -1126,11 +1127,11 @@ void Space2DSW::setup() {
 	}
 }
 
-void Space2DSW::update() {
+void GodotSpace2D::update() {
 	broadphase->update();
 }
 
-void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) {
+void GodotSpace2D::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
 			contact_recycle_radius = p_value;
@@ -1156,7 +1157,7 @@ void Space2DSW::set_param(PhysicsServer2D::SpaceParameter p_param, real_t p_valu
 	}
 }
 
-real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const {
+real_t GodotSpace2D::get_param(PhysicsServer2D::SpaceParameter p_param) const {
 	switch (p_param) {
 		case PhysicsServer2D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
 			return contact_recycle_radius;
@@ -1176,37 +1177,37 @@ real_t Space2DSW::get_param(PhysicsServer2D::SpaceParameter p_param) const {
 	return 0;
 }
 
-void Space2DSW::lock() {
+void GodotSpace2D::lock() {
 	locked = true;
 }
 
-void Space2DSW::unlock() {
+void GodotSpace2D::unlock() {
 	locked = false;
 }
 
-bool Space2DSW::is_locked() const {
+bool GodotSpace2D::is_locked() const {
 	return locked;
 }
 
-PhysicsDirectSpaceState2DSW *Space2DSW::get_direct_state() {
+GodotPhysicsDirectSpaceState2D *GodotSpace2D::get_direct_state() {
 	return direct_access;
 }
 
-Space2DSW::Space2DSW() {
+GodotSpace2D::GodotSpace2D() {
 	body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_linear", 2.0);
 	body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/2d/sleep_threshold_angular", Math::deg2rad(8.0));
 	body_time_to_sleep = GLOBAL_DEF("physics/2d/time_before_sleep", 0.5);
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/2d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/2d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
 
-	broadphase = BroadPhase2DSW::create_func();
+	broadphase = GodotBroadPhase2D::create_func();
 	broadphase->set_pair_callback(_broadphase_pair, this);
 	broadphase->set_unpair_callback(_broadphase_unpair, this);
 
-	direct_access = memnew(PhysicsDirectSpaceState2DSW);
+	direct_access = memnew(GodotPhysicsDirectSpaceState2D);
 	direct_access->space = this;
 }
 
-Space2DSW::~Space2DSW() {
+GodotSpace2D::~GodotSpace2D() {
 	memdelete(broadphase);
 	memdelete(direct_access);
 }

servers/physics_2d/space_2d_sw.h → servers/physics_2d/godot_space_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  space_2d_sw.h                                                        */
+/*  godot_space_2d.h                                                     */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,26 +28,27 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef SPACE_2D_SW_H
-#define SPACE_2D_SW_H
+#ifndef GODOT_SPACE_2D_H
+#define GODOT_SPACE_2D_H
+
+#include "godot_area_2d.h"
+#include "godot_area_pair_2d.h"
+#include "godot_body_2d.h"
+#include "godot_body_pair_2d.h"
+#include "godot_broad_phase_2d.h"
+#include "godot_collision_object_2d.h"
 
-#include "area_2d_sw.h"
-#include "area_pair_2d_sw.h"
-#include "body_2d_sw.h"
-#include "body_pair_2d_sw.h"
-#include "broad_phase_2d_sw.h"
-#include "collision_object_2d_sw.h"
 #include "core/config/project_settings.h"
 #include "core/templates/hash_map.h"
 #include "core/typedefs.h"
 
-class PhysicsDirectSpaceState2DSW : public PhysicsDirectSpaceState2D {
-	GDCLASS(PhysicsDirectSpaceState2DSW, PhysicsDirectSpaceState2D);
+class GodotPhysicsDirectSpaceState2D : public PhysicsDirectSpaceState2D {
+	GDCLASS(GodotPhysicsDirectSpaceState2D, PhysicsDirectSpaceState2D);
 
 	int _intersect_point_impl(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_point, bool p_filter_by_canvas = false, ObjectID p_canvas_instance_id = ObjectID());
 
 public:
-	Space2DSW *space = nullptr;
+	GodotSpace2D *space = nullptr;
 
 	virtual int intersect_point(const Vector2 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override;
 	virtual int intersect_point_on_canvas(const Vector2 &p_point, ObjectID p_canvas_instance_id, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_point = false) override;
@@ -57,10 +58,10 @@ public:
 	virtual bool collide_shape(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, Vector2 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
 	virtual bool rest_info(RID p_shape, const Transform2D &p_shape_xform, const Vector2 &p_motion, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
 
-	PhysicsDirectSpaceState2DSW() {}
+	GodotPhysicsDirectSpaceState2D() {}
 };
 
-class Space2DSW {
+class GodotSpace2D {
 public:
 	enum ElapsedTime {
 		ELAPSED_TIME_INTEGRATE_FORCES,
@@ -74,29 +75,29 @@ public:
 
 private:
 	struct ExcludedShapeSW {
-		Shape2DSW *local_shape = nullptr;
-		const CollisionObject2DSW *against_object = nullptr;
+		GodotShape2D *local_shape = nullptr;
+		const GodotCollisionObject2D *against_object = nullptr;
 		int against_shape_index = 0;
 	};
 
 	uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
 
-	PhysicsDirectSpaceState2DSW *direct_access = nullptr;
+	GodotPhysicsDirectSpaceState2D *direct_access = nullptr;
 	RID self;
 
-	BroadPhase2DSW *broadphase;
-	SelfList<Body2DSW>::List active_list;
-	SelfList<Body2DSW>::List mass_properties_update_list;
-	SelfList<Body2DSW>::List state_query_list;
-	SelfList<Area2DSW>::List monitor_query_list;
-	SelfList<Area2DSW>::List area_moved_list;
+	GodotBroadPhase2D *broadphase;
+	SelfList<GodotBody2D>::List active_list;
+	SelfList<GodotBody2D>::List mass_properties_update_list;
+	SelfList<GodotBody2D>::List state_query_list;
+	SelfList<GodotArea2D>::List monitor_query_list;
+	SelfList<GodotArea2D>::List area_moved_list;
 
-	static void *_broadphase_pair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_self);
-	static void _broadphase_unpair(CollisionObject2DSW *A, int p_subindex_A, CollisionObject2DSW *B, int p_subindex_B, void *p_data, void *p_self);
+	static void *_broadphase_pair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_self);
+	static void _broadphase_unpair(GodotCollisionObject2D *A, int p_subindex_A, GodotCollisionObject2D *B, int p_subindex_B, void *p_data, void *p_self);
 
-	Set<CollisionObject2DSW *> objects;
+	Set<GodotCollisionObject2D *> objects;
 
-	Area2DSW *area = nullptr;
+	GodotArea2D *area = nullptr;
 
 	real_t contact_recycle_radius = 1.0;
 	real_t contact_max_separation = 1.5;
@@ -107,7 +108,7 @@ private:
 		INTERSECTION_QUERY_MAX = 2048
 	};
 
-	CollisionObject2DSW *intersection_query_results[INTERSECTION_QUERY_MAX];
+	GodotCollisionObject2D *intersection_query_results[INTERSECTION_QUERY_MAX];
 	int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
 
 	real_t body_linear_velocity_sleep_threshold = 0.0;
@@ -122,40 +123,40 @@ private:
 	int active_objects = 0;
 	int collision_pairs = 0;
 
-	int _cull_aabb_for_body(Body2DSW *p_body, const Rect2 &p_aabb);
+	int _cull_aabb_for_body(GodotBody2D *p_body, const Rect2 &p_aabb);
 
 	Vector<Vector2> contact_debug;
 	int contact_debug_count = 0;
 
-	friend class PhysicsDirectSpaceState2DSW;
+	friend class GodotPhysicsDirectSpaceState2D;
 
 public:
 	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
 	_FORCE_INLINE_ RID get_self() const { return self; }
 
-	void set_default_area(Area2DSW *p_area) { area = p_area; }
-	Area2DSW *get_default_area() const { return area; }
+	void set_default_area(GodotArea2D *p_area) { area = p_area; }
+	GodotArea2D *get_default_area() const { return area; }
 
-	const SelfList<Body2DSW>::List &get_active_body_list() const;
-	void body_add_to_active_list(SelfList<Body2DSW> *p_body);
-	void body_remove_from_active_list(SelfList<Body2DSW> *p_body);
-	void body_add_to_mass_properties_update_list(SelfList<Body2DSW> *p_body);
-	void body_remove_from_mass_properties_update_list(SelfList<Body2DSW> *p_body);
-	void area_add_to_moved_list(SelfList<Area2DSW> *p_area);
-	void area_remove_from_moved_list(SelfList<Area2DSW> *p_area);
-	const SelfList<Area2DSW>::List &get_moved_area_list() const;
+	const SelfList<GodotBody2D>::List &get_active_body_list() const;
+	void body_add_to_active_list(SelfList<GodotBody2D> *p_body);
+	void body_remove_from_active_list(SelfList<GodotBody2D> *p_body);
+	void body_add_to_mass_properties_update_list(SelfList<GodotBody2D> *p_body);
+	void body_remove_from_mass_properties_update_list(SelfList<GodotBody2D> *p_body);
+	void area_add_to_moved_list(SelfList<GodotArea2D> *p_area);
+	void area_remove_from_moved_list(SelfList<GodotArea2D> *p_area);
+	const SelfList<GodotArea2D>::List &get_moved_area_list() const;
 
-	void body_add_to_state_query_list(SelfList<Body2DSW> *p_body);
-	void body_remove_from_state_query_list(SelfList<Body2DSW> *p_body);
+	void body_add_to_state_query_list(SelfList<GodotBody2D> *p_body);
+	void body_remove_from_state_query_list(SelfList<GodotBody2D> *p_body);
 
-	void area_add_to_monitor_query_list(SelfList<Area2DSW> *p_area);
-	void area_remove_from_monitor_query_list(SelfList<Area2DSW> *p_area);
+	void area_add_to_monitor_query_list(SelfList<GodotArea2D> *p_area);
+	void area_remove_from_monitor_query_list(SelfList<GodotArea2D> *p_area);
 
-	BroadPhase2DSW *get_broadphase();
+	GodotBroadPhase2D *get_broadphase();
 
-	void add_object(CollisionObject2DSW *p_object);
-	void remove_object(CollisionObject2DSW *p_object);
-	const Set<CollisionObject2DSW *> &get_objects() const;
+	void add_object(GodotCollisionObject2D *p_object);
+	void remove_object(GodotCollisionObject2D *p_object);
+	const Set<GodotCollisionObject2D *> &get_objects() const;
 
 	_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
 	_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
@@ -187,7 +188,7 @@ public:
 
 	int get_collision_pairs() const { return collision_pairs; }
 
-	bool test_body_motion(Body2DSW *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result);
+	bool test_body_motion(GodotBody2D *p_body, const PhysicsServer2D::MotionParameters &p_parameters, PhysicsServer2D::MotionResult *r_result);
 
 	void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
 	_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); }
@@ -199,13 +200,13 @@ public:
 	_FORCE_INLINE_ Vector<Vector2> get_debug_contacts() { return contact_debug; }
 	_FORCE_INLINE_ int get_debug_contact_count() { return contact_debug_count; }
 
-	PhysicsDirectSpaceState2DSW *get_direct_state();
+	GodotPhysicsDirectSpaceState2D *get_direct_state();
 
 	void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
 	uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
 
-	Space2DSW();
-	~Space2DSW();
+	GodotSpace2D();
+	~GodotSpace2D();
 };
 
-#endif // SPACE_2D_SW_H
+#endif // GODOT_SPACE_2D_H

servers/physics_2d/step_2d_sw.cpp → servers/physics_2d/godot_step_2d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  step_2d_sw.cpp                                                       */
+/*  godot_step_2d.cpp                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,7 +28,7 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "step_2d_sw.h"
+#include "godot_step_2d.h"
 
 #include "core/os/os.h"
 
@@ -38,7 +38,7 @@
 #define ISLAND_SIZE_RESERVE 512
 #define CONSTRAINT_COUNT_RESERVE 1024
 
-void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island) {
+void GodotStep2D::_populate_island(GodotBody2D *p_body, LocalVector<GodotBody2D *> &p_body_island, LocalVector<GodotConstraint2D *> &p_constraint_island) {
 	p_body->set_island_step(_step);
 
 	if (p_body->get_mode() > PhysicsServer2D::BODY_MODE_KINEMATIC) {
@@ -46,8 +46,8 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
 		p_body_island.push_back(p_body);
 	}
 
-	for (const Pair<Constraint2DSW *, int> &E : p_body->get_constraint_list()) {
-		Constraint2DSW *constraint = (Constraint2DSW *)E.first;
+	for (const Pair<GodotConstraint2D *, int> &E : p_body->get_constraint_list()) {
+		GodotConstraint2D *constraint = (GodotConstraint2D *)E.first;
 		if (constraint->get_island_step() == _step) {
 			continue; // Already processed.
 		}
@@ -59,7 +59,7 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
 			if (i == E.second) {
 				continue;
 			}
-			Body2DSW *other_body = constraint->get_body_ptr()[i];
+			GodotBody2D *other_body = constraint->get_body_ptr()[i];
 			if (other_body->get_island_step() == _step) {
 				continue; // Already processed.
 			}
@@ -71,16 +71,16 @@ void Step2DSW::_populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_bod
 	}
 }
 
-void Step2DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
-	Constraint2DSW *constraint = all_constraints[p_constraint_index];
+void GodotStep2D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
+	GodotConstraint2D *constraint = all_constraints[p_constraint_index];
 	constraint->setup(delta);
 }
 
-void Step2DSW::_pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const {
+void GodotStep2D::_pre_solve_island(LocalVector<GodotConstraint2D *> &p_constraint_island) const {
 	uint32_t constraint_count = p_constraint_island.size();
 	uint32_t valid_constraint_count = 0;
 	for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
-		Constraint2DSW *constraint = p_constraint_island[constraint_index];
+		GodotConstraint2D *constraint = p_constraint_island[constraint_index];
 		if (p_constraint_island[constraint_index]->pre_solve(delta)) {
 			// Keep this constraint for solving.
 			p_constraint_island[valid_constraint_count++] = constraint;
@@ -89,8 +89,8 @@ void Step2DSW::_pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_isl
 	p_constraint_island.resize(valid_constraint_count);
 }
 
-void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const {
-	const LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[p_island_index];
+void GodotStep2D::_solve_island(uint32_t p_island_index, void *p_userdata) const {
+	const LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[p_island_index];
 
 	for (int i = 0; i < iterations; i++) {
 		uint32_t constraint_count = constraint_island.size();
@@ -100,12 +100,12 @@ void Step2DSW::_solve_island(uint32_t p_island_index, void *p_userdata) const {
 	}
 }
 
-void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
+void GodotStep2D::_check_suspend(LocalVector<GodotBody2D *> &p_body_island) const {
 	bool can_sleep = true;
 
 	uint32_t body_count = p_body_island.size();
 	for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
-		Body2DSW *body = p_body_island[body_index];
+		GodotBody2D *body = p_body_island[body_index];
 
 		if (!body->sleep_test(delta)) {
 			can_sleep = false;
@@ -114,7 +114,7 @@ void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
 
 	// Put all to sleep or wake up everyone.
 	for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
-		Body2DSW *body = p_body_island[body_index];
+		GodotBody2D *body = p_body_island[body_index];
 
 		bool active = body->is_active();
 
@@ -124,7 +124,7 @@ void Step2DSW::_check_suspend(LocalVector<Body2DSW *> &p_body_island) const {
 	}
 }
 
-void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
+void GodotStep2D::step(GodotSpace2D *p_space, real_t p_delta, int p_iterations) {
 	p_space->lock(); // can't access space during this
 
 	p_space->setup(); //update inertias, etc
@@ -134,7 +134,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 	iterations = p_iterations;
 	delta = p_delta;
 
-	const SelfList<Body2DSW>::List *body_list = &p_space->get_active_body_list();
+	const SelfList<GodotBody2D>::List *body_list = &p_space->get_active_body_list();
 
 	/* INTEGRATE FORCES */
 
@@ -143,7 +143,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 
 	int active_count = 0;
 
-	const SelfList<Body2DSW> *b = body_list->first();
+	const SelfList<GodotBody2D> *b = body_list->first();
 	while (b) {
 		b->self()->integrate_forces(p_delta);
 		b = b->next();
@@ -154,7 +154,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -162,11 +162,11 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 
 	uint32_t island_count = 0;
 
-	const SelfList<Area2DSW>::List &aml = p_space->get_moved_area_list();
+	const SelfList<GodotArea2D>::List &aml = p_space->get_moved_area_list();
 
 	while (aml.first()) {
-		for (const Set<Constraint2DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
-			Constraint2DSW *constraint = E->get();
+		for (const Set<GodotConstraint2D *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
+			GodotConstraint2D *constraint = E->get();
 			if (constraint->get_island_step() == _step) {
 				continue;
 			}
@@ -177,13 +177,13 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 			if (constraint_islands.size() < island_count) {
 				constraint_islands.resize(island_count);
 			}
-			LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
+			LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[island_count - 1];
 			constraint_island.clear();
 
 			all_constraints.push_back(constraint);
 			constraint_island.push_back(constraint);
 		}
-		p_space->area_remove_from_moved_list((SelfList<Area2DSW> *)aml.first()); //faster to remove here
+		p_space->area_remove_from_moved_list((SelfList<GodotArea2D> *)aml.first()); //faster to remove here
 	}
 
 	/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
@@ -193,14 +193,14 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 	uint32_t body_island_count = 0;
 
 	while (b) {
-		Body2DSW *body = b->self();
+		GodotBody2D *body = b->self();
 
 		if (body->get_island_step() != _step) {
 			++body_island_count;
 			if (body_islands.size() < body_island_count) {
 				body_islands.resize(body_island_count);
 			}
-			LocalVector<Body2DSW *> &body_island = body_islands[body_island_count - 1];
+			LocalVector<GodotBody2D *> &body_island = body_islands[body_island_count - 1];
 			body_island.clear();
 			body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
 
@@ -208,7 +208,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 			if (constraint_islands.size() < island_count) {
 				constraint_islands.resize(island_count);
 			}
-			LocalVector<Constraint2DSW *> &constraint_island = constraint_islands[island_count - 1];
+			LocalVector<GodotConstraint2D *> &constraint_island = constraint_islands[island_count - 1];
 			constraint_island.clear();
 			constraint_island.reserve(ISLAND_SIZE_RESERVE);
 
@@ -229,18 +229,18 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
 	/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
 
 	uint32_t total_contraint_count = all_constraints.size();
-	work_pool.do_work(total_contraint_count, this, &Step2DSW::_setup_contraint, nullptr);
+	work_pool.do_work(total_contraint_count, this, &GodotStep2D::_setup_contraint, nullptr);
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -256,14 +256,14 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 	// Warning: _solve_island modifies the constraint islands for optimization purpose,
 	// their content is not reliable after these calls and shouldn't be used anymore.
 	if (island_count > 1) {
-		work_pool.do_work(island_count, this, &Step2DSW::_solve_island, nullptr);
+		work_pool.do_work(island_count, this, &GodotStep2D::_solve_island, nullptr);
 	} else if (island_count > 0) {
 		_solve_island(0);
 	}
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -271,7 +271,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 
 	b = body_list->first();
 	while (b) {
-		const SelfList<Body2DSW> *n = b->next();
+		const SelfList<GodotBody2D> *n = b->next();
 		b->self()->integrate_velocities(p_delta);
 		b = n; // in case it shuts itself down
 	}
@@ -284,7 +284,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space2DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace2D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
 		//profile_begtime=profile_endtime;
 	}
 
@@ -295,7 +295,7 @@ void Step2DSW::step(Space2DSW *p_space, real_t p_delta, int p_iterations) {
 	_step++;
 }
 
-Step2DSW::Step2DSW() {
+GodotStep2D::GodotStep2D() {
 	body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
 	constraint_islands.reserve(ISLAND_COUNT_RESERVE);
 	all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
@@ -303,6 +303,6 @@ Step2DSW::Step2DSW() {
 	work_pool.init();
 }
 
-Step2DSW::~Step2DSW() {
+GodotStep2D::~GodotStep2D() {
 	work_pool.finish();
 }

servers/physics_2d/step_2d_sw.h → servers/physics_2d/godot_step_2d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  step_2d_sw.h                                                         */
+/*  godot_step_2d.h                                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,15 +28,15 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef STEP_2D_SW_H
-#define STEP_2D_SW_H
+#ifndef GODOT_STEP_2D_H
+#define GODOT_STEP_2D_H
 
-#include "space_2d_sw.h"
+#include "godot_space_2d.h"
 
 #include "core/templates/local_vector.h"
 #include "core/templates/thread_work_pool.h"
 
-class Step2DSW {
+class GodotStep2D {
 	uint64_t _step = 1;
 
 	int iterations = 0;
@@ -44,20 +44,20 @@ class Step2DSW {
 
 	ThreadWorkPool work_pool;
 
-	LocalVector<LocalVector<Body2DSW *>> body_islands;
-	LocalVector<LocalVector<Constraint2DSW *>> constraint_islands;
-	LocalVector<Constraint2DSW *> all_constraints;
+	LocalVector<LocalVector<GodotBody2D *>> body_islands;
+	LocalVector<LocalVector<GodotConstraint2D *>> constraint_islands;
+	LocalVector<GodotConstraint2D *> all_constraints;
 
-	void _populate_island(Body2DSW *p_body, LocalVector<Body2DSW *> &p_body_island, LocalVector<Constraint2DSW *> &p_constraint_island);
+	void _populate_island(GodotBody2D *p_body, LocalVector<GodotBody2D *> &p_body_island, LocalVector<GodotConstraint2D *> &p_constraint_island);
 	void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
-	void _pre_solve_island(LocalVector<Constraint2DSW *> &p_constraint_island) const;
+	void _pre_solve_island(LocalVector<GodotConstraint2D *> &p_constraint_island) const;
 	void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr) const;
-	void _check_suspend(LocalVector<Body2DSW *> &p_body_island) const;
+	void _check_suspend(LocalVector<GodotBody2D *> &p_body_island) const;
 
 public:
-	void step(Space2DSW *p_space, real_t p_delta, int p_iterations);
-	Step2DSW();
-	~Step2DSW();
+	void step(GodotSpace2D *p_space, real_t p_delta, int p_iterations);
+	GodotStep2D();
+	~GodotStep2D();
 };
 
-#endif // STEP_2D_SW_H
+#endif // GODOT_STEP_2D_H

servers/physics_2d/physics_server_2d_sw.cpp

@@ -1,1349 +0,0 @@
-/*************************************************************************/
-/*  physics_server_2d_sw.cpp                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 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_server_2d_sw.h"
-
-#include "body_direct_state_2d_sw.h"
-#include "broad_phase_2d_bvh.h"
-#include "collision_solver_2d_sw.h"
-#include "core/config/project_settings.h"
-#include "core/debugger/engine_debugger.h"
-#include "core/os/os.h"
-
-#define FLUSH_QUERY_CHECK(m_object) \
-	ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
-
-RID PhysicsServer2DSW::_shape_create(ShapeType p_shape) {
-	Shape2DSW *shape = nullptr;
-	switch (p_shape) {
-		case SHAPE_WORLD_BOUNDARY: {
-			shape = memnew(WorldBoundaryShape2DSW);
-		} break;
-		case SHAPE_SEPARATION_RAY: {
-			shape = memnew(SeparationRayShape2DSW);
-		} 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 PhysicsServer2DSW::world_boundary_shape_create() {
-	return _shape_create(SHAPE_WORLD_BOUNDARY);
-}
-
-RID PhysicsServer2DSW::separation_ray_shape_create() {
-	return _shape_create(SHAPE_SEPARATION_RAY);
-}
-
-RID PhysicsServer2DSW::segment_shape_create() {
-	return _shape_create(SHAPE_SEGMENT);
-}
-
-RID PhysicsServer2DSW::circle_shape_create() {
-	return _shape_create(SHAPE_CIRCLE);
-}
-
-RID PhysicsServer2DSW::rectangle_shape_create() {
-	return _shape_create(SHAPE_RECTANGLE);
-}
-
-RID PhysicsServer2DSW::capsule_shape_create() {
-	return _shape_create(SHAPE_CAPSULE);
-}
-
-RID PhysicsServer2DSW::convex_polygon_shape_create() {
-	return _shape_create(SHAPE_CONVEX_POLYGON);
-}
-
-RID PhysicsServer2DSW::concave_polygon_shape_create() {
-	return _shape_create(SHAPE_CONCAVE_POLYGON);
-}
-
-void PhysicsServer2DSW::shape_set_data(RID p_shape, const Variant &p_data) {
-	Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	shape->set_data(p_data);
-};
-
-void PhysicsServer2DSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
-	Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	shape->set_custom_bias(p_bias);
-}
-
-PhysicsServer2D::ShapeType PhysicsServer2DSW::shape_get_type(RID p_shape) const {
-	const Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
-	return shape->get_type();
-};
-
-Variant PhysicsServer2DSW::shape_get_data(RID p_shape) const {
-	const Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, Variant());
-	ERR_FAIL_COND_V(!shape->is_configured(), Variant());
-	return shape->get_data();
-};
-
-real_t PhysicsServer2DSW::shape_get_custom_solver_bias(RID p_shape) const {
-	const Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, 0);
-	return shape->get_custom_bias();
-}
-
-void PhysicsServer2DSW::_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;
-	}
-
-	Vector2 rel_dir = (p_point_A - p_point_B);
-	real_t rel_length2 = rel_dir.length_squared();
-	if (cbk->valid_dir != Vector2()) {
-		if (cbk->valid_depth < 10e20) {
-			if (rel_length2 > cbk->valid_depth * cbk->valid_depth ||
-					(rel_length2 > CMP_EPSILON && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON)) {
-				cbk->invalid_by_dir++;
-				return;
-			}
-		} else {
-			if (rel_length2 > 0 && cbk->valid_dir.dot(rel_dir.normalized()) < CMP_EPSILON) {
-				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;
-			}
-		}
-
-		if (rel_length2 < min_depth) {
-			return;
-		}
-		cbk->ptr[min_depth_idx * 2 + 0] = p_point_A;
-		cbk->ptr[min_depth_idx * 2 + 1] = p_point_B;
-		cbk->passed++;
-
-	} else {
-		cbk->ptr[cbk->amount * 2 + 0] = p_point_A;
-		cbk->ptr[cbk->amount * 2 + 1] = p_point_B;
-		cbk->amount++;
-		cbk->passed++;
-	}
-}
-
-bool PhysicsServer2DSW::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_or_null(p_shape_A);
-	ERR_FAIL_COND_V(!shape_A, false);
-	Shape2DSW *shape_B = shape_owner.get_or_null(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, nullptr, nullptr);
-	}
-
-	CollCbkData cbk;
-	cbk.max = p_result_max;
-	cbk.amount = 0;
-	cbk.passed = 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 PhysicsServer2DSW::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_or_null(area_id);
-	ERR_FAIL_COND_V(!area, RID());
-	space->set_default_area(area);
-	area->set_space(space);
-	area->set_priority(-1);
-
-	return id;
-};
-
-void PhysicsServer2DSW::space_set_active(RID p_space, bool p_active) {
-	Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-	if (p_active) {
-		active_spaces.insert(space);
-	} else {
-		active_spaces.erase(space);
-	}
-}
-
-bool PhysicsServer2DSW::space_is_active(RID p_space) const {
-	const Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, false);
-
-	return active_spaces.has(space);
-}
-
-void PhysicsServer2DSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
-	Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-
-	space->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer2DSW::space_get_param(RID p_space, SpaceParameter p_param) const {
-	const Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, 0);
-	return space->get_param(p_param);
-}
-
-void PhysicsServer2DSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {
-	Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-	space->set_debug_contacts(p_max_contacts);
-}
-
-Vector<Vector2> PhysicsServer2DSW::space_get_contacts(RID p_space) const {
-	Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, Vector<Vector2>());
-	return space->get_debug_contacts();
-}
-
-int PhysicsServer2DSW::space_get_contact_count(RID p_space) const {
-	Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, 0);
-	return space->get_debug_contact_count();
-}
-
-PhysicsDirectSpaceState2D *PhysicsServer2DSW::space_get_direct_state(RID p_space) {
-	Space2DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, nullptr);
-	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
-
-	return space->get_direct_state();
-}
-
-RID PhysicsServer2DSW::area_create() {
-	Area2DSW *area = memnew(Area2DSW);
-	RID rid = area_owner.make_rid(area);
-	area->set_self(rid);
-	return rid;
-};
-
-void PhysicsServer2DSW::area_set_space(RID p_area, RID p_space) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	Space2DSW *space = nullptr;
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (area->get_space() == space) {
-		return; //pointless
-	}
-
-	area->clear_constraints();
-	area->set_space(space);
-};
-
-RID PhysicsServer2DSW::area_get_space(RID p_area) const {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, RID());
-
-	Space2DSW *space = area->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-};
-
-void PhysicsServer2DSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_space_override_mode(p_mode);
-}
-
-PhysicsServer2D::AreaSpaceOverrideMode PhysicsServer2DSW::area_get_space_override_mode(RID p_area) const {
-	const Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
-
-	return area->get_space_override_mode();
-}
-
-void PhysicsServer2DSW::area_add_shape(RID p_area, RID p_shape, const Transform2D &p_transform, bool p_disabled) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	area->add_shape(shape, p_transform, p_disabled);
-}
-
-void PhysicsServer2DSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	ERR_FAIL_COND(!shape->is_configured());
-
-	area->set_shape(p_shape_idx, shape);
-}
-
-void PhysicsServer2DSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform2D &p_transform) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_shape_transform(p_shape_idx, p_transform);
-}
-
-void PhysicsServer2DSW::area_set_shape_disabled(RID p_area, int p_shape, bool p_disabled) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	ERR_FAIL_INDEX(p_shape, area->get_shape_count());
-	FLUSH_QUERY_CHECK(area);
-
-	area->set_shape_disabled(p_shape, p_disabled);
-}
-
-int PhysicsServer2DSW::area_get_shape_count(RID p_area) const {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, -1);
-
-	return area->get_shape_count();
-}
-
-RID PhysicsServer2DSW::area_get_shape(RID p_area, int p_shape_idx) const {
-	Area2DSW *area = area_owner.get_or_null(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 PhysicsServer2DSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Transform2D());
-
-	return area->get_shape_transform(p_shape_idx);
-}
-
-void PhysicsServer2DSW::area_remove_shape(RID p_area, int p_shape_idx) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->remove_shape(p_shape_idx);
-}
-
-void PhysicsServer2DSW::area_clear_shapes(RID p_area) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	while (area->get_shape_count()) {
-		area->remove_shape(0);
-	}
-}
-
-void PhysicsServer2DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
-	if (space_owner.owns(p_area)) {
-		Space2DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_instance_id(p_id);
-}
-
-ObjectID PhysicsServer2DSW::area_get_object_instance_id(RID p_area) const {
-	if (space_owner.owns(p_area)) {
-		Space2DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, ObjectID());
-	return area->get_instance_id();
-}
-
-void PhysicsServer2DSW::area_attach_canvas_instance_id(RID p_area, ObjectID p_id) {
-	if (space_owner.owns(p_area)) {
-		Space2DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_canvas_instance_id(p_id);
-}
-
-ObjectID PhysicsServer2DSW::area_get_canvas_instance_id(RID p_area) const {
-	if (space_owner.owns(p_area)) {
-		Space2DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, ObjectID());
-	return area->get_canvas_instance_id();
-}
-
-void PhysicsServer2DSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
-	if (space_owner.owns(p_area)) {
-		Space2DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_param(p_param, p_value);
-};
-
-void PhysicsServer2DSW::area_set_transform(RID p_area, const Transform2D &p_transform) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_transform(p_transform);
-};
-
-Variant PhysicsServer2DSW::area_get_param(RID p_area, AreaParameter p_param) const {
-	if (space_owner.owns(p_area)) {
-		Space2DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Variant());
-
-	return area->get_param(p_param);
-};
-
-Transform2D PhysicsServer2DSW::area_get_transform(RID p_area) const {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Transform2D());
-
-	return area->get_transform();
-};
-
-void PhysicsServer2DSW::area_set_pickable(RID p_area, bool p_pickable) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_pickable(p_pickable);
-}
-
-void PhysicsServer2DSW::area_set_monitorable(RID p_area, bool p_monitorable) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	FLUSH_QUERY_CHECK(area);
-
-	area->set_monitorable(p_monitorable);
-}
-
-void PhysicsServer2DSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_collision_mask(p_mask);
-}
-
-void PhysicsServer2DSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_collision_layer(p_layer);
-}
-
-void PhysicsServer2DSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
-}
-
-void PhysicsServer2DSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
-	Area2DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
-}
-
-/* BODY API */
-
-RID PhysicsServer2DSW::body_create() {
-	Body2DSW *body = memnew(Body2DSW);
-	RID rid = body_owner.make_rid(body);
-	body->set_self(rid);
-	return rid;
-}
-
-void PhysicsServer2DSW::body_set_space(RID p_body, RID p_space) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	Space2DSW *space = nullptr;
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (body->get_space() == space) {
-		return; //pointless
-	}
-
-	body->clear_constraint_list();
-	body->set_space(space);
-};
-
-RID PhysicsServer2DSW::body_get_space(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, RID());
-
-	Space2DSW *space = body->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-};
-
-void PhysicsServer2DSW::body_set_mode(RID p_body, BodyMode p_mode) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	FLUSH_QUERY_CHECK(body);
-
-	body->set_mode(p_mode);
-};
-
-PhysicsServer2D::BodyMode PhysicsServer2DSW::body_get_mode(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
-
-	return body->get_mode();
-};
-
-void PhysicsServer2DSW::body_add_shape(RID p_body, RID p_shape, const Transform2D &p_transform, bool p_disabled) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	body->add_shape(shape, p_transform, p_disabled);
-}
-
-void PhysicsServer2DSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	Shape2DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	ERR_FAIL_COND(!shape->is_configured());
-
-	body->set_shape(p_shape_idx, shape);
-}
-
-void PhysicsServer2DSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform2D &p_transform) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_shape_transform(p_shape_idx, p_transform);
-}
-
-int PhysicsServer2DSW::body_get_shape_count(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, -1);
-
-	return body->get_shape_count();
-}
-
-RID PhysicsServer2DSW::body_get_shape(RID p_body, int p_shape_idx) const {
-	Body2DSW *body = body_owner.get_or_null(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 PhysicsServer2DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Transform2D());
-
-	return body->get_shape_transform(p_shape_idx);
-}
-
-void PhysicsServer2DSW::body_remove_shape(RID p_body, int p_shape_idx) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->remove_shape(p_shape_idx);
-}
-
-void PhysicsServer2DSW::body_clear_shapes(RID p_body) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	while (body->get_shape_count()) {
-		body->remove_shape(0);
-	}
-}
-
-void PhysicsServer2DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
-	FLUSH_QUERY_CHECK(body);
-
-	body->set_shape_disabled(p_shape_idx, p_disabled);
-}
-
-void PhysicsServer2DSW::body_set_shape_as_one_way_collision(RID p_body, int p_shape_idx, bool p_enable, real_t p_margin) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
-	FLUSH_QUERY_CHECK(body);
-
-	body->set_shape_as_one_way_collision(p_shape_idx, p_enable, p_margin);
-}
-
-void PhysicsServer2DSW::body_set_continuous_collision_detection_mode(RID p_body, CCDMode p_mode) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_continuous_collision_detection_mode(p_mode);
-}
-
-PhysicsServer2DSW::CCDMode PhysicsServer2DSW::body_get_continuous_collision_detection_mode(RID p_body) const {
-	const Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, CCD_MODE_DISABLED);
-
-	return body->get_continuous_collision_detection_mode();
-}
-
-void PhysicsServer2DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_instance_id(p_id);
-};
-
-ObjectID PhysicsServer2DSW::body_get_object_instance_id(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, ObjectID());
-
-	return body->get_instance_id();
-};
-
-void PhysicsServer2DSW::body_attach_canvas_instance_id(RID p_body, ObjectID p_id) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_canvas_instance_id(p_id);
-};
-
-ObjectID PhysicsServer2DSW::body_get_canvas_instance_id(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, ObjectID());
-
-	return body->get_canvas_instance_id();
-};
-
-void PhysicsServer2DSW::body_set_collision_layer(RID p_body, uint32_t p_layer) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_collision_layer(p_layer);
-};
-
-uint32_t PhysicsServer2DSW::body_get_collision_layer(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_layer();
-};
-
-void PhysicsServer2DSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_collision_mask(p_mask);
-};
-
-uint32_t PhysicsServer2DSW::body_get_collision_mask(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_mask();
-};
-
-void PhysicsServer2DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_param(p_param, p_value);
-};
-
-Variant PhysicsServer2DSW::body_get_param(RID p_body, BodyParameter p_param) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_param(p_param);
-};
-
-void PhysicsServer2DSW::body_reset_mass_properties(RID p_body) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	return body->reset_mass_properties();
-}
-
-void PhysicsServer2DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_state(p_state, p_variant);
-};
-
-Variant PhysicsServer2DSW::body_get_state(RID p_body, BodyState p_state) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Variant());
-
-	return body->get_state(p_state);
-};
-
-void PhysicsServer2DSW::body_set_applied_force(RID p_body, const Vector2 &p_force) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_applied_force(p_force);
-	body->wakeup();
-};
-
-Vector2 PhysicsServer2DSW::body_get_applied_force(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Vector2());
-	return body->get_applied_force();
-};
-
-void PhysicsServer2DSW::body_set_applied_torque(RID p_body, real_t p_torque) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_applied_torque(p_torque);
-	body->wakeup();
-};
-
-real_t PhysicsServer2DSW::body_get_applied_torque(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_applied_torque();
-};
-
-void PhysicsServer2DSW::body_apply_central_impulse(RID p_body, const Vector2 &p_impulse) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->apply_central_impulse(p_impulse);
-	body->wakeup();
-}
-
-void PhysicsServer2DSW::body_apply_torque_impulse(RID p_body, real_t p_torque) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	body->apply_torque_impulse(p_torque);
-	body->wakeup();
-}
-
-void PhysicsServer2DSW::body_apply_impulse(RID p_body, const Vector2 &p_impulse, const Vector2 &p_position) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	body->apply_impulse(p_impulse, p_position);
-	body->wakeup();
-};
-
-void PhysicsServer2DSW::body_add_central_force(RID p_body, const Vector2 &p_force) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_central_force(p_force);
-	body->wakeup();
-};
-
-void PhysicsServer2DSW::body_add_force(RID p_body, const Vector2 &p_force, const Vector2 &p_position) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_force(p_force, p_position);
-	body->wakeup();
-};
-
-void PhysicsServer2DSW::body_add_torque(RID p_body, real_t p_torque) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_torque(p_torque);
-	body->wakeup();
-};
-
-void PhysicsServer2DSW::body_set_axis_velocity(RID p_body, const Vector2 &p_axis_velocity) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	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 PhysicsServer2DSW::body_add_collision_exception(RID p_body, RID p_body_b) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_exception(p_body_b);
-	body->wakeup();
-};
-
-void PhysicsServer2DSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->remove_exception(p_body_b);
-	body->wakeup();
-};
-
-void PhysicsServer2DSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
-	Body2DSW *body = body_owner.get_or_null(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 PhysicsServer2DSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-};
-
-real_t PhysicsServer2DSW::body_get_contacts_reported_depth_threshold(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-	return 0;
-};
-
-void PhysicsServer2DSW::body_set_omit_force_integration(RID p_body, bool p_omit) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_omit_force_integration(p_omit);
-};
-
-bool PhysicsServer2DSW::body_is_omitting_force_integration(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, false);
-	return body->get_omit_force_integration();
-};
-
-void PhysicsServer2DSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_max_contacts_reported(p_contacts);
-}
-
-int PhysicsServer2DSW::body_get_max_contacts_reported(RID p_body) const {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, -1);
-	return body->get_max_contacts_reported();
-}
-
-void PhysicsServer2DSW::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_state_sync_callback(p_instance, p_callback);
-}
-
-void PhysicsServer2DSW::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_force_integration_callback(p_callable, p_udata);
-}
-
-bool PhysicsServer2DSW::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_or_null(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 PhysicsServer2DSW::body_set_pickable(RID p_body, bool p_pickable) {
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_pickable(p_pickable);
-}
-
-bool PhysicsServer2DSW::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
-	Body2DSW *body = body_owner.get_or_null(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);
-
-	_update_shapes();
-
-	return body->get_space()->test_body_motion(body, p_parameters, r_result);
-}
-
-PhysicsDirectBodyState2D *PhysicsServer2DSW::body_get_direct_state(RID p_body) {
-	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
-
-	Body2DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, nullptr);
-
-	ERR_FAIL_COND_V(!body->get_space(), nullptr);
-	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
-
-	return body->get_direct_state();
-}
-
-/* JOINT API */
-
-RID PhysicsServer2DSW::joint_create() {
-	Joint2DSW *joint = memnew(Joint2DSW);
-	RID joint_rid = joint_owner.make_rid(joint);
-	joint->set_self(joint_rid);
-	return joint_rid;
-}
-
-void PhysicsServer2DSW::joint_clear(RID p_joint) {
-	Joint2DSW *joint = joint_owner.get_or_null(p_joint);
-	if (joint->get_type() != JOINT_TYPE_MAX) {
-		Joint2DSW *empty_joint = memnew(Joint2DSW);
-		empty_joint->copy_settings_from(joint);
-
-		joint_owner.replace(p_joint, empty_joint);
-		memdelete(joint);
-	}
-}
-
-void PhysicsServer2DSW::joint_set_param(RID p_joint, JointParam p_param, real_t p_value) {
-	Joint2DSW *joint = joint_owner.get_or_null(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 PhysicsServer2DSW::joint_get_param(RID p_joint, JointParam p_param) const {
-	const Joint2DSW *joint = joint_owner.get_or_null(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 PhysicsServer2DSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
-	Joint2DSW *joint = joint_owner.get_or_null(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 PhysicsServer2DSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
-	const Joint2DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, true);
-
-	return joint->is_disabled_collisions_between_bodies();
-}
-
-void PhysicsServer2DSW::joint_make_pin(RID p_joint, const Vector2 &p_pos, RID p_body_a, RID p_body_b) {
-	Body2DSW *A = body_owner.get_or_null(p_body_a);
-	ERR_FAIL_COND(!A);
-	Body2DSW *B = nullptr;
-	if (body_owner.owns(p_body_b)) {
-		B = body_owner.get_or_null(p_body_b);
-		ERR_FAIL_COND(!B);
-	}
-
-	Joint2DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint2DSW *joint = memnew(PinJoint2DSW(p_pos, A, B));
-
-	joint_owner.replace(p_joint, joint);
-	joint->copy_settings_from(prev_joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer2DSW::joint_make_groove(RID p_joint, 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_or_null(p_body_a);
-	ERR_FAIL_COND(!A);
-
-	Body2DSW *B = body_owner.get_or_null(p_body_b);
-	ERR_FAIL_COND(!B);
-
-	Joint2DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint2DSW *joint = memnew(GrooveJoint2DSW(p_a_groove1, p_a_groove2, p_b_anchor, A, B));
-
-	joint_owner.replace(p_joint, joint);
-	joint->copy_settings_from(prev_joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer2DSW::joint_make_damped_spring(RID p_joint, const Vector2 &p_anchor_a, const Vector2 &p_anchor_b, RID p_body_a, RID p_body_b) {
-	Body2DSW *A = body_owner.get_or_null(p_body_a);
-	ERR_FAIL_COND(!A);
-
-	Body2DSW *B = body_owner.get_or_null(p_body_b);
-	ERR_FAIL_COND(!B);
-
-	Joint2DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint2DSW *joint = memnew(DampedSpringJoint2DSW(p_anchor_a, p_anchor_b, A, B));
-
-	joint_owner.replace(p_joint, joint);
-	joint->copy_settings_from(prev_joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer2DSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
-	Joint2DSW *j = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!j);
-	ERR_FAIL_COND(j->get_type() != JOINT_TYPE_PIN);
-
-	PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j);
-	pin_joint->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer2DSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
-	Joint2DSW *j = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!j, 0);
-	ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_PIN, 0);
-
-	PinJoint2DSW *pin_joint = static_cast<PinJoint2DSW *>(j);
-	return pin_joint->get_param(p_param);
-}
-
-void PhysicsServer2DSW::damped_spring_joint_set_param(RID p_joint, DampedSpringParam p_param, real_t p_value) {
-	Joint2DSW *j = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!j);
-	ERR_FAIL_COND(j->get_type() != JOINT_TYPE_DAMPED_SPRING);
-
-	DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j);
-	dsj->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer2DSW::damped_spring_joint_get_param(RID p_joint, DampedSpringParam p_param) const {
-	Joint2DSW *j = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!j, 0);
-	ERR_FAIL_COND_V(j->get_type() != JOINT_TYPE_DAMPED_SPRING, 0);
-
-	DampedSpringJoint2DSW *dsj = static_cast<DampedSpringJoint2DSW *>(j);
-	return dsj->get_param(p_param);
-}
-
-PhysicsServer2D::JointType PhysicsServer2DSW::joint_get_type(RID p_joint) const {
-	Joint2DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN);
-
-	return joint->get_type();
-}
-
-void PhysicsServer2DSW::free(RID p_rid) {
-	_update_shapes(); // just in case
-
-	if (shape_owner.owns(p_rid)) {
-		Shape2DSW *shape = shape_owner.get_or_null(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_or_null(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_or_null(p_rid);
-
-		/*
-		if (area->get_monitor_query())
-			_clear_query(area->get_monitor_query());
-		*/
-
-		area->set_space(nullptr);
-
-		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_or_null(p_rid);
-
-		while (space->get_objects().size()) {
-			CollisionObject2DSW *co = (CollisionObject2DSW *)space->get_objects().front()->get();
-			co->set_space(nullptr);
-		}
-
-		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_or_null(p_rid);
-
-		joint_owner.free(p_rid);
-		memdelete(joint);
-
-	} else {
-		ERR_FAIL_MSG("Invalid ID.");
-	}
-};
-
-void PhysicsServer2DSW::set_active(bool p_active) {
-	active = p_active;
-};
-
-void PhysicsServer2DSW::set_collision_iterations(int p_iterations) {
-	iterations = p_iterations;
-};
-
-void PhysicsServer2DSW::init() {
-	doing_sync = false;
-	iterations = 8; // 8?
-	stepper = memnew(Step2DSW);
-};
-
-void PhysicsServer2DSW::step(real_t p_step) {
-	if (!active) {
-		return;
-	}
-
-	_update_shapes();
-
-	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 PhysicsServer2DSW::sync() {
-	doing_sync = true;
-};
-
-void PhysicsServer2DSW::flush_queries() {
-	if (!active) {
-		return;
-	}
-
-	flushing_queries = true;
-
-	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();
-	}
-
-	flushing_queries = false;
-
-	if (EngineDebugger::is_profiling("servers")) {
-		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));
-
-		values.push_front("physics_2d");
-		EngineDebugger::profiler_add_frame_data("servers", values);
-	}
-}
-
-void PhysicsServer2DSW::end_sync() {
-	doing_sync = false;
-}
-
-void PhysicsServer2DSW::finish() {
-	memdelete(stepper);
-};
-
-void PhysicsServer2DSW::_update_shapes() {
-	while (pending_shape_update_list.first()) {
-		pending_shape_update_list.first()->self()->_shape_changed();
-		pending_shape_update_list.remove(pending_shape_update_list.first());
-	}
-}
-
-int PhysicsServer2DSW::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;
-}
-
-PhysicsServer2DSW *PhysicsServer2DSW::singletonsw = nullptr;
-
-PhysicsServer2DSW::PhysicsServer2DSW(bool p_using_threads) {
-	singletonsw = this;
-	BroadPhase2DSW::create_func = BroadPhase2DBVH::_create;
-
-	using_threads = p_using_threads;
-};

servers/physics_3d/gjk_epa.cpp

@@ -105,7 +105,7 @@ typedef unsigned char	U1;
 
 // MinkowskiDiff
 struct	MinkowskiDiff {
-	const Shape3DSW* m_shapes[2];
+	const GodotShape3D* m_shapes[2];
 
 	Transform3D transform_A;
 	Transform3D transform_B;
@@ -113,10 +113,10 @@ struct	MinkowskiDiff {
 	real_t margin_A = 0.0;
 	real_t margin_B = 0.0;
 
-	Vector3 (*get_support)(const Shape3DSW*, const Vector3&, real_t);
+	Vector3 (*get_support)(const GodotShape3D*, const Vector3&, real_t);
 
-	void Initialize(const Shape3DSW* shape0, const Transform3D& wtrs0, const real_t margin0,
-		const Shape3DSW* shape1, const Transform3D& wtrs1, const real_t margin1) {
+	void Initialize(const GodotShape3D* shape0, const Transform3D& wtrs0, const real_t margin0,
+		const GodotShape3D* shape1, const Transform3D& wtrs1, const real_t margin1) {
 		m_shapes[0]		=	shape0;
 		m_shapes[1]		=	shape1;
 		transform_A		=	wtrs0;
@@ -131,11 +131,11 @@ struct	MinkowskiDiff {
 		}
 	}
 
-	static Vector3 get_support_without_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
+	static Vector3 get_support_without_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) {
 		return p_shape->get_support(p_dir.normalized());
 	}
 
-	static Vector3 get_support_with_margin(const Shape3DSW* p_shape, const Vector3& p_dir, real_t p_margin) {
+	static Vector3 get_support_with_margin(const GodotShape3D* p_shape, const Vector3& p_dir, real_t p_margin) {
 		Vector3 local_dir_norm = p_dir;
 		if (local_dir_norm.length_squared() < CMP_EPSILON2) {
 			local_dir_norm = Vector3(-1.0, -1.0, -1.0);
@@ -862,8 +862,8 @@ struct	GJK
 	};
 
 	//
-	static void	Initialize(	const Shape3DSW* shape0, const Transform3D& wtrs0, real_t margin0,
-		const Shape3DSW* shape1, const Transform3D& wtrs1, real_t margin1,
+	static void	Initialize(	const GodotShape3D* shape0, const Transform3D& wtrs0, real_t margin0,
+		const GodotShape3D* shape1, const Transform3D& wtrs1, real_t margin1,
 		sResults& results,
 		tShape& shape)
 	{
@@ -884,10 +884,10 @@ struct	GJK
 //
 
 //
-bool Distance(	const Shape3DSW*	shape0,
+bool Distance(	const GodotShape3D*	shape0,
 									  const Transform3D&		wtrs0,
 									  real_t				margin0,
-									  const Shape3DSW*		shape1,
+									  const GodotShape3D*		shape1,
 									  const Transform3D&		wtrs1,
 									  real_t				margin1,
 									  const Vector3&		guess,
@@ -925,10 +925,10 @@ bool Distance(	const Shape3DSW*	shape0,
 
 
 //
-bool Penetration(	const Shape3DSW*	shape0,
+bool Penetration(	const GodotShape3D*	shape0,
 									 const Transform3D&		wtrs0,
 									 real_t					margin0,
-									 const Shape3DSW*		shape1,
+									 const GodotShape3D*		shape1,
 									 const Transform3D&		wtrs1,
 									 real_t					margin1,
 									 const Vector3&			guess,
@@ -993,7 +993,7 @@ bool Penetration(	const Shape3DSW*	shape0,
 
 /* clang-format on */
 
-bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
+bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B) {
 	GjkEpa2::sResults res;
 
 	if (GjkEpa2::Distance(p_shape_A, p_transform_A, 0.0, p_shape_B, p_transform_B, 0.0, p_transform_B.origin - p_transform_A.origin, res)) {
@@ -1005,7 +1005,7 @@ bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p
 	return false;
 }
 
-bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) {
+bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, real_t p_margin_A, real_t p_margin_B) {
 	GjkEpa2::sResults res;
 
 	if (GjkEpa2::Penetration(p_shape_A, p_transform_A, p_margin_A, p_shape_B, p_transform_B, p_margin_B, p_transform_B.origin - p_transform_A.origin, res)) {

servers/physics_3d/gjk_epa.h

@@ -31,10 +31,10 @@
 #ifndef GJK_EPA_H
 #define GJK_EPA_H
 
-#include "collision_solver_3d_sw.h"
-#include "shape_3d_sw.h"
+#include "godot_collision_solver_3d.h"
+#include "godot_shape_3d.h"
 
-bool gjk_epa_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0);
-bool gjk_epa_calculate_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B);
+bool gjk_epa_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, real_t p_margin_A = 0.0, real_t p_margin_B = 0.0);
+bool gjk_epa_calculate_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_result_A, Vector3 &r_result_B);
 
 #endif

servers/physics_3d/area_3d_sw.cpp → servers/physics_3d/godot_area_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_3d_sw.cpp                                                       */
+/*  godot_area_3d.cpp                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,39 +28,40 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "area_3d_sw.h"
-#include "body_3d_sw.h"
-#include "soft_body_3d_sw.h"
-#include "space_3d_sw.h"
+#include "godot_area_3d.h"
 
-Area3DSW::BodyKey::BodyKey(SoftBody3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+#include "godot_body_3d.h"
+#include "godot_soft_body_3d.h"
+#include "godot_space_3d.h"
+
+GodotArea3D::BodyKey::BodyKey(GodotSoftBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	rid = p_body->get_self();
 	instance_id = p_body->get_instance_id();
 	body_shape = p_body_shape;
 	area_shape = p_area_shape;
 }
 
-Area3DSW::BodyKey::BodyKey(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+GodotArea3D::BodyKey::BodyKey(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	rid = p_body->get_self();
 	instance_id = p_body->get_instance_id();
 	body_shape = p_body_shape;
 	area_shape = p_area_shape;
 }
 
-Area3DSW::BodyKey::BodyKey(Area3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+GodotArea3D::BodyKey::BodyKey(GodotArea3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	rid = p_body->get_self();
 	instance_id = p_body->get_instance_id();
 	body_shape = p_body_shape;
 	area_shape = p_area_shape;
 }
 
-void Area3DSW::_shapes_changed() {
+void GodotArea3D::_shapes_changed() {
 	if (!moved_list.in_list() && get_space()) {
 		get_space()->area_add_to_moved_list(&moved_list);
 	}
 }
 
-void Area3DSW::set_transform(const Transform3D &p_transform) {
+void GodotArea3D::set_transform(const Transform3D &p_transform) {
 	if (!moved_list.in_list() && get_space()) {
 		get_space()->area_add_to_moved_list(&moved_list);
 	}
@@ -69,7 +70,7 @@ void Area3DSW::set_transform(const Transform3D &p_transform) {
 	_set_inv_transform(p_transform.affine_inverse());
 }
 
-void Area3DSW::set_space(Space3DSW *p_space) {
+void GodotArea3D::set_space(GodotSpace3D *p_space) {
 	if (get_space()) {
 		if (monitor_query_list.in_list()) {
 			get_space()->area_remove_from_monitor_query_list(&monitor_query_list);
@@ -85,7 +86,7 @@ void Area3DSW::set_space(Space3DSW *p_space) {
 	_set_space(p_space);
 }
 
-void Area3DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
+void GodotArea3D::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
 	if (p_id == monitor_callback_id) {
 		monitor_callback_method = p_method;
 		return;
@@ -106,7 +107,7 @@ void Area3DSW::set_monitor_callback(ObjectID p_id, const StringName &p_method) {
 	}
 }
 
-void Area3DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
+void GodotArea3D::set_area_monitor_callback(ObjectID p_id, const StringName &p_method) {
 	if (p_id == area_monitor_callback_id) {
 		area_monitor_callback_method = p_method;
 		return;
@@ -127,7 +128,7 @@ void Area3DSW::set_area_monitor_callback(ObjectID p_id, const StringName &p_meth
 	}
 }
 
-void Area3DSW::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) {
+void GodotArea3D::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_mode) {
 	bool do_override = p_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
 	if (do_override == (space_override_mode != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED)) {
 		return;
@@ -137,7 +138,7 @@ void Area3DSW::set_space_override_mode(PhysicsServer3D::AreaSpaceOverrideMode p_
 	_shape_changed();
 }
 
-void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
+void GodotArea3D::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::AREA_PARAM_GRAVITY:
 			gravity = p_value;
@@ -180,7 +181,7 @@ void Area3DSW::set_param(PhysicsServer3D::AreaParameter p_param, const Variant &
 	}
 }
 
-Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const {
+Variant GodotArea3D::get_param(PhysicsServer3D::AreaParameter p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::AREA_PARAM_GRAVITY:
 			return gravity;
@@ -211,7 +212,7 @@ Variant Area3DSW::get_param(PhysicsServer3D::AreaParameter p_param) const {
 	return Variant();
 }
 
-void Area3DSW::_queue_monitor_update() {
+void GodotArea3D::_queue_monitor_update() {
 	ERR_FAIL_COND(!get_space());
 
 	if (!monitor_query_list.in_list()) {
@@ -219,7 +220,7 @@ void Area3DSW::_queue_monitor_update() {
 	}
 }
 
-void Area3DSW::set_monitorable(bool p_monitorable) {
+void GodotArea3D::set_monitorable(bool p_monitorable) {
 	if (monitorable == p_monitorable) {
 		return;
 	}
@@ -228,7 +229,7 @@ void Area3DSW::set_monitorable(bool p_monitorable) {
 	_set_static(!monitorable);
 }
 
-void Area3DSW::call_queries() {
+void GodotArea3D::call_queries() {
 	if (monitor_callback_id.is_valid() && !monitored_bodies.is_empty()) {
 		Variant res[5];
 		Variant *resptr[5];
@@ -304,7 +305,7 @@ void Area3DSW::call_queries() {
 	}
 }
 
-void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const {
+void GodotArea3D::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const {
 	if (is_gravity_point()) {
 		const real_t gravity_distance_scale = get_gravity_distance_scale();
 		Vector3 v = get_transform().xform(get_gravity_vector()) - p_position;
@@ -324,13 +325,13 @@ void Area3DSW::compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) co
 	}
 }
 
-Area3DSW::Area3DSW() :
-		CollisionObject3DSW(TYPE_AREA),
+GodotArea3D::GodotArea3D() :
+		GodotCollisionObject3D(TYPE_AREA),
 		monitor_query_list(this),
 		moved_list(this) {
 	_set_static(true); //areas are never active
 	set_ray_pickable(false);
 }
 
-Area3DSW::~Area3DSW() {
+GodotArea3D::~GodotArea3D() {
 }

servers/physics_3d/area_3d_sw.h → servers/physics_3d/godot_area_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_3d_sw.h                                                         */
+/*  godot_area_3d.h                                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,19 +28,20 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef AREA_SW_H
-#define AREA_SW_H
+#ifndef GODOT_AREA_3D_H
+#define GODOT_AREA_3D_H
+
+#include "godot_collision_object_3d.h"
 
-#include "collision_object_3d_sw.h"
 #include "core/templates/self_list.h"
 #include "servers/physics_server_3d.h"
 
-class Space3DSW;
-class Body3DSW;
-class SoftBody3DSW;
-class Constraint3DSW;
+class GodotSpace3D;
+class GodotBody3D;
+class GodotSoftBody3D;
+class GodotConstraint3D;
 
-class Area3DSW : public CollisionObject3DSW {
+class GodotArea3D : public GodotCollisionObject3D {
 	PhysicsServer3D::AreaSpaceOverrideMode space_override_mode = PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED;
 	real_t gravity = 9.80665;
 	Vector3 gravity_vector = Vector3(0, -1, 0);
@@ -62,8 +63,8 @@ class Area3DSW : public CollisionObject3DSW {
 	ObjectID area_monitor_callback_id;
 	StringName area_monitor_callback_method;
 
-	SelfList<Area3DSW> monitor_query_list;
-	SelfList<Area3DSW> moved_list;
+	SelfList<GodotArea3D> monitor_query_list;
+	SelfList<GodotArea3D> moved_list;
 
 	struct BodyKey {
 		RID rid;
@@ -84,9 +85,9 @@ class Area3DSW : public CollisionObject3DSW {
 		}
 
 		_FORCE_INLINE_ BodyKey() {}
-		BodyKey(SoftBody3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
-		BodyKey(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
-		BodyKey(Area3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+		BodyKey(GodotSoftBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+		BodyKey(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+		BodyKey(GodotArea3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
 	};
 
 	struct BodyState {
@@ -99,7 +100,7 @@ class Area3DSW : public CollisionObject3DSW {
 	Map<BodyKey, BodyState> monitored_bodies;
 	Map<BodyKey, BodyState> monitored_areas;
 
-	Set<Constraint3DSW *> constraints;
+	Set<GodotConstraint3D *> constraints;
 
 	virtual void _shapes_changed();
 	void _queue_monitor_update();
@@ -111,14 +112,14 @@ public:
 	void set_area_monitor_callback(ObjectID p_id, const StringName &p_method);
 	_FORCE_INLINE_ bool has_area_monitor_callback() const { return area_monitor_callback_id.is_valid(); }
 
-	_FORCE_INLINE_ void add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
-	_FORCE_INLINE_ void remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+	_FORCE_INLINE_ void add_body_to_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
+	_FORCE_INLINE_ void remove_body_from_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape);
 
-	_FORCE_INLINE_ void add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
-	_FORCE_INLINE_ void remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
+	_FORCE_INLINE_ void add_soft_body_to_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
+	_FORCE_INLINE_ void remove_soft_body_from_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape);
 
-	_FORCE_INLINE_ void add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
-	_FORCE_INLINE_ void remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
+	_FORCE_INLINE_ void add_area_to_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
+	_FORCE_INLINE_ void remove_area_from_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape);
 
 	void set_param(PhysicsServer3D::AreaParameter p_param, const Variant &p_value);
 	Variant get_param(PhysicsServer3D::AreaParameter p_param) const;
@@ -162,9 +163,9 @@ public:
 	_FORCE_INLINE_ void set_wind_direction(const Vector3 &p_wind_direction) { wind_direction = p_wind_direction; }
 	_FORCE_INLINE_ const Vector3 &get_wind_direction() const { return wind_direction; }
 
-	_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
-	_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
-	_FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
+	_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); }
+	_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); }
+	_FORCE_INLINE_ const Set<GodotConstraint3D *> &get_constraints() const { return constraints; }
 	_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
 
 	void set_monitorable(bool p_monitorable);
@@ -172,17 +173,17 @@ public:
 
 	void set_transform(const Transform3D &p_transform);
 
-	void set_space(Space3DSW *p_space);
+	void set_space(GodotSpace3D *p_space);
 
 	void call_queries();
 
 	void compute_gravity(const Vector3 &p_position, Vector3 &r_gravity) const;
 
-	Area3DSW();
-	~Area3DSW();
+	GodotArea3D();
+	~GodotArea3D();
 };
 
-void Area3DSW::add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
+void GodotArea3D::add_soft_body_to_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
 	BodyKey bk(p_soft_body, p_soft_body_shape, p_area_shape);
 	monitored_soft_bodies[bk].inc();
 	if (!monitor_query_list.in_list()) {
@@ -190,7 +191,7 @@ void Area3DSW::add_soft_body_to_query(SoftBody3DSW *p_soft_body, uint32_t p_soft
 	}
 }
 
-void Area3DSW::remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
+void GodotArea3D::remove_soft_body_from_query(GodotSoftBody3D *p_soft_body, uint32_t p_soft_body_shape, uint32_t p_area_shape) {
 	BodyKey bk(p_soft_body, p_soft_body_shape, p_area_shape);
 	monitored_soft_bodies[bk].dec();
 	if (!monitor_query_list.in_list()) {
@@ -198,7 +199,7 @@ void Area3DSW::remove_soft_body_from_query(SoftBody3DSW *p_soft_body, uint32_t p
 	}
 }
 
-void Area3DSW::add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+void GodotArea3D::add_body_to_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	BodyKey bk(p_body, p_body_shape, p_area_shape);
 	monitored_bodies[bk].inc();
 	if (!monitor_query_list.in_list()) {
@@ -206,7 +207,7 @@ void Area3DSW::add_body_to_query(Body3DSW *p_body, uint32_t p_body_shape, uint32
 	}
 }
 
-void Area3DSW::remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
+void GodotArea3D::remove_body_from_query(GodotBody3D *p_body, uint32_t p_body_shape, uint32_t p_area_shape) {
 	BodyKey bk(p_body, p_body_shape, p_area_shape);
 	monitored_bodies[bk].dec();
 	if (!monitor_query_list.in_list()) {
@@ -214,7 +215,7 @@ void Area3DSW::remove_body_from_query(Body3DSW *p_body, uint32_t p_body_shape, u
 	}
 }
 
-void Area3DSW::add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
+void GodotArea3D::add_area_to_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
 	BodyKey bk(p_area, p_area_shape, p_self_shape);
 	monitored_areas[bk].inc();
 	if (!monitor_query_list.in_list()) {
@@ -222,7 +223,7 @@ void Area3DSW::add_area_to_query(Area3DSW *p_area, uint32_t p_area_shape, uint32
 	}
 }
 
-void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
+void GodotArea3D::remove_area_from_query(GodotArea3D *p_area, uint32_t p_area_shape, uint32_t p_self_shape) {
 	BodyKey bk(p_area, p_area_shape, p_self_shape);
 	monitored_areas[bk].dec();
 	if (!monitor_query_list.in_list()) {
@@ -231,15 +232,15 @@ void Area3DSW::remove_area_from_query(Area3DSW *p_area, uint32_t p_area_shape, u
 }
 
 struct AreaCMP {
-	Area3DSW *area = nullptr;
+	GodotArea3D *area = nullptr;
 	int refCount = 0;
 	_FORCE_INLINE_ bool operator==(const AreaCMP &p_cmp) const { return area->get_self() == p_cmp.area->get_self(); }
 	_FORCE_INLINE_ bool operator<(const AreaCMP &p_cmp) const { return area->get_priority() < p_cmp.area->get_priority(); }
 	_FORCE_INLINE_ AreaCMP() {}
-	_FORCE_INLINE_ AreaCMP(Area3DSW *p_area) {
+	_FORCE_INLINE_ AreaCMP(GodotArea3D *p_area) {
 		area = p_area;
 		refCount = 1;
 	}
 };
 
-#endif // AREA__SW_H
+#endif // GODOT_AREA_3D_H

servers/physics_3d/area_pair_3d_sw.cpp → servers/physics_3d/godot_area_pair_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_pair_3d_sw.cpp                                                  */
+/*  godot_area_pair_3d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,12 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "area_pair_3d_sw.h"
-#include "collision_solver_3d_sw.h"
+#include "godot_area_pair_3d.h"
 
-bool AreaPair3DSW::setup(real_t p_step) {
+#include "godot_collision_solver_3d.h"
+
+bool GodotAreaPair3D::setup(real_t p_step) {
 	bool result = false;
-	if (area->collides_with(body) && CollisionSolver3DSW::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
+	if (area->collides_with(body) && GodotCollisionSolver3D::solve_static(body->get_shape(body_shape), body->get_transform() * body->get_shape_transform(body_shape), area->get_shape(area_shape), area->get_transform() * area->get_shape_transform(area_shape), nullptr, this)) {
 		result = true;
 	}
 
@@ -51,7 +52,7 @@ bool AreaPair3DSW::setup(real_t p_step) {
 	return process_collision;
 }
 
-bool AreaPair3DSW::pre_solve(real_t p_step) {
+bool GodotAreaPair3D::pre_solve(real_t p_step) {
 	if (!process_collision) {
 		return false;
 	}
@@ -77,11 +78,11 @@ bool AreaPair3DSW::pre_solve(real_t p_step) {
 	return false; // Never do any post solving.
 }
 
-void AreaPair3DSW::solve(real_t p_step) {
+void GodotAreaPair3D::solve(real_t p_step) {
 	// Nothing to do.
 }
 
-AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape) {
+GodotAreaPair3D::GodotAreaPair3D(GodotBody3D *p_body, int p_body_shape, GodotArea3D *p_area, int p_area_shape) {
 	body = p_body;
 	area = p_area;
 	body_shape = p_body_shape;
@@ -93,7 +94,7 @@ AreaPair3DSW::AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area,
 	}
 }
 
-AreaPair3DSW::~AreaPair3DSW() {
+GodotAreaPair3D::~GodotAreaPair3D() {
 	if (colliding) {
 		if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
 			body->remove_area(area);
@@ -108,10 +109,10 @@ AreaPair3DSW::~AreaPair3DSW() {
 
 ////////////////////////////////////////////////////
 
-bool Area2Pair3DSW::setup(real_t p_step) {
+bool GodotArea2Pair3D::setup(real_t p_step) {
 	bool result_a = area_a->collides_with(area_b);
 	bool result_b = area_b->collides_with(area_a);
-	if ((result_a || result_b) && !CollisionSolver3DSW::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
+	if ((result_a || result_b) && !GodotCollisionSolver3D::solve_static(area_a->get_shape(shape_a), area_a->get_transform() * area_a->get_shape_transform(shape_a), area_b->get_shape(shape_b), area_b->get_transform() * area_b->get_shape_transform(shape_b), nullptr, this)) {
 		result_a = false;
 		result_b = false;
 	}
@@ -139,7 +140,7 @@ bool Area2Pair3DSW::setup(real_t p_step) {
 	return process_collision;
 }
 
-bool Area2Pair3DSW::pre_solve(real_t p_step) {
+bool GodotArea2Pair3D::pre_solve(real_t p_step) {
 	if (process_collision_a) {
 		if (colliding_a) {
 			area_a->add_area_to_query(area_b, shape_b, shape_a);
@@ -159,11 +160,11 @@ bool Area2Pair3DSW::pre_solve(real_t p_step) {
 	return false; // Never do any post solving.
 }
 
-void Area2Pair3DSW::solve(real_t p_step) {
+void GodotArea2Pair3D::solve(real_t p_step) {
 	// Nothing to do.
 }
 
-Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b) {
+GodotArea2Pair3D::GodotArea2Pair3D(GodotArea3D *p_area_a, int p_shape_a, GodotArea3D *p_area_b, int p_shape_b) {
 	area_a = p_area_a;
 	area_b = p_area_b;
 	shape_a = p_shape_a;
@@ -172,7 +173,7 @@ Area2Pair3DSW::Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area
 	area_b->add_constraint(this);
 }
 
-Area2Pair3DSW::~Area2Pair3DSW() {
+GodotArea2Pair3D::~GodotArea2Pair3D() {
 	if (colliding_a) {
 		if (area_a->has_area_monitor_callback()) {
 			area_a->remove_area_from_query(area_b, shape_b, shape_a);
@@ -191,11 +192,11 @@ Area2Pair3DSW::~Area2Pair3DSW() {
 
 ////////////////////////////////////////////////////
 
-bool AreaSoftBodyPair3DSW::setup(real_t p_step) {
+bool GodotAreaSoftBodyPair3D::setup(real_t p_step) {
 	bool result = false;
 	if (
 			area->collides_with(soft_body) &&
-			CollisionSolver3DSW::solve_static(
+			GodotCollisionSolver3D::solve_static(
 					soft_body->get_shape(soft_body_shape),
 					soft_body->get_transform() * soft_body->get_shape_transform(soft_body_shape),
 					area->get_shape(area_shape),
@@ -219,7 +220,7 @@ bool AreaSoftBodyPair3DSW::setup(real_t p_step) {
 	return process_collision;
 }
 
-bool AreaSoftBodyPair3DSW::pre_solve(real_t p_step) {
+bool GodotAreaSoftBodyPair3D::pre_solve(real_t p_step) {
 	if (!process_collision) {
 		return false;
 	}
@@ -245,11 +246,11 @@ bool AreaSoftBodyPair3DSW::pre_solve(real_t p_step) {
 	return false; // Never do any post solving.
 }
 
-void AreaSoftBodyPair3DSW::solve(real_t p_step) {
+void GodotAreaSoftBodyPair3D::solve(real_t p_step) {
 	// Nothing to do.
 }
 
-AreaSoftBodyPair3DSW::AreaSoftBodyPair3DSW(SoftBody3DSW *p_soft_body, int p_soft_body_shape, Area3DSW *p_area, int p_area_shape) {
+GodotAreaSoftBodyPair3D::GodotAreaSoftBodyPair3D(GodotSoftBody3D *p_soft_body, int p_soft_body_shape, GodotArea3D *p_area, int p_area_shape) {
 	soft_body = p_soft_body;
 	area = p_area;
 	soft_body_shape = p_soft_body_shape;
@@ -258,7 +259,7 @@ AreaSoftBodyPair3DSW::AreaSoftBodyPair3DSW(SoftBody3DSW *p_soft_body, int p_soft
 	area->add_constraint(this);
 }
 
-AreaSoftBodyPair3DSW::~AreaSoftBodyPair3DSW() {
+GodotAreaSoftBodyPair3D::~GodotAreaSoftBodyPair3D() {
 	if (colliding) {
 		if (area->get_space_override_mode() != PhysicsServer3D::AREA_SPACE_OVERRIDE_DISABLED) {
 			soft_body->remove_area(area);

servers/physics_3d/area_pair_3d_sw.h → servers/physics_3d/godot_area_pair_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  area_pair_3d_sw.h                                                    */
+/*  godot_area_pair_3d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,17 +28,17 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef AREA_PAIR_SW_H
-#define AREA_PAIR_SW_H
+#ifndef GODOT_AREA_PAIR_3D_H
+#define GODOT_AREA_PAIR_3D_H
 
-#include "area_3d_sw.h"
-#include "body_3d_sw.h"
-#include "constraint_3d_sw.h"
-#include "soft_body_3d_sw.h"
+#include "godot_area_3d.h"
+#include "godot_body_3d.h"
+#include "godot_constraint_3d.h"
+#include "godot_soft_body_3d.h"
 
-class AreaPair3DSW : public Constraint3DSW {
-	Body3DSW *body;
-	Area3DSW *area;
+class GodotAreaPair3D : public GodotConstraint3D {
+	GodotBody3D *body;
+	GodotArea3D *area;
 	int body_shape;
 	int area_shape;
 	bool colliding = false;
@@ -49,13 +49,13 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	AreaPair3DSW(Body3DSW *p_body, int p_body_shape, Area3DSW *p_area, int p_area_shape);
-	~AreaPair3DSW();
+	GodotAreaPair3D(GodotBody3D *p_body, int p_body_shape, GodotArea3D *p_area, int p_area_shape);
+	~GodotAreaPair3D();
 };
 
-class Area2Pair3DSW : public Constraint3DSW {
-	Area3DSW *area_a;
-	Area3DSW *area_b;
+class GodotArea2Pair3D : public GodotConstraint3D {
+	GodotArea3D *area_a;
+	GodotArea3D *area_b;
 	int shape_a;
 	int shape_b;
 	bool colliding_a = false;
@@ -68,13 +68,13 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	Area2Pair3DSW(Area3DSW *p_area_a, int p_shape_a, Area3DSW *p_area_b, int p_shape_b);
-	~Area2Pair3DSW();
+	GodotArea2Pair3D(GodotArea3D *p_area_a, int p_shape_a, GodotArea3D *p_area_b, int p_shape_b);
+	~GodotArea2Pair3D();
 };
 
-class AreaSoftBodyPair3DSW : public Constraint3DSW {
-	SoftBody3DSW *soft_body;
-	Area3DSW *area;
+class GodotAreaSoftBodyPair3D : public GodotConstraint3D {
+	GodotSoftBody3D *soft_body;
+	GodotArea3D *area;
 	int soft_body_shape;
 	int area_shape;
 	bool colliding = false;
@@ -85,8 +85,8 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	AreaSoftBodyPair3DSW(SoftBody3DSW *p_sof_body, int p_soft_body_shape, Area3DSW *p_area, int p_area_shape);
-	~AreaSoftBodyPair3DSW();
+	GodotAreaSoftBodyPair3D(GodotSoftBody3D *p_sof_body, int p_soft_body_shape, GodotArea3D *p_area, int p_area_shape);
+	~GodotAreaSoftBodyPair3D();
 };
 
-#endif // AREA_PAIR__SW_H
+#endif // GODOT_AREA_PAIR_3D_H

servers/physics_3d/body_3d_sw.cpp → servers/physics_3d/godot_body_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_3d_sw.cpp                                                       */
+/*  godot_body_3d.cpp                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,19 +28,19 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "body_3d_sw.h"
+#include "godot_body_3d.h"
 
-#include "area_3d_sw.h"
-#include "body_direct_state_3d_sw.h"
-#include "space_3d_sw.h"
+#include "godot_area_3d.h"
+#include "godot_body_direct_state_3d.h"
+#include "godot_space_3d.h"
 
-void Body3DSW::_mass_properties_changed() {
+void GodotBody3D::_mass_properties_changed() {
 	if (get_space() && !mass_properties_update_list.in_list() && (calculate_inertia || calculate_center_of_mass)) {
 		get_space()->body_add_to_mass_properties_update_list(&mass_properties_update_list);
 	}
 }
 
-void Body3DSW::_update_transform_dependant() {
+void GodotBody3D::_update_transform_dependant() {
 	center_of_mass = get_transform().basis.xform(center_of_mass_local);
 	principal_inertia_axes = get_transform().basis * principal_inertia_axes_local;
 
@@ -52,7 +52,7 @@ void Body3DSW::_update_transform_dependant() {
 	_inv_inertia_tensor = tb * diag * tbt;
 }
 
-void Body3DSW::update_mass_properties() {
+void GodotBody3D::update_mass_properties() {
 	// Update shapes and motions.
 
 	switch (mode) {
@@ -106,7 +106,7 @@ void Body3DSW::update_mass_properties() {
 
 					inertia_set = true;
 
-					const Shape3DSW *shape = get_shape(i);
+					const GodotShape3D *shape = get_shape(i);
 
 					real_t mass = area * this->mass / total_area;
 
@@ -164,13 +164,13 @@ void Body3DSW::update_mass_properties() {
 	_update_transform_dependant();
 }
 
-void Body3DSW::reset_mass_properties() {
+void GodotBody3D::reset_mass_properties() {
 	calculate_inertia = true;
 	calculate_center_of_mass = true;
 	_mass_properties_changed();
 }
 
-void Body3DSW::set_active(bool p_active) {
+void GodotBody3D::set_active(bool p_active) {
 	if (active == p_active) {
 		return;
 	}
@@ -189,7 +189,7 @@ void Body3DSW::set_active(bool p_active) {
 	}
 }
 
-void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) {
+void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::BODY_PARAM_BOUNCE: {
 			bounce = p_value;
@@ -240,7 +240,7 @@ void Body3DSW::set_param(PhysicsServer3D::BodyParameter p_param, const Variant &
 	}
 }
 
-Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const {
+Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::BODY_PARAM_BOUNCE: {
 			return bounce;
@@ -278,7 +278,7 @@ Variant Body3DSW::get_param(PhysicsServer3D::BodyParameter p_param) const {
 	return 0;
 }
 
-void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
+void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
 	PhysicsServer3D::BodyMode prev = mode;
 	mode = p_mode;
 
@@ -321,15 +321,15 @@ void Body3DSW::set_mode(PhysicsServer3D::BodyMode p_mode) {
 	}
 }
 
-PhysicsServer3D::BodyMode Body3DSW::get_mode() const {
+PhysicsServer3D::BodyMode GodotBody3D::get_mode() const {
 	return mode;
 }
 
-void Body3DSW::_shapes_changed() {
+void GodotBody3D::_shapes_changed() {
 	_mass_properties_changed();
 }
 
-void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
+void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
 	switch (p_state) {
 		case PhysicsServer3D::BODY_STATE_TRANSFORM: {
 			if (mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
@@ -395,7 +395,7 @@ void Body3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_va
 	}
 }
 
-Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
+Variant GodotBody3D::get_state(PhysicsServer3D::BodyState p_state) const {
 	switch (p_state) {
 		case PhysicsServer3D::BODY_STATE_TRANSFORM: {
 			return get_transform();
@@ -417,7 +417,7 @@ Variant Body3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
 	return Variant();
 }
 
-void Body3DSW::set_space(Space3DSW *p_space) {
+void GodotBody3D::set_space(GodotSpace3D *p_space) {
 	if (get_space()) {
 		if (mass_properties_update_list.in_list()) {
 			get_space()->body_remove_from_mass_properties_update_list(&mass_properties_update_list);
@@ -440,7 +440,7 @@ void Body3DSW::set_space(Space3DSW *p_space) {
 	}
 }
 
-void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) {
+void GodotBody3D::_compute_area_gravity_and_damping(const GodotArea3D *p_area) {
 	Vector3 area_gravity;
 	p_area->compute_gravity(get_transform().get_origin(), area_gravity);
 	gravity += area_gravity;
@@ -449,7 +449,7 @@ void Body3DSW::_compute_area_gravity_and_damping(const Area3DSW *p_area) {
 	area_angular_damp += p_area->get_angular_damp();
 }
 
-void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
+void GodotBody3D::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
 	if (lock) {
 		locked_axis |= p_axis;
 	} else {
@@ -457,17 +457,16 @@ void Body3DSW::set_axis_lock(PhysicsServer3D::BodyAxis p_axis, bool lock) {
 	}
 }
 
-bool Body3DSW::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
+bool GodotBody3D::is_axis_locked(PhysicsServer3D::BodyAxis p_axis) const {
 	return locked_axis & p_axis;
 }
 
-void Body3DSW::integrate_forces(real_t p_step) {
+void GodotBody3D::integrate_forces(real_t p_step) {
 	if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
 		return;
 	}
 
-	Area3DSW *def_area = get_space()->get_default_area();
-	// AreaSW *damp_area = def_area;
+	GodotArea3D *def_area = get_space()->get_default_area();
 
 	ERR_FAIL_COND(!def_area);
 
@@ -591,7 +590,7 @@ void Body3DSW::integrate_forces(real_t p_step) {
 	contact_count = 0;
 }
 
-void Body3DSW::integrate_velocities(real_t p_step) {
+void GodotBody3D::integrate_velocities(real_t p_step) {
 	if (mode == PhysicsServer3D::BODY_MODE_STATIC) {
 		return;
 	}
@@ -655,49 +654,17 @@ void Body3DSW::integrate_velocities(real_t p_step) {
 	_update_transform_dependant();
 }
 
-/*
-void BodySW::simulate_motion(const Transform3D& p_xform,real_t p_step) {
-	Transform3D inv_xform = p_xform.affine_inverse();
-	if (!get_space()) {
-		_set_transform(p_xform);
-		_set_inv_transform(inv_xform);
-
-		return;
-	}
-
-	//compute a FAKE linear velocity - this is easy
-
-	linear_velocity=(p_xform.origin - get_transform().origin)/p_step;
-
-	//compute a FAKE angular velocity, not so easy
-	Basis rot=get_transform().basis.orthonormalized().transposed() * p_xform.basis.orthonormalized();
-	Vector3 axis;
-	real_t angle;
-
-	rot.get_axis_angle(axis,angle);
-	axis.normalize();
-	angular_velocity=axis.normalized() * (angle/p_step);
-	linear_velocity = (p_xform.origin - get_transform().origin)/p_step;
-
-	if (!direct_state_query_list.in_list())// - callalways, so lv and av are cleared && (state_query || direct_state_query))
-		get_space()->body_add_to_state_query_list(&direct_state_query_list);
-	simulated_motion=true;
-	_set_transform(p_xform);
-}
-
-*/
-
-void Body3DSW::wakeup_neighbours() {
-	for (const KeyValue<Constraint3DSW *, int> &E : constraint_map) {
-		const Constraint3DSW *c = E.key;
-		Body3DSW **n = c->get_body_ptr();
+void GodotBody3D::wakeup_neighbours() {
+	for (const KeyValue<GodotConstraint3D *, int> &E : constraint_map) {
+		const GodotConstraint3D *c = E.key;
+		GodotBody3D **n = c->get_body_ptr();
 		int bc = c->get_body_count();
 
 		for (int i = 0; i < bc; i++) {
 			if (i == E.value) {
 				continue;
 			}
-			Body3DSW *b = n[i];
+			GodotBody3D *b = n[i];
 			if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) {
 				continue;
 			}
@@ -709,7 +676,7 @@ void Body3DSW::wakeup_neighbours() {
 	}
 }
 
-void Body3DSW::call_queries() {
+void GodotBody3D::call_queries() {
 	if (fi_callback_data) {
 		if (!fi_callback_data->callable.get_object()) {
 			set_force_integration_callback(Callable());
@@ -729,7 +696,7 @@ void Body3DSW::call_queries() {
 	}
 }
 
-bool Body3DSW::sleep_test(real_t p_step) {
+bool GodotBody3D::sleep_test(real_t p_step) {
 	if (mode == PhysicsServer3D::BODY_MODE_STATIC || mode == PhysicsServer3D::BODY_MODE_KINEMATIC) {
 		return true;
 	} else if (!can_sleep) {
@@ -746,12 +713,12 @@ bool Body3DSW::sleep_test(real_t p_step) {
 	}
 }
 
-void Body3DSW::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
+void GodotBody3D::set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback) {
 	body_state_callback_instance = p_instance;
 	body_state_callback = p_callback;
 }
 
-void Body3DSW::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
+void GodotBody3D::set_force_integration_callback(const Callable &p_callable, const Variant &p_udata) {
 	if (p_callable.get_object()) {
 		if (!fi_callback_data) {
 			fi_callback_data = memnew(ForceIntegrationCallbackData);
@@ -764,23 +731,23 @@ void Body3DSW::set_force_integration_callback(const Callable &p_callable, const
 	}
 }
 
-PhysicsDirectBodyState3DSW *Body3DSW::get_direct_state() {
+GodotPhysicsDirectBodyState3D *GodotBody3D::get_direct_state() {
 	if (!direct_state) {
-		direct_state = memnew(PhysicsDirectBodyState3DSW);
+		direct_state = memnew(GodotPhysicsDirectBodyState3D);
 		direct_state->body = this;
 	}
 	return direct_state;
 }
 
-Body3DSW::Body3DSW() :
-		CollisionObject3DSW(TYPE_BODY),
+GodotBody3D::GodotBody3D() :
+		GodotCollisionObject3D(TYPE_BODY),
 		active_list(this),
 		mass_properties_update_list(this),
 		direct_state_query_list(this) {
 	_set_static(false);
 }
 
-Body3DSW::~Body3DSW() {
+GodotBody3D::~GodotBody3D() {
 	if (fi_callback_data) {
 		memdelete(fi_callback_data);
 	}

servers/physics_3d/body_3d_sw.h → servers/physics_3d/godot_body_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_3d_sw.h                                                         */
+/*  godot_body_3d.h                                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,17 +28,18 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BODY_3D_SW_H
-#define BODY_3D_SW_H
+#ifndef GODOT_BODY_3D_H
+#define GODOT_BODY_3D_H
+
+#include "godot_area_3d.h"
+#include "godot_collision_object_3d.h"
 
-#include "area_3d_sw.h"
-#include "collision_object_3d_sw.h"
 #include "core/templates/vset.h"
 
-class Constraint3DSW;
-class PhysicsDirectBodyState3DSW;
+class GodotConstraint3D;
+class GodotPhysicsDirectBodyState3D;
 
-class Body3DSW : public CollisionObject3DSW {
+class GodotBody3D : public GodotCollisionObject3D {
 	PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
 
 	Vector3 linear_velocity;
@@ -85,9 +86,9 @@ class Body3DSW : public CollisionObject3DSW {
 	real_t area_angular_damp = 0.0;
 	real_t area_linear_damp = 0.0;
 
-	SelfList<Body3DSW> active_list;
-	SelfList<Body3DSW> mass_properties_update_list;
-	SelfList<Body3DSW> direct_state_query_list;
+	SelfList<GodotBody3D> active_list;
+	SelfList<GodotBody3D> mass_properties_update_list;
+	SelfList<GodotBody3D> direct_state_query_list;
 
 	VSet<RID> exceptions;
 	bool omit_force_integration = false;
@@ -101,7 +102,7 @@ class Body3DSW : public CollisionObject3DSW {
 	virtual void _shapes_changed();
 	Transform3D new_transform;
 
-	Map<Constraint3DSW *, int> constraint_map;
+	Map<GodotConstraint3D *, int> constraint_map;
 
 	Vector<AreaCMP> areas;
 
@@ -130,23 +131,23 @@ class Body3DSW : public CollisionObject3DSW {
 
 	ForceIntegrationCallbackData *fi_callback_data = nullptr;
 
-	PhysicsDirectBodyState3DSW *direct_state = nullptr;
+	GodotPhysicsDirectBodyState3D *direct_state = nullptr;
 
 	uint64_t island_step = 0;
 
-	_FORCE_INLINE_ void _compute_area_gravity_and_damping(const Area3DSW *p_area);
+	_FORCE_INLINE_ void _compute_area_gravity_and_damping(const GodotArea3D *p_area);
 
 	_FORCE_INLINE_ void _update_transform_dependant();
 
-	friend class PhysicsDirectBodyState3DSW; // i give up, too many functions to expose
+	friend class GodotPhysicsDirectBodyState3D; // i give up, too many functions to expose
 
 public:
 	void set_state_sync_callback(void *p_instance, PhysicsServer3D::BodyStateCallback p_callback);
 	void set_force_integration_callback(const Callable &p_callable, const Variant &p_udata = Variant());
 
-	PhysicsDirectBodyState3DSW *get_direct_state();
+	GodotPhysicsDirectBodyState3D *get_direct_state();
 
-	_FORCE_INLINE_ void add_area(Area3DSW *p_area) {
+	_FORCE_INLINE_ void add_area(GodotArea3D *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
 			areas.write[index].refCount += 1;
@@ -155,7 +156,7 @@ public:
 		}
 	}
 
-	_FORCE_INLINE_ void remove_area(Area3DSW *p_area) {
+	_FORCE_INLINE_ void remove_area(GodotArea3D *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
 			areas.write[index].refCount -= 1;
@@ -185,9 +186,9 @@ public:
 	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
 	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
 
-	_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
-	_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraint_map.erase(p_constraint); }
-	const Map<Constraint3DSW *, int> &get_constraint_map() const { return constraint_map; }
+	_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint, int p_pos) { constraint_map[p_constraint] = p_pos; }
+	_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraint_map.erase(p_constraint); }
+	const Map<GodotConstraint3D *, int> &get_constraint_map() const { return constraint_map; }
 	_FORCE_INLINE_ void clear_constraint_map() { constraint_map.clear(); }
 
 	_FORCE_INLINE_ void set_omit_force_integration(bool p_omit_force_integration) { omit_force_integration = p_omit_force_integration; }
@@ -275,7 +276,7 @@ public:
 	_FORCE_INLINE_ void set_continuous_collision_detection(bool p_enable) { continuous_cd = p_enable; }
 	_FORCE_INLINE_ bool is_continuous_collision_detection_enabled() const { return continuous_cd; }
 
-	void set_space(Space3DSW *p_space);
+	void set_space(GodotSpace3D *p_space);
 
 	void update_mass_properties();
 	void reset_mass_properties();
@@ -317,13 +318,13 @@ public:
 
 	bool sleep_test(real_t p_step);
 
-	Body3DSW();
-	~Body3DSW();
+	GodotBody3D();
+	~GodotBody3D();
 };
 
 //add contact inline
 
-void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
+void GodotBody3D::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_normal, real_t p_depth, int p_local_shape, const Vector3 &p_collider_pos, int p_collider_shape, ObjectID p_collider_instance_id, const RID &p_collider, const Vector3 &p_collider_velocity_at_pos) {
 	int c_max = contacts.size();
 
 	if (c_max == 0) {
@@ -365,4 +366,4 @@ void Body3DSW::add_contact(const Vector3 &p_local_pos, const Vector3 &p_local_no
 	c[idx].collider_velocity_at_pos = p_collider_velocity_at_pos;
 }
 
-#endif // BODY_3D_SW_H
+#endif // GODOT_BODY_3D_H

servers/physics_3d/body_direct_state_3d_sw.cpp → servers/physics_3d/godot_body_direct_state_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_direct_state_3d_sw.cpp                                          */
+/*  godot_body_direct_state_3d.cpp                                       */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,163 +28,163 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "body_direct_state_3d_sw.h"
+#include "godot_body_direct_state_3d.h"
 
-#include "body_3d_sw.h"
-#include "space_3d_sw.h"
+#include "godot_body_3d.h"
+#include "godot_space_3d.h"
 
-Vector3 PhysicsDirectBodyState3DSW::get_total_gravity() const {
+Vector3 GodotPhysicsDirectBodyState3D::get_total_gravity() const {
 	return body->gravity;
 }
 
-real_t PhysicsDirectBodyState3DSW::get_total_angular_damp() const {
+real_t GodotPhysicsDirectBodyState3D::get_total_angular_damp() const {
 	return body->area_angular_damp;
 }
 
-real_t PhysicsDirectBodyState3DSW::get_total_linear_damp() const {
+real_t GodotPhysicsDirectBodyState3D::get_total_linear_damp() const {
 	return body->area_linear_damp;
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_center_of_mass() const {
+Vector3 GodotPhysicsDirectBodyState3D::get_center_of_mass() const {
 	return body->get_center_of_mass();
 }
 
-Basis PhysicsDirectBodyState3DSW::get_principal_inertia_axes() const {
+Basis GodotPhysicsDirectBodyState3D::get_principal_inertia_axes() const {
 	return body->get_principal_inertia_axes();
 }
 
-real_t PhysicsDirectBodyState3DSW::get_inverse_mass() const {
+real_t GodotPhysicsDirectBodyState3D::get_inverse_mass() const {
 	return body->get_inv_mass();
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_inverse_inertia() const {
+Vector3 GodotPhysicsDirectBodyState3D::get_inverse_inertia() const {
 	return body->get_inv_inertia();
 }
 
-Basis PhysicsDirectBodyState3DSW::get_inverse_inertia_tensor() const {
+Basis GodotPhysicsDirectBodyState3D::get_inverse_inertia_tensor() const {
 	return body->get_inv_inertia_tensor();
 }
 
-void PhysicsDirectBodyState3DSW::set_linear_velocity(const Vector3 &p_velocity) {
+void GodotPhysicsDirectBodyState3D::set_linear_velocity(const Vector3 &p_velocity) {
 	body->wakeup();
 	body->set_linear_velocity(p_velocity);
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_linear_velocity() const {
+Vector3 GodotPhysicsDirectBodyState3D::get_linear_velocity() const {
 	return body->get_linear_velocity();
 }
 
-void PhysicsDirectBodyState3DSW::set_angular_velocity(const Vector3 &p_velocity) {
+void GodotPhysicsDirectBodyState3D::set_angular_velocity(const Vector3 &p_velocity) {
 	body->wakeup();
 	body->set_angular_velocity(p_velocity);
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_angular_velocity() const {
+Vector3 GodotPhysicsDirectBodyState3D::get_angular_velocity() const {
 	return body->get_angular_velocity();
 }
 
-void PhysicsDirectBodyState3DSW::set_transform(const Transform3D &p_transform) {
+void GodotPhysicsDirectBodyState3D::set_transform(const Transform3D &p_transform) {
 	body->set_state(PhysicsServer3D::BODY_STATE_TRANSFORM, p_transform);
 }
 
-Transform3D PhysicsDirectBodyState3DSW::get_transform() const {
+Transform3D GodotPhysicsDirectBodyState3D::get_transform() const {
 	return body->get_transform();
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_velocity_at_local_position(const Vector3 &p_position) const {
+Vector3 GodotPhysicsDirectBodyState3D::get_velocity_at_local_position(const Vector3 &p_position) const {
 	return body->get_velocity_in_local_point(p_position);
 }
 
-void PhysicsDirectBodyState3DSW::add_central_force(const Vector3 &p_force) {
+void GodotPhysicsDirectBodyState3D::add_central_force(const Vector3 &p_force) {
 	body->wakeup();
 	body->add_central_force(p_force);
 }
 
-void PhysicsDirectBodyState3DSW::add_force(const Vector3 &p_force, const Vector3 &p_position) {
+void GodotPhysicsDirectBodyState3D::add_force(const Vector3 &p_force, const Vector3 &p_position) {
 	body->wakeup();
 	body->add_force(p_force, p_position);
 }
 
-void PhysicsDirectBodyState3DSW::add_torque(const Vector3 &p_torque) {
+void GodotPhysicsDirectBodyState3D::add_torque(const Vector3 &p_torque) {
 	body->wakeup();
 	body->add_torque(p_torque);
 }
 
-void PhysicsDirectBodyState3DSW::apply_central_impulse(const Vector3 &p_impulse) {
+void GodotPhysicsDirectBodyState3D::apply_central_impulse(const Vector3 &p_impulse) {
 	body->wakeup();
 	body->apply_central_impulse(p_impulse);
 }
 
-void PhysicsDirectBodyState3DSW::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
+void GodotPhysicsDirectBodyState3D::apply_impulse(const Vector3 &p_impulse, const Vector3 &p_position) {
 	body->wakeup();
 	body->apply_impulse(p_impulse, p_position);
 }
 
-void PhysicsDirectBodyState3DSW::apply_torque_impulse(const Vector3 &p_impulse) {
+void GodotPhysicsDirectBodyState3D::apply_torque_impulse(const Vector3 &p_impulse) {
 	body->wakeup();
 	body->apply_torque_impulse(p_impulse);
 }
 
-void PhysicsDirectBodyState3DSW::set_sleep_state(bool p_sleep) {
+void GodotPhysicsDirectBodyState3D::set_sleep_state(bool p_sleep) {
 	body->set_active(!p_sleep);
 }
 
-bool PhysicsDirectBodyState3DSW::is_sleeping() const {
+bool GodotPhysicsDirectBodyState3D::is_sleeping() const {
 	return !body->is_active();
 }
 
-int PhysicsDirectBodyState3DSW::get_contact_count() const {
+int GodotPhysicsDirectBodyState3D::get_contact_count() const {
 	return body->contact_count;
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_contact_local_position(int p_contact_idx) const {
+Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_position(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
 	return body->contacts[p_contact_idx].local_pos;
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_contact_local_normal(int p_contact_idx) const {
+Vector3 GodotPhysicsDirectBodyState3D::get_contact_local_normal(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
 	return body->contacts[p_contact_idx].local_normal;
 }
 
-real_t PhysicsDirectBodyState3DSW::get_contact_impulse(int p_contact_idx) const {
+real_t GodotPhysicsDirectBodyState3D::get_contact_impulse(int p_contact_idx) const {
 	return 0.0f; // Only implemented for bullet
 }
 
-int PhysicsDirectBodyState3DSW::get_contact_local_shape(int p_contact_idx) const {
+int GodotPhysicsDirectBodyState3D::get_contact_local_shape(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, -1);
 	return body->contacts[p_contact_idx].local_shape;
 }
 
-RID PhysicsDirectBodyState3DSW::get_contact_collider(int p_contact_idx) const {
+RID GodotPhysicsDirectBodyState3D::get_contact_collider(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, RID());
 	return body->contacts[p_contact_idx].collider;
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_position(int p_contact_idx) const {
+Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_position(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
 	return body->contacts[p_contact_idx].collider_pos;
 }
 
-ObjectID PhysicsDirectBodyState3DSW::get_contact_collider_id(int p_contact_idx) const {
+ObjectID GodotPhysicsDirectBodyState3D::get_contact_collider_id(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, ObjectID());
 	return body->contacts[p_contact_idx].collider_instance_id;
 }
 
-int PhysicsDirectBodyState3DSW::get_contact_collider_shape(int p_contact_idx) const {
+int GodotPhysicsDirectBodyState3D::get_contact_collider_shape(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, 0);
 	return body->contacts[p_contact_idx].collider_shape;
 }
 
-Vector3 PhysicsDirectBodyState3DSW::get_contact_collider_velocity_at_position(int p_contact_idx) const {
+Vector3 GodotPhysicsDirectBodyState3D::get_contact_collider_velocity_at_position(int p_contact_idx) const {
 	ERR_FAIL_INDEX_V(p_contact_idx, body->contact_count, Vector3());
 	return body->contacts[p_contact_idx].collider_velocity_at_pos;
 }
 
-PhysicsDirectSpaceState3D *PhysicsDirectBodyState3DSW::get_space_state() {
+PhysicsDirectSpaceState3D *GodotPhysicsDirectBodyState3D::get_space_state() {
 	return body->get_space()->get_direct_state();
 }
 
-real_t PhysicsDirectBodyState3DSW::get_step() const {
+real_t GodotPhysicsDirectBodyState3D::get_step() const {
 	return body->get_space()->get_last_step();
 }

servers/physics_3d/body_direct_state_3d_sw.h → servers/physics_3d/godot_body_direct_state_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_direct_state_3d_sw.h                                            */
+/*  godot_body_direct_state_3d.h                                         */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,18 +28,18 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BODY_DIRECT_STATE_3D_SW_H
-#define BODY_DIRECT_STATE_3D_SW_H
+#ifndef GODOT_BODY_DIRECT_STATE_3D_H
+#define GODOT_BODY_DIRECT_STATE_3D_H
 
 #include "servers/physics_server_3d.h"
 
-class Body3DSW;
+class GodotBody3D;
 
-class PhysicsDirectBodyState3DSW : public PhysicsDirectBodyState3D {
-	GDCLASS(PhysicsDirectBodyState3DSW, PhysicsDirectBodyState3D);
+class GodotPhysicsDirectBodyState3D : public PhysicsDirectBodyState3D {
+	GDCLASS(GodotPhysicsDirectBodyState3D, PhysicsDirectBodyState3D);
 
 public:
-	Body3DSW *body = nullptr;
+	GodotBody3D *body = nullptr;
 
 	virtual Vector3 get_total_gravity() const override;
 	virtual real_t get_total_angular_damp() const override;
@@ -91,4 +91,4 @@ public:
 	virtual real_t get_step() const override;
 };
 
-#endif // BODY_DIRECT_STATE_3D_SW_H
+#endif // GODOT_BODY_DIRECT_STATE_3D_H

servers/physics_3d/body_pair_3d_sw.cpp → servers/physics_3d/godot_body_pair_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_pair_3d_sw.cpp                                                  */
+/*  godot_body_pair_3d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,12 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "body_pair_3d_sw.h"
+#include "godot_body_pair_3d.h"
+
+#include "godot_collision_solver_3d.h"
+#include "godot_space_3d.h"
 
-#include "collision_solver_3d_sw.h"
 #include "core/os/os.h"
-#include "space_3d_sw.h"
 
 /*
 #define NO_ACCUMULATE_IMPULSES
@@ -49,12 +50,12 @@
 #define MIN_VELOCITY 0.0001
 #define MAX_BIAS_ROTATION (Math_PI / 8)
 
-void BodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
-	BodyPair3DSW *pair = (BodyPair3DSW *)p_userdata;
+void GodotBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
+	GodotBodyPair3D *pair = (GodotBodyPair3D *)p_userdata;
 	pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B);
 }
 
-void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
+void GodotBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
 	// check if we already have the contact
 
 	//Vector3 local_A = A->get_inv_transform().xform(p_point_A);
@@ -135,7 +136,7 @@ void BodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_
 	}
 }
 
-void BodyPair3DSW::validate_contacts() {
+void GodotBodyPair3D::validate_contacts() {
 	//make sure to erase contacts that are no longer valid
 
 	real_t contact_max_separation = space->get_contact_max_separation();
@@ -161,7 +162,7 @@ void BodyPair3DSW::validate_contacts() {
 	}
 }
 
-bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B) {
+bool GodotBodyPair3D::_test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B) {
 	Vector3 motion = p_A->get_linear_velocity() * p_step;
 	real_t mlen = motion.length();
 	if (mlen < CMP_EPSILON) {
@@ -203,15 +204,15 @@ bool BodyPair3DSW::_test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const
 	return true;
 }
 
-real_t combine_bounce(Body3DSW *A, Body3DSW *B) {
+real_t combine_bounce(GodotBody3D *A, GodotBody3D *B) {
 	return CLAMP(A->get_bounce() + B->get_bounce(), 0, 1);
 }
 
-real_t combine_friction(Body3DSW *A, Body3DSW *B) {
+real_t combine_friction(GodotBody3D *A, GodotBody3D *B) {
 	return ABS(MIN(A->get_friction(), B->get_friction()));
 }
 
-bool BodyPair3DSW::setup(real_t p_step) {
+bool GodotBodyPair3D::setup(real_t p_step) {
 	if (!A->interacts_with(B) || A->has_exception(B->get_self()) || B->has_exception(A->get_self())) {
 		collided = false;
 		return false;
@@ -242,10 +243,10 @@ bool BodyPair3DSW::setup(real_t p_step) {
 	xform_Bu.origin -= offset_A;
 	Transform3D xform_B = xform_Bu * B->get_shape_transform(shape_B);
 
-	Shape3DSW *shape_A_ptr = A->get_shape(shape_A);
-	Shape3DSW *shape_B_ptr = B->get_shape(shape_B);
+	GodotShape3D *shape_A_ptr = A->get_shape(shape_A);
+	GodotShape3D *shape_B_ptr = B->get_shape(shape_B);
 
-	collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
+	collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
 
 	if (!collided) {
 		//test ccd (currently just a raycast)
@@ -264,7 +265,7 @@ bool BodyPair3DSW::setup(real_t p_step) {
 	return true;
 }
 
-bool BodyPair3DSW::pre_solve(real_t p_step) {
+bool GodotBodyPair3D::pre_solve(real_t p_step) {
 	if (!collided) {
 		return false;
 	}
@@ -273,8 +274,8 @@ bool BodyPair3DSW::pre_solve(real_t p_step) {
 
 	real_t bias = (real_t)0.3;
 
-	Shape3DSW *shape_A_ptr = A->get_shape(shape_A);
-	Shape3DSW *shape_B_ptr = B->get_shape(shape_B);
+	GodotShape3D *shape_A_ptr = A->get_shape(shape_A);
+	GodotShape3D *shape_B_ptr = B->get_shape(shape_B);
 
 	if (shape_A_ptr->get_custom_bias() || shape_B_ptr->get_custom_bias()) {
 		if (shape_A_ptr->get_custom_bias() == 0) {
@@ -380,7 +381,7 @@ bool BodyPair3DSW::pre_solve(real_t p_step) {
 	return do_process;
 }
 
-void BodyPair3DSW::solve(real_t p_step) {
+void GodotBodyPair3D::solve(real_t p_step) {
 	if (!collided) {
 		return;
 	}
@@ -523,8 +524,8 @@ void BodyPair3DSW::solve(real_t p_step) {
 	}
 }
 
-BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B) :
-		BodyContact3DSW(_arr, 2) {
+GodotBodyPair3D::GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B) :
+		GodotBodyContact3D(_arr, 2) {
 	A = p_A;
 	B = p_B;
 	shape_A = p_shape_A;
@@ -534,17 +535,17 @@ BodyPair3DSW::BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_sh
 	B->add_constraint(this, 1);
 }
 
-BodyPair3DSW::~BodyPair3DSW() {
+GodotBodyPair3D::~GodotBodyPair3D() {
 	A->remove_constraint(this);
 	B->remove_constraint(this);
 }
 
-void BodySoftBodyPair3DSW::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
-	BodySoftBodyPair3DSW *pair = (BodySoftBodyPair3DSW *)p_userdata;
+void GodotBodySoftBodyPair3D::_contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
+	GodotBodySoftBodyPair3D *pair = (GodotBodySoftBodyPair3D *)p_userdata;
 	pair->contact_added_callback(p_point_A, p_index_A, p_point_B, p_index_B);
 }
 
-void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
+void GodotBodySoftBodyPair3D::contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B) {
 	Vector3 local_A = body->get_inv_transform().xform(p_point_A);
 	Vector3 local_B = p_point_B - soft_body->get_node_position(p_index_B);
 
@@ -582,7 +583,7 @@ void BodySoftBodyPair3DSW::contact_added_callback(const Vector3 &p_point_A, int
 	contacts.push_back(contact);
 }
 
-void BodySoftBodyPair3DSW::validate_contacts() {
+void GodotBodySoftBodyPair3D::validate_contacts() {
 	// Make sure to erase contacts that are no longer valid.
 	const Transform3D &transform_A = body->get_transform();
 
@@ -612,7 +613,7 @@ void BodySoftBodyPair3DSW::validate_contacts() {
 	contacts.resize(contact_count);
 }
 
-bool BodySoftBodyPair3DSW::setup(real_t p_step) {
+bool GodotBodySoftBodyPair3D::setup(real_t p_step) {
 	if (!body->interacts_with(soft_body) || body->has_exception(soft_body->get_self()) || soft_body->has_exception(body->get_self())) {
 		collided = false;
 		return false;
@@ -638,15 +639,15 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
 
 	validate_contacts();
 
-	Shape3DSW *shape_A_ptr = body->get_shape(body_shape);
-	Shape3DSW *shape_B_ptr = soft_body->get_shape(0);
+	GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
+	GodotShape3D *shape_B_ptr = soft_body->get_shape(0);
 
-	collided = CollisionSolver3DSW::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
+	collided = GodotCollisionSolver3D::solve_static(shape_A_ptr, xform_A, shape_B_ptr, xform_B, _contact_added_callback, this, &sep_axis);
 
 	return collided;
 }
 
-bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
+bool GodotBodySoftBodyPair3D::pre_solve(real_t p_step) {
 	if (!collided) {
 		return false;
 	}
@@ -655,7 +656,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
 
 	real_t bias = (real_t)0.3;
 
-	Shape3DSW *shape_A_ptr = body->get_shape(body_shape);
+	GodotShape3D *shape_A_ptr = body->get_shape(body_shape);
 
 	if (shape_A_ptr->get_custom_bias()) {
 		bias = shape_A_ptr->get_custom_bias();
@@ -753,7 +754,7 @@ bool BodySoftBodyPair3DSW::pre_solve(real_t p_step) {
 	return do_process;
 }
 
-void BodySoftBodyPair3DSW::solve(real_t p_step) {
+void GodotBodySoftBodyPair3D::solve(real_t p_step) {
 	if (!collided) {
 		return;
 	}
@@ -891,8 +892,8 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
 	}
 }
 
-BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B) :
-		BodyContact3DSW(&body, 1) {
+GodotBodySoftBodyPair3D::GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B) :
+		GodotBodyContact3D(&body, 1) {
 	body = p_A;
 	soft_body = p_B;
 	body_shape = p_shape_A;
@@ -901,7 +902,7 @@ BodySoftBodyPair3DSW::BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBod
 	soft_body->add_constraint(this);
 }
 
-BodySoftBodyPair3DSW::~BodySoftBodyPair3DSW() {
+GodotBodySoftBodyPair3D::~GodotBodySoftBodyPair3D() {
 	body->remove_constraint(this);
 	soft_body->remove_constraint(this);
 }

servers/physics_3d/body_pair_3d_sw.h → servers/physics_3d/godot_body_pair_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  body_pair_3d_sw.h                                                    */
+/*  godot_body_pair_3d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,15 +28,16 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BODY_PAIR_3D_SW_H
-#define BODY_PAIR_3D_SW_H
+#ifndef GODOT_BODY_PAIR_3D_H
+#define GODOT_BODY_PAIR_3D_H
+
+#include "godot_body_3d.h"
+#include "godot_constraint_3d.h"
+#include "godot_soft_body_3d.h"
 
-#include "body_3d_sw.h"
-#include "constraint_3d_sw.h"
 #include "core/templates/local_vector.h"
-#include "soft_body_3d_sw.h"
 
-class BodyContact3DSW : public Constraint3DSW {
+class GodotBodyContact3D : public GodotConstraint3D {
 protected:
 	struct Contact {
 		Vector3 position;
@@ -59,25 +60,25 @@ protected:
 	Vector3 sep_axis;
 	bool collided = false;
 
-	Space3DSW *space = nullptr;
+	GodotSpace3D *space = nullptr;
 
-	BodyContact3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
-			Constraint3DSW(p_body_ptr, p_body_count) {
+	GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
+			GodotConstraint3D(p_body_ptr, p_body_count) {
 	}
 };
 
-class BodyPair3DSW : public BodyContact3DSW {
+class GodotBodyPair3D : public GodotBodyContact3D {
 	enum {
 		MAX_CONTACTS = 4
 	};
 
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
 	int shape_A = 0;
@@ -98,20 +99,20 @@ class BodyPair3DSW : public BodyContact3DSW {
 	void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
 
 	void validate_contacts();
-	bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_B);
+	bool _test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B);
 
 public:
 	virtual bool setup(real_t p_step) override;
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B);
-	~BodyPair3DSW();
+	GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B);
+	~GodotBodyPair3D();
 };
 
-class BodySoftBodyPair3DSW : public BodyContact3DSW {
-	Body3DSW *body = nullptr;
-	SoftBody3DSW *soft_body = nullptr;
+class GodotBodySoftBodyPair3D : public GodotBodyContact3D {
+	GodotBody3D *body = nullptr;
+	GodotSoftBody3D *soft_body = nullptr;
 
 	int body_shape = 0;
 
@@ -133,11 +134,11 @@ public:
 	virtual bool pre_solve(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const override { return soft_body; }
+	virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; }
 	virtual int get_soft_body_count() const override { return 1; }
 
-	BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B);
-	~BodySoftBodyPair3DSW();
+	GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B);
+	~GodotBodySoftBodyPair3D();
 };
 
-#endif // BODY_PAIR_3D_SW_H
+#endif // GODOT_BODY_PAIR_3D_H

servers/physics_3d/broad_phase_3d_sw.cpp → servers/physics_3d/godot_broad_phase_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_3d_sw.cpp                                                */
+/*  godot_broad_phase_3d.cpp                                             */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,9 +28,9 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "broad_phase_3d_sw.h"
+#include "godot_broad_phase_3d.h"
 
-BroadPhase3DSW::CreateFunction BroadPhase3DSW::create_func = nullptr;
+GodotBroadPhase3D::CreateFunction GodotBroadPhase3D::create_func = nullptr;
 
-BroadPhase3DSW::~BroadPhase3DSW() {
+GodotBroadPhase3D::~GodotBroadPhase3D() {
 }

servers/physics_3d/broad_phase_3d_sw.h → servers/physics_3d/godot_broad_phase_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_3d_sw.h                                                  */
+/*  godot_broad_phase_3d.h                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,45 +28,45 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BROAD_PHASE_SW_H
-#define BROAD_PHASE_SW_H
+#ifndef GODOT_BROAD_PHASE_3D_H
+#define GODOT_BROAD_PHASE_3D_H
 
 #include "core/math/aabb.h"
 #include "core/math/math_funcs.h"
 
-class CollisionObject3DSW;
+class GodotCollisionObject3D;
 
-class BroadPhase3DSW {
+class GodotBroadPhase3D {
 public:
-	typedef BroadPhase3DSW *(*CreateFunction)();
+	typedef GodotBroadPhase3D *(*CreateFunction)();
 
 	static CreateFunction create_func;
 
 	typedef uint32_t ID;
 
-	typedef void *(*PairCallback)(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_userdata);
-	typedef void (*UnpairCallback)(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_userdata);
+	typedef void *(*PairCallback)(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_userdata);
+	typedef void (*UnpairCallback)(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_userdata);
 
 	// 0 is an invalid ID
-	virtual ID create(CollisionObject3DSW *p_object_, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false) = 0;
+	virtual ID create(GodotCollisionObject3D *p_object_, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false) = 0;
 	virtual void move(ID p_id, const AABB &p_aabb) = 0;
 	virtual void set_static(ID p_id, bool p_static) = 0;
 	virtual void remove(ID p_id) = 0;
 
-	virtual CollisionObject3DSW *get_object(ID p_id) const = 0;
+	virtual GodotCollisionObject3D *get_object(ID p_id) const = 0;
 	virtual bool is_static(ID p_id) const = 0;
 	virtual int get_subindex(ID p_id) const = 0;
 
-	virtual int cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
-	virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
-	virtual int cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
+	virtual int cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
+	virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
+	virtual int cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr) = 0;
 
 	virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata) = 0;
 	virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) = 0;
 
 	virtual void update() = 0;
 
-	virtual ~BroadPhase3DSW();
+	virtual ~GodotBroadPhase3D();
 };
 
-#endif // BROAD_PHASE__SW_H
+#endif // GODOT_BROAD_PHASE_3D_H

servers/physics_3d/broad_phase_3d_bvh.cpp → servers/physics_3d/godot_broad_phase_3d_bvh.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_3d_bvh.cpp                                               */
+/*  godot_broad_phase_3d_bvh.cpp                                         */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,55 +28,56 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "broad_phase_3d_bvh.h"
-#include "collision_object_3d_sw.h"
+#include "godot_broad_phase_3d_bvh.h"
 
-BroadPhase3DBVH::ID BroadPhase3DBVH::create(CollisionObject3DSW *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
+#include "godot_collision_object_3d.h"
+
+GodotBroadPhase3DBVH::ID GodotBroadPhase3DBVH::create(GodotCollisionObject3D *p_object, int p_subindex, const AABB &p_aabb, bool p_static) {
 	ID oid = bvh.create(p_object, true, p_aabb, p_subindex, !p_static, 1 << p_object->get_type(), p_static ? 0 : 0xFFFFF); // Pair everything, don't care?
 	return oid + 1;
 }
 
-void BroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
+void GodotBroadPhase3DBVH::move(ID p_id, const AABB &p_aabb) {
 	bvh.move(p_id - 1, p_aabb);
 }
 
-void BroadPhase3DBVH::set_static(ID p_id, bool p_static) {
-	CollisionObject3DSW *it = bvh.get(p_id - 1);
+void GodotBroadPhase3DBVH::set_static(ID p_id, bool p_static) {
+	GodotCollisionObject3D *it = bvh.get(p_id - 1);
 	bvh.set_pairable(p_id - 1, !p_static, 1 << it->get_type(), p_static ? 0 : 0xFFFFF, false); // Pair everything, don't care?
 }
 
-void BroadPhase3DBVH::remove(ID p_id) {
+void GodotBroadPhase3DBVH::remove(ID p_id) {
 	bvh.erase(p_id - 1);
 }
 
-CollisionObject3DSW *BroadPhase3DBVH::get_object(ID p_id) const {
-	CollisionObject3DSW *it = bvh.get(p_id - 1);
+GodotCollisionObject3D *GodotBroadPhase3DBVH::get_object(ID p_id) const {
+	GodotCollisionObject3D *it = bvh.get(p_id - 1);
 	ERR_FAIL_COND_V(!it, nullptr);
 	return it;
 }
 
-bool BroadPhase3DBVH::is_static(ID p_id) const {
+bool GodotBroadPhase3DBVH::is_static(ID p_id) const {
 	return !bvh.is_pairable(p_id - 1);
 }
 
-int BroadPhase3DBVH::get_subindex(ID p_id) const {
+int GodotBroadPhase3DBVH::get_subindex(ID p_id) const {
 	return bvh.get_subindex(p_id - 1);
 }
 
-int BroadPhase3DBVH::cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
+int GodotBroadPhase3DBVH::cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
 	return bvh.cull_point(p_point, p_results, p_max_results, p_result_indices);
 }
 
-int BroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
+int GodotBroadPhase3DBVH::cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
 	return bvh.cull_segment(p_from, p_to, p_results, p_max_results, p_result_indices);
 }
 
-int BroadPhase3DBVH::cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices) {
+int GodotBroadPhase3DBVH::cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices) {
 	return bvh.cull_aabb(p_aabb, p_results, p_max_results, p_result_indices);
 }
 
-void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B) {
-	BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self);
+void *GodotBroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B) {
+	GodotBroadPhase3DBVH *bpo = (GodotBroadPhase3DBVH *)(self);
 	if (!bpo->pair_callback) {
 		return nullptr;
 	}
@@ -84,8 +85,8 @@ void *BroadPhase3DBVH::_pair_callback(void *self, uint32_t p_A, CollisionObject3
 	return bpo->pair_callback(p_object_A, subindex_A, p_object_B, subindex_B, bpo->pair_userdata);
 }
 
-void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject3DSW *p_object_A, int subindex_A, uint32_t p_B, CollisionObject3DSW *p_object_B, int subindex_B, void *pairdata) {
-	BroadPhase3DBVH *bpo = (BroadPhase3DBVH *)(self);
+void GodotBroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, GodotCollisionObject3D *p_object_A, int subindex_A, uint32_t p_B, GodotCollisionObject3D *p_object_B, int subindex_B, void *pairdata) {
+	GodotBroadPhase3DBVH *bpo = (GodotBroadPhase3DBVH *)(self);
 	if (!bpo->unpair_callback) {
 		return;
 	}
@@ -93,25 +94,25 @@ void BroadPhase3DBVH::_unpair_callback(void *self, uint32_t p_A, CollisionObject
 	bpo->unpair_callback(p_object_A, subindex_A, p_object_B, subindex_B, pairdata, bpo->unpair_userdata);
 }
 
-void BroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
+void GodotBroadPhase3DBVH::set_pair_callback(PairCallback p_pair_callback, void *p_userdata) {
 	pair_callback = p_pair_callback;
 	pair_userdata = p_userdata;
 }
 
-void BroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
+void GodotBroadPhase3DBVH::set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata) {
 	unpair_callback = p_unpair_callback;
 	unpair_userdata = p_userdata;
 }
 
-void BroadPhase3DBVH::update() {
+void GodotBroadPhase3DBVH::update() {
 	bvh.update();
 }
 
-BroadPhase3DSW *BroadPhase3DBVH::_create() {
-	return memnew(BroadPhase3DBVH);
+GodotBroadPhase3D *GodotBroadPhase3DBVH::_create() {
+	return memnew(GodotBroadPhase3DBVH);
 }
 
-BroadPhase3DBVH::BroadPhase3DBVH() {
+GodotBroadPhase3DBVH::GodotBroadPhase3DBVH() {
 	bvh.set_pair_callback(_pair_callback, this);
 	bvh.set_unpair_callback(_unpair_callback, this);
 }

servers/physics_3d/broad_phase_3d_bvh.h → servers/physics_3d/godot_broad_phase_3d_bvh.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  broad_phase_3d_bvh.h                                                 */
+/*  godot_broad_phase_3d_bvh.h                                           */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,17 +28,18 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef BROAD_PHASE_3D_BVH_H
-#define BROAD_PHASE_3D_BVH_H
+#ifndef GODOT_BROAD_PHASE_3D_BVH_H
+#define GODOT_BROAD_PHASE_3D_BVH_H
+
+#include "godot_broad_phase_3d.h"
 
-#include "broad_phase_3d_sw.h"
 #include "core/math/bvh.h"
 
-class BroadPhase3DBVH : public BroadPhase3DSW {
-	BVH_Manager<CollisionObject3DSW, true, 128> bvh;
+class GodotBroadPhase3DBVH : public GodotBroadPhase3D {
+	BVH_Manager<GodotCollisionObject3D, true, 128> bvh;
 
-	static void *_pair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int);
-	static void _unpair_callback(void *, uint32_t, CollisionObject3DSW *, int, uint32_t, CollisionObject3DSW *, int, void *);
+	static void *_pair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int);
+	static void _unpair_callback(void *, uint32_t, GodotCollisionObject3D *, int, uint32_t, GodotCollisionObject3D *, int, void *);
 
 	PairCallback pair_callback = nullptr;
 	void *pair_userdata = nullptr;
@@ -47,26 +48,26 @@ class BroadPhase3DBVH : public BroadPhase3DSW {
 
 public:
 	// 0 is an invalid ID
-	virtual ID create(CollisionObject3DSW *p_object, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false);
+	virtual ID create(GodotCollisionObject3D *p_object, int p_subindex = 0, const AABB &p_aabb = AABB(), bool p_static = false);
 	virtual void move(ID p_id, const AABB &p_aabb);
 	virtual void set_static(ID p_id, bool p_static);
 	virtual void remove(ID p_id);
 
-	virtual CollisionObject3DSW *get_object(ID p_id) const;
+	virtual GodotCollisionObject3D *get_object(ID p_id) const;
 	virtual bool is_static(ID p_id) const;
 	virtual int get_subindex(ID p_id) const;
 
-	virtual int cull_point(const Vector3 &p_point, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
-	virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
-	virtual int cull_aabb(const AABB &p_aabb, CollisionObject3DSW **p_results, int p_max_results, int *p_result_indices = nullptr);
+	virtual int cull_point(const Vector3 &p_point, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr);
+	virtual int cull_segment(const Vector3 &p_from, const Vector3 &p_to, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr);
+	virtual int cull_aabb(const AABB &p_aabb, GodotCollisionObject3D **p_results, int p_max_results, int *p_result_indices = nullptr);
 
 	virtual void set_pair_callback(PairCallback p_pair_callback, void *p_userdata);
 	virtual void set_unpair_callback(UnpairCallback p_unpair_callback, void *p_userdata);
 
 	virtual void update();
 
-	static BroadPhase3DSW *_create();
-	BroadPhase3DBVH();
+	static GodotBroadPhase3D *_create();
+	GodotBroadPhase3DBVH();
 };
 
-#endif // BROAD_PHASE_3D_BVH_H
+#endif // GODOT_BROAD_PHASE_3D_BVH_H

servers/physics_3d/collision_object_3d_sw.cpp → servers/physics_3d/godot_collision_object_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_object_3d_sw.cpp                                           */
+/*  godot_collision_object_3d.cpp                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,12 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "collision_object_3d_sw.h"
-#include "servers/physics_3d/physics_server_3d_sw.h"
-#include "space_3d_sw.h"
+#include "godot_collision_object_3d.h"
 
-void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_transform, bool p_disabled) {
+#include "godot_physics_server_3d.h"
+#include "godot_space_3d.h"
+
+void GodotCollisionObject3D::add_shape(GodotShape3D *p_shape, const Transform3D &p_transform, bool p_disabled) {
 	Shape s;
 	s.shape = p_shape;
 	s.xform = p_transform;
@@ -43,35 +44,35 @@ void CollisionObject3DSW::add_shape(Shape3DSW *p_shape, const Transform3D &p_tra
 	p_shape->add_owner(this);
 
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject3DSW::set_shape(int p_index, Shape3DSW *p_shape) {
+void GodotCollisionObject3D::set_shape(int p_index, GodotShape3D *p_shape) {
 	ERR_FAIL_INDEX(p_index, shapes.size());
 	shapes[p_index].shape->remove_owner(this);
 	shapes.write[p_index].shape = p_shape;
 
 	p_shape->add_owner(this);
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject3DSW::set_shape_transform(int p_index, const Transform3D &p_transform) {
+void GodotCollisionObject3D::set_shape_transform(int p_index, const Transform3D &p_transform) {
 	ERR_FAIL_INDEX(p_index, shapes.size());
 
 	shapes.write[p_index].xform = p_transform;
 	shapes.write[p_index].xform_inv = p_transform.affine_inverse();
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) {
+void GodotCollisionObject3D::set_shape_disabled(int p_idx, bool p_disabled) {
 	ERR_FAIL_INDEX(p_idx, shapes.size());
 
-	CollisionObject3DSW::Shape &shape = shapes.write[p_idx];
+	GodotCollisionObject3D::Shape &shape = shapes.write[p_idx];
 	if (shape.disabled == p_disabled) {
 		return;
 	}
@@ -86,16 +87,16 @@ void CollisionObject3DSW::set_shape_disabled(int p_idx, bool p_disabled) {
 		space->get_broadphase()->remove(shape.bpid);
 		shape.bpid = 0;
 		if (!pending_shape_update_list.in_list()) {
-			PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+			GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 		}
 	} else if (!p_disabled && shape.bpid == 0) {
 		if (!pending_shape_update_list.in_list()) {
-			PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+			GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 		}
 	}
 }
 
-void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) {
+void GodotCollisionObject3D::remove_shape(GodotShape3D *p_shape) {
 	//remove a shape, all the times it appears
 	for (int i = 0; i < shapes.size(); i++) {
 		if (shapes[i].shape == p_shape) {
@@ -105,7 +106,7 @@ void CollisionObject3DSW::remove_shape(Shape3DSW *p_shape) {
 	}
 }
 
-void CollisionObject3DSW::remove_shape(int p_index) {
+void GodotCollisionObject3D::remove_shape(int p_index) {
 	//remove anything from shape to be erased to end, so subindices don't change
 	ERR_FAIL_INDEX(p_index, shapes.size());
 	for (int i = p_index; i < shapes.size(); i++) {
@@ -120,11 +121,11 @@ void CollisionObject3DSW::remove_shape(int p_index) {
 	shapes.remove(p_index);
 
 	if (!pending_shape_update_list.in_list()) {
-		PhysicsServer3DSW::singletonsw->pending_shape_update_list.add(&pending_shape_update_list);
+		GodotPhysicsServer3D::godot_singleton->pending_shape_update_list.add(&pending_shape_update_list);
 	}
 }
 
-void CollisionObject3DSW::_set_static(bool p_static) {
+void GodotCollisionObject3D::_set_static(bool p_static) {
 	if (_static == p_static) {
 		return;
 	}
@@ -141,7 +142,7 @@ void CollisionObject3DSW::_set_static(bool p_static) {
 	}
 }
 
-void CollisionObject3DSW::_unregister_shapes() {
+void GodotCollisionObject3D::_unregister_shapes() {
 	for (int i = 0; i < shapes.size(); i++) {
 		Shape &s = shapes.write[i];
 		if (s.bpid > 0) {
@@ -151,7 +152,7 @@ void CollisionObject3DSW::_unregister_shapes() {
 	}
 }
 
-void CollisionObject3DSW::_update_shapes() {
+void GodotCollisionObject3D::_update_shapes() {
 	if (!space) {
 		return;
 	}
@@ -181,7 +182,7 @@ void CollisionObject3DSW::_update_shapes() {
 	}
 }
 
-void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) {
+void GodotCollisionObject3D::_update_shapes_with_motion(const Vector3 &p_motion) {
 	if (!space) {
 		return;
 	}
@@ -208,7 +209,7 @@ void CollisionObject3DSW::_update_shapes_with_motion(const Vector3 &p_motion) {
 	}
 }
 
-void CollisionObject3DSW::_set_space(Space3DSW *p_space) {
+void GodotCollisionObject3D::_set_space(GodotSpace3D *p_space) {
 	if (space) {
 		space->remove_object(this);
 
@@ -229,12 +230,12 @@ void CollisionObject3DSW::_set_space(Space3DSW *p_space) {
 	}
 }
 
-void CollisionObject3DSW::_shape_changed() {
+void GodotCollisionObject3D::_shape_changed() {
 	_update_shapes();
 	_shapes_changed();
 }
 
-CollisionObject3DSW::CollisionObject3DSW(Type p_type) :
+GodotCollisionObject3D::GodotCollisionObject3D(Type p_type) :
 		pending_shape_update_list(this) {
 	type = p_type;
 }

servers/physics_3d/collision_object_3d_sw.h → servers/physics_3d/godot_collision_object_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_object_3d_sw.h                                             */
+/*  godot_collision_object_3d.h                                          */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,13 +28,14 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef COLLISION_OBJECT_SW_H
-#define COLLISION_OBJECT_SW_H
+#ifndef GODOT_COLLISION_OBJECT_3D_H
+#define GODOT_COLLISION_OBJECT_3D_H
+
+#include "godot_broad_phase_3d.h"
+#include "godot_shape_3d.h"
 
-#include "broad_phase_3d_sw.h"
 #include "core/templates/self_list.h"
 #include "servers/physics_server_3d.h"
-#include "shape_3d_sw.h"
 
 #ifdef DEBUG_ENABLED
 #define MAX_OBJECT_DISTANCE 3.1622776601683791e+18
@@ -42,9 +43,9 @@
 #define MAX_OBJECT_DISTANCE_X2 (MAX_OBJECT_DISTANCE * MAX_OBJECT_DISTANCE)
 #endif
 
-class Space3DSW;
+class GodotSpace3D;
 
-class CollisionObject3DSW : public ShapeOwner3DSW {
+class GodotCollisionObject3D : public GodotShapeOwner3D {
 public:
 	enum Type {
 		TYPE_AREA,
@@ -62,20 +63,20 @@ private:
 	struct Shape {
 		Transform3D xform;
 		Transform3D xform_inv;
-		BroadPhase3DSW::ID bpid;
+		GodotBroadPhase3D::ID bpid;
 		AABB aabb_cache; //for rayqueries
 		real_t area_cache = 0.0;
-		Shape3DSW *shape = nullptr;
+		GodotShape3D *shape = nullptr;
 		bool disabled = false;
 	};
 
 	Vector<Shape> shapes;
-	Space3DSW *space = nullptr;
+	GodotSpace3D *space = nullptr;
 	Transform3D transform;
 	Transform3D inv_transform;
 	bool _static = true;
 
-	SelfList<CollisionObject3DSW> pending_shape_update_list;
+	SelfList<GodotCollisionObject3D> pending_shape_update_list;
 
 	void _update_shapes();
 
@@ -98,11 +99,11 @@ protected:
 	void _set_static(bool p_static);
 
 	virtual void _shapes_changed() = 0;
-	void _set_space(Space3DSW *p_space);
+	void _set_space(GodotSpace3D *p_space);
 
 	bool ray_pickable = true;
 
-	CollisionObject3DSW(Type p_type);
+	GodotCollisionObject3D(Type p_type);
 
 public:
 	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
@@ -114,11 +115,11 @@ public:
 	void _shape_changed();
 
 	_FORCE_INLINE_ Type get_type() const { return type; }
-	void add_shape(Shape3DSW *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false);
-	void set_shape(int p_index, Shape3DSW *p_shape);
+	void add_shape(GodotShape3D *p_shape, const Transform3D &p_transform = Transform3D(), bool p_disabled = false);
+	void set_shape(int p_index, GodotShape3D *p_shape);
 	void set_shape_transform(int p_index, const Transform3D &p_transform);
 	_FORCE_INLINE_ int get_shape_count() const { return shapes.size(); }
-	_FORCE_INLINE_ Shape3DSW *get_shape(int p_index) const {
+	_FORCE_INLINE_ GodotShape3D *get_shape(int p_index) const {
 		CRASH_BAD_INDEX(p_index, shapes.size());
 		return shapes[p_index].shape;
 	}
@@ -141,7 +142,7 @@ public:
 
 	_FORCE_INLINE_ const Transform3D &get_transform() const { return transform; }
 	_FORCE_INLINE_ const Transform3D &get_inv_transform() const { return inv_transform; }
-	_FORCE_INLINE_ Space3DSW *get_space() const { return space; }
+	_FORCE_INLINE_ GodotSpace3D *get_space() const { return space; }
 
 	_FORCE_INLINE_ void set_ray_pickable(bool p_enable) { ray_pickable = p_enable; }
 	_FORCE_INLINE_ bool is_ray_pickable() const { return ray_pickable; }
@@ -164,22 +165,22 @@ public:
 	}
 	_FORCE_INLINE_ uint32_t get_collision_mask() const { return collision_mask; }
 
-	_FORCE_INLINE_ bool collides_with(CollisionObject3DSW *p_other) const {
+	_FORCE_INLINE_ bool collides_with(GodotCollisionObject3D *p_other) const {
 		return p_other->collision_layer & collision_mask;
 	}
 
-	_FORCE_INLINE_ bool interacts_with(CollisionObject3DSW *p_other) const {
+	_FORCE_INLINE_ bool interacts_with(GodotCollisionObject3D *p_other) const {
 		return collision_layer & p_other->collision_mask || p_other->collision_layer & collision_mask;
 	}
 
-	void remove_shape(Shape3DSW *p_shape);
+	void remove_shape(GodotShape3D *p_shape);
 	void remove_shape(int p_index);
 
-	virtual void set_space(Space3DSW *p_space) = 0;
+	virtual void set_space(GodotSpace3D *p_space) = 0;
 
 	_FORCE_INLINE_ bool is_static() const { return _static; }
 
-	virtual ~CollisionObject3DSW() {}
+	virtual ~GodotCollisionObject3D() {}
 };
 
-#endif // COLLISION_OBJECT_SW_H
+#endif // GODOT_COLLISION_OBJECT_3D_H

servers/physics_3d/collision_solver_3d_sw.cpp → servers/physics_3d/godot_collision_solver_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_3d_sw.cpp                                           */
+/*  godot_collision_solver_3d.cpp                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,17 +28,17 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "collision_solver_3d_sw.h"
-#include "collision_solver_3d_sat.h"
-#include "soft_body_3d_sw.h"
+#include "godot_collision_solver_3d.h"
+#include "godot_collision_solver_3d_sat.h"
+#include "godot_soft_body_3d.h"
 
 #include "gjk_epa.h"
 
 #define collision_solver sat_calculate_penetration
 //#define collision_solver gjk_epa_calculate_penetration
 
-bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
-	const WorldBoundaryShape3DSW *world_boundary = static_cast<const WorldBoundaryShape3DSW *>(p_shape_A);
+bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
+	const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
 	if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
 		return false;
 	}
@@ -47,10 +47,10 @@ bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A
 	static const int max_supports = 16;
 	Vector3 supports[max_supports];
 	int support_count;
-	Shape3DSW::FeatureType support_type;
+	GodotShape3D::FeatureType support_type;
 	p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
 
-	if (support_type == Shape3DSW::FEATURE_CIRCLE) {
+	if (support_type == GodotShape3D::FEATURE_CIRCLE) {
 		ERR_FAIL_COND_V(support_count != 3, false);
 
 		Vector3 circle_pos = supports[0];
@@ -89,8 +89,8 @@ bool CollisionSolver3DSW::solve_static_world_boundary(const Shape3DSW *p_shape_A
 	return found;
 }
 
-bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
-	const SeparationRayShape3DSW *ray = static_cast<const SeparationRayShape3DSW *>(p_shape_A);
+bool GodotCollisionSolver3D::solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
+	const GodotSeparationRayShape3D *ray = static_cast<const GodotSeparationRayShape3D *>(p_shape_A);
 
 	Vector3 from = p_transform_A.origin;
 	Vector3 to = from + p_transform_A.basis.get_axis(2) * (ray->get_length() + p_margin);
@@ -134,13 +134,13 @@ bool CollisionSolver3DSW::solve_separation_ray(const Shape3DSW *p_shape_A, const
 
 struct _SoftBodyContactCollisionInfo {
 	int node_index = 0;
-	CollisionSolver3DSW::CallbackResult result_callback = nullptr;
+	GodotCollisionSolver3D::CallbackResult result_callback = nullptr;
 	void *userdata = nullptr;
 	bool swap_result = false;
 	int contact_count = 0;
 };
 
-void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
+void GodotCollisionSolver3D::soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
 	_SoftBodyContactCollisionInfo &cinfo = *(_SoftBodyContactCollisionInfo *)(p_userdata);
 
 	++cinfo.contact_count;
@@ -157,9 +157,9 @@ void CollisionSolver3DSW::soft_body_contact_callback(const Vector3 &p_point_A, i
 }
 
 struct _SoftBodyQueryInfo {
-	SoftBody3DSW *soft_body = nullptr;
-	const Shape3DSW *shape_A = nullptr;
-	const Shape3DSW *shape_B = nullptr;
+	GodotSoftBody3D *soft_body = nullptr;
+	const GodotShape3D *shape_A = nullptr;
+	const GodotShape3D *shape_B = nullptr;
 	Transform3D transform_A;
 	Transform3D node_transform;
 	_SoftBodyContactCollisionInfo contact_info;
@@ -169,7 +169,7 @@ struct _SoftBodyQueryInfo {
 #endif
 };
 
-bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) {
+bool GodotCollisionSolver3D::soft_body_query_callback(uint32_t p_node_index, void *p_userdata) {
 	_SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata);
 
 	Vector3 node_position = query_cinfo.soft_body->get_node_position(p_node_index);
@@ -188,7 +188,7 @@ bool CollisionSolver3DSW::soft_body_query_callback(uint32_t p_node_index, void *
 	return (collided && !query_cinfo.contact_info.result_callback);
 }
 
-bool CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex) {
+bool GodotCollisionSolver3D::soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex) {
 	_SoftBodyQueryInfo &query_cinfo = *(_SoftBodyQueryInfo *)(p_userdata);
 
 	query_cinfo.shape_A = p_convex;
@@ -220,15 +220,15 @@ bool CollisionSolver3DSW::soft_body_concave_callback(void *p_userdata, Shape3DSW
 	return (collided && !query_cinfo.contact_info.result_callback);
 }
 
-bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
-	const SoftBodyShape3DSW *soft_body_shape_B = static_cast<const SoftBodyShape3DSW *>(p_shape_B);
+bool GodotCollisionSolver3D::solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
+	const GodotSoftBodyShape3D *soft_body_shape_B = static_cast<const GodotSoftBodyShape3D *>(p_shape_B);
 
-	SoftBody3DSW *soft_body = soft_body_shape_B->get_soft_body();
+	GodotSoftBody3D *soft_body = soft_body_shape_B->get_soft_body();
 	const Transform3D &world_to_local = soft_body->get_inv_transform();
 
 	const real_t collision_margin = soft_body->get_collision_margin();
 
-	SphereShape3DSW sphere_shape;
+	GodotSphereShape3D sphere_shape;
 	sphere_shape.set_data(collision_margin);
 
 	_SoftBodyQueryInfo query_cinfo;
@@ -243,7 +243,7 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran
 
 	if (p_shape_A->is_concave()) {
 		// In case of concave shape, query convex shapes first.
-		const ConcaveShape3DSW *concave_shape_A = static_cast<const ConcaveShape3DSW *>(p_shape_A);
+		const GodotConcaveShape3D *concave_shape_A = static_cast<const GodotConcaveShape3D *>(p_shape_A);
 
 		AABB soft_body_aabb = soft_body->get_bounds();
 		soft_body_aabb.grow_by(collision_margin);
@@ -277,9 +277,9 @@ bool CollisionSolver3DSW::solve_soft_body(const Shape3DSW *p_shape_A, const Tran
 
 struct _ConcaveCollisionInfo {
 	const Transform3D *transform_A;
-	const Shape3DSW *shape_A;
+	const GodotShape3D *shape_A;
 	const Transform3D *transform_B;
-	CollisionSolver3DSW::CallbackResult result_callback;
+	GodotCollisionSolver3D::CallbackResult result_callback;
 	void *userdata;
 	bool swap_result;
 	bool collided;
@@ -291,7 +291,7 @@ struct _ConcaveCollisionInfo {
 	Vector3 close_A, close_B;
 };
 
-bool CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex) {
+bool GodotCollisionSolver3D::concave_callback(void *p_userdata, GodotShape3D *p_convex) {
 	_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
 	cinfo.aabb_tests++;
 
@@ -307,8 +307,8 @@ bool CollisionSolver3DSW::concave_callback(void *p_userdata, Shape3DSW *p_convex
 	return !cinfo.result_callback;
 }
 
-bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
-	const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
+bool GodotCollisionSolver3D::solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A, real_t p_margin_B) {
+	const GodotConcaveShape3D *concave_B = static_cast<const GodotConcaveShape3D *>(p_shape_B);
 
 	_ConcaveCollisionInfo cinfo;
 	cinfo.transform_A = &p_transform_A;
@@ -351,7 +351,7 @@ bool CollisionSolver3DSW::solve_concave(const Shape3DSW *p_shape_A, const Transf
 	return cinfo.collided;
 }
 
-bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
+bool GodotCollisionSolver3D::solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
 	PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
 	PhysicsServer3D::ShapeType type_B = p_shape_B->get_type();
 	bool concave_A = p_shape_A->is_concave();
@@ -421,7 +421,7 @@ bool CollisionSolver3DSW::solve_static(const Shape3DSW *p_shape_A, const Transfo
 	}
 }
 
-bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW *p_convex) {
+bool GodotCollisionSolver3D::concave_distance_callback(void *p_userdata, GodotShape3D *p_convex) {
 	_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
 	cinfo.aabb_tests++;
 
@@ -443,8 +443,8 @@ bool CollisionSolver3DSW::concave_distance_callback(void *p_userdata, Shape3DSW
 	return false;
 }
 
-bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
-	const WorldBoundaryShape3DSW *world_boundary = static_cast<const WorldBoundaryShape3DSW *>(p_shape_A);
+bool GodotCollisionSolver3D::solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B) {
+	const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
 	if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
 		return false;
 	}
@@ -453,11 +453,11 @@ bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape
 	static const int max_supports = 16;
 	Vector3 supports[max_supports];
 	int support_count;
-	Shape3DSW::FeatureType support_type;
+	GodotShape3D::FeatureType support_type;
 
 	p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
 
-	if (support_type == Shape3DSW::FEATURE_CIRCLE) {
+	if (support_type == GodotShape3D::FEATURE_CIRCLE) {
 		ERR_FAIL_COND_V(support_count != 3, false);
 
 		Vector3 circle_pos = supports[0];
@@ -495,7 +495,7 @@ bool CollisionSolver3DSW::solve_distance_world_boundary(const Shape3DSW *p_shape
 	return collided;
 }
 
-bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
+bool GodotCollisionSolver3D::solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis) {
 	if (p_shape_A->is_concave()) {
 		return false;
 	}
@@ -512,7 +512,7 @@ bool CollisionSolver3DSW::solve_distance(const Shape3DSW *p_shape_A, const Trans
 			return false;
 		}
 
-		const ConcaveShape3DSW *concave_B = static_cast<const ConcaveShape3DSW *>(p_shape_B);
+		const GodotConcaveShape3D *concave_B = static_cast<const GodotConcaveShape3D *>(p_shape_B);
 
 		_ConcaveCollisionInfo cinfo;
 		cinfo.transform_A = &p_transform_A;

servers/physics_3d/collision_solver_3d_sw.h → servers/physics_3d/godot_collision_solver_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_3d_sw.h                                             */
+/*  godot_collision_solver_3d.h                                          */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,30 +28,30 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef COLLISION_SOLVER_SW_H
-#define COLLISION_SOLVER_SW_H
+#ifndef GODOT_COLLISION_SOLVER_3D_H
+#define GODOT_COLLISION_SOLVER_3D_H
 
-#include "shape_3d_sw.h"
+#include "godot_shape_3d.h"
 
-class CollisionSolver3DSW {
+class GodotCollisionSolver3D {
 public:
 	typedef void (*CallbackResult)(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
 
 private:
 	static bool soft_body_query_callback(uint32_t p_node_index, void *p_userdata);
 	static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
-	static bool soft_body_concave_callback(void *p_userdata, Shape3DSW *p_convex);
-	static bool concave_callback(void *p_userdata, Shape3DSW *p_convex);
-	static bool solve_static_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
-	static bool solve_separation_ray(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
-	static bool solve_soft_body(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
-	static bool solve_concave(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
-	static bool concave_distance_callback(void *p_userdata, Shape3DSW *p_convex);
-	static bool solve_distance_world_boundary(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);
+	static bool soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex);
+	static bool concave_callback(void *p_userdata, GodotShape3D *p_convex);
+	static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+	static bool solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
+	static bool solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+	static bool solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
+	static bool concave_distance_callback(void *p_userdata, GodotShape3D *p_convex);
+	static bool solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);
 
 public:
-	static bool solve_static(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
-	static bool solve_distance(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr);
+	static bool solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
+	static bool solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr);
 };
 
-#endif // COLLISION_SOLVER__SW_H
+#endif // GODOT_COLLISION_SOLVER_3D_H

servers/physics_3d/collision_solver_3d_sat.cpp → servers/physics_3d/godot_collision_solver_3d_sat.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_3d_sat.cpp                                          */
+/*  godot_collision_solver_3d_sat.cpp                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,12 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "collision_solver_3d_sat.h"
-#include "core/math/geometry_3d.h"
+#include "godot_collision_solver_3d_sat.h"
 
 #include "gjk_epa.h"
 
+#include "core/math/geometry_3d.h"
+
 #define fallback_collision_solver gjk_epa_calculate_penetration
 
 // Cylinder SAT analytic methods and face-circle contact points for cylinder-trimesh and cylinder-box collision are based on ODE colliders.
@@ -65,7 +66,7 @@
  *************************************************************************/
 
 struct _CollectorCallback {
-	CollisionSolver3DSW::CallbackResult callback;
+	GodotCollisionSolver3D::CallbackResult callback;
 	void *userdata = nullptr;
 	bool swap = false;
 	bool collided = false;
@@ -539,7 +540,7 @@ static void _generate_contacts_circle_circle(const Vector3 *p_points_A, int p_po
 	}
 }
 
-static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, Shape3DSW::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, Shape3DSW::FeatureType p_feature_type_B, _CollectorCallback *p_callback) {
+static void _generate_contacts_from_supports(const Vector3 *p_points_A, int p_point_count_A, GodotShape3D::FeatureType p_feature_type_A, const Vector3 *p_points_B, int p_point_count_B, GodotShape3D::FeatureType p_feature_type_B, _CollectorCallback *p_callback) {
 #ifdef DEBUG_ENABLED
 	ERR_FAIL_COND(p_point_count_A < 1);
 	ERR_FAIL_COND(p_point_count_B < 1);
@@ -713,7 +714,7 @@ public:
 
 		Vector3 supports_A[max_supports];
 		int support_count_A;
-		Shape3DSW::FeatureType support_type_A;
+		GodotShape3D::FeatureType support_type_A;
 		shape_A->get_supports(transform_A->basis.xform_inv(-best_axis).normalized(), max_supports, supports_A, support_count_A, support_type_A);
 		for (int i = 0; i < support_count_A; i++) {
 			supports_A[i] = transform_A->xform(supports_A[i]);
@@ -727,7 +728,7 @@ public:
 
 		Vector3 supports_B[max_supports];
 		int support_count_B;
-		Shape3DSW::FeatureType support_type_B;
+		GodotShape3D::FeatureType support_type_B;
 		shape_B->get_supports(transform_B->basis.xform_inv(best_axis).normalized(), max_supports, supports_B, support_count_B, support_type_B);
 		for (int i = 0; i < support_count_B; i++) {
 			supports_B[i] = transform_B->xform(supports_B[i]);
@@ -761,14 +762,14 @@ public:
 
 /****** SAT TESTS *******/
 
-typedef void (*CollisionFunc)(const Shape3DSW *, const Transform3D &, const Shape3DSW *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t);
+typedef void (*CollisionFunc)(const GodotShape3D *, const Transform3D &, const GodotShape3D *, const Transform3D &, _CollectorCallback *p_callback, real_t, real_t);
 
 template <bool withMargin>
-static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
-	const SphereShape3DSW *sphere_B = static_cast<const SphereShape3DSW *>(p_b);
+static void _collision_sphere_sphere(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
+	const GodotSphereShape3D *sphere_B = static_cast<const GodotSphereShape3D *>(p_b);
 
-	SeparatorAxisTest<SphereShape3DSW, SphereShape3DSW, withMargin> separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotSphereShape3D, GodotSphereShape3D, withMargin> separator(sphere_A, p_transform_a, sphere_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	// previous axis
 
@@ -784,11 +785,11 @@ static void _collision_sphere_sphere(const Shape3DSW *p_a, const Transform3D &p_
 }
 
 template <bool withMargin>
-static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
-	const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
+static void _collision_sphere_box(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
+	const GodotBoxShape3D *box_B = static_cast<const GodotBoxShape3D *>(p_b);
 
-	SeparatorAxisTest<SphereShape3DSW, BoxShape3DSW, withMargin> separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotSphereShape3D, GodotBoxShape3D, withMargin> separator(sphere_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -835,11 +836,11 @@ static void _collision_sphere_box(const Shape3DSW *p_a, const Transform3D &p_tra
 }
 
 template <bool withMargin>
-static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
-	const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
+static void _collision_sphere_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
+	const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
 
-	SeparatorAxisTest<SphereShape3DSW, CapsuleShape3DSW, withMargin> separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotSphereShape3D, GodotCapsuleShape3D, withMargin> separator(sphere_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -877,11 +878,11 @@ static void _collision_sphere_capsule(const Shape3DSW *p_a, const Transform3D &p
 }
 
 template <bool withMargin>
-static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
-	const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
+static void _collision_sphere_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
+	const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
 
-	SeparatorAxisTest<SphereShape3DSW, CylinderShape3DSW, withMargin> separator(sphere_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotSphereShape3D, GodotCylinderShape3D, withMargin> separator(sphere_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -936,11 +937,11 @@ static void _collision_sphere_cylinder(const Shape3DSW *p_a, const Transform3D &
 }
 
 template <bool withMargin>
-static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
-	const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
+static void _collision_sphere_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
+	const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
 
-	SeparatorAxisTest<SphereShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotSphereShape3D, GodotConvexPolygonShape3D, withMargin> separator(sphere_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -999,11 +1000,11 @@ static void _collision_sphere_convex_polygon(const Shape3DSW *p_a, const Transfo
 }
 
 template <bool withMargin>
-static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const SphereShape3DSW *sphere_A = static_cast<const SphereShape3DSW *>(p_a);
-	const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
+static void _collision_sphere_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotSphereShape3D *sphere_A = static_cast<const GodotSphereShape3D *>(p_a);
+	const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
 
-	SeparatorAxisTest<SphereShape3DSW, FaceShape3DSW, withMargin> separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotSphereShape3D, GodotFaceShape3D, withMargin> separator(sphere_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	Vector3 vertex[3] = {
 		p_transform_b.xform(face_B->vertex[0]),
@@ -1044,11 +1045,11 @@ static void _collision_sphere_face(const Shape3DSW *p_a, const Transform3D &p_tr
 }
 
 template <bool withMargin>
-static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
-	const BoxShape3DSW *box_B = static_cast<const BoxShape3DSW *>(p_b);
+static void _collision_box_box(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
+	const GodotBoxShape3D *box_B = static_cast<const GodotBoxShape3D *>(p_b);
 
-	SeparatorAxisTest<BoxShape3DSW, BoxShape3DSW, withMargin> separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotBoxShape3D, GodotBoxShape3D, withMargin> separator(box_A, p_transform_a, box_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1142,11 +1143,11 @@ static void _collision_box_box(const Shape3DSW *p_a, const Transform3D &p_transf
 }
 
 template <bool withMargin>
-static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
-	const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
+static void _collision_box_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
+	const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
 
-	SeparatorAxisTest<BoxShape3DSW, CapsuleShape3DSW, withMargin> separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotBoxShape3D, GodotCapsuleShape3D, withMargin> separator(box_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1240,11 +1241,11 @@ static void _collision_box_capsule(const Shape3DSW *p_a, const Transform3D &p_tr
 }
 
 template <bool withMargin>
-static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
-	const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
+static void _collision_box_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
+	const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
 
-	SeparatorAxisTest<BoxShape3DSW, CylinderShape3DSW, withMargin> separator(box_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotBoxShape3D, GodotCylinderShape3D, withMargin> separator(box_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1353,11 +1354,11 @@ static void _collision_box_cylinder(const Shape3DSW *p_a, const Transform3D &p_t
 }
 
 template <bool withMargin>
-static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
-	const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
+static void _collision_box_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
+	const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
 
-	SeparatorAxisTest<BoxShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotBoxShape3D, GodotConvexPolygonShape3D, withMargin> separator(box_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1471,11 +1472,11 @@ static void _collision_box_convex_polygon(const Shape3DSW *p_a, const Transform3
 }
 
 template <bool withMargin>
-static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const BoxShape3DSW *box_A = static_cast<const BoxShape3DSW *>(p_a);
-	const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
+static void _collision_box_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotBoxShape3D *box_A = static_cast<const GodotBoxShape3D *>(p_a);
+	const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
 
-	SeparatorAxisTest<BoxShape3DSW, FaceShape3DSW, withMargin> separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotBoxShape3D, GodotFaceShape3D, withMargin> separator(box_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	Vector3 vertex[3] = {
 		p_transform_b.xform(face_B->vertex[0]),
@@ -1594,11 +1595,11 @@ static void _collision_box_face(const Shape3DSW *p_a, const Transform3D &p_trans
 }
 
 template <bool withMargin>
-static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
-	const CapsuleShape3DSW *capsule_B = static_cast<const CapsuleShape3DSW *>(p_b);
+static void _collision_capsule_capsule(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
+	const GodotCapsuleShape3D *capsule_B = static_cast<const GodotCapsuleShape3D *>(p_b);
 
-	SeparatorAxisTest<CapsuleShape3DSW, CapsuleShape3DSW, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCapsuleShape3D, GodotCapsuleShape3D, withMargin> separator(capsule_A, p_transform_a, capsule_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1658,11 +1659,11 @@ static void _collision_capsule_capsule(const Shape3DSW *p_a, const Transform3D &
 }
 
 template <bool withMargin>
-static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
-	const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
+static void _collision_capsule_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
+	const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
 
-	SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCapsuleShape3D, GodotCylinderShape3D, withMargin> separator(capsule_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1709,7 +1710,7 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D
 		return;
 	}
 
-	CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CapsuleShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points;
+	GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest<GodotCapsuleShape3D, GodotCylinderShape3D, withMargin>::test_contact_points;
 
 	// Fallback to generic algorithm to find the best separating axis.
 	if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
@@ -1720,11 +1721,11 @@ static void _collision_capsule_cylinder(const Shape3DSW *p_a, const Transform3D
 }
 
 template <bool withMargin>
-static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
-	const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
+static void _collision_capsule_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
+	const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
 
-	SeparatorAxisTest<CapsuleShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCapsuleShape3D, GodotConvexPolygonShape3D, withMargin> separator(capsule_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -1787,11 +1788,11 @@ static void _collision_capsule_convex_polygon(const Shape3DSW *p_a, const Transf
 }
 
 template <bool withMargin>
-static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CapsuleShape3DSW *capsule_A = static_cast<const CapsuleShape3DSW *>(p_a);
-	const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
+static void _collision_capsule_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCapsuleShape3D *capsule_A = static_cast<const GodotCapsuleShape3D *>(p_a);
+	const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
 
-	SeparatorAxisTest<CapsuleShape3DSW, FaceShape3DSW, withMargin> separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCapsuleShape3D, GodotFaceShape3D, withMargin> separator(capsule_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	Vector3 vertex[3] = {
 		p_transform_b.xform(face_B->vertex[0]),
@@ -1861,11 +1862,11 @@ static void _collision_capsule_face(const Shape3DSW *p_a, const Transform3D &p_t
 }
 
 template <bool withMargin>
-static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
-	const CylinderShape3DSW *cylinder_B = static_cast<const CylinderShape3DSW *>(p_b);
+static void _collision_cylinder_cylinder(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCylinderShape3D *cylinder_A = static_cast<const GodotCylinderShape3D *>(p_a);
+	const GodotCylinderShape3D *cylinder_B = static_cast<const GodotCylinderShape3D *>(p_b);
 
-	SeparatorAxisTest<CylinderShape3DSW, CylinderShape3DSW, withMargin> separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCylinderShape3D, GodotCylinderShape3D, withMargin> separator(cylinder_A, p_transform_a, cylinder_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	Vector3 cylinder_A_axis = p_transform_a.basis.get_axis(1);
 	Vector3 cylinder_B_axis = p_transform_b.basis.get_axis(1);
@@ -1904,7 +1905,7 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D
 		return;
 	}
 
-	CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, CylinderShape3DSW, withMargin>::test_contact_points;
+	GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest<GodotCylinderShape3D, GodotCylinderShape3D, withMargin>::test_contact_points;
 
 	// Fallback to generic algorithm to find the best separating axis.
 	if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
@@ -1915,13 +1916,13 @@ static void _collision_cylinder_cylinder(const Shape3DSW *p_a, const Transform3D
 }
 
 template <bool withMargin>
-static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
-	const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
+static void _collision_cylinder_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCylinderShape3D *cylinder_A = static_cast<const GodotCylinderShape3D *>(p_a);
+	const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
 
-	SeparatorAxisTest<CylinderShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(cylinder_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCylinderShape3D, GodotConvexPolygonShape3D, withMargin> separator(cylinder_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
-	CollisionSolver3DSW::CallbackResult callback = SeparatorAxisTest<CylinderShape3DSW, ConvexPolygonShape3DSW, withMargin>::test_contact_points;
+	GodotCollisionSolver3D::CallbackResult callback = SeparatorAxisTest<GodotCylinderShape3D, GodotConvexPolygonShape3D, withMargin>::test_contact_points;
 
 	// Fallback to generic algorithm to find the best separating axis.
 	if (!fallback_collision_solver(p_a, p_transform_a, p_b, p_transform_b, callback, &separator, false, p_margin_a, p_margin_b)) {
@@ -1932,11 +1933,11 @@ static void _collision_cylinder_convex_polygon(const Shape3DSW *p_a, const Trans
 }
 
 template <bool withMargin>
-static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const CylinderShape3DSW *cylinder_A = static_cast<const CylinderShape3DSW *>(p_a);
-	const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
+static void _collision_cylinder_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotCylinderShape3D *cylinder_A = static_cast<const GodotCylinderShape3D *>(p_a);
+	const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
 
-	SeparatorAxisTest<CylinderShape3DSW, FaceShape3DSW, withMargin> separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotCylinderShape3D, GodotFaceShape3D, withMargin> separator(cylinder_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -2037,11 +2038,11 @@ static void _collision_cylinder_face(const Shape3DSW *p_a, const Transform3D &p_
 }
 
 template <bool withMargin>
-static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
-	const ConvexPolygonShape3DSW *convex_polygon_B = static_cast<const ConvexPolygonShape3DSW *>(p_b);
+static void _collision_convex_polygon_convex_polygon(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotConvexPolygonShape3D *convex_polygon_A = static_cast<const GodotConvexPolygonShape3D *>(p_a);
+	const GodotConvexPolygonShape3D *convex_polygon_B = static_cast<const GodotConvexPolygonShape3D *>(p_b);
 
-	SeparatorAxisTest<ConvexPolygonShape3DSW, ConvexPolygonShape3DSW, withMargin> separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotConvexPolygonShape3D, GodotConvexPolygonShape3D, withMargin> separator(convex_polygon_A, p_transform_a, convex_polygon_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	if (!separator.test_previous_axis()) {
 		return;
@@ -2150,11 +2151,11 @@ static void _collision_convex_polygon_convex_polygon(const Shape3DSW *p_a, const
 }
 
 template <bool withMargin>
-static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform3D &p_transform_a, const Shape3DSW *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
-	const ConvexPolygonShape3DSW *convex_polygon_A = static_cast<const ConvexPolygonShape3DSW *>(p_a);
-	const FaceShape3DSW *face_B = static_cast<const FaceShape3DSW *>(p_b);
+static void _collision_convex_polygon_face(const GodotShape3D *p_a, const Transform3D &p_transform_a, const GodotShape3D *p_b, const Transform3D &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) {
+	const GodotConvexPolygonShape3D *convex_polygon_A = static_cast<const GodotConvexPolygonShape3D *>(p_a);
+	const GodotFaceShape3D *face_B = static_cast<const GodotFaceShape3D *>(p_b);
 
-	SeparatorAxisTest<ConvexPolygonShape3DSW, FaceShape3DSW, withMargin> separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
+	SeparatorAxisTest<GodotConvexPolygonShape3D, GodotFaceShape3D, withMargin> separator(convex_polygon_A, p_transform_a, face_B, p_transform_b, p_collector, p_margin_a, p_margin_b);
 
 	const Geometry3D::MeshData &mesh = convex_polygon_A->get_mesh();
 
@@ -2268,7 +2269,7 @@ static void _collision_convex_polygon_face(const Shape3DSW *p_a, const Transform
 	separator.generate_contacts();
 }
 
-bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
+bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector3 *r_prev_axis, real_t p_margin_a, real_t p_margin_b) {
 	PhysicsServer3D::ShapeType type_A = p_shape_A->get_type();
 
 	ERR_FAIL_COND_V(type_A == PhysicsServer3D::SHAPE_WORLD_BOUNDARY, false);
@@ -2366,8 +2367,8 @@ bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_
 	callback.collided = false;
 	callback.prev_axis = r_prev_axis;
 
-	const Shape3DSW *A = p_shape_A;
-	const Shape3DSW *B = p_shape_B;
+	const GodotShape3D *A = p_shape_A;
+	const GodotShape3D *B = p_shape_B;
 	const Transform3D *transform_A = &p_transform_A;
 	const Transform3D *transform_B = &p_transform_B;
 	real_t margin_A = p_margin_a;

servers/physics_3d/collision_solver_3d_sat.h → servers/physics_3d/godot_collision_solver_3d_sat.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  collision_solver_3d_sat.h                                            */
+/*  godot_collision_solver_3d_sat.h                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,11 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef COLLISION_SOLVER_SAT_H
-#define COLLISION_SOLVER_SAT_H
+#ifndef GODOT_COLLISION_SOLVER_SAT_H
+#define GODOT_COLLISION_SOLVER_SAT_H
 
-#include "collision_solver_3d_sw.h"
+#include "godot_collision_solver_3d.h"
 
-bool sat_calculate_penetration(const Shape3DSW *p_shape_A, const Transform3D &p_transform_A, const Shape3DSW *p_shape_B, const Transform3D &p_transform_B, CollisionSolver3DSW::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector3 *r_prev_axis = nullptr, real_t p_margin_a = 0, real_t p_margin_b = 0);
+bool sat_calculate_penetration(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, GodotCollisionSolver3D::CallbackResult p_result_callback, void *p_userdata, bool p_swap = false, Vector3 *r_prev_axis = nullptr, real_t p_margin_a = 0, real_t p_margin_b = 0);
 
-#endif // COLLISION_SOLVER_SAT_H
+#endif // GODOT_COLLISION_SOLVER_SAT_H

servers/physics_3d/constraint_3d_sw.h → servers/physics_3d/godot_constraint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  constraint_3d_sw.h                                                   */
+/*  godot_constraint_3d.h                                                */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,14 +28,14 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef CONSTRAINT_SW_H
-#define CONSTRAINT_SW_H
+#ifndef GODOT_CONSTRAINT_3D_H
+#define GODOT_CONSTRAINT_3D_H
 
-class Body3DSW;
-class SoftBody3DSW;
+class GodotBody3D;
+class GodotSoftBody3D;
 
-class Constraint3DSW {
-	Body3DSW **_body_ptr;
+class GodotConstraint3D {
+	GodotBody3D **_body_ptr;
 	int _body_count;
 	uint64_t island_step;
 	int priority;
@@ -44,7 +44,7 @@ class Constraint3DSW {
 	RID self;
 
 protected:
-	Constraint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) {
+	GodotConstraint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) {
 		_body_ptr = p_body_ptr;
 		_body_count = p_body_count;
 		island_step = 0;
@@ -59,10 +59,10 @@ public:
 	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
 	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
 
-	_FORCE_INLINE_ Body3DSW **get_body_ptr() const { return _body_ptr; }
+	_FORCE_INLINE_ GodotBody3D **get_body_ptr() const { return _body_ptr; }
 	_FORCE_INLINE_ int get_body_count() const { return _body_count; }
 
-	virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const { return nullptr; }
+	virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const { return nullptr; }
 	virtual int get_soft_body_count() const { return 0; }
 
 	_FORCE_INLINE_ void set_priority(int p_priority) { priority = p_priority; }
@@ -75,7 +75,7 @@ public:
 	virtual bool pre_solve(real_t p_step) = 0;
 	virtual void solve(real_t p_step) = 0;
 
-	virtual ~Constraint3DSW() {}
+	virtual ~GodotConstraint3D() {}
 };
 
-#endif // CONSTRAINT__SW_H
+#endif // GODOT_CONSTRAINT_3D_H

servers/physics_3d/joints_3d_sw.h → servers/physics_3d/godot_joint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  joints_3d_sw.h                                                       */
+/*  godot_joint_3d.h                                                     */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,13 +28,13 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef JOINTS_SW_H
-#define JOINTS_SW_H
+#ifndef GODOT_JOINT_3D_H
+#define GODOT_JOINT_3D_H
 
-#include "body_3d_sw.h"
-#include "constraint_3d_sw.h"
+#include "godot_body_3d.h"
+#include "godot_constraint_3d.h"
 
-class Joint3DSW : public Constraint3DSW {
+class GodotJoint3D : public GodotConstraint3D {
 protected:
 	bool dynamic_A = false;
 	bool dynamic_B = false;
@@ -44,20 +44,20 @@ public:
 	virtual bool pre_solve(real_t p_step) override { return true; }
 	virtual void solve(real_t p_step) override {}
 
-	void copy_settings_from(Joint3DSW *p_joint) {
+	void copy_settings_from(GodotJoint3D *p_joint) {
 		set_self(p_joint->get_self());
 		set_priority(p_joint->get_priority());
 		disable_collisions_between_bodies(p_joint->is_disabled_collisions_between_bodies());
 	}
 
 	virtual PhysicsServer3D::JointType get_type() const { return PhysicsServer3D::JOINT_TYPE_MAX; }
-	_FORCE_INLINE_ Joint3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
-			Constraint3DSW(p_body_ptr, p_body_count) {
+	_FORCE_INLINE_ GodotJoint3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
+			GodotConstraint3D(p_body_ptr, p_body_count) {
 	}
 
-	virtual ~Joint3DSW() {
+	virtual ~GodotJoint3D() {
 		for (int i = 0; i < get_body_count(); i++) {
-			Body3DSW *body = get_body_ptr()[i];
+			GodotBody3D *body = get_body_ptr()[i];
 			if (body) {
 				body->remove_constraint(this);
 			}
@@ -65,4 +65,4 @@ public:
 	}
 };
 
-#endif // JOINTS_SW_H
+#endif // GODOT_JOINT_3D_H

servers/physics_3d/godot_physics_server_3d.cpp

@@ -0,0 +1,1749 @@
+/*************************************************************************/
+/*  godot_physics_server_3d.cpp                                          */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                      https://godotengine.org                          */
+/*************************************************************************/
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
+/* Copyright (c) 2014-2021 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 "godot_physics_server_3d.h"
+
+#include "godot_body_direct_state_3d.h"
+#include "godot_broad_phase_3d_bvh.h"
+#include "joints/godot_cone_twist_joint_3d.h"
+#include "joints/godot_generic_6dof_joint_3d.h"
+#include "joints/godot_hinge_joint_3d.h"
+#include "joints/godot_pin_joint_3d.h"
+#include "joints/godot_slider_joint_3d.h"
+
+#include "core/debugger/engine_debugger.h"
+#include "core/os/os.h"
+
+#define FLUSH_QUERY_CHECK(m_object) \
+	ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
+
+RID GodotPhysicsServer3D::world_boundary_shape_create() {
+	GodotShape3D *shape = memnew(GodotWorldBoundaryShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::separation_ray_shape_create() {
+	GodotShape3D *shape = memnew(GodotSeparationRayShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::sphere_shape_create() {
+	GodotShape3D *shape = memnew(GodotSphereShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::box_shape_create() {
+	GodotShape3D *shape = memnew(GodotBoxShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::capsule_shape_create() {
+	GodotShape3D *shape = memnew(GodotCapsuleShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::cylinder_shape_create() {
+	GodotShape3D *shape = memnew(GodotCylinderShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::convex_polygon_shape_create() {
+	GodotShape3D *shape = memnew(GodotConvexPolygonShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::concave_polygon_shape_create() {
+	GodotShape3D *shape = memnew(GodotConcavePolygonShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::heightmap_shape_create() {
+	GodotShape3D *shape = memnew(GodotHeightMapShape3D);
+	RID rid = shape_owner.make_rid(shape);
+	shape->set_self(rid);
+	return rid;
+}
+RID GodotPhysicsServer3D::custom_shape_create() {
+	ERR_FAIL_V(RID());
+}
+
+void GodotPhysicsServer3D::shape_set_data(RID p_shape, const Variant &p_data) {
+	GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	shape->set_data(p_data);
+};
+
+void GodotPhysicsServer3D::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
+	GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	shape->set_custom_bias(p_bias);
+}
+
+PhysicsServer3D::ShapeType GodotPhysicsServer3D::shape_get_type(RID p_shape) const {
+	const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
+	return shape->get_type();
+};
+
+Variant GodotPhysicsServer3D::shape_get_data(RID p_shape) const {
+	const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND_V(!shape, Variant());
+	ERR_FAIL_COND_V(!shape->is_configured(), Variant());
+	return shape->get_data();
+};
+
+void GodotPhysicsServer3D::shape_set_margin(RID p_shape, real_t p_margin) {
+}
+
+real_t GodotPhysicsServer3D::shape_get_margin(RID p_shape) const {
+	return 0.0;
+}
+
+real_t GodotPhysicsServer3D::shape_get_custom_solver_bias(RID p_shape) const {
+	const GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND_V(!shape, 0);
+	return shape->get_custom_bias();
+}
+
+RID GodotPhysicsServer3D::space_create() {
+	GodotSpace3D *space = memnew(GodotSpace3D);
+	RID id = space_owner.make_rid(space);
+	space->set_self(id);
+	RID area_id = area_create();
+	GodotArea3D *area = area_owner.get_or_null(area_id);
+	ERR_FAIL_COND_V(!area, RID());
+	space->set_default_area(area);
+	area->set_space(space);
+	area->set_priority(-1);
+	RID sgb = body_create();
+	body_set_space(sgb, id);
+	body_set_mode(sgb, BODY_MODE_STATIC);
+	space->set_static_global_body(sgb);
+
+	return id;
+};
+
+void GodotPhysicsServer3D::space_set_active(RID p_space, bool p_active) {
+	GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND(!space);
+	if (p_active) {
+		active_spaces.insert(space);
+	} else {
+		active_spaces.erase(space);
+	}
+}
+
+bool GodotPhysicsServer3D::space_is_active(RID p_space) const {
+	const GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, false);
+
+	return active_spaces.has(space);
+}
+
+void GodotPhysicsServer3D::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
+	GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND(!space);
+
+	space->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer3D::space_get_param(RID p_space, SpaceParameter p_param) const {
+	const GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, 0);
+	return space->get_param(p_param);
+}
+
+PhysicsDirectSpaceState3D *GodotPhysicsServer3D::space_get_direct_state(RID p_space) {
+	GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, nullptr);
+	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
+
+	return space->get_direct_state();
+}
+
+void GodotPhysicsServer3D::space_set_debug_contacts(RID p_space, int p_max_contacts) {
+	GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND(!space);
+	space->set_debug_contacts(p_max_contacts);
+}
+
+Vector<Vector3> GodotPhysicsServer3D::space_get_contacts(RID p_space) const {
+	GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, Vector<Vector3>());
+	return space->get_debug_contacts();
+}
+
+int GodotPhysicsServer3D::space_get_contact_count(RID p_space) const {
+	GodotSpace3D *space = space_owner.get_or_null(p_space);
+	ERR_FAIL_COND_V(!space, 0);
+	return space->get_debug_contact_count();
+}
+
+RID GodotPhysicsServer3D::area_create() {
+	GodotArea3D *area = memnew(GodotArea3D);
+	RID rid = area_owner.make_rid(area);
+	area->set_self(rid);
+	return rid;
+};
+
+void GodotPhysicsServer3D::area_set_space(RID p_area, RID p_space) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	GodotSpace3D *space = nullptr;
+	if (p_space.is_valid()) {
+		space = space_owner.get_or_null(p_space);
+		ERR_FAIL_COND(!space);
+	}
+
+	if (area->get_space() == space) {
+		return; //pointless
+	}
+
+	area->clear_constraints();
+	area->set_space(space);
+};
+
+RID GodotPhysicsServer3D::area_get_space(RID p_area) const {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, RID());
+
+	GodotSpace3D *space = area->get_space();
+	if (!space) {
+		return RID();
+	}
+	return space->get_self();
+};
+
+void GodotPhysicsServer3D::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_space_override_mode(p_mode);
+}
+
+PhysicsServer3D::AreaSpaceOverrideMode GodotPhysicsServer3D::area_get_space_override_mode(RID p_area) const {
+	const GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
+
+	return area->get_space_override_mode();
+}
+
+void GodotPhysicsServer3D::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+
+	area->add_shape(shape, p_transform, p_disabled);
+}
+
+void GodotPhysicsServer3D::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	ERR_FAIL_COND(!shape->is_configured());
+
+	area->set_shape(p_shape_idx, shape);
+}
+
+void GodotPhysicsServer3D::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_shape_transform(p_shape_idx, p_transform);
+}
+
+int GodotPhysicsServer3D::area_get_shape_count(RID p_area) const {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, -1);
+
+	return area->get_shape_count();
+}
+
+RID GodotPhysicsServer3D::area_get_shape(RID p_area, int p_shape_idx) const {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, RID());
+
+	GodotShape3D *shape = area->get_shape(p_shape_idx);
+	ERR_FAIL_COND_V(!shape, RID());
+
+	return shape->get_self();
+}
+
+Transform3D GodotPhysicsServer3D::area_get_shape_transform(RID p_area, int p_shape_idx) const {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, Transform3D());
+
+	return area->get_shape_transform(p_shape_idx);
+}
+
+void GodotPhysicsServer3D::area_remove_shape(RID p_area, int p_shape_idx) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->remove_shape(p_shape_idx);
+}
+
+void GodotPhysicsServer3D::area_clear_shapes(RID p_area) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	while (area->get_shape_count()) {
+		area->remove_shape(0);
+	}
+}
+
+void GodotPhysicsServer3D::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
+	FLUSH_QUERY_CHECK(area);
+	area->set_shape_disabled(p_shape_idx, p_disabled);
+}
+
+void GodotPhysicsServer3D::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
+	if (space_owner.owns(p_area)) {
+		GodotSpace3D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_instance_id(p_id);
+}
+
+ObjectID GodotPhysicsServer3D::area_get_object_instance_id(RID p_area) const {
+	if (space_owner.owns(p_area)) {
+		GodotSpace3D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, ObjectID());
+	return area->get_instance_id();
+}
+
+void GodotPhysicsServer3D::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
+	if (space_owner.owns(p_area)) {
+		GodotSpace3D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_param(p_param, p_value);
+};
+
+void GodotPhysicsServer3D::area_set_transform(RID p_area, const Transform3D &p_transform) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	area->set_transform(p_transform);
+};
+
+Variant GodotPhysicsServer3D::area_get_param(RID p_area, AreaParameter p_param) const {
+	if (space_owner.owns(p_area)) {
+		GodotSpace3D *space = space_owner.get_or_null(p_area);
+		p_area = space->get_default_area()->get_self();
+	}
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, Variant());
+
+	return area->get_param(p_param);
+};
+
+Transform3D GodotPhysicsServer3D::area_get_transform(RID p_area) const {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND_V(!area, Transform3D());
+
+	return area->get_transform();
+};
+
+void GodotPhysicsServer3D::area_set_collision_layer(RID p_area, uint32_t p_layer) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_collision_layer(p_layer);
+}
+
+void GodotPhysicsServer3D::area_set_collision_mask(RID p_area, uint32_t p_mask) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_collision_mask(p_mask);
+}
+
+void GodotPhysicsServer3D::area_set_monitorable(RID p_area, bool p_monitorable) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+	FLUSH_QUERY_CHECK(area);
+
+	area->set_monitorable(p_monitorable);
+}
+
+void GodotPhysicsServer3D::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
+}
+
+void GodotPhysicsServer3D::area_set_ray_pickable(RID p_area, bool p_enable) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_ray_pickable(p_enable);
+}
+
+void GodotPhysicsServer3D::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
+	GodotArea3D *area = area_owner.get_or_null(p_area);
+	ERR_FAIL_COND(!area);
+
+	area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
+}
+
+/* BODY API */
+
+RID GodotPhysicsServer3D::body_create() {
+	GodotBody3D *body = memnew(GodotBody3D);
+	RID rid = body_owner.make_rid(body);
+	body->set_self(rid);
+	return rid;
+};
+
+void GodotPhysicsServer3D::body_set_space(RID p_body, RID p_space) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	GodotSpace3D *space = nullptr;
+	if (p_space.is_valid()) {
+		space = space_owner.get_or_null(p_space);
+		ERR_FAIL_COND(!space);
+	}
+
+	if (body->get_space() == space) {
+		return; //pointless
+	}
+
+	body->clear_constraint_map();
+	body->set_space(space);
+};
+
+RID GodotPhysicsServer3D::body_get_space(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, RID());
+
+	GodotSpace3D *space = body->get_space();
+	if (!space) {
+		return RID();
+	}
+	return space->get_self();
+};
+
+void GodotPhysicsServer3D::body_set_mode(RID p_body, BodyMode p_mode) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_mode(p_mode);
+};
+
+PhysicsServer3D::BodyMode GodotPhysicsServer3D::body_get_mode(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
+
+	return body->get_mode();
+};
+
+void GodotPhysicsServer3D::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+
+	body->add_shape(shape, p_transform, p_disabled);
+}
+
+void GodotPhysicsServer3D::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	GodotShape3D *shape = shape_owner.get_or_null(p_shape);
+	ERR_FAIL_COND(!shape);
+	ERR_FAIL_COND(!shape->is_configured());
+
+	body->set_shape(p_shape_idx, shape);
+}
+void GodotPhysicsServer3D::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_shape_transform(p_shape_idx, p_transform);
+}
+
+int GodotPhysicsServer3D::body_get_shape_count(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, -1);
+
+	return body->get_shape_count();
+}
+
+RID GodotPhysicsServer3D::body_get_shape(RID p_body, int p_shape_idx) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, RID());
+
+	GodotShape3D *shape = body->get_shape(p_shape_idx);
+	ERR_FAIL_COND_V(!shape, RID());
+
+	return shape->get_self();
+}
+
+void GodotPhysicsServer3D::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
+	FLUSH_QUERY_CHECK(body);
+
+	body->set_shape_disabled(p_shape_idx, p_disabled);
+}
+
+Transform3D GodotPhysicsServer3D::body_get_shape_transform(RID p_body, int p_shape_idx) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Transform3D());
+
+	return body->get_shape_transform(p_shape_idx);
+}
+
+void GodotPhysicsServer3D::body_remove_shape(RID p_body, int p_shape_idx) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->remove_shape(p_shape_idx);
+}
+
+void GodotPhysicsServer3D::body_clear_shapes(RID p_body) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	while (body->get_shape_count()) {
+		body->remove_shape(0);
+	}
+}
+
+void GodotPhysicsServer3D::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_continuous_collision_detection(p_enable);
+}
+
+bool GodotPhysicsServer3D::body_is_continuous_collision_detection_enabled(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, false);
+
+	return body->is_continuous_collision_detection_enabled();
+}
+
+void GodotPhysicsServer3D::body_set_collision_layer(RID p_body, uint32_t p_layer) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_collision_layer(p_layer);
+	body->wakeup();
+}
+
+uint32_t GodotPhysicsServer3D::body_get_collision_layer(RID p_body) const {
+	const GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_collision_layer();
+}
+
+void GodotPhysicsServer3D::body_set_collision_mask(RID p_body, uint32_t p_mask) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_collision_mask(p_mask);
+	body->wakeup();
+}
+
+uint32_t GodotPhysicsServer3D::body_get_collision_mask(RID p_body) const {
+	const GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_collision_mask();
+}
+
+void GodotPhysicsServer3D::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	if (body) {
+		body->set_instance_id(p_id);
+		return;
+	}
+
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	if (soft_body) {
+		soft_body->set_instance_id(p_id);
+		return;
+	}
+
+	ERR_FAIL_MSG("Invalid ID.");
+};
+
+ObjectID GodotPhysicsServer3D::body_get_object_instance_id(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, ObjectID());
+
+	return body->get_instance_id();
+};
+
+void GodotPhysicsServer3D::body_set_user_flags(RID p_body, uint32_t p_flags) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+};
+
+uint32_t GodotPhysicsServer3D::body_get_user_flags(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return 0;
+};
+
+void GodotPhysicsServer3D::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_param(p_param, p_value);
+};
+
+Variant GodotPhysicsServer3D::body_get_param(RID p_body, BodyParameter p_param) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+
+	return body->get_param(p_param);
+};
+
+void GodotPhysicsServer3D::body_reset_mass_properties(RID p_body) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	return body->reset_mass_properties();
+}
+
+void GodotPhysicsServer3D::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_state(p_state, p_variant);
+};
+
+Variant GodotPhysicsServer3D::body_get_state(RID p_body, BodyState p_state) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Variant());
+
+	return body->get_state(p_state);
+};
+
+void GodotPhysicsServer3D::body_set_applied_force(RID p_body, const Vector3 &p_force) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_applied_force(p_force);
+	body->wakeup();
+};
+
+Vector3 GodotPhysicsServer3D::body_get_applied_force(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Vector3());
+	return body->get_applied_force();
+};
+
+void GodotPhysicsServer3D::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_applied_torque(p_torque);
+	body->wakeup();
+};
+
+Vector3 GodotPhysicsServer3D::body_get_applied_torque(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, Vector3());
+
+	return body->get_applied_torque();
+};
+
+void GodotPhysicsServer3D::body_add_central_force(RID p_body, const Vector3 &p_force) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_central_force(p_force);
+	body->wakeup();
+}
+
+void GodotPhysicsServer3D::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_force(p_force, p_position);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_add_torque(RID p_body, const Vector3 &p_torque) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_torque(p_torque);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	body->apply_central_impulse(p_impulse);
+	body->wakeup();
+}
+
+void GodotPhysicsServer3D::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	body->apply_impulse(p_impulse, p_position);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	body->apply_torque_impulse(p_impulse);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	_update_shapes();
+
+	Vector3 v = body->get_linear_velocity();
+	Vector3 axis = p_axis_velocity.normalized();
+	v -= axis * axis.dot(v);
+	v += p_axis_velocity;
+	body->set_linear_velocity(v);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_axis_lock(p_axis, p_lock);
+	body->wakeup();
+}
+
+bool GodotPhysicsServer3D::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
+	const GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+	return body->is_axis_locked(p_axis);
+}
+
+void GodotPhysicsServer3D::body_add_collision_exception(RID p_body, RID p_body_b) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->add_exception(p_body_b);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_remove_collision_exception(RID p_body, RID p_body_b) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->remove_exception(p_body_b);
+	body->wakeup();
+};
+
+void GodotPhysicsServer3D::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
+	GodotBody3D *body = body_owner.get_or_null(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 GodotPhysicsServer3D::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+};
+
+real_t GodotPhysicsServer3D::body_get_contacts_reported_depth_threshold(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, 0);
+	return 0;
+};
+
+void GodotPhysicsServer3D::body_set_omit_force_integration(RID p_body, bool p_omit) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+
+	body->set_omit_force_integration(p_omit);
+};
+
+bool GodotPhysicsServer3D::body_is_omitting_force_integration(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, false);
+	return body->get_omit_force_integration();
+};
+
+void GodotPhysicsServer3D::body_set_max_contacts_reported(RID p_body, int p_contacts) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_max_contacts_reported(p_contacts);
+}
+
+int GodotPhysicsServer3D::body_get_max_contacts_reported(RID p_body) const {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!body, -1);
+	return body->get_max_contacts_reported();
+}
+
+void GodotPhysicsServer3D::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_state_sync_callback(p_instance, p_callback);
+}
+
+void GodotPhysicsServer3D::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_force_integration_callback(p_callable, p_udata);
+}
+
+void GodotPhysicsServer3D::body_set_ray_pickable(RID p_body, bool p_enable) {
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!body);
+	body->set_ray_pickable(p_enable);
+}
+
+bool GodotPhysicsServer3D::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
+	GodotBody3D *body = body_owner.get_or_null(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);
+
+	_update_shapes();
+
+	return body->get_space()->test_body_motion(body, p_parameters, r_result);
+}
+
+PhysicsDirectBodyState3D *GodotPhysicsServer3D::body_get_direct_state(RID p_body) {
+	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
+
+	GodotBody3D *body = body_owner.get_or_null(p_body);
+	ERR_FAIL_NULL_V(body, nullptr);
+
+	ERR_FAIL_NULL_V(body->get_space(), nullptr);
+	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
+
+	return body->get_direct_state();
+}
+
+/* SOFT BODY */
+
+RID GodotPhysicsServer3D::soft_body_create() {
+	GodotSoftBody3D *soft_body = memnew(GodotSoftBody3D);
+	RID rid = soft_body_owner.make_rid(soft_body);
+	soft_body->set_self(rid);
+	return rid;
+}
+
+void GodotPhysicsServer3D::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->update_rendering_server(p_rendering_server_handler);
+}
+
+void GodotPhysicsServer3D::soft_body_set_space(RID p_body, RID p_space) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	GodotSpace3D *space = nullptr;
+	if (p_space.is_valid()) {
+		space = space_owner.get_or_null(p_space);
+		ERR_FAIL_COND(!space);
+	}
+
+	if (soft_body->get_space() == space) {
+		return;
+	}
+
+	soft_body->set_space(space);
+}
+
+RID GodotPhysicsServer3D::soft_body_get_space(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, RID());
+
+	GodotSpace3D *space = soft_body->get_space();
+	if (!space) {
+		return RID();
+	}
+	return space->get_self();
+}
+
+void GodotPhysicsServer3D::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_collision_layer(p_layer);
+}
+
+uint32_t GodotPhysicsServer3D::soft_body_get_collision_layer(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0);
+
+	return soft_body->get_collision_layer();
+}
+
+void GodotPhysicsServer3D::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_collision_mask(p_mask);
+}
+
+uint32_t GodotPhysicsServer3D::soft_body_get_collision_mask(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0);
+
+	return soft_body->get_collision_mask();
+}
+
+void GodotPhysicsServer3D::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->add_exception(p_body_b);
+}
+
+void GodotPhysicsServer3D::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->remove_exception(p_body_b);
+}
+
+void GodotPhysicsServer3D::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	for (int i = 0; i < soft_body->get_exceptions().size(); i++) {
+		p_exceptions->push_back(soft_body->get_exceptions()[i]);
+	}
+}
+
+void GodotPhysicsServer3D::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_state(p_state, p_variant);
+}
+
+Variant GodotPhysicsServer3D::soft_body_get_state(RID p_body, BodyState p_state) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, Variant());
+
+	return soft_body->get_state(p_state);
+}
+
+void GodotPhysicsServer3D::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_state(BODY_STATE_TRANSFORM, p_transform);
+}
+
+void GodotPhysicsServer3D::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_ray_pickable(p_enable);
+}
+
+void GodotPhysicsServer3D::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_iteration_count(p_simulation_precision);
+}
+
+int GodotPhysicsServer3D::soft_body_get_simulation_precision(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0.f);
+
+	return soft_body->get_iteration_count();
+}
+
+void GodotPhysicsServer3D::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_total_mass(p_total_mass);
+}
+
+real_t GodotPhysicsServer3D::soft_body_get_total_mass(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0.f);
+
+	return soft_body->get_total_mass();
+}
+
+void GodotPhysicsServer3D::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_linear_stiffness(p_stiffness);
+}
+
+real_t GodotPhysicsServer3D::soft_body_get_linear_stiffness(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0.f);
+
+	return soft_body->get_linear_stiffness();
+}
+
+void GodotPhysicsServer3D::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_pressure_coefficient(p_pressure_coefficient);
+}
+
+real_t GodotPhysicsServer3D::soft_body_get_pressure_coefficient(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0.f);
+
+	return soft_body->get_pressure_coefficient();
+}
+
+void GodotPhysicsServer3D::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_damping_coefficient(p_damping_coefficient);
+}
+
+real_t GodotPhysicsServer3D::soft_body_get_damping_coefficient(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0.f);
+
+	return soft_body->get_damping_coefficient();
+}
+
+void GodotPhysicsServer3D::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_drag_coefficient(p_drag_coefficient);
+}
+
+real_t GodotPhysicsServer3D::soft_body_get_drag_coefficient(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, 0.f);
+
+	return soft_body->get_drag_coefficient();
+}
+
+void GodotPhysicsServer3D::soft_body_set_mesh(RID p_body, RID p_mesh) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_mesh(p_mesh);
+}
+
+AABB GodotPhysicsServer3D::soft_body_get_bounds(RID p_body) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, AABB());
+
+	return soft_body->get_bounds();
+}
+
+void GodotPhysicsServer3D::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->set_vertex_position(p_point_index, p_global_position);
+}
+
+Vector3 GodotPhysicsServer3D::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, Vector3());
+
+	return soft_body->get_vertex_position(p_point_index);
+}
+
+void GodotPhysicsServer3D::soft_body_remove_all_pinned_points(RID p_body) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	soft_body->unpin_all_vertices();
+}
+
+void GodotPhysicsServer3D::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND(!soft_body);
+
+	if (p_pin) {
+		soft_body->pin_vertex(p_point_index);
+	} else {
+		soft_body->unpin_vertex(p_point_index);
+	}
+}
+
+bool GodotPhysicsServer3D::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
+	GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_body);
+	ERR_FAIL_COND_V(!soft_body, false);
+
+	return soft_body->is_vertex_pinned(p_point_index);
+}
+
+/* JOINT API */
+
+RID GodotPhysicsServer3D::joint_create() {
+	GodotJoint3D *joint = memnew(GodotJoint3D);
+	RID rid = joint_owner.make_rid(joint);
+	joint->set_self(rid);
+	return rid;
+}
+
+void GodotPhysicsServer3D::joint_clear(RID p_joint) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	if (joint->get_type() != JOINT_TYPE_MAX) {
+		GodotJoint3D *empty_joint = memnew(GodotJoint3D);
+		empty_joint->copy_settings_from(joint);
+
+		joint_owner.replace(p_joint, empty_joint);
+		memdelete(joint);
+	}
+}
+
+void GodotPhysicsServer3D::joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
+	GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
+	ERR_FAIL_COND(!body_A);
+
+	if (!p_body_B.is_valid()) {
+		ERR_FAIL_COND(!body_A->get_space());
+		p_body_B = body_A->get_space()->get_static_global_body();
+	}
+
+	GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
+	ERR_FAIL_COND(!body_B);
+
+	ERR_FAIL_COND(body_A == body_B);
+
+	GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint3D *joint = memnew(GodotPinJoint3D(body_A, p_local_A, body_B, p_local_B));
+
+	joint->copy_settings_from(prev_joint);
+	joint_owner.replace(p_joint, joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer3D::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
+	GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
+	pin_joint->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer3D::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, 0);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0);
+	GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
+	return pin_joint->get_param(p_param);
+}
+
+void GodotPhysicsServer3D::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
+	GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
+	pin_joint->set_pos_a(p_A);
+}
+
+Vector3 GodotPhysicsServer3D::pin_joint_get_local_a(RID p_joint) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, Vector3());
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
+	GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
+	return pin_joint->get_position_a();
+}
+
+void GodotPhysicsServer3D::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
+	GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
+	pin_joint->set_pos_b(p_B);
+}
+
+Vector3 GodotPhysicsServer3D::pin_joint_get_local_b(RID p_joint) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, Vector3());
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
+	GodotPinJoint3D *pin_joint = static_cast<GodotPinJoint3D *>(joint);
+	return pin_joint->get_position_b();
+}
+
+void GodotPhysicsServer3D::joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_frame_A, RID p_body_B, const Transform3D &p_frame_B) {
+	GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
+	ERR_FAIL_COND(!body_A);
+
+	if (!p_body_B.is_valid()) {
+		ERR_FAIL_COND(!body_A->get_space());
+		p_body_B = body_A->get_space()->get_static_global_body();
+	}
+
+	GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
+	ERR_FAIL_COND(!body_B);
+
+	ERR_FAIL_COND(body_A == body_B);
+
+	GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_frame_A, p_frame_B));
+
+	joint->copy_settings_from(prev_joint);
+	joint_owner.replace(p_joint, joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer3D::joint_make_hinge_simple(RID p_joint, 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) {
+	GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
+	ERR_FAIL_COND(!body_A);
+
+	if (!p_body_B.is_valid()) {
+		ERR_FAIL_COND(!body_A->get_space());
+		p_body_B = body_A->get_space()->get_static_global_body();
+	}
+
+	GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
+	ERR_FAIL_COND(!body_B);
+
+	ERR_FAIL_COND(body_A == body_B);
+
+	GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint3D *joint = memnew(GodotHingeJoint3D(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
+
+	joint->copy_settings_from(prev_joint);
+	joint_owner.replace(p_joint, joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer3D::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
+	GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
+	hinge_joint->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer3D::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, 0);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0);
+	GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
+	return hinge_joint->get_param(p_param);
+}
+
+void GodotPhysicsServer3D::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
+	GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
+	hinge_joint->set_flag(p_flag, p_value);
+}
+
+bool GodotPhysicsServer3D::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, false);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false);
+	GodotHingeJoint3D *hinge_joint = static_cast<GodotHingeJoint3D *>(joint);
+	return hinge_joint->get_flag(p_flag);
+}
+
+void GodotPhysicsServer3D::joint_set_solver_priority(RID p_joint, int p_priority) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	joint->set_priority(p_priority);
+}
+
+int GodotPhysicsServer3D::joint_get_solver_priority(RID p_joint) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, 0);
+	return joint->get_priority();
+}
+
+void GodotPhysicsServer3D::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+
+	joint->disable_collisions_between_bodies(p_disable);
+
+	if (2 == joint->get_body_count()) {
+		GodotBody3D *body_a = *joint->get_body_ptr();
+		GodotBody3D *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 GodotPhysicsServer3D::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, true);
+
+	return joint->is_disabled_collisions_between_bodies();
+}
+
+GodotPhysicsServer3D::JointType GodotPhysicsServer3D::joint_get_type(RID p_joint) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN);
+	return joint->get_type();
+}
+
+void GodotPhysicsServer3D::joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
+	GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
+	ERR_FAIL_COND(!body_A);
+
+	if (!p_body_B.is_valid()) {
+		ERR_FAIL_COND(!body_A->get_space());
+		p_body_B = body_A->get_space()->get_static_global_body();
+	}
+
+	GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
+	ERR_FAIL_COND(!body_B);
+
+	ERR_FAIL_COND(body_A == body_B);
+
+	GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint3D *joint = memnew(GodotSliderJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B));
+
+	joint->copy_settings_from(prev_joint);
+	joint_owner.replace(p_joint, joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer3D::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
+	GodotSliderJoint3D *slider_joint = static_cast<GodotSliderJoint3D *>(joint);
+	slider_joint->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer3D::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, 0);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
+	GodotSliderJoint3D *slider_joint = static_cast<GodotSliderJoint3D *>(joint);
+	return slider_joint->get_param(p_param);
+}
+
+void GodotPhysicsServer3D::joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
+	GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
+	ERR_FAIL_COND(!body_A);
+
+	if (!p_body_B.is_valid()) {
+		ERR_FAIL_COND(!body_A->get_space());
+		p_body_B = body_A->get_space()->get_static_global_body();
+	}
+
+	GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
+	ERR_FAIL_COND(!body_B);
+
+	ERR_FAIL_COND(body_A == body_B);
+
+	GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint3D *joint = memnew(GodotConeTwistJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B));
+
+	joint->copy_settings_from(prev_joint);
+	joint_owner.replace(p_joint, joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer3D::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
+	GodotConeTwistJoint3D *cone_twist_joint = static_cast<GodotConeTwistJoint3D *>(joint);
+	cone_twist_joint->set_param(p_param, p_value);
+}
+
+real_t GodotPhysicsServer3D::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, 0);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
+	GodotConeTwistJoint3D *cone_twist_joint = static_cast<GodotConeTwistJoint3D *>(joint);
+	return cone_twist_joint->get_param(p_param);
+}
+
+void GodotPhysicsServer3D::joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
+	GodotBody3D *body_A = body_owner.get_or_null(p_body_A);
+	ERR_FAIL_COND(!body_A);
+
+	if (!p_body_B.is_valid()) {
+		ERR_FAIL_COND(!body_A->get_space());
+		p_body_B = body_A->get_space()->get_static_global_body();
+	}
+
+	GodotBody3D *body_B = body_owner.get_or_null(p_body_B);
+	ERR_FAIL_COND(!body_B);
+
+	ERR_FAIL_COND(body_A == body_B);
+
+	GodotJoint3D *prev_joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(prev_joint == nullptr);
+
+	GodotJoint3D *joint = memnew(GodotGeneric6DOFJoint3D(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
+
+	joint->copy_settings_from(prev_joint);
+	joint_owner.replace(p_joint, joint);
+	memdelete(prev_joint);
+}
+
+void GodotPhysicsServer3D::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
+	GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
+	generic_6dof_joint->set_param(p_axis, p_param, p_value);
+}
+
+real_t GodotPhysicsServer3D::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, 0);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0);
+	GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
+	return generic_6dof_joint->get_param(p_axis, p_param);
+}
+
+void GodotPhysicsServer3D::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND(!joint);
+	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
+	GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
+	generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
+}
+
+bool GodotPhysicsServer3D::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) const {
+	GodotJoint3D *joint = joint_owner.get_or_null(p_joint);
+	ERR_FAIL_COND_V(!joint, false);
+	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false);
+	GodotGeneric6DOFJoint3D *generic_6dof_joint = static_cast<GodotGeneric6DOFJoint3D *>(joint);
+	return generic_6dof_joint->get_flag(p_axis, p_flag);
+}
+
+void GodotPhysicsServer3D::free(RID p_rid) {
+	_update_shapes(); //just in case
+
+	if (shape_owner.owns(p_rid)) {
+		GodotShape3D *shape = shape_owner.get_or_null(p_rid);
+
+		while (shape->get_owners().size()) {
+			GodotShapeOwner3D *so = shape->get_owners().front()->key();
+			so->remove_shape(shape);
+		}
+
+		shape_owner.free(p_rid);
+		memdelete(shape);
+	} else if (body_owner.owns(p_rid)) {
+		GodotBody3D *body = body_owner.get_or_null(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(nullptr);
+
+		while (body->get_shape_count()) {
+			body->remove_shape(0);
+		}
+
+		body_owner.free(p_rid);
+		memdelete(body);
+	} else if (soft_body_owner.owns(p_rid)) {
+		GodotSoftBody3D *soft_body = soft_body_owner.get_or_null(p_rid);
+
+		soft_body->set_space(nullptr);
+
+		soft_body_owner.free(p_rid);
+		memdelete(soft_body);
+	} else if (area_owner.owns(p_rid)) {
+		GodotArea3D *area = area_owner.get_or_null(p_rid);
+
+		/*
+		if (area->get_monitor_query())
+			_clear_query(area->get_monitor_query());
+		*/
+
+		area->set_space(nullptr);
+
+		while (area->get_shape_count()) {
+			area->remove_shape(0);
+		}
+
+		area_owner.free(p_rid);
+		memdelete(area);
+	} else if (space_owner.owns(p_rid)) {
+		GodotSpace3D *space = space_owner.get_or_null(p_rid);
+
+		while (space->get_objects().size()) {
+			GodotCollisionObject3D *co = (GodotCollisionObject3D *)space->get_objects().front()->get();
+			co->set_space(nullptr);
+		}
+
+		active_spaces.erase(space);
+		free(space->get_default_area()->get_self());
+		free(space->get_static_global_body());
+
+		space_owner.free(p_rid);
+		memdelete(space);
+	} else if (joint_owner.owns(p_rid)) {
+		GodotJoint3D *joint = joint_owner.get_or_null(p_rid);
+
+		joint_owner.free(p_rid);
+		memdelete(joint);
+
+	} else {
+		ERR_FAIL_MSG("Invalid ID.");
+	}
+};
+
+void GodotPhysicsServer3D::set_active(bool p_active) {
+	active = p_active;
+};
+
+void GodotPhysicsServer3D::set_collision_iterations(int p_iterations) {
+	iterations = p_iterations;
+};
+
+void GodotPhysicsServer3D::init() {
+	iterations = 8; // 8?
+	stepper = memnew(GodotStep3D);
+};
+
+void GodotPhysicsServer3D::step(real_t p_step) {
+#ifndef _3D_DISABLED
+
+	if (!active) {
+		return;
+	}
+
+	_update_shapes();
+
+	island_count = 0;
+	active_objects = 0;
+	collision_pairs = 0;
+	for (Set<const GodotSpace3D *>::Element *E = active_spaces.front(); E; E = E->next()) {
+		stepper->step((GodotSpace3D *)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();
+	}
+#endif
+}
+
+void GodotPhysicsServer3D::sync() {
+	doing_sync = true;
+};
+
+void GodotPhysicsServer3D::flush_queries() {
+#ifndef _3D_DISABLED
+
+	if (!active) {
+		return;
+	}
+
+	flushing_queries = true;
+
+	uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
+
+	for (Set<const GodotSpace3D *>::Element *E = active_spaces.front(); E; E = E->next()) {
+		GodotSpace3D *space = (GodotSpace3D *)E->get();
+		space->call_queries();
+	}
+
+	flushing_queries = false;
+
+	if (EngineDebugger::is_profiling("servers")) {
+		uint64_t total_time[GodotSpace3D::ELAPSED_TIME_MAX];
+		static const char *time_name[GodotSpace3D::ELAPSED_TIME_MAX] = {
+			"integrate_forces",
+			"generate_islands",
+			"setup_constraints",
+			"solve_constraints",
+			"integrate_velocities"
+		};
+
+		for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
+			total_time[i] = 0;
+		}
+
+		for (Set<const GodotSpace3D *>::Element *E = active_spaces.front(); E; E = E->next()) {
+			for (int i = 0; i < GodotSpace3D::ELAPSED_TIME_MAX; i++) {
+				total_time[i] += E->get()->get_elapsed_time(GodotSpace3D::ElapsedTime(i));
+			}
+		}
+
+		Array values;
+		values.resize(GodotSpace3D::ELAPSED_TIME_MAX * 2);
+		for (int i = 0; i < GodotSpace3D::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));
+
+		values.push_front("physics");
+		EngineDebugger::profiler_add_frame_data("servers", values);
+	}
+#endif
+};
+
+void GodotPhysicsServer3D::end_sync() {
+	doing_sync = false;
+};
+
+void GodotPhysicsServer3D::finish() {
+	memdelete(stepper);
+};
+
+int GodotPhysicsServer3D::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;
+}
+
+void GodotPhysicsServer3D::_update_shapes() {
+	while (pending_shape_update_list.first()) {
+		pending_shape_update_list.first()->self()->_shape_changed();
+		pending_shape_update_list.remove(pending_shape_update_list.first());
+	}
+}
+
+void GodotPhysicsServer3D::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
+	CollCbkData *cbk = (CollCbkData *)p_userdata;
+
+	if (cbk->max == 0) {
+		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++;
+	}
+}
+
+GodotPhysicsServer3D *GodotPhysicsServer3D::godot_singleton = nullptr;
+GodotPhysicsServer3D::GodotPhysicsServer3D(bool p_using_threads) {
+	godot_singleton = this;
+	GodotBroadPhase3D::create_func = GodotBroadPhase3DBVH::_create;
+
+	using_threads = p_using_threads;
+};

servers/physics_3d/physics_server_3d_sw.h → servers/physics_3d/godot_physics_server_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  physics_server_3d_sw.h                                               */
+/*  godot_physics_server_3d.h                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,20 +28,21 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef PHYSICS_SERVER_SW
-#define PHYSICS_SERVER_SW
+#ifndef GODOT_PHYSICS_SERVER_3D_H
+#define GODOT_PHYSICS_SERVER_3D_H
+
+#include "godot_joint_3d.h"
+#include "godot_shape_3d.h"
+#include "godot_space_3d.h"
+#include "godot_step_3d.h"
 
 #include "core/templates/rid_owner.h"
-#include "joints_3d_sw.h"
 #include "servers/physics_server_3d.h"
-#include "shape_3d_sw.h"
-#include "space_3d_sw.h"
-#include "step_3d_sw.h"
 
-class PhysicsServer3DSW : public PhysicsServer3D {
-	GDCLASS(PhysicsServer3DSW, PhysicsServer3D);
+class GodotPhysicsServer3D : public PhysicsServer3D {
+	GDCLASS(GodotPhysicsServer3D, PhysicsServer3D);
 
-	friend class PhysicsDirectSpaceState3DSW;
+	friend class GodotPhysicsDirectSpaceState3D;
 	bool active = true;
 	int iterations = 0;
 
@@ -53,22 +54,22 @@ class PhysicsServer3DSW : public PhysicsServer3D {
 	bool doing_sync = false;
 	bool flushing_queries = false;
 
-	Step3DSW *stepper = nullptr;
-	Set<const Space3DSW *> active_spaces;
+	GodotStep3D *stepper = nullptr;
+	Set<const GodotSpace3D *> active_spaces;
 
-	mutable RID_PtrOwner<Shape3DSW, true> shape_owner;
-	mutable RID_PtrOwner<Space3DSW, true> space_owner;
-	mutable RID_PtrOwner<Area3DSW, true> area_owner;
-	mutable RID_PtrOwner<Body3DSW, true> body_owner;
-	mutable RID_PtrOwner<SoftBody3DSW, true> soft_body_owner;
-	mutable RID_PtrOwner<Joint3DSW, true> joint_owner;
+	mutable RID_PtrOwner<GodotShape3D, true> shape_owner;
+	mutable RID_PtrOwner<GodotSpace3D, true> space_owner;
+	mutable RID_PtrOwner<GodotArea3D, true> area_owner;
+	mutable RID_PtrOwner<GodotBody3D, true> body_owner;
+	mutable RID_PtrOwner<GodotSoftBody3D, true> soft_body_owner;
+	mutable RID_PtrOwner<GodotJoint3D, true> joint_owner;
 
 	//void _clear_query(QuerySW *p_query);
-	friend class CollisionObject3DSW;
-	SelfList<CollisionObject3DSW>::List pending_shape_update_list;
+	friend class GodotCollisionObject3D;
+	SelfList<GodotCollisionObject3D>::List pending_shape_update_list;
 	void _update_shapes();
 
-	static PhysicsServer3DSW *singletonsw;
+	static GodotPhysicsServer3D *godot_singleton;
 
 public:
 	struct CollCbkData {
@@ -372,8 +373,8 @@ public:
 
 	int get_process_info(ProcessInfo p_info) override;
 
-	PhysicsServer3DSW(bool p_using_threads = false);
-	~PhysicsServer3DSW() {}
+	GodotPhysicsServer3D(bool p_using_threads = false);
+	~GodotPhysicsServer3D() {}
 };
 
-#endif
+#endif // GODOT_PHYSICS_SERVER_3D_H

servers/physics_3d/shape_3d_sw.h → servers/physics_3d/godot_shape_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  shape_3d_sw.h                                                        */
+/*  godot_shape_3d.h                                                     */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,30 +28,30 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef SHAPE_SW_H
-#define SHAPE_SW_H
+#ifndef GODOT_SHAPE_3D_H
+#define GODOT_SHAPE_3D_H
 
 #include "core/math/geometry_3d.h"
 #include "core/templates/local_vector.h"
 #include "servers/physics_server_3d.h"
 
-class Shape3DSW;
+class GodotShape3D;
 
-class ShapeOwner3DSW {
+class GodotShapeOwner3D {
 public:
 	virtual void _shape_changed() = 0;
-	virtual void remove_shape(Shape3DSW *p_shape) = 0;
+	virtual void remove_shape(GodotShape3D *p_shape) = 0;
 
-	virtual ~ShapeOwner3DSW() {}
+	virtual ~GodotShapeOwner3D() {}
 };
 
-class Shape3DSW {
+class GodotShape3D {
 	RID self;
 	AABB aabb;
 	bool configured = false;
 	real_t custom_bias = 0.0;
 
-	Map<ShapeOwner3DSW *, int> owners;
+	Map<GodotShapeOwner3D *, int> owners;
 
 protected:
 	void configure(const AABB &p_aabb);
@@ -90,29 +90,29 @@ public:
 	_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias = p_bias; }
 	_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
 
-	void add_owner(ShapeOwner3DSW *p_owner);
-	void remove_owner(ShapeOwner3DSW *p_owner);
-	bool is_owner(ShapeOwner3DSW *p_owner) const;
-	const Map<ShapeOwner3DSW *, int> &get_owners() const;
+	void add_owner(GodotShapeOwner3D *p_owner);
+	void remove_owner(GodotShapeOwner3D *p_owner);
+	bool is_owner(GodotShapeOwner3D *p_owner) const;
+	const Map<GodotShapeOwner3D *, int> &get_owners() const;
 
-	Shape3DSW() {}
-	virtual ~Shape3DSW();
+	GodotShape3D() {}
+	virtual ~GodotShape3D();
 };
 
-class ConcaveShape3DSW : public Shape3DSW {
+class GodotConcaveShape3D : public GodotShape3D {
 public:
 	virtual bool is_concave() const override { return true; }
 	virtual void get_supports(const Vector3 &p_normal, int p_max, Vector3 *r_supports, int &r_amount, FeatureType &r_type) const override { r_amount = 0; }
 
 	// Returns true to stop the query.
-	typedef bool (*QueryCallback)(void *p_userdata, Shape3DSW *p_convex);
+	typedef bool (*QueryCallback)(void *p_userdata, GodotShape3D *p_convex);
 
 	virtual void cull(const AABB &p_local_aabb, QueryCallback p_callback, void *p_userdata) const = 0;
 
-	ConcaveShape3DSW() {}
+	GodotConcaveShape3D() {}
 };
 
-class WorldBoundaryShape3DSW : public Shape3DSW {
+class GodotWorldBoundaryShape3D : public GodotShape3D {
 	Plane plane;
 
 	void _setup(const Plane &p_plane);
@@ -134,10 +134,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	WorldBoundaryShape3DSW();
+	GodotWorldBoundaryShape3D();
 };
 
-class SeparationRayShape3DSW : public Shape3DSW {
+class GodotSeparationRayShape3D : public GodotShape3D {
 	real_t length = 1.0;
 	bool slide_on_slope = false;
 
@@ -162,10 +162,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	SeparationRayShape3DSW();
+	GodotSeparationRayShape3D();
 };
 
-class SphereShape3DSW : public Shape3DSW {
+class GodotSphereShape3D : public GodotShape3D {
 	real_t radius = 0.0;
 
 	void _setup(real_t p_radius);
@@ -189,10 +189,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	SphereShape3DSW();
+	GodotSphereShape3D();
 };
 
-class BoxShape3DSW : public Shape3DSW {
+class GodotBoxShape3D : public GodotShape3D {
 	Vector3 half_extents;
 	void _setup(const Vector3 &p_half_extents);
 
@@ -214,10 +214,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	BoxShape3DSW();
+	GodotBoxShape3D();
 };
 
-class CapsuleShape3DSW : public Shape3DSW {
+class GodotCapsuleShape3D : public GodotShape3D {
 	real_t height = 0.0;
 	real_t radius = 0.0;
 
@@ -243,10 +243,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	CapsuleShape3DSW();
+	GodotCapsuleShape3D();
 };
 
-class CylinderShape3DSW : public Shape3DSW {
+class GodotCylinderShape3D : public GodotShape3D {
 	real_t height = 0.0;
 	real_t radius = 0.0;
 
@@ -272,10 +272,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	CylinderShape3DSW();
+	GodotCylinderShape3D();
 };
 
-struct ConvexPolygonShape3DSW : public Shape3DSW {
+struct GodotConvexPolygonShape3D : public GodotShape3D {
 	Geometry3D::MeshData mesh;
 
 	void _setup(const Vector<Vector3> &p_vertices);
@@ -297,13 +297,13 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	ConvexPolygonShape3DSW();
+	GodotConvexPolygonShape3D();
 };
 
-struct _VolumeSW_BVH;
-struct FaceShape3DSW;
+struct _Volume_BVH;
+struct GodotFaceShape3D;
 
-struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
+struct GodotConcavePolygonShape3D : public GodotConcaveShape3D {
 	// always a trimesh
 
 	struct Face {
@@ -331,7 +331,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
 		const Face *faces = nullptr;
 		const Vector3 *vertices = nullptr;
 		const BVH *bvh = nullptr;
-		FaceShape3DSW *face = nullptr;
+		GodotFaceShape3D *face = nullptr;
 	};
 
 	struct _SegmentCullParams {
@@ -341,7 +341,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
 		const Face *faces = nullptr;
 		const Vector3 *vertices = nullptr;
 		const BVH *bvh = nullptr;
-		FaceShape3DSW *face = nullptr;
+		GodotFaceShape3D *face = nullptr;
 
 		Vector3 result;
 		Vector3 normal;
@@ -354,7 +354,7 @@ struct ConcavePolygonShape3DSW : public ConcaveShape3DSW {
 	void _cull_segment(int p_idx, _SegmentCullParams *p_params) const;
 	bool _cull(int p_idx, _CullParams *p_params) const;
 
-	void _fill_bvh(_VolumeSW_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
+	void _fill_bvh(_Volume_BVH *p_bvh_tree, BVH *p_bvh_array, int &p_idx);
 
 	void _setup(const Vector<Vector3> &p_faces, bool p_backface_collision);
 
@@ -377,10 +377,10 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	ConcavePolygonShape3DSW();
+	GodotConcavePolygonShape3D();
 };
 
-struct HeightMapShape3DSW : public ConcaveShape3DSW {
+struct GodotHeightMapShape3D : public GodotConcaveShape3D {
 	Vector<real_t> heights;
 	int width = 0;
 	int depth = 0;
@@ -440,11 +440,11 @@ public:
 	virtual void set_data(const Variant &p_data) override;
 	virtual Variant get_data() const override;
 
-	HeightMapShape3DSW();
+	GodotHeightMapShape3D();
 };
 
 //used internally
-struct FaceShape3DSW : public Shape3DSW {
+struct GodotFaceShape3D : public GodotShape3D {
 	Vector3 normal; //cache
 	Vector3 vertex[3];
 	bool backface_collision = false;
@@ -465,11 +465,11 @@ struct FaceShape3DSW : public Shape3DSW {
 	virtual void set_data(const Variant &p_data) override {}
 	virtual Variant get_data() const override { return Variant(); }
 
-	FaceShape3DSW();
+	GodotFaceShape3D();
 };
 
-struct MotionShape3DSW : public Shape3DSW {
-	Shape3DSW *shape = nullptr;
+struct GodotMotionShape3D : public GodotShape3D {
+	GodotShape3D *shape = nullptr;
 	Vector3 motion;
 
 	virtual PhysicsServer3D::ShapeType get_type() const override { return PhysicsServer3D::SHAPE_CONVEX_POLYGON; }
@@ -504,7 +504,7 @@ struct MotionShape3DSW : public Shape3DSW {
 	virtual void set_data(const Variant &p_data) override {}
 	virtual Variant get_data() const override { return Variant(); }
 
-	MotionShape3DSW() { configure(AABB()); }
+	GodotMotionShape3D() { configure(AABB()); }
 };
 
-#endif // SHAPE_SW_H
+#endif // GODOT_SHAPE_3D_H

servers/physics_3d/soft_body_3d_sw.cpp → servers/physics_3d/godot_soft_body_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  soft_body_3d_sw.cpp                                                  */
+/*  godot_soft_body_3d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,8 +28,9 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "soft_body_3d_sw.h"
-#include "space_3d_sw.h"
+#include "godot_soft_body_3d.h"
+
+#include "godot_space_3d.h"
 
 #include "core/math/geometry_3d.h"
 #include "core/templates/map.h"
@@ -53,16 +54,16 @@ subject to the following restrictions:
 */
 ///btSoftBody implementation by Nathanael Presson
 
-SoftBody3DSW::SoftBody3DSW() :
-		CollisionObject3DSW(TYPE_SOFT_BODY),
+GodotSoftBody3D::GodotSoftBody3D() :
+		GodotCollisionObject3D(TYPE_SOFT_BODY),
 		active_list(this) {
 	_set_static(false);
 }
 
-void SoftBody3DSW::_shapes_changed() {
+void GodotSoftBody3D::_shapes_changed() {
 }
 
-void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
+void GodotSoftBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant) {
 	switch (p_state) {
 		case PhysicsServer3D::BODY_STATE_TRANSFORM: {
 			_set_transform(p_variant);
@@ -87,7 +88,7 @@ void SoftBody3DSW::set_state(PhysicsServer3D::BodyState p_state, const Variant &
 	}
 }
 
-Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
+Variant GodotSoftBody3D::get_state(PhysicsServer3D::BodyState p_state) const {
 	switch (p_state) {
 		case PhysicsServer3D::BODY_STATE_TRANSFORM: {
 			return get_transform();
@@ -110,7 +111,7 @@ Variant SoftBody3DSW::get_state(PhysicsServer3D::BodyState p_state) const {
 	return Variant();
 }
 
-void SoftBody3DSW::set_space(Space3DSW *p_space) {
+void GodotSoftBody3D::set_space(GodotSpace3D *p_space) {
 	if (get_space()) {
 		get_space()->soft_body_remove_from_active_list(&active_list);
 
@@ -128,7 +129,7 @@ void SoftBody3DSW::set_space(Space3DSW *p_space) {
 	}
 }
 
-void SoftBody3DSW::set_mesh(RID p_mesh) {
+void GodotSoftBody3D::set_mesh(RID p_mesh) {
 	destroy();
 
 	soft_mesh = p_mesh;
@@ -145,7 +146,7 @@ void SoftBody3DSW::set_mesh(RID p_mesh) {
 	}
 }
 
-void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
+void GodotSoftBody3D::update_rendering_server(RenderingServerHandler *p_rendering_server_handler) {
 	if (soft_mesh.is_null()) {
 		return;
 	}
@@ -164,7 +165,7 @@ void SoftBody3DSW::update_rendering_server(RenderingServerHandler *p_rendering_s
 	p_rendering_server_handler->set_aabb(bounds);
 }
 
-void SoftBody3DSW::update_normals_and_centroids() {
+void GodotSoftBody3D::update_normals_and_centroids() {
 	uint32_t i, ni;
 
 	for (i = 0, ni = nodes.size(); i < ni; ++i) {
@@ -191,7 +192,7 @@ void SoftBody3DSW::update_normals_and_centroids() {
 	}
 }
 
-void SoftBody3DSW::update_bounds() {
+void GodotSoftBody3D::update_bounds() {
 	AABB prev_bounds = bounds;
 	prev_bounds.grow_by(collision_margin);
 
@@ -223,13 +224,13 @@ void SoftBody3DSW::update_bounds() {
 	}
 }
 
-void SoftBody3DSW::update_constants() {
+void GodotSoftBody3D::update_constants() {
 	reset_link_rest_lengths();
 	update_link_constants();
 	update_area();
 }
 
-void SoftBody3DSW::update_area() {
+void GodotSoftBody3D::update_area() {
 	int i, ni;
 
 	// Face area.
@@ -275,7 +276,7 @@ void SoftBody3DSW::update_area() {
 	}
 }
 
-void SoftBody3DSW::reset_link_rest_lengths() {
+void GodotSoftBody3D::reset_link_rest_lengths() {
 	for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
 		Link &link = links[i];
 		link.rl = (link.n[0]->x - link.n[1]->x).length();
@@ -283,7 +284,7 @@ void SoftBody3DSW::reset_link_rest_lengths() {
 	}
 }
 
-void SoftBody3DSW::update_link_constants() {
+void GodotSoftBody3D::update_link_constants() {
 	real_t inv_linear_stiffness = 1.0 / linear_stiffness;
 	for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
 		Link &link = links[i];
@@ -291,7 +292,7 @@ void SoftBody3DSW::update_link_constants() {
 	}
 }
 
-void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) {
+void GodotSoftBody3D::apply_nodes_transform(const Transform3D &p_transform) {
 	if (soft_mesh.is_null()) {
 		return;
 	}
@@ -317,7 +318,7 @@ void SoftBody3DSW::apply_nodes_transform(const Transform3D &p_transform) {
 	update_constants();
 }
 
-Vector3 SoftBody3DSW::get_vertex_position(int p_index) const {
+Vector3 GodotSoftBody3D::get_vertex_position(int p_index) const {
 	ERR_FAIL_COND_V(p_index < 0, Vector3());
 
 	if (soft_mesh.is_null()) {
@@ -331,7 +332,7 @@ Vector3 SoftBody3DSW::get_vertex_position(int p_index) const {
 	return nodes[node_index].x;
 }
 
-void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) {
+void GodotSoftBody3D::set_vertex_position(int p_index, const Vector3 &p_position) {
 	ERR_FAIL_COND(p_index < 0);
 
 	if (soft_mesh.is_null()) {
@@ -347,7 +348,7 @@ void SoftBody3DSW::set_vertex_position(int p_index, const Vector3 &p_position) {
 	node.x = p_position;
 }
 
-void SoftBody3DSW::pin_vertex(int p_index) {
+void GodotSoftBody3D::pin_vertex(int p_index) {
 	ERR_FAIL_COND(p_index < 0);
 
 	if (is_vertex_pinned(p_index)) {
@@ -366,7 +367,7 @@ void SoftBody3DSW::pin_vertex(int p_index) {
 	}
 }
 
-void SoftBody3DSW::unpin_vertex(int p_index) {
+void GodotSoftBody3D::unpin_vertex(int p_index) {
 	ERR_FAIL_COND(p_index < 0);
 
 	uint32_t pinned_count = pinned_vertices.size();
@@ -390,7 +391,7 @@ void SoftBody3DSW::unpin_vertex(int p_index) {
 	}
 }
 
-void SoftBody3DSW::unpin_all_vertices() {
+void GodotSoftBody3D::unpin_all_vertices() {
 	if (!soft_mesh.is_null()) {
 		real_t inv_node_mass = nodes.size() * inv_total_mass;
 		uint32_t pinned_count = pinned_vertices.size();
@@ -409,7 +410,7 @@ void SoftBody3DSW::unpin_all_vertices() {
 	pinned_vertices.clear();
 }
 
-bool SoftBody3DSW::is_vertex_pinned(int p_index) const {
+bool GodotSoftBody3D::is_vertex_pinned(int p_index) const {
 	ERR_FAIL_COND_V(p_index < 0, false);
 
 	uint32_t pinned_count = pinned_vertices.size();
@@ -422,47 +423,47 @@ bool SoftBody3DSW::is_vertex_pinned(int p_index) const {
 	return false;
 }
 
-uint32_t SoftBody3DSW::get_node_count() const {
+uint32_t GodotSoftBody3D::get_node_count() const {
 	return nodes.size();
 }
 
-real_t SoftBody3DSW::get_node_inv_mass(uint32_t p_node_index) const {
+real_t GodotSoftBody3D::get_node_inv_mass(uint32_t p_node_index) const {
 	ERR_FAIL_COND_V(p_node_index >= nodes.size(), 0.0);
 	return nodes[p_node_index].im;
 }
 
-Vector3 SoftBody3DSW::get_node_position(uint32_t p_node_index) const {
+Vector3 GodotSoftBody3D::get_node_position(uint32_t p_node_index) const {
 	ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
 	return nodes[p_node_index].x;
 }
 
-Vector3 SoftBody3DSW::get_node_velocity(uint32_t p_node_index) const {
+Vector3 GodotSoftBody3D::get_node_velocity(uint32_t p_node_index) const {
 	ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
 	return nodes[p_node_index].v;
 }
 
-Vector3 SoftBody3DSW::get_node_biased_velocity(uint32_t p_node_index) const {
+Vector3 GodotSoftBody3D::get_node_biased_velocity(uint32_t p_node_index) const {
 	ERR_FAIL_COND_V(p_node_index >= nodes.size(), Vector3());
 	return nodes[p_node_index].bv;
 }
 
-void SoftBody3DSW::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
+void GodotSoftBody3D::apply_node_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
 	ERR_FAIL_COND(p_node_index >= nodes.size());
 	Node &node = nodes[p_node_index];
 	node.v += p_impulse * node.im;
 }
 
-void SoftBody3DSW::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
+void GodotSoftBody3D::apply_node_bias_impulse(uint32_t p_node_index, const Vector3 &p_impulse) {
 	ERR_FAIL_COND(p_node_index >= nodes.size());
 	Node &node = nodes[p_node_index];
 	node.bv += p_impulse * node.im;
 }
 
-uint32_t SoftBody3DSW::get_face_count() const {
+uint32_t GodotSoftBody3D::get_face_count() const {
 	return faces.size();
 }
 
-void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const {
+void GodotSoftBody3D::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Vector3 &r_point_2, Vector3 &r_point_3) const {
 	ERR_FAIL_COND(p_face_index >= faces.size());
 	const Face &face = faces[p_face_index];
 	r_point_1 = face.n[0]->x;
@@ -470,12 +471,12 @@ void SoftBody3DSW::get_face_points(uint32_t p_face_index, Vector3 &r_point_1, Ve
 	r_point_3 = face.n[2]->x;
 }
 
-Vector3 SoftBody3DSW::get_face_normal(uint32_t p_face_index) const {
+Vector3 GodotSoftBody3D::get_face_normal(uint32_t p_face_index) const {
 	ERR_FAIL_COND_V(p_face_index >= faces.size(), Vector3());
 	return faces[p_face_index].normal;
 }
 
-bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices) {
+bool GodotSoftBody3D::create_from_trimesh(const Vector<int> &p_indices, const Vector<Vector3> &p_vertices) {
 	ERR_FAIL_COND_V(p_indices.is_empty(), false);
 	ERR_FAIL_COND_V(p_vertices.is_empty(), false);
 
@@ -595,7 +596,7 @@ bool SoftBody3DSW::create_from_trimesh(const Vector<int> &p_indices, const Vecto
 	return true;
 }
 
-void SoftBody3DSW::generate_bending_constraints(int p_distance) {
+void GodotSoftBody3D::generate_bending_constraints(int p_distance) {
 	uint32_t i, j;
 
 	if (p_distance > 1) {
@@ -714,7 +715,7 @@ public:
 };
 typedef LinkDeps *LinkDepsPtr;
 
-void SoftBody3DSW::reoptimize_link_order() {
+void GodotSoftBody3D::reoptimize_link_order() {
 	const int reop_not_dependent = -1;
 	const int reop_node_complete = -2;
 
@@ -823,7 +824,7 @@ void SoftBody3DSW::reoptimize_link_order() {
 	memdelete_arr(link_buffer);
 }
 
-void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) {
+void GodotSoftBody3D::append_link(uint32_t p_node1, uint32_t p_node2) {
 	if (p_node1 == p_node2) {
 		return;
 	}
@@ -839,7 +840,7 @@ void SoftBody3DSW::append_link(uint32_t p_node1, uint32_t p_node2) {
 	links.push_back(link);
 }
 
-void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) {
+void GodotSoftBody3D::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_node3) {
 	if (p_node1 == p_node2) {
 		return;
 	}
@@ -864,11 +865,11 @@ void SoftBody3DSW::append_face(uint32_t p_node1, uint32_t p_node2, uint32_t p_no
 	faces.push_back(face);
 }
 
-void SoftBody3DSW::set_iteration_count(int p_val) {
+void GodotSoftBody3D::set_iteration_count(int p_val) {
 	iteration_count = p_val;
 }
 
-void SoftBody3DSW::set_total_mass(real_t p_val) {
+void GodotSoftBody3D::set_total_mass(real_t p_val) {
 	ERR_FAIL_COND(p_val < 0.0);
 
 	inv_total_mass = 1.0 / p_val;
@@ -884,27 +885,27 @@ void SoftBody3DSW::set_total_mass(real_t p_val) {
 	update_constants();
 }
 
-void SoftBody3DSW::set_collision_margin(real_t p_val) {
+void GodotSoftBody3D::set_collision_margin(real_t p_val) {
 	collision_margin = p_val;
 }
 
-void SoftBody3DSW::set_linear_stiffness(real_t p_val) {
+void GodotSoftBody3D::set_linear_stiffness(real_t p_val) {
 	linear_stiffness = p_val;
 }
 
-void SoftBody3DSW::set_pressure_coefficient(real_t p_val) {
+void GodotSoftBody3D::set_pressure_coefficient(real_t p_val) {
 	pressure_coefficient = p_val;
 }
 
-void SoftBody3DSW::set_damping_coefficient(real_t p_val) {
+void GodotSoftBody3D::set_damping_coefficient(real_t p_val) {
 	damping_coefficient = p_val;
 }
 
-void SoftBody3DSW::set_drag_coefficient(real_t p_val) {
+void GodotSoftBody3D::set_drag_coefficient(real_t p_val) {
 	drag_coefficient = p_val;
 }
 
-void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) {
+void GodotSoftBody3D::add_velocity(const Vector3 &p_velocity) {
 	for (uint32_t i = 0, ni = nodes.size(); i < ni; ++i) {
 		Node &node = nodes[i];
 		if (node.im > 0) {
@@ -913,7 +914,7 @@ void SoftBody3DSW::add_velocity(const Vector3 &p_velocity) {
 	}
 }
 
-void SoftBody3DSW::apply_forces(bool p_has_wind_forces) {
+void GodotSoftBody3D::apply_forces(bool p_has_wind_forces) {
 	int ac = areas.size();
 
 	if (nodes.is_empty()) {
@@ -977,13 +978,13 @@ void SoftBody3DSW::apply_forces(bool p_has_wind_forces) {
 	}
 }
 
-void SoftBody3DSW::_compute_area_gravity(const Area3DSW *p_area) {
+void GodotSoftBody3D::_compute_area_gravity(const GodotArea3D *p_area) {
 	Vector3 area_gravity;
 	p_area->compute_gravity(get_transform().get_origin(), area_gravity);
 	gravity += area_gravity;
 }
 
-Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face *p_face) {
+Vector3 GodotSoftBody3D::_compute_area_windforce(const GodotArea3D *p_area, const Face *p_face) {
 	real_t wfm = p_area->get_wind_force_magnitude();
 	real_t waf = p_area->get_wind_attenuation_factor();
 	const Vector3 &wd = p_area->get_wind_direction();
@@ -995,12 +996,12 @@ Vector3 SoftBody3DSW::_compute_area_windforce(const Area3DSW *p_area, const Face
 	return nodal_force_magnitude * p_face->normal;
 }
 
-void SoftBody3DSW::predict_motion(real_t p_delta) {
+void GodotSoftBody3D::predict_motion(real_t p_delta) {
 	const real_t inv_delta = 1.0 / p_delta;
 
 	ERR_FAIL_COND(!get_space());
 
-	Area3DSW *def_area = get_space()->get_default_area();
+	GodotArea3D *def_area = get_space()->get_default_area();
 	ERR_FAIL_COND(!def_area);
 	gravity = def_area->get_gravity_vector() * def_area->get_gravity();
 
@@ -1083,7 +1084,7 @@ void SoftBody3DSW::predict_motion(real_t p_delta) {
 	face_tree.optimize_incremental(1);
 }
 
-void SoftBody3DSW::solve_constraints(real_t p_delta) {
+void GodotSoftBody3D::solve_constraints(real_t p_delta) {
 	const real_t inv_delta = 1.0 / p_delta;
 
 	uint32_t i, ni;
@@ -1120,7 +1121,7 @@ void SoftBody3DSW::solve_constraints(real_t p_delta) {
 	update_normals_and_centroids();
 }
 
-void SoftBody3DSW::solve_links(real_t kst, real_t ti) {
+void GodotSoftBody3D::solve_links(real_t kst, real_t ti) {
 	for (uint32_t i = 0, ni = links.size(); i < ni; ++i) {
 		Link &link = links[i];
 		if (link.c0 > 0) {
@@ -1138,16 +1139,16 @@ void SoftBody3DSW::solve_links(real_t kst, real_t ti) {
 }
 
 struct AABBQueryResult {
-	const SoftBody3DSW *soft_body = nullptr;
+	const GodotSoftBody3D *soft_body = nullptr;
 	void *userdata = nullptr;
-	SoftBody3DSW::QueryResultCallback result_callback = nullptr;
+	GodotSoftBody3D::QueryResultCallback result_callback = nullptr;
 
 	_FORCE_INLINE_ bool operator()(void *p_data) {
 		return result_callback(soft_body->get_node_index(p_data), userdata);
 	};
 };
 
-void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) {
+void GodotSoftBody3D::query_aabb(const AABB &p_aabb, GodotSoftBody3D::QueryResultCallback p_result_callback, void *p_userdata) {
 	AABBQueryResult query_result;
 	query_result.soft_body = this;
 	query_result.result_callback = p_result_callback;
@@ -1157,16 +1158,16 @@ void SoftBody3DSW::query_aabb(const AABB &p_aabb, SoftBody3DSW::QueryResultCallb
 }
 
 struct RayQueryResult {
-	const SoftBody3DSW *soft_body = nullptr;
+	const GodotSoftBody3D *soft_body = nullptr;
 	void *userdata = nullptr;
-	SoftBody3DSW::QueryResultCallback result_callback = nullptr;
+	GodotSoftBody3D::QueryResultCallback result_callback = nullptr;
 
 	_FORCE_INLINE_ bool operator()(void *p_data) {
 		return result_callback(soft_body->get_face_index(p_data), userdata);
 	};
 };
 
-void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBody3DSW::QueryResultCallback p_result_callback, void *p_userdata) {
+void GodotSoftBody3D::query_ray(const Vector3 &p_from, const Vector3 &p_to, GodotSoftBody3D::QueryResultCallback p_result_callback, void *p_userdata) {
 	if (face_tree.is_empty()) {
 		initialize_face_tree();
 	}
@@ -1179,7 +1180,7 @@ void SoftBody3DSW::query_ray(const Vector3 &p_from, const Vector3 &p_to, SoftBod
 	face_tree.ray_query(p_from, p_to, query_result);
 }
 
-void SoftBody3DSW::initialize_face_tree() {
+void GodotSoftBody3D::initialize_face_tree() {
 	face_tree.clear();
 	for (uint32_t i = 0; i < faces.size(); ++i) {
 		Face &face = faces[i];
@@ -1196,7 +1197,7 @@ void SoftBody3DSW::initialize_face_tree() {
 	}
 }
 
-void SoftBody3DSW::update_face_tree(real_t p_delta) {
+void GodotSoftBody3D::update_face_tree(real_t p_delta) {
 	for (uint32_t i = 0; i < faces.size(); ++i) {
 		const Face &face = faces[i];
 
@@ -1220,25 +1221,25 @@ void SoftBody3DSW::update_face_tree(real_t p_delta) {
 	}
 }
 
-void SoftBody3DSW::initialize_shape(bool p_force_move) {
+void GodotSoftBody3D::initialize_shape(bool p_force_move) {
 	if (get_shape_count() == 0) {
-		SoftBodyShape3DSW *soft_body_shape = memnew(SoftBodyShape3DSW(this));
+		GodotSoftBodyShape3D *soft_body_shape = memnew(GodotSoftBodyShape3D(this));
 		add_shape(soft_body_shape);
 	} else if (p_force_move) {
-		SoftBodyShape3DSW *soft_body_shape = static_cast<SoftBodyShape3DSW *>(get_shape(0));
+		GodotSoftBodyShape3D *soft_body_shape = static_cast<GodotSoftBodyShape3D *>(get_shape(0));
 		soft_body_shape->update_bounds();
 	}
 }
 
-void SoftBody3DSW::deinitialize_shape() {
+void GodotSoftBody3D::deinitialize_shape() {
 	if (get_shape_count() > 0) {
-		Shape3DSW *shape = get_shape(0);
+		GodotShape3D *shape = get_shape(0);
 		remove_shape(shape);
 		memdelete(shape);
 	}
 }
 
-void SoftBody3DSW::destroy() {
+void GodotSoftBody3D::destroy() {
 	soft_mesh = RID();
 
 	map_visual_to_physics.clear();
@@ -1254,7 +1255,7 @@ void SoftBody3DSW::destroy() {
 	deinitialize_shape();
 }
 
-void SoftBodyShape3DSW::update_bounds() {
+void GodotSoftBodyShape3D::update_bounds() {
 	ERR_FAIL_COND(!soft_body);
 
 	AABB collision_aabb = soft_body->get_bounds();
@@ -1262,13 +1263,13 @@ void SoftBodyShape3DSW::update_bounds() {
 	configure(collision_aabb);
 }
 
-SoftBodyShape3DSW::SoftBodyShape3DSW(SoftBody3DSW *p_soft_body) {
+GodotSoftBodyShape3D::GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body) {
 	soft_body = p_soft_body;
 	update_bounds();
 }
 
 struct _SoftBodyIntersectSegmentInfo {
-	const SoftBody3DSW *soft_body = nullptr;
+	const GodotSoftBody3D *soft_body = nullptr;
 	Vector3 from;
 	Vector3 dir;
 	Vector3 hit_position;
@@ -1296,7 +1297,7 @@ struct _SoftBodyIntersectSegmentInfo {
 	}
 };
 
-bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
+bool GodotSoftBodyShape3D::intersect_segment(const Vector3 &p_begin, const Vector3 &p_end, Vector3 &r_result, Vector3 &r_normal) const {
 	_SoftBodyIntersectSegmentInfo query_info;
 	query_info.soft_body = soft_body;
 	query_info.from = p_begin;
@@ -1313,10 +1314,10 @@ bool SoftBodyShape3DSW::intersect_segment(const Vector3 &p_begin, const Vector3
 	return false;
 }
 
-bool SoftBodyShape3DSW::intersect_point(const Vector3 &p_point) const {
+bool GodotSoftBodyShape3D::intersect_point(const Vector3 &p_point) const {
 	return false;
 }
 
-Vector3 SoftBodyShape3DSW::get_closest_point_to(const Vector3 &p_point) const {
+Vector3 GodotSoftBodyShape3D::get_closest_point_to(const Vector3 &p_point) const {
 	ERR_FAIL_V_MSG(Vector3(), "Get closest point is not supported for soft bodies.");
 }

servers/physics_3d/soft_body_3d_sw.h → servers/physics_3d/godot_soft_body_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  soft_body_3d_sw.h                                                    */
+/*  godot_soft_body_3d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,11 +28,11 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef SOFT_BODY_3D_SW_H
-#define SOFT_BODY_3D_SW_H
+#ifndef GODOT_SOFT_BODY_3D_H
+#define GODOT_SOFT_BODY_3D_H
 
-#include "area_3d_sw.h"
-#include "collision_object_3d_sw.h"
+#include "godot_area_3d.h"
+#include "godot_collision_object_3d.h"
 
 #include "core/math/aabb.h"
 #include "core/math/dynamic_bvh.h"
@@ -41,9 +41,9 @@
 #include "core/templates/set.h"
 #include "core/templates/vset.h"
 
-class Constraint3DSW;
+class GodotConstraint3D;
 
-class SoftBody3DSW : public CollisionObject3DSW {
+class GodotSoftBody3D : public GodotCollisionObject3D {
 	RID soft_mesh;
 
 	struct Node {
@@ -103,9 +103,9 @@ class SoftBody3DSW : public CollisionObject3DSW {
 
 	Vector3 gravity;
 
-	SelfList<SoftBody3DSW> active_list;
+	SelfList<GodotSoftBody3D> active_list;
 
-	Set<Constraint3DSW *> constraints;
+	Set<GodotConstraint3D *> constraints;
 
 	Vector<AreaCMP> areas;
 
@@ -113,20 +113,20 @@ class SoftBody3DSW : public CollisionObject3DSW {
 
 	uint64_t island_step = 0;
 
-	_FORCE_INLINE_ void _compute_area_gravity(const Area3DSW *p_area);
-	_FORCE_INLINE_ Vector3 _compute_area_windforce(const Area3DSW *p_area, const Face *p_face);
+	_FORCE_INLINE_ void _compute_area_gravity(const GodotArea3D *p_area);
+	_FORCE_INLINE_ Vector3 _compute_area_windforce(const GodotArea3D *p_area, const Face *p_face);
 
 public:
-	SoftBody3DSW();
+	GodotSoftBody3D();
 
 	const AABB &get_bounds() const { return bounds; }
 
 	void set_state(PhysicsServer3D::BodyState p_state, const Variant &p_variant);
 	Variant get_state(PhysicsServer3D::BodyState p_state) const;
 
-	_FORCE_INLINE_ void add_constraint(Constraint3DSW *p_constraint) { constraints.insert(p_constraint); }
-	_FORCE_INLINE_ void remove_constraint(Constraint3DSW *p_constraint) { constraints.erase(p_constraint); }
-	_FORCE_INLINE_ const Set<Constraint3DSW *> &get_constraints() const { return constraints; }
+	_FORCE_INLINE_ void add_constraint(GodotConstraint3D *p_constraint) { constraints.insert(p_constraint); }
+	_FORCE_INLINE_ void remove_constraint(GodotConstraint3D *p_constraint) { constraints.erase(p_constraint); }
+	_FORCE_INLINE_ const Set<GodotConstraint3D *> &get_constraints() const { return constraints; }
 	_FORCE_INLINE_ void clear_constraints() { constraints.clear(); }
 
 	_FORCE_INLINE_ void add_exception(const RID &p_exception) { exceptions.insert(p_exception); }
@@ -137,7 +137,7 @@ public:
 	_FORCE_INLINE_ uint64_t get_island_step() const { return island_step; }
 	_FORCE_INLINE_ void set_island_step(uint64_t p_step) { island_step = p_step; }
 
-	_FORCE_INLINE_ void add_area(Area3DSW *p_area) {
+	_FORCE_INLINE_ void add_area(GodotArea3D *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
 			areas.write[index].refCount += 1;
@@ -146,7 +146,7 @@ public:
 		}
 	}
 
-	_FORCE_INLINE_ void remove_area(Area3DSW *p_area) {
+	_FORCE_INLINE_ void remove_area(GodotArea3D *p_area) {
 		int index = areas.find(AreaCMP(p_area));
 		if (index > -1) {
 			areas.write[index].refCount -= 1;
@@ -156,7 +156,7 @@ public:
 		}
 	}
 
-	virtual void set_space(Space3DSW *p_space);
+	virtual void set_space(GodotSpace3D *p_space);
 
 	void set_mesh(RID p_mesh);
 
@@ -251,11 +251,11 @@ private:
 	void destroy();
 };
 
-class SoftBodyShape3DSW : public Shape3DSW {
-	SoftBody3DSW *soft_body = nullptr;
+class GodotSoftBodyShape3D : public GodotShape3D {
+	GodotSoftBody3D *soft_body = nullptr;
 
 public:
-	SoftBody3DSW *get_soft_body() const { return soft_body; }
+	GodotSoftBody3D *get_soft_body() const { return soft_body; }
 
 	virtual PhysicsServer3D::ShapeType get_type() const { return PhysicsServer3D::SHAPE_SOFT_BODY; }
 	virtual void project_range(const Vector3 &p_normal, const Transform3D &p_transform, real_t &r_min, real_t &r_max) const { r_min = r_max = 0.0; }
@@ -272,8 +272,8 @@ public:
 
 	void update_bounds();
 
-	SoftBodyShape3DSW(SoftBody3DSW *p_soft_body);
-	~SoftBodyShape3DSW() {}
+	GodotSoftBodyShape3D(GodotSoftBody3D *p_soft_body);
+	~GodotSoftBodyShape3D() {}
 };
 
-#endif // SOFT_BODY_3D_SW_H
+#endif // GODOT_SOFT_BODY_3D_H

servers/physics_3d/space_3d_sw.cpp → servers/physics_3d/godot_space_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  space_3d_sw.cpp                                                      */
+/*  godot_space_3d.cpp                                                   */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,37 +28,38 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "space_3d_sw.h"
+#include "godot_space_3d.h"
+
+#include "godot_collision_solver_3d.h"
+#include "godot_physics_server_3d.h"
 
-#include "collision_solver_3d_sw.h"
 #include "core/config/project_settings.h"
-#include "physics_server_3d_sw.h"
 
 #define TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR 0.05
 
-_FORCE_INLINE_ static bool _can_collide_with(CollisionObject3DSW *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+_FORCE_INLINE_ static bool _can_collide_with(GodotCollisionObject3D *p_object, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (!(p_object->get_collision_layer() & p_collision_mask)) {
 		return false;
 	}
 
-	if (p_object->get_type() == CollisionObject3DSW::TYPE_AREA && !p_collide_with_areas) {
+	if (p_object->get_type() == GodotCollisionObject3D::TYPE_AREA && !p_collide_with_areas) {
 		return false;
 	}
 
-	if (p_object->get_type() == CollisionObject3DSW::TYPE_BODY && !p_collide_with_bodies) {
+	if (p_object->get_type() == GodotCollisionObject3D::TYPE_BODY && !p_collide_with_bodies) {
 		return false;
 	}
 
-	if (p_object->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY && !p_collide_with_bodies) {
+	if (p_object->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY && !p_collide_with_bodies) {
 		return false;
 	}
 
 	return true;
 }
 
-int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+int GodotPhysicsDirectSpaceState3D::intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	ERR_FAIL_COND_V(space->locked, false);
-	int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_point(p_point, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 	int cc = 0;
 
 	//Transform3D ai = p_xform.affine_inverse();
@@ -78,7 +79,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
 			continue;
 		}
 
-		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
 		Transform3D inv_xform = col_obj->get_transform() * col_obj->get_shape_transform(shape_idx);
@@ -103,7 +104,7 @@ int PhysicsDirectSpaceState3DSW::intersect_point(const Vector3 &p_point, ShapeRe
 	return cc;
 }
 
-bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
+bool GodotPhysicsDirectSpaceState3D::intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, bool p_pick_ray) {
 	ERR_FAIL_COND_V(space->locked, false);
 
 	Vector3 begin, end;
@@ -112,14 +113,14 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
 	end = p_to;
 	normal = (end - begin).normalized();
 
-	int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_segment(begin, end, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	//todo, create another array that references results, compute AABBs and check closest point to ray origin, sort, and stop evaluating results when beyond first collision
 
 	bool collided = false;
 	Vector3 res_point, res_normal;
 	int res_shape;
-	const CollisionObject3DSW *res_obj;
+	const GodotCollisionObject3D *res_obj;
 	real_t min_d = 1e10;
 
 	for (int i = 0; i < amount; i++) {
@@ -135,7 +136,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
 			continue;
 		}
 
-		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
 
 		int shape_idx = space->intersection_query_subindex_results[i];
 		Transform3D inv_xform = col_obj->get_shape_inv_transform(shape_idx) * col_obj->get_inv_transform();
@@ -143,7 +144,7 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
 		Vector3 local_from = inv_xform.xform(begin);
 		Vector3 local_to = inv_xform.xform(end);
 
-		const Shape3DSW *shape = col_obj->get_shape(shape_idx);
+		const GodotShape3D *shape = col_obj->get_shape(shape_idx);
 
 		Vector3 shape_point, shape_normal;
 
@@ -182,17 +183,17 @@ bool PhysicsDirectSpaceState3DSW::intersect_ray(const Vector3 &p_from, const Vec
 	return true;
 }
 
-int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+int GodotPhysicsDirectSpaceState3D::intersect_shape(const RID &p_shape, const Transform3D &p_xform, real_t p_margin, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (p_result_max <= 0) {
 		return 0;
 	}
 
-	Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
+	GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, 0);
 
 	AABB aabb = p_xform.xform(shape->get_aabb());
 
-	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	int cc = 0;
 
@@ -213,10 +214,10 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
 			continue;
 		}
 
-		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
-		if (!CollisionSolver3DSW::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
+		if (!GodotCollisionSolver3D::solve_static(shape, p_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), nullptr, nullptr, nullptr, p_margin, 0)) {
 			continue;
 		}
 
@@ -237,21 +238,21 @@ int PhysicsDirectSpaceState3DSW::intersect_shape(const RID &p_shape, const Trans
 	return cc;
 }
 
-bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
-	Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
+bool GodotPhysicsDirectSpaceState3D::cast_motion(const RID &p_shape, const Transform3D &p_xform, const Vector3 &p_motion, real_t p_margin, real_t &p_closest_safe, real_t &p_closest_unsafe, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas, ShapeRestInfo *r_info) {
+	GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, false);
 
 	AABB aabb = p_xform.xform(shape->get_aabb());
 	aabb = aabb.merge(AABB(aabb.position + p_motion, aabb.size)); //motion
 	aabb = aabb.grow(p_margin);
 
-	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	real_t best_safe = 1;
 	real_t best_unsafe = 1;
 
 	Transform3D xform_inv = p_xform.affine_inverse();
-	MotionShape3DSW mshape;
+	GodotMotionShape3D mshape;
 	mshape.shape = shape;
 	mshape.motion = xform_inv.basis.xform(p_motion);
 
@@ -270,7 +271,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 			continue; //ignore excluded
 		}
 
-		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
 		int shape_idx = space->intersection_query_subindex_results[i];
 
 		Vector3 point_A, point_B;
@@ -278,14 +279,14 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 
 		Transform3D 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 (CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
+		if (GodotCollisionSolver3D::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
 			continue;
 		}
 
 		//test initial overlap, ignore objects it's inside of.
 		sep_axis = motion_normal;
 
-		if (!CollisionSolver3DSW::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
+		if (!GodotCollisionSolver3D::solve_distance(shape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, aabb, &sep_axis)) {
 			continue;
 		}
 
@@ -300,7 +301,7 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 
 			Vector3 lA, lB;
 			Vector3 sep = motion_normal; //important optimization for this to work fast enough
-			bool collided = !CollisionSolver3DSW::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
+			bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, p_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, aabb, &sep);
 
 			if (collided) {
 				hi = fraction;
@@ -342,8 +343,8 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 			r_info->point = closest_B;
 			r_info->normal = (closest_A - closest_B).normalized();
 			best_first = false;
-			if (col_obj->get_type() == CollisionObject3DSW::TYPE_BODY) {
-				const Body3DSW *body = static_cast<const Body3DSW *>(col_obj);
+			if (col_obj->get_type() == GodotCollisionObject3D::TYPE_BODY) {
+				const GodotBody3D *body = static_cast<const GodotBody3D *>(col_obj);
 				Vector3 rel_vec = closest_B - (body->get_transform().origin + body->get_center_of_mass());
 				r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 			}
@@ -356,36 +357,36 @@ bool PhysicsDirectSpaceState3DSW::cast_motion(const RID &p_shape, const Transfor
 	return true;
 }
 
-bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+bool GodotPhysicsDirectSpaceState3D::collide_shape(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, Vector3 *r_results, int p_result_max, int &r_result_count, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
 	if (p_result_max <= 0) {
 		return false;
 	}
 
-	Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
+	GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, 0);
 
 	AABB aabb = p_shape_xform.xform(shape->get_aabb());
 	aabb = aabb.grow(p_margin);
 
-	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	bool collided = false;
 	r_result_count = 0;
 
-	PhysicsServer3DSW::CollCbkData cbk;
+	GodotPhysicsServer3D::CollCbkData cbk;
 	cbk.max = p_result_max;
 	cbk.amount = 0;
 	cbk.ptr = r_results;
-	CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;
+	GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk;
 
-	PhysicsServer3DSW::CollCbkData *cbkptr = &cbk;
+	GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk;
 
 	for (int i = 0; i < amount; i++) {
 		if (!_can_collide_with(space->intersection_query_results[i], p_collision_mask, p_collide_with_bodies, p_collide_with_areas)) {
 			continue;
 		}
 
-		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
@@ -393,7 +394,7 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &
 
 		int shape_idx = space->intersection_query_subindex_results[i];
 
-		if (CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
+		if (GodotCollisionSolver3D::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_margin)) {
 			collided = true;
 		}
 	}
@@ -404,7 +405,7 @@ bool PhysicsDirectSpaceState3DSW::collide_shape(RID p_shape, const Transform3D &
 }
 
 struct _RestResultData {
-	const CollisionObject3DSW *object = nullptr;
+	const GodotCollisionObject3D *object = nullptr;
 	int local_shape = 0;
 	int shape = 0;
 	Vector3 contact;
@@ -413,7 +414,7 @@ struct _RestResultData {
 };
 
 struct _RestCallbackData {
-	const CollisionObject3DSW *object = nullptr;
+	const GodotCollisionObject3D *object = nullptr;
 	int local_shape = 0;
 	int shape = 0;
 
@@ -486,8 +487,8 @@ static void _rest_cbk_result(const Vector3 &p_point_A, int p_index_A, const Vect
 	rd->best_result.local_shape = rd->local_shape;
 }
 
-bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
-	Shape3DSW *shape = PhysicsServer3DSW::singletonsw->shape_owner.get_or_null(p_shape);
+bool GodotPhysicsDirectSpaceState3D::rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude, uint32_t p_collision_mask, bool p_collide_with_bodies, bool p_collide_with_areas) {
+	GodotShape3D *shape = GodotPhysicsServer3D::godot_singleton->shape_owner.get_or_null(p_shape);
 	ERR_FAIL_COND_V(!shape, 0);
 
 	real_t min_contact_depth = p_margin * TEST_MOTION_MIN_CONTACT_DEPTH_FACTOR;
@@ -495,7 +496,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
 	AABB aabb = p_shape_xform.xform(shape->get_aabb());
 	aabb = aabb.grow(p_margin);
 
-	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, Space3DSW::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
+	int amount = space->broadphase->cull_aabb(aabb, space->intersection_query_results, GodotSpace3D::INTERSECTION_QUERY_MAX, space->intersection_query_subindex_results);
 
 	_RestCallbackData rcd;
 	rcd.min_allowed_depth = min_contact_depth;
@@ -505,7 +506,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
 			continue;
 		}
 
-		const CollisionObject3DSW *col_obj = space->intersection_query_results[i];
+		const GodotCollisionObject3D *col_obj = space->intersection_query_results[i];
 
 		if (p_exclude.has(col_obj->get_self())) {
 			continue;
@@ -515,7 +516,7 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
 
 		rcd.object = col_obj;
 		rcd.shape = shape_idx;
-		bool sc = CollisionSolver3DSW::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
+		bool sc = GodotCollisionSolver3D::solve_static(shape, p_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_margin);
 		if (!sc) {
 			continue;
 		}
@@ -530,8 +531,8 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
 	r_info->normal = rcd.best_result.normal;
 	r_info->point = rcd.best_result.contact;
 	r_info->rid = rcd.best_result.object->get_self();
-	if (rcd.best_result.object->get_type() == CollisionObject3DSW::TYPE_BODY) {
-		const Body3DSW *body = static_cast<const Body3DSW *>(rcd.best_result.object);
+	if (rcd.best_result.object->get_type() == GodotCollisionObject3D::TYPE_BODY) {
+		const GodotBody3D *body = static_cast<const GodotBody3D *>(rcd.best_result.object);
 		Vector3 rel_vec = rcd.best_result.contact - (body->get_transform().origin + body->get_center_of_mass());
 		r_info->linear_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
 
@@ -542,10 +543,10 @@ bool PhysicsDirectSpaceState3DSW::rest_info(RID p_shape, const Transform3D &p_sh
 	return true;
 }
 
-Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
-	CollisionObject3DSW *obj = PhysicsServer3DSW::singletonsw->area_owner.get_or_null(p_object);
+Vector3 GodotPhysicsDirectSpaceState3D::get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const {
+	GodotCollisionObject3D *obj = GodotPhysicsServer3D::godot_singleton->area_owner.get_or_null(p_object);
 	if (!obj) {
-		obj = PhysicsServer3DSW::singletonsw->body_owner.get_or_null(p_object);
+		obj = GodotPhysicsServer3D::godot_singleton->body_owner.get_or_null(p_object);
 	}
 	ERR_FAIL_COND_V(!obj, Vector3());
 
@@ -562,7 +563,7 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
 		}
 
 		Transform3D shape_xform = obj->get_transform() * obj->get_shape_transform(i);
-		Shape3DSW *shape = obj->get_shape(i);
+		GodotShape3D *shape = obj->get_shape(i);
 
 		Vector3 point = shape->get_closest_point_to(shape_xform.affine_inverse().xform(p_point));
 		point = shape_xform.xform(point);
@@ -582,13 +583,13 @@ Vector3 PhysicsDirectSpaceState3DSW::get_closest_point_to_object_volume(RID p_ob
 	}
 }
 
-PhysicsDirectSpaceState3DSW::PhysicsDirectSpaceState3DSW() {
+GodotPhysicsDirectSpaceState3D::GodotPhysicsDirectSpaceState3D() {
 	space = nullptr;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
-int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
+int GodotSpace3D::_cull_aabb_for_body(GodotBody3D *p_body, const AABB &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++) {
@@ -596,13 +597,13 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
 
 		if (intersection_query_results[i] == p_body) {
 			keep = false;
-		} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_AREA) {
+		} else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_AREA) {
 			keep = false;
-		} else if (intersection_query_results[i]->get_type() == CollisionObject3DSW::TYPE_SOFT_BODY) {
+		} else if (intersection_query_results[i]->get_type() == GodotCollisionObject3D::TYPE_SOFT_BODY) {
 			keep = false;
-		} else if (!p_body->collides_with(static_cast<Body3DSW *>(intersection_query_results[i]))) {
+		} else if (!p_body->collides_with(static_cast<GodotBody3D *>(intersection_query_results[i]))) {
 			keep = false;
-		} else if (static_cast<Body3DSW *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
+		} else if (static_cast<GodotBody3D *>(intersection_query_results[i])->has_exception(p_body->get_self()) || p_body->has_exception(intersection_query_results[i]->get_self())) {
 			keep = false;
 		}
 
@@ -620,7 +621,7 @@ int Space3DSW::_cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb) {
 	return amount;
 }
 
-bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) {
+bool GodotSpace3D::test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result) {
 	//give me back regular physics engine logic
 	//this is madness
 	//and most people using this function will think
@@ -679,13 +680,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 		Vector3 sr[max_results * 2];
 
 		do {
-			PhysicsServer3DSW::CollCbkData cbk;
+			GodotPhysicsServer3D::CollCbkData cbk;
 			cbk.max = max_results;
 			cbk.amount = 0;
 			cbk.ptr = sr;
 
-			PhysicsServer3DSW::CollCbkData *cbkptr = &cbk;
-			CollisionSolver3DSW::CallbackResult cbkres = PhysicsServer3DSW::_shape_col_cbk;
+			GodotPhysicsServer3D::CollCbkData *cbkptr = &cbk;
+			GodotCollisionSolver3D::CallbackResult cbkres = GodotPhysicsServer3D::_shape_col_cbk;
 
 			bool collided = false;
 
@@ -697,10 +698,10 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 				}
 
 				Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
-				Shape3DSW *body_shape = p_body->get_shape(j);
+				GodotShape3D *body_shape = p_body->get_shape(j);
 
 				for (int i = 0; i < amount; i++) {
-					const CollisionObject3DSW *col_obj = intersection_query_results[i];
+					const GodotCollisionObject3D *col_obj = intersection_query_results[i];
 					if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 						continue;
 					}
@@ -710,7 +711,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 
 					int shape_idx = intersection_query_subindex_results[i];
 
-					if (CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) {
+					if (GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), cbkres, cbkptr, nullptr, p_parameters.margin)) {
 						collided = cbk.amount > 0;
 					}
 				}
@@ -770,13 +771,13 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 				continue;
 			}
 
-			Shape3DSW *body_shape = p_body->get_shape(j);
+			GodotShape3D *body_shape = p_body->get_shape(j);
 
 			// Colliding separation rays allows to properly snap to the ground,
 			// otherwise it's not needed in regular motion.
 			if (!p_parameters.collide_separation_ray && (body_shape->get_type() == PhysicsServer3D::SHAPE_SEPARATION_RAY)) {
 				// When slide on slope is on, separation ray shape acts like a regular shape.
-				if (!static_cast<SeparationRayShape3DSW *>(body_shape)->get_slide_on_slope()) {
+				if (!static_cast<GodotSeparationRayShape3D *>(body_shape)->get_slide_on_slope()) {
 					continue;
 				}
 			}
@@ -784,7 +785,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 			Transform3D body_shape_xform = body_transform * p_body->get_shape_transform(j);
 
 			Transform3D body_shape_xform_inv = body_shape_xform.affine_inverse();
-			MotionShape3DSW mshape;
+			GodotMotionShape3D mshape;
 			mshape.shape = body_shape;
 			mshape.motion = body_shape_xform_inv.basis.xform(p_parameters.motion);
 
@@ -794,7 +795,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 			real_t best_unsafe = 1;
 
 			for (int i = 0; i < amount; i++) {
-				const CollisionObject3DSW *col_obj = intersection_query_results[i];
+				const GodotCollisionObject3D *col_obj = intersection_query_results[i];
 				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
@@ -810,12 +811,12 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 
 				Transform3D 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 (CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
+				if (GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
 					continue;
 				}
 				sep_axis = motion_normal;
 
-				if (!CollisionSolver3DSW::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
+				if (!GodotCollisionSolver3D::solve_distance(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, point_A, point_B, motion_aabb, &sep_axis)) {
 					stuck = true;
 					break;
 				}
@@ -831,7 +832,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 
 					Vector3 lA, lB;
 					Vector3 sep = motion_normal; //important optimization for this to work fast enough
-					bool collided = !CollisionSolver3DSW::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
+					bool collided = !GodotCollisionSolver3D::solve_distance(&mshape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj_xform, lA, lB, motion_aabb, &sep);
 
 					if (collided) {
 						hi = fraction;
@@ -911,14 +912,14 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 			}
 
 			Transform3D body_shape_xform = ugt * p_body->get_shape_transform(j);
-			Shape3DSW *body_shape = p_body->get_shape(j);
+			GodotShape3D *body_shape = p_body->get_shape(j);
 
 			body_aabb.position += p_parameters.motion * unsafe;
 
 			int amount = _cull_aabb_for_body(p_body, body_aabb);
 
 			for (int i = 0; i < amount; i++) {
-				const CollisionObject3DSW *col_obj = intersection_query_results[i];
+				const GodotCollisionObject3D *col_obj = intersection_query_results[i];
 				if (p_parameters.exclude_bodies.has(col_obj->get_self())) {
 					continue;
 				}
@@ -930,7 +931,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 
 				rcd.object = col_obj;
 				rcd.shape = shape_idx;
-				bool sc = CollisionSolver3DSW::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
+				bool sc = GodotCollisionSolver3D::solve_static(body_shape, body_shape_xform, col_obj->get_shape(shape_idx), col_obj->get_transform() * col_obj->get_shape_transform(shape_idx), _rest_cbk_result, &rcd, nullptr, p_parameters.margin);
 				if (!sc) {
 					continue;
 				}
@@ -952,7 +953,7 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 					collision.position = result.contact;
 					collision.depth = result.len;
 
-					const Body3DSW *body = static_cast<const Body3DSW *>(result.object);
+					const GodotBody3D *body = static_cast<const GodotBody3D *>(result.object);
 
 					Vector3 rel_vec = result.contact - (body->get_transform().origin + body->get_center_of_mass());
 					collision.collider_velocity = body->get_linear_velocity() + (body->get_angular_velocity()).cross(rel_vec);
@@ -984,44 +985,44 @@ bool Space3DSW::test_body_motion(Body3DSW *p_body, const PhysicsServer3D::Motion
 	return collided;
 }
 
-void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self) {
+void *GodotSpace3D::_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self) {
 	if (!A->interacts_with(B)) {
 		return nullptr;
 	}
 
-	CollisionObject3DSW::Type type_A = A->get_type();
-	CollisionObject3DSW::Type type_B = B->get_type();
+	GodotCollisionObject3D::Type type_A = A->get_type();
+	GodotCollisionObject3D::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);
 	}
 
-	Space3DSW *self = (Space3DSW *)p_self;
+	GodotSpace3D *self = (GodotSpace3D *)p_self;
 
 	self->collision_pairs++;
 
-	if (type_A == CollisionObject3DSW::TYPE_AREA) {
-		Area3DSW *area = static_cast<Area3DSW *>(A);
-		if (type_B == CollisionObject3DSW::TYPE_AREA) {
-			Area3DSW *area_b = static_cast<Area3DSW *>(B);
-			Area2Pair3DSW *area2_pair = memnew(Area2Pair3DSW(area_b, p_subindex_B, area, p_subindex_A));
+	if (type_A == GodotCollisionObject3D::TYPE_AREA) {
+		GodotArea3D *area = static_cast<GodotArea3D *>(A);
+		if (type_B == GodotCollisionObject3D::TYPE_AREA) {
+			GodotArea3D *area_b = static_cast<GodotArea3D *>(B);
+			GodotArea2Pair3D *area2_pair = memnew(GodotArea2Pair3D(area_b, p_subindex_B, area, p_subindex_A));
 			return area2_pair;
-		} else if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
-			SoftBody3DSW *softbody = static_cast<SoftBody3DSW *>(B);
-			AreaSoftBodyPair3DSW *soft_area_pair = memnew(AreaSoftBodyPair3DSW(softbody, p_subindex_B, area, p_subindex_A));
+		} else if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) {
+			GodotSoftBody3D *softbody = static_cast<GodotSoftBody3D *>(B);
+			GodotAreaSoftBodyPair3D *soft_area_pair = memnew(GodotAreaSoftBodyPair3D(softbody, p_subindex_B, area, p_subindex_A));
 			return soft_area_pair;
 		} else {
-			Body3DSW *body = static_cast<Body3DSW *>(B);
-			AreaPair3DSW *area_pair = memnew(AreaPair3DSW(body, p_subindex_B, area, p_subindex_A));
+			GodotBody3D *body = static_cast<GodotBody3D *>(B);
+			GodotAreaPair3D *area_pair = memnew(GodotAreaPair3D(body, p_subindex_B, area, p_subindex_A));
 			return area_pair;
 		}
-	} else if (type_A == CollisionObject3DSW::TYPE_BODY) {
-		if (type_B == CollisionObject3DSW::TYPE_SOFT_BODY) {
-			BodySoftBodyPair3DSW *soft_pair = memnew(BodySoftBodyPair3DSW((Body3DSW *)A, p_subindex_A, (SoftBody3DSW *)B));
+	} else if (type_A == GodotCollisionObject3D::TYPE_BODY) {
+		if (type_B == GodotCollisionObject3D::TYPE_SOFT_BODY) {
+			GodotBodySoftBodyPair3D *soft_pair = memnew(GodotBodySoftBodyPair3D((GodotBody3D *)A, p_subindex_A, (GodotSoftBody3D *)B));
 			return soft_pair;
 		} else {
-			BodyPair3DSW *b = memnew(BodyPair3DSW((Body3DSW *)A, p_subindex_A, (Body3DSW *)B, p_subindex_B));
+			GodotBodyPair3D *b = memnew(GodotBodyPair3D((GodotBody3D *)A, p_subindex_A, (GodotBody3D *)B, p_subindex_B));
 			return b;
 		}
 	} else {
@@ -1031,110 +1032,110 @@ void *Space3DSW::_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, Coll
 	return nullptr;
 }
 
-void Space3DSW::_broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self) {
+void GodotSpace3D::_broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self) {
 	if (!p_data) {
 		return;
 	}
 
-	Space3DSW *self = (Space3DSW *)p_self;
+	GodotSpace3D *self = (GodotSpace3D *)p_self;
 	self->collision_pairs--;
-	Constraint3DSW *c = (Constraint3DSW *)p_data;
+	GodotConstraint3D *c = (GodotConstraint3D *)p_data;
 	memdelete(c);
 }
 
-const SelfList<Body3DSW>::List &Space3DSW::get_active_body_list() const {
+const SelfList<GodotBody3D>::List &GodotSpace3D::get_active_body_list() const {
 	return active_list;
 }
 
-void Space3DSW::body_add_to_active_list(SelfList<Body3DSW> *p_body) {
+void GodotSpace3D::body_add_to_active_list(SelfList<GodotBody3D> *p_body) {
 	active_list.add(p_body);
 }
 
-void Space3DSW::body_remove_from_active_list(SelfList<Body3DSW> *p_body) {
+void GodotSpace3D::body_remove_from_active_list(SelfList<GodotBody3D> *p_body) {
 	active_list.remove(p_body);
 }
 
-void Space3DSW::body_add_to_mass_properties_update_list(SelfList<Body3DSW> *p_body) {
+void GodotSpace3D::body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body) {
 	mass_properties_update_list.add(p_body);
 }
 
-void Space3DSW::body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body) {
+void GodotSpace3D::body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body) {
 	mass_properties_update_list.remove(p_body);
 }
 
-BroadPhase3DSW *Space3DSW::get_broadphase() {
+GodotBroadPhase3D *GodotSpace3D::get_broadphase() {
 	return broadphase;
 }
 
-void Space3DSW::add_object(CollisionObject3DSW *p_object) {
+void GodotSpace3D::add_object(GodotCollisionObject3D *p_object) {
 	ERR_FAIL_COND(objects.has(p_object));
 	objects.insert(p_object);
 }
 
-void Space3DSW::remove_object(CollisionObject3DSW *p_object) {
+void GodotSpace3D::remove_object(GodotCollisionObject3D *p_object) {
 	ERR_FAIL_COND(!objects.has(p_object));
 	objects.erase(p_object);
 }
 
-const Set<CollisionObject3DSW *> &Space3DSW::get_objects() const {
+const Set<GodotCollisionObject3D *> &GodotSpace3D::get_objects() const {
 	return objects;
 }
 
-void Space3DSW::body_add_to_state_query_list(SelfList<Body3DSW> *p_body) {
+void GodotSpace3D::body_add_to_state_query_list(SelfList<GodotBody3D> *p_body) {
 	state_query_list.add(p_body);
 }
 
-void Space3DSW::body_remove_from_state_query_list(SelfList<Body3DSW> *p_body) {
+void GodotSpace3D::body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body) {
 	state_query_list.remove(p_body);
 }
 
-void Space3DSW::area_add_to_monitor_query_list(SelfList<Area3DSW> *p_area) {
+void GodotSpace3D::area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area) {
 	monitor_query_list.add(p_area);
 }
 
-void Space3DSW::area_remove_from_monitor_query_list(SelfList<Area3DSW> *p_area) {
+void GodotSpace3D::area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area) {
 	monitor_query_list.remove(p_area);
 }
 
-void Space3DSW::area_add_to_moved_list(SelfList<Area3DSW> *p_area) {
+void GodotSpace3D::area_add_to_moved_list(SelfList<GodotArea3D> *p_area) {
 	area_moved_list.add(p_area);
 }
 
-void Space3DSW::area_remove_from_moved_list(SelfList<Area3DSW> *p_area) {
+void GodotSpace3D::area_remove_from_moved_list(SelfList<GodotArea3D> *p_area) {
 	area_moved_list.remove(p_area);
 }
 
-const SelfList<Area3DSW>::List &Space3DSW::get_moved_area_list() const {
+const SelfList<GodotArea3D>::List &GodotSpace3D::get_moved_area_list() const {
 	return area_moved_list;
 }
 
-const SelfList<SoftBody3DSW>::List &Space3DSW::get_active_soft_body_list() const {
+const SelfList<GodotSoftBody3D>::List &GodotSpace3D::get_active_soft_body_list() const {
 	return active_soft_body_list;
 }
 
-void Space3DSW::soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
+void GodotSpace3D::soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body) {
 	active_soft_body_list.add(p_soft_body);
 }
 
-void Space3DSW::soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body) {
+void GodotSpace3D::soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body) {
 	active_soft_body_list.remove(p_soft_body);
 }
 
-void Space3DSW::call_queries() {
+void GodotSpace3D::call_queries() {
 	while (state_query_list.first()) {
-		Body3DSW *b = state_query_list.first()->self();
+		GodotBody3D *b = state_query_list.first()->self();
 		state_query_list.remove(state_query_list.first());
 		b->call_queries();
 	}
 
 	while (monitor_query_list.first()) {
-		Area3DSW *a = monitor_query_list.first()->self();
+		GodotArea3D *a = monitor_query_list.first()->self();
 		monitor_query_list.remove(monitor_query_list.first());
 		a->call_queries();
 	}
 }
 
-void Space3DSW::setup() {
+void GodotSpace3D::setup() {
 	contact_debug_count = 0;
 	while (mass_properties_update_list.first()) {
 		mass_properties_update_list.first()->self()->update_mass_properties();
@@ -1142,11 +1143,11 @@ void Space3DSW::setup() {
 	}
 }
 
-void Space3DSW::update() {
+void GodotSpace3D::update() {
 	broadphase->update();
 }
 
-void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) {
+void GodotSpace3D::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
 			contact_recycle_radius = p_value;
@@ -1175,7 +1176,7 @@ void Space3DSW::set_param(PhysicsServer3D::SpaceParameter p_param, real_t p_valu
 	}
 }
 
-real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const {
+real_t GodotSpace3D::get_param(PhysicsServer3D::SpaceParameter p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::SPACE_PARAM_CONTACT_RECYCLE_RADIUS:
 			return contact_recycle_radius;
@@ -1197,38 +1198,38 @@ real_t Space3DSW::get_param(PhysicsServer3D::SpaceParameter p_param) const {
 	return 0;
 }
 
-void Space3DSW::lock() {
+void GodotSpace3D::lock() {
 	locked = true;
 }
 
-void Space3DSW::unlock() {
+void GodotSpace3D::unlock() {
 	locked = false;
 }
 
-bool Space3DSW::is_locked() const {
+bool GodotSpace3D::is_locked() const {
 	return locked;
 }
 
-PhysicsDirectSpaceState3DSW *Space3DSW::get_direct_state() {
+GodotPhysicsDirectSpaceState3D *GodotSpace3D::get_direct_state() {
 	return direct_access;
 }
 
-Space3DSW::Space3DSW() {
+GodotSpace3D::GodotSpace3D() {
 	body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
 	body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
 	body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
 	ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
 	body_angular_velocity_damp_ratio = 10;
 
-	broadphase = BroadPhase3DSW::create_func();
+	broadphase = GodotBroadPhase3D::create_func();
 	broadphase->set_pair_callback(_broadphase_pair, this);
 	broadphase->set_unpair_callback(_broadphase_unpair, this);
 
-	direct_access = memnew(PhysicsDirectSpaceState3DSW);
+	direct_access = memnew(GodotPhysicsDirectSpaceState3D);
 	direct_access->space = this;
 }
 
-Space3DSW::~Space3DSW() {
+GodotSpace3D::~GodotSpace3D() {
 	memdelete(broadphase);
 	memdelete(direct_access);
 }

servers/physics_3d/space_3d_sw.h → servers/physics_3d/godot_space_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  space_3d_sw.h                                                        */
+/*  godot_space_3d.h                                                     */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,25 +28,26 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef SPACE_SW_H
-#define SPACE_SW_H
+#ifndef GODOT_SPACE_3D_H
+#define GODOT_SPACE_3D_H
+
+#include "godot_area_3d.h"
+#include "godot_area_pair_3d.h"
+#include "godot_body_3d.h"
+#include "godot_body_pair_3d.h"
+#include "godot_broad_phase_3d.h"
+#include "godot_collision_object_3d.h"
+#include "godot_soft_body_3d.h"
 
-#include "area_3d_sw.h"
-#include "area_pair_3d_sw.h"
-#include "body_3d_sw.h"
-#include "body_pair_3d_sw.h"
-#include "broad_phase_3d_sw.h"
-#include "collision_object_3d_sw.h"
 #include "core/config/project_settings.h"
 #include "core/templates/hash_map.h"
 #include "core/typedefs.h"
-#include "soft_body_3d_sw.h"
 
-class PhysicsDirectSpaceState3DSW : public PhysicsDirectSpaceState3D {
-	GDCLASS(PhysicsDirectSpaceState3DSW, PhysicsDirectSpaceState3D);
+class GodotPhysicsDirectSpaceState3D : public PhysicsDirectSpaceState3D {
+	GDCLASS(GodotPhysicsDirectSpaceState3D, PhysicsDirectSpaceState3D);
 
 public:
-	Space3DSW *space;
+	GodotSpace3D *space;
 
 	virtual int intersect_point(const Vector3 &p_point, ShapeResult *r_results, int p_result_max, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
 	virtual bool intersect_ray(const Vector3 &p_from, const Vector3 &p_to, RayResult &r_result, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false, bool p_pick_ray = false) override;
@@ -56,10 +57,10 @@ public:
 	virtual bool rest_info(RID p_shape, const Transform3D &p_shape_xform, real_t p_margin, ShapeRestInfo *r_info, const Set<RID> &p_exclude = Set<RID>(), uint32_t p_collision_mask = UINT32_MAX, bool p_collide_with_bodies = true, bool p_collide_with_areas = false) override;
 	virtual Vector3 get_closest_point_to_object_volume(RID p_object, const Vector3 p_point) const override;
 
-	PhysicsDirectSpaceState3DSW();
+	GodotPhysicsDirectSpaceState3D();
 };
 
-class Space3DSW {
+class GodotSpace3D {
 public:
 	enum ElapsedTime {
 		ELAPSED_TIME_INTEGRATE_FORCES,
@@ -74,23 +75,23 @@ public:
 private:
 	uint64_t elapsed_time[ELAPSED_TIME_MAX] = {};
 
-	PhysicsDirectSpaceState3DSW *direct_access;
+	GodotPhysicsDirectSpaceState3D *direct_access;
 	RID self;
 
-	BroadPhase3DSW *broadphase;
-	SelfList<Body3DSW>::List active_list;
-	SelfList<Body3DSW>::List mass_properties_update_list;
-	SelfList<Body3DSW>::List state_query_list;
-	SelfList<Area3DSW>::List monitor_query_list;
-	SelfList<Area3DSW>::List area_moved_list;
-	SelfList<SoftBody3DSW>::List active_soft_body_list;
+	GodotBroadPhase3D *broadphase;
+	SelfList<GodotBody3D>::List active_list;
+	SelfList<GodotBody3D>::List mass_properties_update_list;
+	SelfList<GodotBody3D>::List state_query_list;
+	SelfList<GodotArea3D>::List monitor_query_list;
+	SelfList<GodotArea3D>::List area_moved_list;
+	SelfList<GodotSoftBody3D>::List active_soft_body_list;
 
-	static void *_broadphase_pair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_self);
-	static void _broadphase_unpair(CollisionObject3DSW *A, int p_subindex_A, CollisionObject3DSW *B, int p_subindex_B, void *p_data, void *p_self);
+	static void *_broadphase_pair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_self);
+	static void _broadphase_unpair(GodotCollisionObject3D *A, int p_subindex_A, GodotCollisionObject3D *B, int p_subindex_B, void *p_data, void *p_self);
 
-	Set<CollisionObject3DSW *> objects;
+	Set<GodotCollisionObject3D *> objects;
 
-	Area3DSW *area = nullptr;
+	GodotArea3D *area = nullptr;
 
 	real_t contact_recycle_radius = 0.01;
 	real_t contact_max_separation = 0.05;
@@ -101,7 +102,7 @@ private:
 		INTERSECTION_QUERY_MAX = 2048
 	};
 
-	CollisionObject3DSW *intersection_query_results[INTERSECTION_QUERY_MAX];
+	GodotCollisionObject3D *intersection_query_results[INTERSECTION_QUERY_MAX];
 	int intersection_query_subindex_results[INTERSECTION_QUERY_MAX];
 
 	real_t body_linear_velocity_sleep_threshold;
@@ -122,41 +123,41 @@ private:
 	Vector<Vector3> contact_debug;
 	int contact_debug_count = 0;
 
-	friend class PhysicsDirectSpaceState3DSW;
+	friend class GodotPhysicsDirectSpaceState3D;
 
-	int _cull_aabb_for_body(Body3DSW *p_body, const AABB &p_aabb);
+	int _cull_aabb_for_body(GodotBody3D *p_body, const AABB &p_aabb);
 
 public:
 	_FORCE_INLINE_ void set_self(const RID &p_self) { self = p_self; }
 	_FORCE_INLINE_ RID get_self() const { return self; }
 
-	void set_default_area(Area3DSW *p_area) { area = p_area; }
-	Area3DSW *get_default_area() const { return area; }
+	void set_default_area(GodotArea3D *p_area) { area = p_area; }
+	GodotArea3D *get_default_area() const { return area; }
 
-	const SelfList<Body3DSW>::List &get_active_body_list() const;
-	void body_add_to_active_list(SelfList<Body3DSW> *p_body);
-	void body_remove_from_active_list(SelfList<Body3DSW> *p_body);
-	void body_add_to_mass_properties_update_list(SelfList<Body3DSW> *p_body);
-	void body_remove_from_mass_properties_update_list(SelfList<Body3DSW> *p_body);
+	const SelfList<GodotBody3D>::List &get_active_body_list() const;
+	void body_add_to_active_list(SelfList<GodotBody3D> *p_body);
+	void body_remove_from_active_list(SelfList<GodotBody3D> *p_body);
+	void body_add_to_mass_properties_update_list(SelfList<GodotBody3D> *p_body);
+	void body_remove_from_mass_properties_update_list(SelfList<GodotBody3D> *p_body);
 
-	void body_add_to_state_query_list(SelfList<Body3DSW> *p_body);
-	void body_remove_from_state_query_list(SelfList<Body3DSW> *p_body);
+	void body_add_to_state_query_list(SelfList<GodotBody3D> *p_body);
+	void body_remove_from_state_query_list(SelfList<GodotBody3D> *p_body);
 
-	void area_add_to_monitor_query_list(SelfList<Area3DSW> *p_area);
-	void area_remove_from_monitor_query_list(SelfList<Area3DSW> *p_area);
-	void area_add_to_moved_list(SelfList<Area3DSW> *p_area);
-	void area_remove_from_moved_list(SelfList<Area3DSW> *p_area);
-	const SelfList<Area3DSW>::List &get_moved_area_list() const;
+	void area_add_to_monitor_query_list(SelfList<GodotArea3D> *p_area);
+	void area_remove_from_monitor_query_list(SelfList<GodotArea3D> *p_area);
+	void area_add_to_moved_list(SelfList<GodotArea3D> *p_area);
+	void area_remove_from_moved_list(SelfList<GodotArea3D> *p_area);
+	const SelfList<GodotArea3D>::List &get_moved_area_list() const;
 
-	const SelfList<SoftBody3DSW>::List &get_active_soft_body_list() const;
-	void soft_body_add_to_active_list(SelfList<SoftBody3DSW> *p_soft_body);
-	void soft_body_remove_from_active_list(SelfList<SoftBody3DSW> *p_soft_body);
+	const SelfList<GodotSoftBody3D>::List &get_active_soft_body_list() const;
+	void soft_body_add_to_active_list(SelfList<GodotSoftBody3D> *p_soft_body);
+	void soft_body_remove_from_active_list(SelfList<GodotSoftBody3D> *p_soft_body);
 
-	BroadPhase3DSW *get_broadphase();
+	GodotBroadPhase3D *get_broadphase();
 
-	void add_object(CollisionObject3DSW *p_object);
-	void remove_object(CollisionObject3DSW *p_object);
-	const Set<CollisionObject3DSW *> &get_objects() const;
+	void add_object(GodotCollisionObject3D *p_object);
+	void remove_object(GodotCollisionObject3D *p_object);
+	const Set<GodotCollisionObject3D *> &get_objects() const;
 
 	_FORCE_INLINE_ real_t get_contact_recycle_radius() const { return contact_recycle_radius; }
 	_FORCE_INLINE_ real_t get_contact_max_separation() const { return contact_max_separation; }
@@ -189,7 +190,7 @@ public:
 
 	int get_collision_pairs() const { return collision_pairs; }
 
-	PhysicsDirectSpaceState3DSW *get_direct_state();
+	GodotPhysicsDirectSpaceState3D *get_direct_state();
 
 	void set_debug_contacts(int p_amount) { contact_debug.resize(p_amount); }
 	_FORCE_INLINE_ bool is_debugging_contacts() const { return !contact_debug.is_empty(); }
@@ -207,10 +208,10 @@ public:
 	void set_elapsed_time(ElapsedTime p_time, uint64_t p_msec) { elapsed_time[p_time] = p_msec; }
 	uint64_t get_elapsed_time(ElapsedTime p_time) const { return elapsed_time[p_time]; }
 
-	bool test_body_motion(Body3DSW *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result);
+	bool test_body_motion(GodotBody3D *p_body, const PhysicsServer3D::MotionParameters &p_parameters, PhysicsServer3D::MotionResult *r_result);
 
-	Space3DSW();
-	~Space3DSW();
+	GodotSpace3D();
+	~GodotSpace3D();
 };
 
-#endif // SPACE__SW_H
+#endif // GODOT_SPACE_3D_H

servers/physics_3d/step_3d_sw.cpp → servers/physics_3d/godot_step_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  step_3d_sw.cpp                                                       */
+/*  godot_step_3d.cpp                                                    */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,8 +28,9 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#include "step_3d_sw.h"
-#include "joints_3d_sw.h"
+#include "godot_step_3d.h"
+
+#include "godot_joint_3d.h"
 
 #include "core/os/os.h"
 
@@ -39,7 +40,7 @@
 #define ISLAND_SIZE_RESERVE 512
 #define CONSTRAINT_COUNT_RESERVE 1024
 
-void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
+void GodotStep3D::_populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island) {
 	p_body->set_island_step(_step);
 
 	if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
@@ -47,8 +48,8 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
 		p_body_island.push_back(p_body);
 	}
 
-	for (const KeyValue<Constraint3DSW *, int> &E : p_body->get_constraint_map()) {
-		Constraint3DSW *constraint = (Constraint3DSW *)E.key;
+	for (const KeyValue<GodotConstraint3D *, int> &E : p_body->get_constraint_map()) {
+		GodotConstraint3D *constraint = (GodotConstraint3D *)E.key;
 		if (constraint->get_island_step() == _step) {
 			continue; // Already processed.
 		}
@@ -62,7 +63,7 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
 			if (i == E.value) {
 				continue;
 			}
-			Body3DSW *other_body = constraint->get_body_ptr()[i];
+			GodotBody3D *other_body = constraint->get_body_ptr()[i];
 			if (other_body->get_island_step() == _step) {
 				continue; // Already processed.
 			}
@@ -74,7 +75,7 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
 
 		// Find connected soft bodies.
 		for (int i = 0; i < constraint->get_soft_body_count(); i++) {
-			SoftBody3DSW *soft_body = constraint->get_soft_body_ptr(i);
+			GodotSoftBody3D *soft_body = constraint->get_soft_body_ptr(i);
 			if (soft_body->get_island_step() == _step) {
 				continue; // Already processed.
 			}
@@ -83,11 +84,11 @@ void Step3DSW::_populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_bod
 	}
 }
 
-void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island) {
+void GodotStep3D::_populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island) {
 	p_soft_body->set_island_step(_step);
 
-	for (Set<Constraint3DSW *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
-		Constraint3DSW *constraint = (Constraint3DSW *)E->get();
+	for (Set<GodotConstraint3D *>::Element *E = p_soft_body->get_constraints().front(); E; E = E->next()) {
+		GodotConstraint3D *constraint = (GodotConstraint3D *)E->get();
 		if (constraint->get_island_step() == _step) {
 			continue; // Already processed.
 		}
@@ -98,7 +99,7 @@ void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector
 
 		// Find connected rigid bodies.
 		for (int i = 0; i < constraint->get_body_count(); i++) {
-			Body3DSW *body = constraint->get_body_ptr()[i];
+			GodotBody3D *body = constraint->get_body_ptr()[i];
 			if (body->get_island_step() == _step) {
 				continue; // Already processed.
 			}
@@ -110,16 +111,16 @@ void Step3DSW::_populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector
 	}
 }
 
-void Step3DSW::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
-	Constraint3DSW *constraint = all_constraints[p_constraint_index];
+void GodotStep3D::_setup_contraint(uint32_t p_constraint_index, void *p_userdata) {
+	GodotConstraint3D *constraint = all_constraints[p_constraint_index];
 	constraint->setup(delta);
 }
 
-void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const {
+void GodotStep3D::_pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const {
 	uint32_t constraint_count = p_constraint_island.size();
 	uint32_t valid_constraint_count = 0;
 	for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
-		Constraint3DSW *constraint = p_constraint_island[constraint_index];
+		GodotConstraint3D *constraint = p_constraint_island[constraint_index];
 		if (p_constraint_island[constraint_index]->pre_solve(delta)) {
 			// Keep this constraint for solving.
 			p_constraint_island[valid_constraint_count++] = constraint;
@@ -128,8 +129,8 @@ void Step3DSW::_pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_isl
 	p_constraint_island.resize(valid_constraint_count);
 }
 
-void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
-	LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[p_island_index];
+void GodotStep3D::_solve_island(uint32_t p_island_index, void *p_userdata) {
+	LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[p_island_index];
 
 	int current_priority = 1;
 
@@ -146,7 +147,7 @@ void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
 		uint32_t priority_constraint_count = 0;
 		++current_priority;
 		for (uint32_t constraint_index = 0; constraint_index < constraint_count; ++constraint_index) {
-			Constraint3DSW *constraint = constraint_island[constraint_index];
+			GodotConstraint3D *constraint = constraint_island[constraint_index];
 			if (constraint->get_priority() >= current_priority) {
 				// Keep this constraint for the next iteration.
 				constraint_island[priority_constraint_count++] = constraint;
@@ -156,12 +157,12 @@ void Step3DSW::_solve_island(uint32_t p_island_index, void *p_userdata) {
 	}
 }
 
-void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) const {
+void GodotStep3D::_check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const {
 	bool can_sleep = true;
 
 	uint32_t body_count = p_body_island.size();
 	for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
-		Body3DSW *body = p_body_island[body_index];
+		GodotBody3D *body = p_body_island[body_index];
 
 		if (!body->sleep_test(delta)) {
 			can_sleep = false;
@@ -170,7 +171,7 @@ void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) cons
 
 	// Put all to sleep or wake up everyone.
 	for (uint32_t body_index = 0; body_index < body_count; ++body_index) {
-		Body3DSW *body = p_body_island[body_index];
+		GodotBody3D *body = p_body_island[body_index];
 
 		bool active = body->is_active();
 
@@ -180,7 +181,7 @@ void Step3DSW::_check_suspend(const LocalVector<Body3DSW *> &p_body_island) cons
 	}
 }
 
-void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
+void GodotStep3D::step(GodotSpace3D *p_space, real_t p_delta, int p_iterations) {
 	p_space->lock(); // can't access space during this
 
 	p_space->setup(); //update inertias, etc
@@ -190,9 +191,9 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 	iterations = p_iterations;
 	delta = p_delta;
 
-	const SelfList<Body3DSW>::List *body_list = &p_space->get_active_body_list();
+	const SelfList<GodotBody3D>::List *body_list = &p_space->get_active_body_list();
 
-	const SelfList<SoftBody3DSW>::List *soft_body_list = &p_space->get_active_soft_body_list();
+	const SelfList<GodotSoftBody3D>::List *soft_body_list = &p_space->get_active_soft_body_list();
 
 	/* INTEGRATE FORCES */
 
@@ -201,7 +202,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	int active_count = 0;
 
-	const SelfList<Body3DSW> *b = body_list->first();
+	const SelfList<GodotBody3D> *b = body_list->first();
 	while (b) {
 		b->self()->integrate_forces(p_delta);
 		b = b->next();
@@ -210,7 +211,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	/* UPDATE SOFT BODY MOTION */
 
-	const SelfList<SoftBody3DSW> *sb = soft_body_list->first();
+	const SelfList<GodotSoftBody3D> *sb = soft_body_list->first();
 	while (sb) {
 		sb->self()->predict_motion(p_delta);
 		sb = sb->next();
@@ -221,7 +222,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_FORCES, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -229,11 +230,11 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	uint32_t island_count = 0;
 
-	const SelfList<Area3DSW>::List &aml = p_space->get_moved_area_list();
+	const SelfList<GodotArea3D>::List &aml = p_space->get_moved_area_list();
 
 	while (aml.first()) {
-		for (const Set<Constraint3DSW *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
-			Constraint3DSW *constraint = E->get();
+		for (const Set<GodotConstraint3D *>::Element *E = aml.first()->self()->get_constraints().front(); E; E = E->next()) {
+			GodotConstraint3D *constraint = E->get();
 			if (constraint->get_island_step() == _step) {
 				continue;
 			}
@@ -244,13 +245,13 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 			if (constraint_islands.size() < island_count) {
 				constraint_islands.resize(island_count);
 			}
-			LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
+			LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1];
 			constraint_island.clear();
 
 			all_constraints.push_back(constraint);
 			constraint_island.push_back(constraint);
 		}
-		p_space->area_remove_from_moved_list((SelfList<Area3DSW> *)aml.first()); //faster to remove here
+		p_space->area_remove_from_moved_list((SelfList<GodotArea3D> *)aml.first()); //faster to remove here
 	}
 
 	/* GENERATE CONSTRAINT ISLANDS FOR ACTIVE RIGID BODIES */
@@ -260,14 +261,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 	uint32_t body_island_count = 0;
 
 	while (b) {
-		Body3DSW *body = b->self();
+		GodotBody3D *body = b->self();
 
 		if (body->get_island_step() != _step) {
 			++body_island_count;
 			if (body_islands.size() < body_island_count) {
 				body_islands.resize(body_island_count);
 			}
-			LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
+			LocalVector<GodotBody3D *> &body_island = body_islands[body_island_count - 1];
 			body_island.clear();
 			body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
 
@@ -275,7 +276,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 			if (constraint_islands.size() < island_count) {
 				constraint_islands.resize(island_count);
 			}
-			LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
+			LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1];
 			constraint_island.clear();
 			constraint_island.reserve(ISLAND_SIZE_RESERVE);
 
@@ -296,14 +297,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	sb = soft_body_list->first();
 	while (sb) {
-		SoftBody3DSW *soft_body = sb->self();
+		GodotSoftBody3D *soft_body = sb->self();
 
 		if (soft_body->get_island_step() != _step) {
 			++body_island_count;
 			if (body_islands.size() < body_island_count) {
 				body_islands.resize(body_island_count);
 			}
-			LocalVector<Body3DSW *> &body_island = body_islands[body_island_count - 1];
+			LocalVector<GodotBody3D *> &body_island = body_islands[body_island_count - 1];
 			body_island.clear();
 			body_island.reserve(BODY_ISLAND_SIZE_RESERVE);
 
@@ -311,7 +312,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 			if (constraint_islands.size() < island_count) {
 				constraint_islands.resize(island_count);
 			}
-			LocalVector<Constraint3DSW *> &constraint_island = constraint_islands[island_count - 1];
+			LocalVector<GodotConstraint3D *> &constraint_island = constraint_islands[island_count - 1];
 			constraint_island.clear();
 			constraint_island.reserve(ISLAND_SIZE_RESERVE);
 
@@ -332,18 +333,18 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_GENERATE_ISLANDS, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
 	/* SETUP CONSTRAINTS / PROCESS COLLISIONS */
 
 	uint32_t total_contraint_count = all_constraints.size();
-	work_pool.do_work(total_contraint_count, this, &Step3DSW::_setup_contraint, nullptr);
+	work_pool.do_work(total_contraint_count, this, &GodotStep3D::_setup_contraint, nullptr);
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SETUP_CONSTRAINTS, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -359,14 +360,14 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 	// Warning: _solve_island modifies the constraint islands for optimization purpose,
 	// their content is not reliable after these calls and shouldn't be used anymore.
 	if (island_count > 1) {
-		work_pool.do_work(island_count, this, &Step3DSW::_solve_island, nullptr);
+		work_pool.do_work(island_count, this, &GodotStep3D::_solve_island, nullptr);
 	} else if (island_count > 0) {
 		_solve_island(0);
 	}
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_SOLVE_CONSTRAINTS, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -374,7 +375,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	b = body_list->first();
 	while (b) {
-		const SelfList<Body3DSW> *n = b->next();
+		const SelfList<GodotBody3D> *n = b->next();
 		b->self()->integrate_velocities(p_delta);
 		b = n;
 	}
@@ -395,7 +396,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 
 	{ //profile
 		profile_endtime = OS::get_singleton()->get_ticks_usec();
-		p_space->set_elapsed_time(Space3DSW::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
+		p_space->set_elapsed_time(GodotSpace3D::ELAPSED_TIME_INTEGRATE_VELOCITIES, profile_endtime - profile_begtime);
 		profile_begtime = profile_endtime;
 	}
 
@@ -406,7 +407,7 @@ void Step3DSW::step(Space3DSW *p_space, real_t p_delta, int p_iterations) {
 	_step++;
 }
 
-Step3DSW::Step3DSW() {
+GodotStep3D::GodotStep3D() {
 	body_islands.reserve(BODY_ISLAND_COUNT_RESERVE);
 	constraint_islands.reserve(ISLAND_COUNT_RESERVE);
 	all_constraints.reserve(CONSTRAINT_COUNT_RESERVE);
@@ -414,6 +415,6 @@ Step3DSW::Step3DSW() {
 	work_pool.init();
 }
 
-Step3DSW::~Step3DSW() {
+GodotStep3D::~GodotStep3D() {
 	work_pool.finish();
 }

servers/physics_3d/step_3d_sw.h → servers/physics_3d/godot_step_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  step_3d_sw.h                                                         */
+/*  godot_step_3d.h                                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -28,15 +28,15 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef STEP_SW_H
-#define STEP_SW_H
+#ifndef GODOT_STEP_3D_H
+#define GODOT_STEP_3D_H
 
-#include "space_3d_sw.h"
+#include "godot_space_3d.h"
 
 #include "core/templates/local_vector.h"
 #include "core/templates/thread_work_pool.h"
 
-class Step3DSW {
+class GodotStep3D {
 	uint64_t _step = 1;
 
 	int iterations = 0;
@@ -44,21 +44,21 @@ class Step3DSW {
 
 	ThreadWorkPool work_pool;
 
-	LocalVector<LocalVector<Body3DSW *>> body_islands;
-	LocalVector<LocalVector<Constraint3DSW *>> constraint_islands;
-	LocalVector<Constraint3DSW *> all_constraints;
+	LocalVector<LocalVector<GodotBody3D *>> body_islands;
+	LocalVector<LocalVector<GodotConstraint3D *>> constraint_islands;
+	LocalVector<GodotConstraint3D *> all_constraints;
 
-	void _populate_island(Body3DSW *p_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
-	void _populate_island_soft_body(SoftBody3DSW *p_soft_body, LocalVector<Body3DSW *> &p_body_island, LocalVector<Constraint3DSW *> &p_constraint_island);
+	void _populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
+	void _populate_island_soft_body(GodotSoftBody3D *p_soft_body, LocalVector<GodotBody3D *> &p_body_island, LocalVector<GodotConstraint3D *> &p_constraint_island);
 	void _setup_contraint(uint32_t p_constraint_index, void *p_userdata = nullptr);
-	void _pre_solve_island(LocalVector<Constraint3DSW *> &p_constraint_island) const;
+	void _pre_solve_island(LocalVector<GodotConstraint3D *> &p_constraint_island) const;
 	void _solve_island(uint32_t p_island_index, void *p_userdata = nullptr);
-	void _check_suspend(const LocalVector<Body3DSW *> &p_body_island) const;
+	void _check_suspend(const LocalVector<GodotBody3D *> &p_body_island) const;
 
 public:
-	void step(Space3DSW *p_space, real_t p_delta, int p_iterations);
-	Step3DSW();
-	~Step3DSW();
+	void step(GodotSpace3D *p_space, real_t p_delta, int p_iterations);
+	GodotStep3D();
+	~GodotStep3D();
 };
 
-#endif // STEP__SW_H
+#endif // GODOT_STEP_3D_H

servers/physics_3d/joints/cone_twist_joint_3d_sw.cpp → servers/physics_3d/joints/godot_cone_twist_joint_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  cone_twist_joint_3d_sw.cpp                                           */
+/*  godot_cone_twist_joint_3d.cpp                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -49,7 +49,7 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-#include "cone_twist_joint_3d_sw.h"
+#include "godot_cone_twist_joint_3d.h"
 
 static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
 	if (Math::abs(n.z) > Math_SQRT12) {
@@ -84,8 +84,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 	return (y < 0.0f) ? -angle : angle;
 }
 
-ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
-		Joint3DSW(_arr, 2) {
+GodotConeTwistJoint3D::GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame) :
+		GodotJoint3D(_arr, 2) {
 	A = rbA;
 	B = rbB;
 
@@ -96,7 +96,7 @@ ConeTwistJoint3DSW::ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Trans
 	B->add_constraint(this, 1);
 }
 
-bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
+bool GodotConeTwistJoint3D::setup(real_t p_timestep) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -129,7 +129,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
 		plane_space(normal[0], normal[1], normal[2]);
 
 		for (int i = 0; i < 3; i++) {
-			memnew_placement(&m_jac[i], JacobianEntry3DSW(
+			memnew_placement(&m_jac[i], GodotJacobianEntry3D(
 												A->get_principal_inertia_axes().transposed(),
 												B->get_principal_inertia_axes().transposed(),
 												pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@@ -230,7 +230,7 @@ bool ConeTwistJoint3DSW::setup(real_t p_timestep) {
 	return true;
 }
 
-void ConeTwistJoint3DSW::solve(real_t p_timestep) {
+void GodotConeTwistJoint3D::solve(real_t p_timestep) {
 	Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
 	Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
 
@@ -312,7 +312,7 @@ void ConeTwistJoint3DSW::solve(real_t p_timestep) {
 	}
 }
 
-void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
+void GodotConeTwistJoint3D::set_param(PhysicsServer3D::ConeTwistJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
 			m_swingSpan1 = p_value;
@@ -335,7 +335,7 @@ void ConeTwistJoint3DSW::set_param(PhysicsServer3D::ConeTwistJointParam p_param,
 	}
 }
 
-real_t ConeTwistJoint3DSW::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
+real_t GodotConeTwistJoint3D::get_param(PhysicsServer3D::ConeTwistJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::CONE_TWIST_JOINT_SWING_SPAN: {
 			return m_swingSpan1;

servers/physics_3d/joints/cone_twist_joint_3d_sw.h → servers/physics_3d/joints/godot_cone_twist_joint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  cone_twist_joint_3d_sw.h                                             */
+/*  godot_cone_twist_joint_3d.h                                          */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -34,7 +34,7 @@ Adapted to Godot from the Bullet library.
 
 /*
 Bullet Continuous Collision Detection and Physics Library
-ConeTwistJointSW is Copyright (c) 2007 Starbreeze Studios
+GodotConeTwistJoint3D is Copyright (c) 2007 Starbreeze Studios
 
 This software is provided 'as-is', without any express or implied warranty.
 In no event will the authors be held liable for any damages arising from the use of this software.
@@ -49,28 +49,28 @@ subject to the following restrictions:
 Written by: Marcus Hennix
 */
 
-#ifndef CONE_TWIST_JOINT_SW_H
-#define CONE_TWIST_JOINT_SW_H
+#ifndef GODOT_CONE_TWIST_JOINT_3D_H
+#define GODOT_CONE_TWIST_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
-///ConeTwistJointSW can be used to simulate ragdoll joints (upper arm, leg etc)
-class ConeTwistJoint3DSW : public Joint3DSW {
+// GodotConeTwistJoint3D can be used to simulate ragdoll joints (upper arm, leg etc).
+class GodotConeTwistJoint3D : public GodotJoint3D {
 #ifdef IN_PARALLELL_SOLVER
 public:
 #endif
 
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
-	JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
 
 	real_t m_appliedImpulse = 0.0;
 	Transform3D m_rbAFrame;
@@ -107,7 +107,7 @@ public:
 	virtual bool setup(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	ConeTwistJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
+	GodotConeTwistJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &rbAFrame, const Transform3D &rbBFrame);
 
 	void setAngularOnly(bool angularOnly) {
 		m_angularOnly = angularOnly;
@@ -139,4 +139,4 @@ public:
 	real_t get_param(PhysicsServer3D::ConeTwistJointParam p_param) const;
 };
 
-#endif // CONE_TWIST_JOINT_SW_H
+#endif // GODOT_CONE_TWIST_JOINT_3D_H

servers/physics_3d/joints/generic_6dof_joint_3d_sw.cpp → servers/physics_3d/joints/godot_generic_6dof_joint_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  generic_6dof_joint_3d_sw.cpp                                         */
+/*  godot_generic_6dof_joint_3d.cpp                                      */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -49,18 +49,18 @@ subject to the following restrictions:
 
 /*
 2007-09-09
-Generic6DOFJointSW Refactored by Francisco Le?n
+GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
 email: [email protected]
 http://gimpact.sf.net
 */
 
-#include "generic_6dof_joint_3d_sw.h"
+#include "godot_generic_6dof_joint_3d.h"
 
 #define GENERIC_D6_DISABLE_WARMSTARTING 1
 
-//////////////////////////// G6DOFRotationalLimitMotorSW ////////////////////////////////////
+//////////////////////////// GodotG6DOFRotationalLimitMotor3D ////////////////////////////////////
 
-int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
+int GodotG6DOFRotationalLimitMotor3D::testLimitValue(real_t test_value) {
 	if (m_loLimit > m_hiLimit) {
 		m_currentLimit = 0; //Free from violation
 		return 0;
@@ -80,9 +80,9 @@ int G6DOFRotationalLimitMotor3DSW::testLimitValue(real_t test_value) {
 	return 0;
 }
 
-real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
+real_t GodotG6DOFRotationalLimitMotor3D::solveAngularLimits(
 		real_t timeStep, Vector3 &axis, real_t jacDiagABInv,
-		Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
+		GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic) {
 	if (!needApplyTorques()) {
 		return 0.0f;
 	}
@@ -148,14 +148,13 @@ real_t G6DOFRotationalLimitMotor3DSW::solveAngularLimits(
 	return clippedMotorImpulse;
 }
 
-//////////////////////////// End G6DOFRotationalLimitMotorSW ////////////////////////////////////
+//////////////////////////// GodotG6DOFTranslationalLimitMotor3D ////////////////////////////////////
 
-//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
-real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
+real_t GodotG6DOFTranslationalLimitMotor3D::solveLinearAxis(
 		real_t timeStep,
 		real_t jacDiagABInv,
-		Body3DSW *body1, const Vector3 &pointInA,
-		Body3DSW *body2, const Vector3 &pointInB,
+		GodotBody3D *body1, const Vector3 &pointInA,
+		GodotBody3D *body2, const Vector3 &pointInB,
 		bool p_body1_dynamic, bool p_body2_dynamic,
 		int limit_index,
 		const Vector3 &axis_normal_on_a,
@@ -217,10 +216,10 @@ real_t G6DOFTranslationalLimitMotor3DSW::solveLinearAxis(
 	return normalImpulse;
 }
 
-//////////////////////////// G6DOFTranslationalLimitMotorSW ////////////////////////////////////
+//////////////////////////// GodotGeneric6DOFJoint3D ////////////////////////////////////
 
-Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) :
-		Joint3DSW(_arr, 2),
+GodotGeneric6DOFJoint3D::GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA) :
+		GodotJoint3D(_arr, 2),
 		m_frameInA(frameInA),
 		m_frameInB(frameInB),
 		m_useLinearReferenceFrameA(useLinearReferenceFrameA) {
@@ -230,7 +229,7 @@ Generic6DOFJoint3DSW::Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const T
 	B->add_constraint(this, 1);
 }
 
-void Generic6DOFJoint3DSW::calculateAngleInfo() {
+void GodotGeneric6DOFJoint3D::calculateAngleInfo() {
 	Basis relative_frame = m_calculatedTransformB.basis.inverse() * m_calculatedTransformA.basis;
 
 	m_calculatedAxisAngleDiff = relative_frame.get_euler_xyz();
@@ -270,17 +269,17 @@ void Generic6DOFJoint3DSW::calculateAngleInfo() {
 	*/
 }
 
-void Generic6DOFJoint3DSW::calculateTransforms() {
+void GodotGeneric6DOFJoint3D::calculateTransforms() {
 	m_calculatedTransformA = A->get_transform() * m_frameInA;
 	m_calculatedTransformB = B->get_transform() * m_frameInB;
 
 	calculateAngleInfo();
 }
 
-void Generic6DOFJoint3DSW::buildLinearJacobian(
-		JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld,
+void GodotGeneric6DOFJoint3D::buildLinearJacobian(
+		GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
 		const Vector3 &pivotAInW, const Vector3 &pivotBInW) {
-	memnew_placement(&jacLinear, JacobianEntry3DSW(
+	memnew_placement(&jacLinear, GodotJacobianEntry3D(
 										 A->get_principal_inertia_axes().transposed(),
 										 B->get_principal_inertia_axes().transposed(),
 										 pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@@ -292,16 +291,16 @@ void Generic6DOFJoint3DSW::buildLinearJacobian(
 										 B->get_inv_mass()));
 }
 
-void Generic6DOFJoint3DSW::buildAngularJacobian(
-		JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW) {
-	memnew_placement(&jacAngular, JacobianEntry3DSW(jointAxisW,
+void GodotGeneric6DOFJoint3D::buildAngularJacobian(
+		GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW) {
+	memnew_placement(&jacAngular, GodotJacobianEntry3D(jointAxisW,
 										  A->get_principal_inertia_axes().transposed(),
 										  B->get_principal_inertia_axes().transposed(),
 										  A->get_inv_inertia(),
 										  B->get_inv_inertia()));
 }
 
-bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
+bool GodotGeneric6DOFJoint3D::testAngularLimitMotor(int axis_index) {
 	real_t angle = m_calculatedAxisAngleDiff[axis_index];
 
 	//test limits
@@ -309,7 +308,7 @@ bool Generic6DOFJoint3DSW::testAngularLimitMotor(int axis_index) {
 	return m_angularLimits[axis_index].needApplyTorques();
 }
 
-bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
+bool GodotGeneric6DOFJoint3D::setup(real_t p_timestep) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -365,7 +364,7 @@ bool Generic6DOFJoint3DSW::setup(real_t p_timestep) {
 	return true;
 }
 
-void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
+void GodotGeneric6DOFJoint3D::solve(real_t p_timestep) {
 	m_timeStep = p_timestep;
 
 	//calculateTransforms();
@@ -414,19 +413,19 @@ void Generic6DOFJoint3DSW::solve(real_t p_timestep) {
 	}
 }
 
-void Generic6DOFJoint3DSW::updateRHS(real_t timeStep) {
+void GodotGeneric6DOFJoint3D::updateRHS(real_t timeStep) {
 	(void)timeStep;
 }
 
-Vector3 Generic6DOFJoint3DSW::getAxis(int axis_index) const {
+Vector3 GodotGeneric6DOFJoint3D::getAxis(int axis_index) const {
 	return m_calculatedAxis[axis_index];
 }
 
-real_t Generic6DOFJoint3DSW::getAngle(int axis_index) const {
+real_t GodotGeneric6DOFJoint3D::getAngle(int axis_index) const {
 	return m_calculatedAxisAngleDiff[axis_index];
 }
 
-void Generic6DOFJoint3DSW::calcAnchorPos() {
+void GodotGeneric6DOFJoint3D::calcAnchorPos() {
 	real_t imA = A->get_inv_mass();
 	real_t imB = B->get_inv_mass();
 	real_t weight;
@@ -438,9 +437,9 @@ void Generic6DOFJoint3DSW::calcAnchorPos() {
 	const Vector3 &pA = m_calculatedTransformA.origin;
 	const Vector3 &pB = m_calculatedTransformB.origin;
 	m_AnchorPos = pA * weight + pB * (real_t(1.0) - weight);
-} // Generic6DOFJointSW::calcAnchorPos()
+}
 
-void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
+void GodotGeneric6DOFJoint3D::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param, real_t p_value) {
 	ERR_FAIL_INDEX(p_axis, 3);
 	switch (p_param) {
 		case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
@@ -527,7 +526,7 @@ void Generic6DOFJoint3DSW::set_param(Vector3::Axis p_axis, PhysicsServer3D::G6DO
 	}
 }
 
-real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
+real_t GodotGeneric6DOFJoint3D::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisParam p_param) const {
 	ERR_FAIL_INDEX_V(p_axis, 3, 0);
 	switch (p_param) {
 		case PhysicsServer3D::G6DOF_JOINT_LINEAR_LOWER_LIMIT: {
@@ -615,7 +614,7 @@ real_t Generic6DOFJoint3DSW::get_param(Vector3::Axis p_axis, PhysicsServer3D::G6
 	return 0;
 }
 
-void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
+void GodotGeneric6DOFJoint3D::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag, bool p_value) {
 	ERR_FAIL_INDEX(p_axis, 3);
 
 	switch (p_flag) {
@@ -642,7 +641,7 @@ void Generic6DOFJoint3DSW::set_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOF
 	}
 }
 
-bool Generic6DOFJoint3DSW::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
+bool GodotGeneric6DOFJoint3D::get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const {
 	ERR_FAIL_INDEX_V(p_axis, 3, 0);
 	switch (p_flag) {
 		case PhysicsServer3D::G6DOF_JOINT_FLAG_ENABLE_LINEAR_LIMIT: {

servers/physics_3d/joints/generic_6dof_joint_3d_sw.h → servers/physics_3d/joints/godot_generic_6dof_joint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  generic_6dof_joint_3d_sw.h                                           */
+/*  godot_generic_6dof_joint_3d.h                                        */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef GENERIC_6DOF_JOINT_SW_H
-#define GENERIC_6DOF_JOINT_SW_H
+#ifndef GODOT_GENERIC_6DOF_JOINT_3D_H
+#define GODOT_GENERIC_6DOF_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -55,13 +55,13 @@ subject to the following restrictions:
 
 /*
 2007-09-09
-Generic6DOFJointSW Refactored by Francisco Le?n
+GodotGeneric6DOFJoint3D Refactored by Francisco Le?n
 email: [email protected]
 http://gimpact.sf.net
 */
 
 //! Rotation Limit structure for generic joints
-class G6DOFRotationalLimitMotor3DSW {
+class GodotG6DOFRotationalLimitMotor3D {
 public:
 	//! limit_parameters
 	//!@{
@@ -86,29 +86,25 @@ public:
 	real_t m_accumulatedImpulse = 0.0;
 	//!@}
 
-	G6DOFRotationalLimitMotor3DSW() {}
+	GodotG6DOFRotationalLimitMotor3D() {}
 
-	//! Is limited
 	bool isLimited() {
 		return (m_loLimit < m_hiLimit);
 	}
 
-	//! Need apply correction
+	// Need apply correction.
 	bool needApplyTorques() {
 		return (m_enableMotor || m_currentLimit != 0);
 	}
 
-	//! calculates error
-	/*!
-	calculates m_currentLimit and m_currentLimitError.
-	*/
+	// Calculates m_currentLimit and m_currentLimitError.
 	int testLimitValue(real_t test_value);
 
-	//! apply the correction impulses for two bodies
-	real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, Body3DSW *body0, Body3DSW *body1, bool p_body0_dynamic, bool p_body1_dynamic);
+	// Apply the correction impulses for two bodies.
+	real_t solveAngularLimits(real_t timeStep, Vector3 &axis, real_t jacDiagABInv, GodotBody3D *body0, GodotBody3D *body1, bool p_body0_dynamic, bool p_body1_dynamic);
 };
 
-class G6DOFTranslationalLimitMotor3DSW {
+class GodotG6DOFTranslationalLimitMotor3D {
 public:
 	Vector3 m_lowerLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint lower limits
 	Vector3 m_upperLimit = Vector3(0.0, 0.0, 0.0); //!< the constraint upper limits
@@ -135,23 +131,23 @@ public:
 	real_t solveLinearAxis(
 			real_t timeStep,
 			real_t jacDiagABInv,
-			Body3DSW *body1, const Vector3 &pointInA,
-			Body3DSW *body2, const Vector3 &pointInB,
+			GodotBody3D *body1, const Vector3 &pointInA,
+			GodotBody3D *body2, const Vector3 &pointInB,
 			bool p_body1_dynamic, bool p_body2_dynamic,
 			int limit_index,
 			const Vector3 &axis_normal_on_a,
 			const Vector3 &anchorPos);
 };
 
-class Generic6DOFJoint3DSW : public Joint3DSW {
+class GodotGeneric6DOFJoint3D : public GodotJoint3D {
 protected:
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
 	//! relative_frames
@@ -162,18 +158,18 @@ protected:
 
 	//! Jacobians
 	//!@{
-	JacobianEntry3DSW m_jacLinear[3]; //!< 3 orthogonal linear constraints
-	JacobianEntry3DSW m_jacAng[3]; //!< 3 orthogonal angular constraints
+	GodotJacobianEntry3D m_jacLinear[3]; //!< 3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jacAng[3]; //!< 3 orthogonal angular constraints
 	//!@}
 
 	//! Linear_Limit_parameters
 	//!@{
-	G6DOFTranslationalLimitMotor3DSW m_linearLimits;
+	GodotG6DOFTranslationalLimitMotor3D m_linearLimits;
 	//!@}
 
 	//! hinge_parameters
 	//!@{
-	G6DOFRotationalLimitMotor3DSW m_angularLimits[3];
+	GodotG6DOFRotationalLimitMotor3D m_angularLimits[3];
 	//!@}
 
 protected:
@@ -191,45 +187,35 @@ protected:
 
 	//!@}
 
-	Generic6DOFJoint3DSW(Generic6DOFJoint3DSW const &) = delete;
-	void operator=(Generic6DOFJoint3DSW const &) = delete;
+	GodotGeneric6DOFJoint3D(GodotGeneric6DOFJoint3D const &) = delete;
+	void operator=(GodotGeneric6DOFJoint3D const &) = delete;
 
 	void buildLinearJacobian(
-			JacobianEntry3DSW &jacLinear, const Vector3 &normalWorld,
+			GodotJacobianEntry3D &jacLinear, const Vector3 &normalWorld,
 			const Vector3 &pivotAInW, const Vector3 &pivotBInW);
 
-	void buildAngularJacobian(JacobianEntry3DSW &jacAngular, const Vector3 &jointAxisW);
+	void buildAngularJacobian(GodotJacobianEntry3D &jacAngular, const Vector3 &jointAxisW);
 
 	//! calcs the euler angles between the two bodies.
 	void calculateAngleInfo();
 
 public:
-	Generic6DOFJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA);
+	GodotGeneric6DOFJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB, bool useLinearReferenceFrameA);
 
 	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_6DOF; }
 
 	virtual bool setup(real_t p_step) override;
 	virtual void solve(real_t p_step) override;
 
-	//! Calcs global transform of the offsets
-	/*!
-	Calcs the global transform for the joint offset for body A an B, and also calcs the agle differences between the bodies.
-	\sa Generic6DOFJointSW.getCalculatedTransformA , Generic6DOFJointSW.getCalculatedTransformB, Generic6DOFJointSW.calculateAngleInfo
-	*/
+	// Calcs the global transform for the joint offset for body A an B, and also calcs the angle differences between the bodies.
 	void calculateTransforms();
 
-	//! Gets the global transform of the offset for body A
-	/*!
-    \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
-    */
+	// Gets the global transform of the offset for body A.
 	const Transform3D &getCalculatedTransformA() const {
 		return m_calculatedTransformA;
 	}
 
-	//! Gets the global transform of the offset for body B
-	/*!
-    \sa Generic6DOFJointSW.getFrameOffsetA, Generic6DOFJointSW.getFrameOffsetB, Generic6DOFJointSW.calculateAngleInfo.
-    */
+	// Gets the global transform of the offset for body B.
 	const Transform3D &getCalculatedTransformB() const {
 		return m_calculatedTransformB;
 	}
@@ -250,27 +236,16 @@ public:
 		return m_frameInB;
 	}
 
-	//! performs Jacobian calculation, and also calculates angle differences and axis
-
+	// Performs Jacobian calculation, and also calculates angle differences and axis.
 	void updateRHS(real_t timeStep);
 
-	//! Get the rotation axis in global coordinates
-	/*!
-	\pre Generic6DOFJointSW.buildJacobian must be called previously.
-	*/
+	// Get the rotation axis in global coordinates.
 	Vector3 getAxis(int axis_index) const;
 
-	//! Get the relative Euler angle
-	/*!
-	\pre Generic6DOFJointSW.buildJacobian must be called previously.
-	*/
+	// Get the relative Euler angle.
 	real_t getAngle(int axis_index) const;
 
-	//! Test angular limit.
-	/*!
-	Calculates angular correction and returns true if limit needs to be corrected.
-	\pre Generic6DOFJointSW.buildJacobian must be called previously.
-	*/
+	// Calculates angular correction and returns true if limit needs to be corrected.
 	bool testAngularLimitMotor(int axis_index);
 
 	void setLinearLowerLimit(const Vector3 &linearLower) {
@@ -293,17 +268,17 @@ public:
 		m_angularLimits[2].m_hiLimit = angularUpper.z;
 	}
 
-	//! Retrieves the angular limit information.
-	G6DOFRotationalLimitMotor3DSW *getRotationalLimitMotor(int index) {
+	// Retrieves the angular limit information.
+	GodotG6DOFRotationalLimitMotor3D *getRotationalLimitMotor(int index) {
 		return &m_angularLimits[index];
 	}
 
-	//! Retrieves the limit information.
-	G6DOFTranslationalLimitMotor3DSW *getTranslationalLimitMotor() {
+	// Retrieves the limit information.
+	GodotG6DOFTranslationalLimitMotor3D *getTranslationalLimitMotor() {
 		return &m_linearLimits;
 	}
 
-	//first 3 are linear, next 3 are angular
+	// First 3 are linear, next 3 are angular.
 	void setLimit(int axis, real_t lo, real_t hi) {
 		if (axis < 3) {
 			m_linearLimits.m_lowerLimit[axis] = lo;
@@ -328,10 +303,10 @@ public:
 		return m_angularLimits[limitIndex - 3].isLimited();
 	}
 
-	const Body3DSW *getRigidBodyA() const {
+	const GodotBody3D *getRigidBodyA() const {
 		return A;
 	}
-	const Body3DSW *getRigidBodyB() const {
+	const GodotBody3D *getRigidBodyB() const {
 		return B;
 	}
 
@@ -344,4 +319,4 @@ public:
 	bool get_flag(Vector3::Axis p_axis, PhysicsServer3D::G6DOFJointAxisFlag p_flag) const;
 };
 
-#endif // GENERIC_6DOF_JOINT_SW_H
+#endif // GODOT_GENERIC_6DOF_JOINT_3D_H

servers/physics_3d/joints/hinge_joint_3d_sw.cpp → servers/physics_3d/joints/godot_hinge_joint_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  hinge_joint_3d_sw.cpp                                                */
+/*  godot_hinge_joint_3d.cpp                                             */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -47,7 +47,7 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "hinge_joint_3d_sw.h"
+#include "godot_hinge_joint_3d.h"
 
 static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
 	if (Math::abs(n.z) > Math_SQRT12) {
@@ -67,8 +67,8 @@ static void plane_space(const Vector3 &n, Vector3 &p, Vector3 &q) {
 	}
 }
 
-HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB) :
-		Joint3DSW(_arr, 2) {
+GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB) :
+		GodotJoint3D(_arr, 2) {
 	A = rbA;
 	B = rbB;
 
@@ -83,9 +83,9 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &
 	B->add_constraint(this, 1);
 }
 
-HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
+GodotHingeJoint3D::GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB,
 		const Vector3 &axisInA, const Vector3 &axisInB) :
-		Joint3DSW(_arr, 2) {
+		GodotJoint3D(_arr, 2) {
 	A = rbA;
 	B = rbB;
 
@@ -124,7 +124,7 @@ HingeJoint3DSW::HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivo
 	B->add_constraint(this, 1);
 }
 
-bool HingeJoint3DSW::setup(real_t p_step) {
+bool GodotHingeJoint3D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -149,7 +149,7 @@ bool HingeJoint3DSW::setup(real_t p_step) {
 		plane_space(normal[0], normal[1], normal[2]);
 
 		for (int i = 0; i < 3; i++) {
-			memnew_placement(&m_jac[i], JacobianEntry3DSW(
+			memnew_placement(&m_jac[i], GodotJacobianEntry3D(
 												A->get_principal_inertia_axes().transposed(),
 												B->get_principal_inertia_axes().transposed(),
 												pivotAInW - A->get_transform().origin - A->get_center_of_mass(),
@@ -175,19 +175,19 @@ bool HingeJoint3DSW::setup(real_t p_step) {
 	Vector3 jointAxis1 = A->get_transform().basis.xform(jointAxis1local);
 	Vector3 hingeAxisWorld = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(2));
 
-	memnew_placement(&m_jacAng[0], JacobianEntry3DSW(jointAxis0,
+	memnew_placement(&m_jacAng[0], GodotJacobianEntry3D(jointAxis0,
 										   A->get_principal_inertia_axes().transposed(),
 										   B->get_principal_inertia_axes().transposed(),
 										   A->get_inv_inertia(),
 										   B->get_inv_inertia()));
 
-	memnew_placement(&m_jacAng[1], JacobianEntry3DSW(jointAxis1,
+	memnew_placement(&m_jacAng[1], GodotJacobianEntry3D(jointAxis1,
 										   A->get_principal_inertia_axes().transposed(),
 										   B->get_principal_inertia_axes().transposed(),
 										   A->get_inv_inertia(),
 										   B->get_inv_inertia()));
 
-	memnew_placement(&m_jacAng[2], JacobianEntry3DSW(hingeAxisWorld,
+	memnew_placement(&m_jacAng[2], GodotJacobianEntry3D(hingeAxisWorld,
 										   A->get_principal_inertia_axes().transposed(),
 										   B->get_principal_inertia_axes().transposed(),
 										   A->get_inv_inertia(),
@@ -226,7 +226,7 @@ bool HingeJoint3DSW::setup(real_t p_step) {
 	return true;
 }
 
-void HingeJoint3DSW::solve(real_t p_step) {
+void GodotHingeJoint3D::solve(real_t p_step) {
 	Vector3 pivotAInW = A->get_transform().xform(m_rbAFrame.origin);
 	Vector3 pivotBInW = B->get_transform().xform(m_rbBFrame.origin);
 
@@ -377,7 +377,7 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 	return (y < 0.0f) ? -angle : angle;
 }
 
-real_t HingeJoint3DSW::get_hinge_angle() {
+real_t GodotHingeJoint3D::get_hinge_angle() {
 	const Vector3 refAxis0 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(0));
 	const Vector3 refAxis1 = A->get_transform().basis.xform(m_rbAFrame.basis.get_axis(1));
 	const Vector3 swingAxis = B->get_transform().basis.xform(m_rbBFrame.basis.get_axis(1));
@@ -385,7 +385,7 @@ real_t HingeJoint3DSW::get_hinge_angle() {
 	return atan2fast(swingAxis.dot(refAxis0), swingAxis.dot(refAxis1));
 }
 
-void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
+void GodotHingeJoint3D::set_param(PhysicsServer3D::HingeJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::HINGE_JOINT_BIAS:
 			tau = p_value;
@@ -416,7 +416,7 @@ void HingeJoint3DSW::set_param(PhysicsServer3D::HingeJointParam p_param, real_t
 	}
 }
 
-real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const {
+real_t GodotHingeJoint3D::get_param(PhysicsServer3D::HingeJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::HINGE_JOINT_BIAS:
 			return tau;
@@ -441,7 +441,7 @@ real_t HingeJoint3DSW::get_param(PhysicsServer3D::HingeJointParam p_param) const
 	return 0;
 }
 
-void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
+void GodotHingeJoint3D::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value) {
 	switch (p_flag) {
 		case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
 			m_useLimit = p_value;
@@ -454,7 +454,7 @@ void HingeJoint3DSW::set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_val
 	}
 }
 
-bool HingeJoint3DSW::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
+bool GodotHingeJoint3D::get_flag(PhysicsServer3D::HingeJointFlag p_flag) const {
 	switch (p_flag) {
 		case PhysicsServer3D::HINGE_JOINT_FLAG_USE_LIMIT:
 			return m_useLimit;

servers/physics_3d/joints/hinge_joint_3d_sw.h → servers/physics_3d/joints/godot_hinge_joint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  hinge_joint_3d_sw.h                                                  */
+/*  godot_hinge_joint_3d.h                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef HINGE_JOINT_SW_H
-#define HINGE_JOINT_SW_H
+#ifndef GODOT_HINGE_JOINT_3D_H
+#define GODOT_HINGE_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -53,18 +53,18 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-class HingeJoint3DSW : public Joint3DSW {
+class GodotHingeJoint3D : public GodotJoint3D {
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = {};
+		GodotBody3D *_arr[2] = {};
 	};
 
-	JacobianEntry3DSW m_jac[3]; //3 orthogonal linear constraints
-	JacobianEntry3DSW m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
+	GodotJacobianEntry3D m_jac[3]; //3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jacAng[3]; //2 orthogonal angular constraints+ 1 for limit/motor
 
 	Transform3D m_rbAFrame; // constraint axii. Assumes z is hinge axis.
 	Transform3D m_rbBFrame;
@@ -109,8 +109,8 @@ public:
 	void set_flag(PhysicsServer3D::HingeJointFlag p_flag, bool p_value);
 	bool get_flag(PhysicsServer3D::HingeJointFlag p_flag) const;
 
-	HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameA, const Transform3D &frameB);
-	HingeJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
+	GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameA, const Transform3D &frameB);
+	GodotHingeJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Vector3 &pivotInA, const Vector3 &pivotInB, const Vector3 &axisInA, const Vector3 &axisInB);
 };
 
-#endif // HINGE_JOINT_SW_H
+#endif // GODOT_HINGE_JOINT_3D_H

servers/physics_3d/joints/jacobian_entry_3d_sw.h → servers/physics_3d/joints/godot_jacobian_entry_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  jacobian_entry_3d_sw.h                                               */
+/*  godot_jacobian_entry_3d.h                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,8 +32,8 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef JACOBIAN_ENTRY_SW_H
-#define JACOBIAN_ENTRY_SW_H
+#ifndef GODOT_JACOBIAN_ENTRY_3D_H
+#define GODOT_JACOBIAN_ENTRY_3D_H
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -52,11 +52,11 @@ subject to the following restrictions:
 
 #include "core/math/transform_3d.h"
 
-class JacobianEntry3DSW {
+class GodotJacobianEntry3D {
 public:
-	JacobianEntry3DSW() {}
+	GodotJacobianEntry3D() {}
 	//constraint between two different rigidbodies
-	JacobianEntry3DSW(
+	GodotJacobianEntry3D(
 			const Basis &world2A,
 			const Basis &world2B,
 			const Vector3 &rel_pos1, const Vector3 &rel_pos2,
@@ -76,7 +76,7 @@ public:
 	}
 
 	//angular constraint between two different rigidbodies
-	JacobianEntry3DSW(const Vector3 &jointAxis,
+	GodotJacobianEntry3D(const Vector3 &jointAxis,
 			const Basis &world2A,
 			const Basis &world2B,
 			const Vector3 &inertiaInvA,
@@ -92,7 +92,7 @@ public:
 	}
 
 	//angular constraint between two different rigidbodies
-	JacobianEntry3DSW(const Vector3 &axisInA,
+	GodotJacobianEntry3D(const Vector3 &axisInA,
 			const Vector3 &axisInB,
 			const Vector3 &inertiaInvA,
 			const Vector3 &inertiaInvB) :
@@ -107,7 +107,7 @@ public:
 	}
 
 	//constraint on one rigidbody
-	JacobianEntry3DSW(
+	GodotJacobianEntry3D(
 			const Basis &world2A,
 			const Vector3 &rel_pos1, const Vector3 &rel_pos2,
 			const Vector3 &jointAxis,
@@ -126,16 +126,16 @@ public:
 	real_t getDiagonal() const { return m_Adiag; }
 
 	// for two constraints on the same rigidbody (for example vehicle friction)
-	real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA) const {
-		const JacobianEntry3DSW &jacA = *this;
+	real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA) const {
+		const GodotJacobianEntry3D &jacA = *this;
 		real_t lin = massInvA * jacA.m_linearJointAxis.dot(jacB.m_linearJointAxis);
 		real_t ang = jacA.m_0MinvJt.dot(jacB.m_aJ);
 		return lin + ang;
 	}
 
 	// for two constraints on sharing two same rigidbodies (for example two contact points between two rigidbodies)
-	real_t getNonDiagonal(const JacobianEntry3DSW &jacB, const real_t massInvA, const real_t massInvB) const {
-		const JacobianEntry3DSW &jacA = *this;
+	real_t getNonDiagonal(const GodotJacobianEntry3D &jacB, const real_t massInvA, const real_t massInvB) const {
+		const GodotJacobianEntry3D &jacA = *this;
 		Vector3 lin = jacA.m_linearJointAxis * jacB.m_linearJointAxis;
 		Vector3 ang0 = jacA.m_0MinvJt * jacB.m_aJ;
 		Vector3 ang1 = jacA.m_1MinvJt * jacB.m_bJ;
@@ -166,4 +166,4 @@ public:
 	real_t m_Adiag = 1.0;
 };
 
-#endif // JACOBIAN_ENTRY_SW_H
+#endif // GODOT_JACOBIAN_ENTRY_3D_H

servers/physics_3d/joints/pin_joint_3d_sw.cpp → servers/physics_3d/joints/godot_pin_joint_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  pin_joint_3d_sw.cpp                                                  */
+/*  godot_pin_joint_3d.cpp                                               */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -47,9 +47,9 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-#include "pin_joint_3d_sw.h"
+#include "godot_pin_joint_3d.h"
 
-bool PinJoint3DSW::setup(real_t p_step) {
+bool GodotPinJoint3D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -63,7 +63,7 @@ bool PinJoint3DSW::setup(real_t p_step) {
 
 	for (int i = 0; i < 3; i++) {
 		normal[i] = 1;
-		memnew_placement(&m_jac[i], JacobianEntry3DSW(
+		memnew_placement(&m_jac[i], GodotJacobianEntry3D(
 											A->get_principal_inertia_axes().transposed(),
 											B->get_principal_inertia_axes().transposed(),
 											A->get_transform().xform(m_pivotInA) - A->get_transform().origin - A->get_center_of_mass(),
@@ -79,7 +79,7 @@ bool PinJoint3DSW::setup(real_t p_step) {
 	return true;
 }
 
-void PinJoint3DSW::solve(real_t p_step) {
+void GodotPinJoint3D::solve(real_t p_step) {
 	Vector3 pivotAInW = A->get_transform().xform(m_pivotInA);
 	Vector3 pivotBInW = B->get_transform().xform(m_pivotInB);
 
@@ -137,7 +137,7 @@ void PinJoint3DSW::solve(real_t p_step) {
 	}
 }
 
-void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
+void GodotPinJoint3D::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::PIN_JOINT_BIAS:
 			m_tau = p_value;
@@ -151,7 +151,7 @@ void PinJoint3DSW::set_param(PhysicsServer3D::PinJointParam p_param, real_t p_va
 	}
 }
 
-real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
+real_t GodotPinJoint3D::get_param(PhysicsServer3D::PinJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::PIN_JOINT_BIAS:
 			return m_tau;
@@ -164,8 +164,8 @@ real_t PinJoint3DSW::get_param(PhysicsServer3D::PinJointParam p_param) const {
 	return 0;
 }
 
-PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b) :
-		Joint3DSW(_arr, 2) {
+GodotPinJoint3D::GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b) :
+		GodotJoint3D(_arr, 2) {
 	A = p_body_a;
 	B = p_body_b;
 	m_pivotInA = p_pos_a;
@@ -175,5 +175,5 @@ PinJoint3DSW::PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW
 	B->add_constraint(this, 1);
 }
 
-PinJoint3DSW::~PinJoint3DSW() {
+GodotPinJoint3D::~GodotPinJoint3D() {
 }

servers/physics_3d/joints/pin_joint_3d_sw.h → servers/physics_3d/joints/godot_pin_joint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  pin_joint_3d_sw.h                                                    */
+/*  godot_pin_joint_3d.h                                                 */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef PIN_JOINT_SW_H
-#define PIN_JOINT_SW_H
+#ifndef GODOT_PIN_JOINT_3D_H
+#define GODOT_PIN_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -53,14 +53,14 @@ subject to the following restrictions:
 3. This notice may not be removed or altered from any source distribution.
 */
 
-class PinJoint3DSW : public Joint3DSW {
+class GodotPinJoint3D : public GodotJoint3D {
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = {};
+		GodotBody3D *_arr[2] = {};
 	};
 
 	real_t m_tau = 0.3; //bias
@@ -68,7 +68,7 @@ class PinJoint3DSW : public Joint3DSW {
 	real_t m_impulseClamp = 0.0;
 	real_t m_appliedImpulse = 0.0;
 
-	JacobianEntry3DSW m_jac[3] = {}; //3 orthogonal linear constraints
+	GodotJacobianEntry3D m_jac[3] = {}; //3 orthogonal linear constraints
 
 	Vector3 m_pivotInA;
 	Vector3 m_pivotInB;
@@ -88,8 +88,8 @@ public:
 	Vector3 get_position_a() { return m_pivotInA; }
 	Vector3 get_position_b() { return m_pivotInB; }
 
-	PinJoint3DSW(Body3DSW *p_body_a, const Vector3 &p_pos_a, Body3DSW *p_body_b, const Vector3 &p_pos_b);
-	~PinJoint3DSW();
+	GodotPinJoint3D(GodotBody3D *p_body_a, const Vector3 &p_pos_a, GodotBody3D *p_body_b, const Vector3 &p_pos_b);
+	~GodotPinJoint3D();
 };
 
-#endif // PIN_JOINT_SW_H
+#endif // GODOT_PIN_JOINT_3D_H

servers/physics_3d/joints/slider_joint_3d_sw.cpp → servers/physics_3d/joints/godot_slider_joint_3d.cpp

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  slider_joint_3d_sw.cpp                                               */
+/*  godot_slider_joint_3d.cpp                                            */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -53,7 +53,7 @@ April 04, 2008
 
 */
 
-#include "slider_joint_3d_sw.h"
+#include "godot_slider_joint_3d.h"
 
 //-----------------------------------------------------------------------------
 
@@ -76,8 +76,8 @@ static _FORCE_INLINE_ real_t atan2fast(real_t y, real_t x) {
 
 //-----------------------------------------------------------------------------
 
-SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
-		Joint3DSW(_arr, 2),
+GodotSliderJoint3D::GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB) :
+		GodotJoint3D(_arr, 2),
 		m_frameInA(frameInA),
 		m_frameInB(frameInB) {
 	A = rbA;
@@ -85,11 +85,11 @@ SliderJoint3DSW::SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D
 
 	A->add_constraint(this, 0);
 	B->add_constraint(this, 1);
-} // SliderJointSW::SliderJointSW()
+}
 
 //-----------------------------------------------------------------------------
 
-bool SliderJoint3DSW::setup(real_t p_step) {
+bool GodotSliderJoint3D::setup(real_t p_step) {
 	dynamic_A = (A->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 	dynamic_B = (B->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC);
 
@@ -112,7 +112,7 @@ bool SliderJoint3DSW::setup(real_t p_step) {
 	//linear part
 	for (i = 0; i < 3; i++) {
 		normalWorld = m_calculatedTransformA.basis.get_axis(i);
-		memnew_placement(&m_jacLin[i], JacobianEntry3DSW(
+		memnew_placement(&m_jacLin[i], GodotJacobianEntry3D(
 											   A->get_principal_inertia_axes().transposed(),
 											   B->get_principal_inertia_axes().transposed(),
 											   m_relPosA - A->get_center_of_mass(),
@@ -129,7 +129,7 @@ bool SliderJoint3DSW::setup(real_t p_step) {
 	// angular part
 	for (i = 0; i < 3; i++) {
 		normalWorld = m_calculatedTransformA.basis.get_axis(i);
-		memnew_placement(&m_jacAng[i], JacobianEntry3DSW(
+		memnew_placement(&m_jacAng[i], GodotJacobianEntry3D(
 											   normalWorld,
 											   A->get_principal_inertia_axes().transposed(),
 											   B->get_principal_inertia_axes().transposed(),
@@ -144,11 +144,11 @@ bool SliderJoint3DSW::setup(real_t p_step) {
 	m_accumulatedAngMotorImpulse = real_t(0.0);
 
 	return true;
-} // SliderJointSW::buildJacobianInt()
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::solve(real_t p_step) {
+void GodotSliderJoint3D::solve(real_t p_step) {
 	int i;
 	// linear
 	Vector3 velA = A->get_velocity_in_local_point(m_relPosA);
@@ -284,13 +284,11 @@ void SliderJoint3DSW::solve(real_t p_step) {
 			}
 		}
 	}
-} // SliderJointSW::solveConstraint()
-
-//-----------------------------------------------------------------------------
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::calculateTransforms() {
+void GodotSliderJoint3D::calculateTransforms() {
 	m_calculatedTransformA = A->get_transform() * m_frameInA;
 	m_calculatedTransformB = B->get_transform() * m_frameInB;
 	m_realPivotAInW = m_calculatedTransformA.origin;
@@ -305,11 +303,11 @@ void SliderJoint3DSW::calculateTransforms() {
 		normalWorld = m_calculatedTransformA.basis.get_axis(i);
 		m_depth[i] = m_delta.dot(normalWorld);
 	}
-} // SliderJointSW::calculateTransforms()
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::testLinLimits() {
+void GodotSliderJoint3D::testLinLimits() {
 	m_solveLinLim = false;
 	m_linPos = m_depth[0];
 	if (m_lowerLinLimit <= m_upperLinLimit) {
@@ -325,11 +323,11 @@ void SliderJoint3DSW::testLinLimits() {
 	} else {
 		m_depth[0] = real_t(0.);
 	}
-} // SliderJointSW::testLinLimits()
+}
 
 //-----------------------------------------------------------------------------
 
-void SliderJoint3DSW::testAngLimits() {
+void GodotSliderJoint3D::testAngLimits() {
 	m_angDepth = real_t(0.);
 	m_solveAngLim = false;
 	if (m_lowerAngLimit <= m_upperAngLimit) {
@@ -345,26 +343,26 @@ void SliderJoint3DSW::testAngLimits() {
 			m_solveAngLim = true;
 		}
 	}
-} // SliderJointSW::testAngLimits()
+}
 
 //-----------------------------------------------------------------------------
 
-Vector3 SliderJoint3DSW::getAncorInA() {
+Vector3 GodotSliderJoint3D::getAncorInA() {
 	Vector3 ancorInA;
 	ancorInA = m_realPivotAInW + (m_lowerLinLimit + m_upperLinLimit) * real_t(0.5) * m_sliderAxis;
 	ancorInA = A->get_transform().inverse().xform(ancorInA);
 	return ancorInA;
-} // SliderJointSW::getAncorInA()
+}
 
 //-----------------------------------------------------------------------------
 
-Vector3 SliderJoint3DSW::getAncorInB() {
+Vector3 GodotSliderJoint3D::getAncorInB() {
 	Vector3 ancorInB;
 	ancorInB = m_frameInB.origin;
 	return ancorInB;
-} // SliderJointSW::getAncorInB();
+}
 
-void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
+void GodotSliderJoint3D::set_param(PhysicsServer3D::SliderJointParam p_param, real_t p_value) {
 	switch (p_param) {
 		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
 			m_upperLinLimit = p_value;
@@ -439,7 +437,7 @@ void SliderJoint3DSW::set_param(PhysicsServer3D::SliderJointParam p_param, real_
 	}
 }
 
-real_t SliderJoint3DSW::get_param(PhysicsServer3D::SliderJointParam p_param) const {
+real_t GodotSliderJoint3D::get_param(PhysicsServer3D::SliderJointParam p_param) const {
 	switch (p_param) {
 		case PhysicsServer3D::SLIDER_JOINT_LINEAR_LIMIT_UPPER:
 			return m_upperLinLimit;

servers/physics_3d/joints/slider_joint_3d_sw.h → servers/physics_3d/joints/godot_slider_joint_3d.h

@@ -1,5 +1,5 @@
 /*************************************************************************/
-/*  slider_joint_3d_sw.h                                                 */
+/*  godot_slider_joint_3d.h                                              */
 /*************************************************************************/
 /*                       This file is part of:                           */
 /*                           GODOT ENGINE                                */
@@ -32,11 +32,11 @@
 Adapted to Godot from the Bullet library.
 */
 
-#ifndef SLIDER_JOINT_SW_H
-#define SLIDER_JOINT_SW_H
+#ifndef GODOT_SLIDER_JOINT_3D_H
+#define GODOT_SLIDER_JOINT_3D_H
 
-#include "servers/physics_3d/joints/jacobian_entry_3d_sw.h"
-#include "servers/physics_3d/joints_3d_sw.h"
+#include "servers/physics_3d/godot_joint_3d.h"
+#include "servers/physics_3d/joints/godot_jacobian_entry_3d.h"
 
 /*
 Bullet Continuous Collision Detection and Physics Library
@@ -65,15 +65,15 @@ April 04, 2008
 
 //-----------------------------------------------------------------------------
 
-class SliderJoint3DSW : public Joint3DSW {
+class GodotSliderJoint3D : public GodotJoint3D {
 protected:
 	union {
 		struct {
-			Body3DSW *A;
-			Body3DSW *B;
+			GodotBody3D *A;
+			GodotBody3D *B;
 		};
 
-		Body3DSW *_arr[2] = { nullptr, nullptr };
+		GodotBody3D *_arr[2] = { nullptr, nullptr };
 	};
 
 	Transform3D m_frameInA;
@@ -114,10 +114,10 @@ protected:
 	bool m_solveLinLim = false;
 	bool m_solveAngLim = false;
 
-	JacobianEntry3DSW m_jacLin[3] = {};
+	GodotJacobianEntry3D m_jacLin[3] = {};
 	real_t m_jacLinDiagABInv[3] = {};
 
-	JacobianEntry3DSW m_jacAng[3] = {};
+	GodotJacobianEntry3D m_jacAng[3] = {};
 
 	real_t m_timeStep = 0.0;
 	Transform3D m_calculatedTransformA;
@@ -149,13 +149,13 @@ protected:
 
 public:
 	// constructors
-	SliderJoint3DSW(Body3DSW *rbA, Body3DSW *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
+	GodotSliderJoint3D(GodotBody3D *rbA, GodotBody3D *rbB, const Transform3D &frameInA, const Transform3D &frameInB);
 	//SliderJointSW();
 	// overrides
 
 	// access
-	const Body3DSW *getRigidBodyA() const { return A; }
-	const Body3DSW *getRigidBodyB() const { return B; }
+	const GodotBody3D *getRigidBodyA() const { return A; }
+	const GodotBody3D *getRigidBodyB() const { return B; }
 	const Transform3D &getCalculatedTransformA() const { return m_calculatedTransformA; }
 	const Transform3D &getCalculatedTransformB() const { return m_calculatedTransformB; }
 	const Transform3D &getFrameOffsetA() const { return m_frameInA; }
@@ -243,4 +243,4 @@ public:
 	virtual PhysicsServer3D::JointType get_type() const override { return PhysicsServer3D::JOINT_TYPE_SLIDER; }
 };
 
-#endif // SLIDER_JOINT_SW_H
+#endif // GODOT_SLIDER_JOINT_3D_H

servers/physics_3d/physics_server_3d_sw.cpp

@@ -1,1748 +0,0 @@
-/*************************************************************************/
-/*  physics_server_3d_sw.cpp                                             */
-/*************************************************************************/
-/*                       This file is part of:                           */
-/*                           GODOT ENGINE                                */
-/*                      https://godotengine.org                          */
-/*************************************************************************/
-/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur.                 */
-/* Copyright (c) 2014-2021 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_server_3d_sw.h"
-
-#include "body_direct_state_3d_sw.h"
-#include "broad_phase_3d_bvh.h"
-#include "core/debugger/engine_debugger.h"
-#include "core/os/os.h"
-#include "joints/cone_twist_joint_3d_sw.h"
-#include "joints/generic_6dof_joint_3d_sw.h"
-#include "joints/hinge_joint_3d_sw.h"
-#include "joints/pin_joint_3d_sw.h"
-#include "joints/slider_joint_3d_sw.h"
-
-#define FLUSH_QUERY_CHECK(m_object) \
-	ERR_FAIL_COND_MSG(m_object->get_space() && flushing_queries, "Can't change this state while flushing queries. Use call_deferred() or set_deferred() to change monitoring state instead.");
-
-RID PhysicsServer3DSW::world_boundary_shape_create() {
-	Shape3DSW *shape = memnew(WorldBoundaryShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::separation_ray_shape_create() {
-	Shape3DSW *shape = memnew(SeparationRayShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::sphere_shape_create() {
-	Shape3DSW *shape = memnew(SphereShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::box_shape_create() {
-	Shape3DSW *shape = memnew(BoxShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::capsule_shape_create() {
-	Shape3DSW *shape = memnew(CapsuleShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::cylinder_shape_create() {
-	Shape3DSW *shape = memnew(CylinderShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::convex_polygon_shape_create() {
-	Shape3DSW *shape = memnew(ConvexPolygonShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::concave_polygon_shape_create() {
-	Shape3DSW *shape = memnew(ConcavePolygonShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::heightmap_shape_create() {
-	Shape3DSW *shape = memnew(HeightMapShape3DSW);
-	RID rid = shape_owner.make_rid(shape);
-	shape->set_self(rid);
-	return rid;
-}
-RID PhysicsServer3DSW::custom_shape_create() {
-	ERR_FAIL_V(RID());
-}
-
-void PhysicsServer3DSW::shape_set_data(RID p_shape, const Variant &p_data) {
-	Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	shape->set_data(p_data);
-};
-
-void PhysicsServer3DSW::shape_set_custom_solver_bias(RID p_shape, real_t p_bias) {
-	Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	shape->set_custom_bias(p_bias);
-}
-
-PhysicsServer3D::ShapeType PhysicsServer3DSW::shape_get_type(RID p_shape) const {
-	const Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, SHAPE_CUSTOM);
-	return shape->get_type();
-};
-
-Variant PhysicsServer3DSW::shape_get_data(RID p_shape) const {
-	const Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, Variant());
-	ERR_FAIL_COND_V(!shape->is_configured(), Variant());
-	return shape->get_data();
-};
-
-void PhysicsServer3DSW::shape_set_margin(RID p_shape, real_t p_margin) {
-}
-
-real_t PhysicsServer3DSW::shape_get_margin(RID p_shape) const {
-	return 0.0;
-}
-
-real_t PhysicsServer3DSW::shape_get_custom_solver_bias(RID p_shape) const {
-	const Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND_V(!shape, 0);
-	return shape->get_custom_bias();
-}
-
-RID PhysicsServer3DSW::space_create() {
-	Space3DSW *space = memnew(Space3DSW);
-	RID id = space_owner.make_rid(space);
-	space->set_self(id);
-	RID area_id = area_create();
-	Area3DSW *area = area_owner.get_or_null(area_id);
-	ERR_FAIL_COND_V(!area, RID());
-	space->set_default_area(area);
-	area->set_space(space);
-	area->set_priority(-1);
-	RID sgb = body_create();
-	body_set_space(sgb, id);
-	body_set_mode(sgb, BODY_MODE_STATIC);
-	space->set_static_global_body(sgb);
-
-	return id;
-};
-
-void PhysicsServer3DSW::space_set_active(RID p_space, bool p_active) {
-	Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-	if (p_active) {
-		active_spaces.insert(space);
-	} else {
-		active_spaces.erase(space);
-	}
-}
-
-bool PhysicsServer3DSW::space_is_active(RID p_space) const {
-	const Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, false);
-
-	return active_spaces.has(space);
-}
-
-void PhysicsServer3DSW::space_set_param(RID p_space, SpaceParameter p_param, real_t p_value) {
-	Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-
-	space->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer3DSW::space_get_param(RID p_space, SpaceParameter p_param) const {
-	const Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, 0);
-	return space->get_param(p_param);
-}
-
-PhysicsDirectSpaceState3D *PhysicsServer3DSW::space_get_direct_state(RID p_space) {
-	Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, nullptr);
-	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync) || space->is_locked(), nullptr, "Space state is inaccessible right now, wait for iteration or physics process notification.");
-
-	return space->get_direct_state();
-}
-
-void PhysicsServer3DSW::space_set_debug_contacts(RID p_space, int p_max_contacts) {
-	Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND(!space);
-	space->set_debug_contacts(p_max_contacts);
-}
-
-Vector<Vector3> PhysicsServer3DSW::space_get_contacts(RID p_space) const {
-	Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, Vector<Vector3>());
-	return space->get_debug_contacts();
-}
-
-int PhysicsServer3DSW::space_get_contact_count(RID p_space) const {
-	Space3DSW *space = space_owner.get_or_null(p_space);
-	ERR_FAIL_COND_V(!space, 0);
-	return space->get_debug_contact_count();
-}
-
-RID PhysicsServer3DSW::area_create() {
-	Area3DSW *area = memnew(Area3DSW);
-	RID rid = area_owner.make_rid(area);
-	area->set_self(rid);
-	return rid;
-};
-
-void PhysicsServer3DSW::area_set_space(RID p_area, RID p_space) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	Space3DSW *space = nullptr;
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (area->get_space() == space) {
-		return; //pointless
-	}
-
-	area->clear_constraints();
-	area->set_space(space);
-};
-
-RID PhysicsServer3DSW::area_get_space(RID p_area) const {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, RID());
-
-	Space3DSW *space = area->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-};
-
-void PhysicsServer3DSW::area_set_space_override_mode(RID p_area, AreaSpaceOverrideMode p_mode) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_space_override_mode(p_mode);
-}
-
-PhysicsServer3D::AreaSpaceOverrideMode PhysicsServer3DSW::area_get_space_override_mode(RID p_area) const {
-	const Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, AREA_SPACE_OVERRIDE_DISABLED);
-
-	return area->get_space_override_mode();
-}
-
-void PhysicsServer3DSW::area_add_shape(RID p_area, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	area->add_shape(shape, p_transform, p_disabled);
-}
-
-void PhysicsServer3DSW::area_set_shape(RID p_area, int p_shape_idx, RID p_shape) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	ERR_FAIL_COND(!shape->is_configured());
-
-	area->set_shape(p_shape_idx, shape);
-}
-
-void PhysicsServer3DSW::area_set_shape_transform(RID p_area, int p_shape_idx, const Transform3D &p_transform) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_shape_transform(p_shape_idx, p_transform);
-}
-
-int PhysicsServer3DSW::area_get_shape_count(RID p_area) const {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, -1);
-
-	return area->get_shape_count();
-}
-
-RID PhysicsServer3DSW::area_get_shape(RID p_area, int p_shape_idx) const {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, RID());
-
-	Shape3DSW *shape = area->get_shape(p_shape_idx);
-	ERR_FAIL_COND_V(!shape, RID());
-
-	return shape->get_self();
-}
-
-Transform3D PhysicsServer3DSW::area_get_shape_transform(RID p_area, int p_shape_idx) const {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Transform3D());
-
-	return area->get_shape_transform(p_shape_idx);
-}
-
-void PhysicsServer3DSW::area_remove_shape(RID p_area, int p_shape_idx) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->remove_shape(p_shape_idx);
-}
-
-void PhysicsServer3DSW::area_clear_shapes(RID p_area) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	while (area->get_shape_count()) {
-		area->remove_shape(0);
-	}
-}
-
-void PhysicsServer3DSW::area_set_shape_disabled(RID p_area, int p_shape_idx, bool p_disabled) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	ERR_FAIL_INDEX(p_shape_idx, area->get_shape_count());
-	FLUSH_QUERY_CHECK(area);
-	area->set_shape_disabled(p_shape_idx, p_disabled);
-}
-
-void PhysicsServer3DSW::area_attach_object_instance_id(RID p_area, ObjectID p_id) {
-	if (space_owner.owns(p_area)) {
-		Space3DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_instance_id(p_id);
-}
-
-ObjectID PhysicsServer3DSW::area_get_object_instance_id(RID p_area) const {
-	if (space_owner.owns(p_area)) {
-		Space3DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, ObjectID());
-	return area->get_instance_id();
-}
-
-void PhysicsServer3DSW::area_set_param(RID p_area, AreaParameter p_param, const Variant &p_value) {
-	if (space_owner.owns(p_area)) {
-		Space3DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_param(p_param, p_value);
-};
-
-void PhysicsServer3DSW::area_set_transform(RID p_area, const Transform3D &p_transform) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	area->set_transform(p_transform);
-};
-
-Variant PhysicsServer3DSW::area_get_param(RID p_area, AreaParameter p_param) const {
-	if (space_owner.owns(p_area)) {
-		Space3DSW *space = space_owner.get_or_null(p_area);
-		p_area = space->get_default_area()->get_self();
-	}
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Variant());
-
-	return area->get_param(p_param);
-};
-
-Transform3D PhysicsServer3DSW::area_get_transform(RID p_area) const {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND_V(!area, Transform3D());
-
-	return area->get_transform();
-};
-
-void PhysicsServer3DSW::area_set_collision_layer(RID p_area, uint32_t p_layer) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_collision_layer(p_layer);
-}
-
-void PhysicsServer3DSW::area_set_collision_mask(RID p_area, uint32_t p_mask) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_collision_mask(p_mask);
-}
-
-void PhysicsServer3DSW::area_set_monitorable(RID p_area, bool p_monitorable) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-	FLUSH_QUERY_CHECK(area);
-
-	area->set_monitorable(p_monitorable);
-}
-
-void PhysicsServer3DSW::area_set_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
-}
-
-void PhysicsServer3DSW::area_set_ray_pickable(RID p_area, bool p_enable) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_ray_pickable(p_enable);
-}
-
-void PhysicsServer3DSW::area_set_area_monitor_callback(RID p_area, Object *p_receiver, const StringName &p_method) {
-	Area3DSW *area = area_owner.get_or_null(p_area);
-	ERR_FAIL_COND(!area);
-
-	area->set_area_monitor_callback(p_receiver ? p_receiver->get_instance_id() : ObjectID(), p_method);
-}
-
-/* BODY API */
-
-RID PhysicsServer3DSW::body_create() {
-	Body3DSW *body = memnew(Body3DSW);
-	RID rid = body_owner.make_rid(body);
-	body->set_self(rid);
-	return rid;
-};
-
-void PhysicsServer3DSW::body_set_space(RID p_body, RID p_space) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	Space3DSW *space = nullptr;
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (body->get_space() == space) {
-		return; //pointless
-	}
-
-	body->clear_constraint_map();
-	body->set_space(space);
-};
-
-RID PhysicsServer3DSW::body_get_space(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, RID());
-
-	Space3DSW *space = body->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-};
-
-void PhysicsServer3DSW::body_set_mode(RID p_body, BodyMode p_mode) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_mode(p_mode);
-};
-
-PhysicsServer3D::BodyMode PhysicsServer3DSW::body_get_mode(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, BODY_MODE_STATIC);
-
-	return body->get_mode();
-};
-
-void PhysicsServer3DSW::body_add_shape(RID p_body, RID p_shape, const Transform3D &p_transform, bool p_disabled) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-
-	body->add_shape(shape, p_transform, p_disabled);
-}
-
-void PhysicsServer3DSW::body_set_shape(RID p_body, int p_shape_idx, RID p_shape) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	Shape3DSW *shape = shape_owner.get_or_null(p_shape);
-	ERR_FAIL_COND(!shape);
-	ERR_FAIL_COND(!shape->is_configured());
-
-	body->set_shape(p_shape_idx, shape);
-}
-void PhysicsServer3DSW::body_set_shape_transform(RID p_body, int p_shape_idx, const Transform3D &p_transform) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_shape_transform(p_shape_idx, p_transform);
-}
-
-int PhysicsServer3DSW::body_get_shape_count(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, -1);
-
-	return body->get_shape_count();
-}
-
-RID PhysicsServer3DSW::body_get_shape(RID p_body, int p_shape_idx) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, RID());
-
-	Shape3DSW *shape = body->get_shape(p_shape_idx);
-	ERR_FAIL_COND_V(!shape, RID());
-
-	return shape->get_self();
-}
-
-void PhysicsServer3DSW::body_set_shape_disabled(RID p_body, int p_shape_idx, bool p_disabled) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	ERR_FAIL_INDEX(p_shape_idx, body->get_shape_count());
-	FLUSH_QUERY_CHECK(body);
-
-	body->set_shape_disabled(p_shape_idx, p_disabled);
-}
-
-Transform3D PhysicsServer3DSW::body_get_shape_transform(RID p_body, int p_shape_idx) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Transform3D());
-
-	return body->get_shape_transform(p_shape_idx);
-}
-
-void PhysicsServer3DSW::body_remove_shape(RID p_body, int p_shape_idx) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->remove_shape(p_shape_idx);
-}
-
-void PhysicsServer3DSW::body_clear_shapes(RID p_body) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	while (body->get_shape_count()) {
-		body->remove_shape(0);
-	}
-}
-
-void PhysicsServer3DSW::body_set_enable_continuous_collision_detection(RID p_body, bool p_enable) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_continuous_collision_detection(p_enable);
-}
-
-bool PhysicsServer3DSW::body_is_continuous_collision_detection_enabled(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, false);
-
-	return body->is_continuous_collision_detection_enabled();
-}
-
-void PhysicsServer3DSW::body_set_collision_layer(RID p_body, uint32_t p_layer) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_collision_layer(p_layer);
-	body->wakeup();
-}
-
-uint32_t PhysicsServer3DSW::body_get_collision_layer(RID p_body) const {
-	const Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_layer();
-}
-
-void PhysicsServer3DSW::body_set_collision_mask(RID p_body, uint32_t p_mask) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_collision_mask(p_mask);
-	body->wakeup();
-}
-
-uint32_t PhysicsServer3DSW::body_get_collision_mask(RID p_body) const {
-	const Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_collision_mask();
-}
-
-void PhysicsServer3DSW::body_attach_object_instance_id(RID p_body, ObjectID p_id) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	if (body) {
-		body->set_instance_id(p_id);
-		return;
-	}
-
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	if (soft_body) {
-		soft_body->set_instance_id(p_id);
-		return;
-	}
-
-	ERR_FAIL_MSG("Invalid ID.");
-};
-
-ObjectID PhysicsServer3DSW::body_get_object_instance_id(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, ObjectID());
-
-	return body->get_instance_id();
-};
-
-void PhysicsServer3DSW::body_set_user_flags(RID p_body, uint32_t p_flags) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-};
-
-uint32_t PhysicsServer3DSW::body_get_user_flags(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return 0;
-};
-
-void PhysicsServer3DSW::body_set_param(RID p_body, BodyParameter p_param, const Variant &p_value) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_param(p_param, p_value);
-};
-
-Variant PhysicsServer3DSW::body_get_param(RID p_body, BodyParameter p_param) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-
-	return body->get_param(p_param);
-};
-
-void PhysicsServer3DSW::body_reset_mass_properties(RID p_body) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	return body->reset_mass_properties();
-}
-
-void PhysicsServer3DSW::body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_state(p_state, p_variant);
-};
-
-Variant PhysicsServer3DSW::body_get_state(RID p_body, BodyState p_state) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Variant());
-
-	return body->get_state(p_state);
-};
-
-void PhysicsServer3DSW::body_set_applied_force(RID p_body, const Vector3 &p_force) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_applied_force(p_force);
-	body->wakeup();
-};
-
-Vector3 PhysicsServer3DSW::body_get_applied_force(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Vector3());
-	return body->get_applied_force();
-};
-
-void PhysicsServer3DSW::body_set_applied_torque(RID p_body, const Vector3 &p_torque) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_applied_torque(p_torque);
-	body->wakeup();
-};
-
-Vector3 PhysicsServer3DSW::body_get_applied_torque(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, Vector3());
-
-	return body->get_applied_torque();
-};
-
-void PhysicsServer3DSW::body_add_central_force(RID p_body, const Vector3 &p_force) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_central_force(p_force);
-	body->wakeup();
-}
-
-void PhysicsServer3DSW::body_add_force(RID p_body, const Vector3 &p_force, const Vector3 &p_position) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_force(p_force, p_position);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_add_torque(RID p_body, const Vector3 &p_torque) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_torque(p_torque);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_apply_central_impulse(RID p_body, const Vector3 &p_impulse) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	body->apply_central_impulse(p_impulse);
-	body->wakeup();
-}
-
-void PhysicsServer3DSW::body_apply_impulse(RID p_body, const Vector3 &p_impulse, const Vector3 &p_position) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	body->apply_impulse(p_impulse, p_position);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_apply_torque_impulse(RID p_body, const Vector3 &p_impulse) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	body->apply_torque_impulse(p_impulse);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_set_axis_velocity(RID p_body, const Vector3 &p_axis_velocity) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	_update_shapes();
-
-	Vector3 v = body->get_linear_velocity();
-	Vector3 axis = p_axis_velocity.normalized();
-	v -= axis * axis.dot(v);
-	v += p_axis_velocity;
-	body->set_linear_velocity(v);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_set_axis_lock(RID p_body, BodyAxis p_axis, bool p_lock) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_axis_lock(p_axis, p_lock);
-	body->wakeup();
-}
-
-bool PhysicsServer3DSW::body_is_axis_locked(RID p_body, BodyAxis p_axis) const {
-	const Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-	return body->is_axis_locked(p_axis);
-}
-
-void PhysicsServer3DSW::body_add_collision_exception(RID p_body, RID p_body_b) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->add_exception(p_body_b);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_remove_collision_exception(RID p_body, RID p_body_b) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->remove_exception(p_body_b);
-	body->wakeup();
-};
-
-void PhysicsServer3DSW::body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
-	Body3DSW *body = body_owner.get_or_null(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 PhysicsServer3DSW::body_set_contacts_reported_depth_threshold(RID p_body, real_t p_threshold) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-};
-
-real_t PhysicsServer3DSW::body_get_contacts_reported_depth_threshold(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, 0);
-	return 0;
-};
-
-void PhysicsServer3DSW::body_set_omit_force_integration(RID p_body, bool p_omit) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-
-	body->set_omit_force_integration(p_omit);
-};
-
-bool PhysicsServer3DSW::body_is_omitting_force_integration(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, false);
-	return body->get_omit_force_integration();
-};
-
-void PhysicsServer3DSW::body_set_max_contacts_reported(RID p_body, int p_contacts) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_max_contacts_reported(p_contacts);
-}
-
-int PhysicsServer3DSW::body_get_max_contacts_reported(RID p_body) const {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!body, -1);
-	return body->get_max_contacts_reported();
-}
-
-void PhysicsServer3DSW::body_set_state_sync_callback(RID p_body, void *p_instance, BodyStateCallback p_callback) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_state_sync_callback(p_instance, p_callback);
-}
-
-void PhysicsServer3DSW::body_set_force_integration_callback(RID p_body, const Callable &p_callable, const Variant &p_udata) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_force_integration_callback(p_callable, p_udata);
-}
-
-void PhysicsServer3DSW::body_set_ray_pickable(RID p_body, bool p_enable) {
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!body);
-	body->set_ray_pickable(p_enable);
-}
-
-bool PhysicsServer3DSW::body_test_motion(RID p_body, const MotionParameters &p_parameters, MotionResult *r_result) {
-	Body3DSW *body = body_owner.get_or_null(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);
-
-	_update_shapes();
-
-	return body->get_space()->test_body_motion(body, p_parameters, r_result);
-}
-
-PhysicsDirectBodyState3D *PhysicsServer3DSW::body_get_direct_state(RID p_body) {
-	ERR_FAIL_COND_V_MSG((using_threads && !doing_sync), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
-
-	Body3DSW *body = body_owner.get_or_null(p_body);
-	ERR_FAIL_NULL_V(body, nullptr);
-
-	ERR_FAIL_NULL_V(body->get_space(), nullptr);
-	ERR_FAIL_COND_V_MSG(body->get_space()->is_locked(), nullptr, "Body state is inaccessible right now, wait for iteration or physics process notification.");
-
-	return body->get_direct_state();
-}
-
-/* SOFT BODY */
-
-RID PhysicsServer3DSW::soft_body_create() {
-	SoftBody3DSW *soft_body = memnew(SoftBody3DSW);
-	RID rid = soft_body_owner.make_rid(soft_body);
-	soft_body->set_self(rid);
-	return rid;
-}
-
-void PhysicsServer3DSW::soft_body_update_rendering_server(RID p_body, RenderingServerHandler *p_rendering_server_handler) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->update_rendering_server(p_rendering_server_handler);
-}
-
-void PhysicsServer3DSW::soft_body_set_space(RID p_body, RID p_space) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	Space3DSW *space = nullptr;
-	if (p_space.is_valid()) {
-		space = space_owner.get_or_null(p_space);
-		ERR_FAIL_COND(!space);
-	}
-
-	if (soft_body->get_space() == space) {
-		return;
-	}
-
-	soft_body->set_space(space);
-}
-
-RID PhysicsServer3DSW::soft_body_get_space(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, RID());
-
-	Space3DSW *space = soft_body->get_space();
-	if (!space) {
-		return RID();
-	}
-	return space->get_self();
-}
-
-void PhysicsServer3DSW::soft_body_set_collision_layer(RID p_body, uint32_t p_layer) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_collision_layer(p_layer);
-}
-
-uint32_t PhysicsServer3DSW::soft_body_get_collision_layer(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0);
-
-	return soft_body->get_collision_layer();
-}
-
-void PhysicsServer3DSW::soft_body_set_collision_mask(RID p_body, uint32_t p_mask) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_collision_mask(p_mask);
-}
-
-uint32_t PhysicsServer3DSW::soft_body_get_collision_mask(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0);
-
-	return soft_body->get_collision_mask();
-}
-
-void PhysicsServer3DSW::soft_body_add_collision_exception(RID p_body, RID p_body_b) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->add_exception(p_body_b);
-}
-
-void PhysicsServer3DSW::soft_body_remove_collision_exception(RID p_body, RID p_body_b) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->remove_exception(p_body_b);
-}
-
-void PhysicsServer3DSW::soft_body_get_collision_exceptions(RID p_body, List<RID> *p_exceptions) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	for (int i = 0; i < soft_body->get_exceptions().size(); i++) {
-		p_exceptions->push_back(soft_body->get_exceptions()[i]);
-	}
-}
-
-void PhysicsServer3DSW::soft_body_set_state(RID p_body, BodyState p_state, const Variant &p_variant) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_state(p_state, p_variant);
-}
-
-Variant PhysicsServer3DSW::soft_body_get_state(RID p_body, BodyState p_state) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, Variant());
-
-	return soft_body->get_state(p_state);
-}
-
-void PhysicsServer3DSW::soft_body_set_transform(RID p_body, const Transform3D &p_transform) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_state(BODY_STATE_TRANSFORM, p_transform);
-}
-
-void PhysicsServer3DSW::soft_body_set_ray_pickable(RID p_body, bool p_enable) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_ray_pickable(p_enable);
-}
-
-void PhysicsServer3DSW::soft_body_set_simulation_precision(RID p_body, int p_simulation_precision) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_iteration_count(p_simulation_precision);
-}
-
-int PhysicsServer3DSW::soft_body_get_simulation_precision(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0.f);
-
-	return soft_body->get_iteration_count();
-}
-
-void PhysicsServer3DSW::soft_body_set_total_mass(RID p_body, real_t p_total_mass) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_total_mass(p_total_mass);
-}
-
-real_t PhysicsServer3DSW::soft_body_get_total_mass(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0.f);
-
-	return soft_body->get_total_mass();
-}
-
-void PhysicsServer3DSW::soft_body_set_linear_stiffness(RID p_body, real_t p_stiffness) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_linear_stiffness(p_stiffness);
-}
-
-real_t PhysicsServer3DSW::soft_body_get_linear_stiffness(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0.f);
-
-	return soft_body->get_linear_stiffness();
-}
-
-void PhysicsServer3DSW::soft_body_set_pressure_coefficient(RID p_body, real_t p_pressure_coefficient) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_pressure_coefficient(p_pressure_coefficient);
-}
-
-real_t PhysicsServer3DSW::soft_body_get_pressure_coefficient(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0.f);
-
-	return soft_body->get_pressure_coefficient();
-}
-
-void PhysicsServer3DSW::soft_body_set_damping_coefficient(RID p_body, real_t p_damping_coefficient) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_damping_coefficient(p_damping_coefficient);
-}
-
-real_t PhysicsServer3DSW::soft_body_get_damping_coefficient(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0.f);
-
-	return soft_body->get_damping_coefficient();
-}
-
-void PhysicsServer3DSW::soft_body_set_drag_coefficient(RID p_body, real_t p_drag_coefficient) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_drag_coefficient(p_drag_coefficient);
-}
-
-real_t PhysicsServer3DSW::soft_body_get_drag_coefficient(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, 0.f);
-
-	return soft_body->get_drag_coefficient();
-}
-
-void PhysicsServer3DSW::soft_body_set_mesh(RID p_body, RID p_mesh) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_mesh(p_mesh);
-}
-
-AABB PhysicsServer3DSW::soft_body_get_bounds(RID p_body) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, AABB());
-
-	return soft_body->get_bounds();
-}
-
-void PhysicsServer3DSW::soft_body_move_point(RID p_body, int p_point_index, const Vector3 &p_global_position) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->set_vertex_position(p_point_index, p_global_position);
-}
-
-Vector3 PhysicsServer3DSW::soft_body_get_point_global_position(RID p_body, int p_point_index) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, Vector3());
-
-	return soft_body->get_vertex_position(p_point_index);
-}
-
-void PhysicsServer3DSW::soft_body_remove_all_pinned_points(RID p_body) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	soft_body->unpin_all_vertices();
-}
-
-void PhysicsServer3DSW::soft_body_pin_point(RID p_body, int p_point_index, bool p_pin) {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND(!soft_body);
-
-	if (p_pin) {
-		soft_body->pin_vertex(p_point_index);
-	} else {
-		soft_body->unpin_vertex(p_point_index);
-	}
-}
-
-bool PhysicsServer3DSW::soft_body_is_point_pinned(RID p_body, int p_point_index) const {
-	SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_body);
-	ERR_FAIL_COND_V(!soft_body, false);
-
-	return soft_body->is_vertex_pinned(p_point_index);
-}
-
-/* JOINT API */
-
-RID PhysicsServer3DSW::joint_create() {
-	Joint3DSW *joint = memnew(Joint3DSW);
-	RID rid = joint_owner.make_rid(joint);
-	joint->set_self(rid);
-	return rid;
-}
-
-void PhysicsServer3DSW::joint_clear(RID p_joint) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	if (joint->get_type() != JOINT_TYPE_MAX) {
-		Joint3DSW *empty_joint = memnew(Joint3DSW);
-		empty_joint->copy_settings_from(joint);
-
-		joint_owner.replace(p_joint, empty_joint);
-		memdelete(joint);
-	}
-}
-
-void PhysicsServer3DSW::joint_make_pin(RID p_joint, RID p_body_A, const Vector3 &p_local_A, RID p_body_B, const Vector3 &p_local_B) {
-	Body3DSW *body_A = body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND(!body_A);
-
-	if (!p_body_B.is_valid()) {
-		ERR_FAIL_COND(!body_A->get_space());
-		p_body_B = body_A->get_space()->get_static_global_body();
-	}
-
-	Body3DSW *body_B = body_owner.get_or_null(p_body_B);
-	ERR_FAIL_COND(!body_B);
-
-	ERR_FAIL_COND(body_A == body_B);
-
-	Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint3DSW *joint = memnew(PinJoint3DSW(body_A, p_local_A, body_B, p_local_B));
-
-	joint->copy_settings_from(prev_joint);
-	joint_owner.replace(p_joint, joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer3DSW::pin_joint_set_param(RID p_joint, PinJointParam p_param, real_t p_value) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
-	PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
-	pin_joint->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer3DSW::pin_joint_get_param(RID p_joint, PinJointParam p_param) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, 0);
-	PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
-	return pin_joint->get_param(p_param);
-}
-
-void PhysicsServer3DSW::pin_joint_set_local_a(RID p_joint, const Vector3 &p_A) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
-	PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
-	pin_joint->set_pos_a(p_A);
-}
-
-Vector3 PhysicsServer3DSW::pin_joint_get_local_a(RID p_joint) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, Vector3());
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
-	PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
-	return pin_joint->get_position_a();
-}
-
-void PhysicsServer3DSW::pin_joint_set_local_b(RID p_joint, const Vector3 &p_B) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_PIN);
-	PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
-	pin_joint->set_pos_b(p_B);
-}
-
-Vector3 PhysicsServer3DSW::pin_joint_get_local_b(RID p_joint) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, Vector3());
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_PIN, Vector3());
-	PinJoint3DSW *pin_joint = static_cast<PinJoint3DSW *>(joint);
-	return pin_joint->get_position_b();
-}
-
-void PhysicsServer3DSW::joint_make_hinge(RID p_joint, RID p_body_A, const Transform3D &p_frame_A, RID p_body_B, const Transform3D &p_frame_B) {
-	Body3DSW *body_A = body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND(!body_A);
-
-	if (!p_body_B.is_valid()) {
-		ERR_FAIL_COND(!body_A->get_space());
-		p_body_B = body_A->get_space()->get_static_global_body();
-	}
-
-	Body3DSW *body_B = body_owner.get_or_null(p_body_B);
-	ERR_FAIL_COND(!body_B);
-
-	ERR_FAIL_COND(body_A == body_B);
-
-	Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint3DSW *joint = memnew(HingeJoint3DSW(body_A, body_B, p_frame_A, p_frame_B));
-
-	joint->copy_settings_from(prev_joint);
-	joint_owner.replace(p_joint, joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer3DSW::joint_make_hinge_simple(RID p_joint, 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) {
-	Body3DSW *body_A = body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND(!body_A);
-
-	if (!p_body_B.is_valid()) {
-		ERR_FAIL_COND(!body_A->get_space());
-		p_body_B = body_A->get_space()->get_static_global_body();
-	}
-
-	Body3DSW *body_B = body_owner.get_or_null(p_body_B);
-	ERR_FAIL_COND(!body_B);
-
-	ERR_FAIL_COND(body_A == body_B);
-
-	Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint3DSW *joint = memnew(HingeJoint3DSW(body_A, body_B, p_pivot_A, p_pivot_B, p_axis_A, p_axis_B));
-
-	joint->copy_settings_from(prev_joint);
-	joint_owner.replace(p_joint, joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer3DSW::hinge_joint_set_param(RID p_joint, HingeJointParam p_param, real_t p_value) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
-	HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
-	hinge_joint->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer3DSW::hinge_joint_get_param(RID p_joint, HingeJointParam p_param) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, 0);
-	HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
-	return hinge_joint->get_param(p_param);
-}
-
-void PhysicsServer3DSW::hinge_joint_set_flag(RID p_joint, HingeJointFlag p_flag, bool p_value) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_HINGE);
-	HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
-	hinge_joint->set_flag(p_flag, p_value);
-}
-
-bool PhysicsServer3DSW::hinge_joint_get_flag(RID p_joint, HingeJointFlag p_flag) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, false);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_HINGE, false);
-	HingeJoint3DSW *hinge_joint = static_cast<HingeJoint3DSW *>(joint);
-	return hinge_joint->get_flag(p_flag);
-}
-
-void PhysicsServer3DSW::joint_set_solver_priority(RID p_joint, int p_priority) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	joint->set_priority(p_priority);
-}
-
-int PhysicsServer3DSW::joint_get_solver_priority(RID p_joint) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	return joint->get_priority();
-}
-
-void PhysicsServer3DSW::joint_disable_collisions_between_bodies(RID p_joint, const bool p_disable) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-
-	joint->disable_collisions_between_bodies(p_disable);
-
-	if (2 == joint->get_body_count()) {
-		Body3DSW *body_a = *joint->get_body_ptr();
-		Body3DSW *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 PhysicsServer3DSW::joint_is_disabled_collisions_between_bodies(RID p_joint) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, true);
-
-	return joint->is_disabled_collisions_between_bodies();
-}
-
-PhysicsServer3DSW::JointType PhysicsServer3DSW::joint_get_type(RID p_joint) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, JOINT_TYPE_PIN);
-	return joint->get_type();
-}
-
-void PhysicsServer3DSW::joint_make_slider(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
-	Body3DSW *body_A = body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND(!body_A);
-
-	if (!p_body_B.is_valid()) {
-		ERR_FAIL_COND(!body_A->get_space());
-		p_body_B = body_A->get_space()->get_static_global_body();
-	}
-
-	Body3DSW *body_B = body_owner.get_or_null(p_body_B);
-	ERR_FAIL_COND(!body_B);
-
-	ERR_FAIL_COND(body_A == body_B);
-
-	Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint3DSW *joint = memnew(SliderJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B));
-
-	joint->copy_settings_from(prev_joint);
-	joint_owner.replace(p_joint, joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer3DSW::slider_joint_set_param(RID p_joint, SliderJointParam p_param, real_t p_value) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_SLIDER);
-	SliderJoint3DSW *slider_joint = static_cast<SliderJoint3DSW *>(joint);
-	slider_joint->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer3DSW::slider_joint_get_param(RID p_joint, SliderJointParam p_param) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
-	SliderJoint3DSW *slider_joint = static_cast<SliderJoint3DSW *>(joint);
-	return slider_joint->get_param(p_param);
-}
-
-void PhysicsServer3DSW::joint_make_cone_twist(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
-	Body3DSW *body_A = body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND(!body_A);
-
-	if (!p_body_B.is_valid()) {
-		ERR_FAIL_COND(!body_A->get_space());
-		p_body_B = body_A->get_space()->get_static_global_body();
-	}
-
-	Body3DSW *body_B = body_owner.get_or_null(p_body_B);
-	ERR_FAIL_COND(!body_B);
-
-	ERR_FAIL_COND(body_A == body_B);
-
-	Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint3DSW *joint = memnew(ConeTwistJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B));
-
-	joint->copy_settings_from(prev_joint);
-	joint_owner.replace(p_joint, joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer3DSW::cone_twist_joint_set_param(RID p_joint, ConeTwistJointParam p_param, real_t p_value) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_CONE_TWIST);
-	ConeTwistJoint3DSW *cone_twist_joint = static_cast<ConeTwistJoint3DSW *>(joint);
-	cone_twist_joint->set_param(p_param, p_value);
-}
-
-real_t PhysicsServer3DSW::cone_twist_joint_get_param(RID p_joint, ConeTwistJointParam p_param) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_CONE_TWIST, 0);
-	ConeTwistJoint3DSW *cone_twist_joint = static_cast<ConeTwistJoint3DSW *>(joint);
-	return cone_twist_joint->get_param(p_param);
-}
-
-void PhysicsServer3DSW::joint_make_generic_6dof(RID p_joint, RID p_body_A, const Transform3D &p_local_frame_A, RID p_body_B, const Transform3D &p_local_frame_B) {
-	Body3DSW *body_A = body_owner.get_or_null(p_body_A);
-	ERR_FAIL_COND(!body_A);
-
-	if (!p_body_B.is_valid()) {
-		ERR_FAIL_COND(!body_A->get_space());
-		p_body_B = body_A->get_space()->get_static_global_body();
-	}
-
-	Body3DSW *body_B = body_owner.get_or_null(p_body_B);
-	ERR_FAIL_COND(!body_B);
-
-	ERR_FAIL_COND(body_A == body_B);
-
-	Joint3DSW *prev_joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(prev_joint == nullptr);
-
-	Joint3DSW *joint = memnew(Generic6DOFJoint3DSW(body_A, body_B, p_local_frame_A, p_local_frame_B, true));
-
-	joint->copy_settings_from(prev_joint);
-	joint_owner.replace(p_joint, joint);
-	memdelete(prev_joint);
-}
-
-void PhysicsServer3DSW::generic_6dof_joint_set_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param, real_t p_value) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
-	Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
-	generic_6dof_joint->set_param(p_axis, p_param, p_value);
-}
-
-real_t PhysicsServer3DSW::generic_6dof_joint_get_param(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisParam p_param) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, 0);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, 0);
-	Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
-	return generic_6dof_joint->get_param(p_axis, p_param);
-}
-
-void PhysicsServer3DSW::generic_6dof_joint_set_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag, bool p_enable) {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND(!joint);
-	ERR_FAIL_COND(joint->get_type() != JOINT_TYPE_6DOF);
-	Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
-	generic_6dof_joint->set_flag(p_axis, p_flag, p_enable);
-}
-
-bool PhysicsServer3DSW::generic_6dof_joint_get_flag(RID p_joint, Vector3::Axis p_axis, G6DOFJointAxisFlag p_flag) const {
-	Joint3DSW *joint = joint_owner.get_or_null(p_joint);
-	ERR_FAIL_COND_V(!joint, false);
-	ERR_FAIL_COND_V(joint->get_type() != JOINT_TYPE_6DOF, false);
-	Generic6DOFJoint3DSW *generic_6dof_joint = static_cast<Generic6DOFJoint3DSW *>(joint);
-	return generic_6dof_joint->get_flag(p_axis, p_flag);
-}
-
-void PhysicsServer3DSW::free(RID p_rid) {
-	_update_shapes(); //just in case
-
-	if (shape_owner.owns(p_rid)) {
-		Shape3DSW *shape = shape_owner.get_or_null(p_rid);
-
-		while (shape->get_owners().size()) {
-			ShapeOwner3DSW *so = shape->get_owners().front()->key();
-			so->remove_shape(shape);
-		}
-
-		shape_owner.free(p_rid);
-		memdelete(shape);
-	} else if (body_owner.owns(p_rid)) {
-		Body3DSW *body = body_owner.get_or_null(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(nullptr);
-
-		while (body->get_shape_count()) {
-			body->remove_shape(0);
-		}
-
-		body_owner.free(p_rid);
-		memdelete(body);
-	} else if (soft_body_owner.owns(p_rid)) {
-		SoftBody3DSW *soft_body = soft_body_owner.get_or_null(p_rid);
-
-		soft_body->set_space(nullptr);
-
-		soft_body_owner.free(p_rid);
-		memdelete(soft_body);
-	} else if (area_owner.owns(p_rid)) {
-		Area3DSW *area = area_owner.get_or_null(p_rid);
-
-		/*
-		if (area->get_monitor_query())
-			_clear_query(area->get_monitor_query());
-		*/
-
-		area->set_space(nullptr);
-
-		while (area->get_shape_count()) {
-			area->remove_shape(0);
-		}
-
-		area_owner.free(p_rid);
-		memdelete(area);
-	} else if (space_owner.owns(p_rid)) {
-		Space3DSW *space = space_owner.get_or_null(p_rid);
-
-		while (space->get_objects().size()) {
-			CollisionObject3DSW *co = (CollisionObject3DSW *)space->get_objects().front()->get();
-			co->set_space(nullptr);
-		}
-
-		active_spaces.erase(space);
-		free(space->get_default_area()->get_self());
-		free(space->get_static_global_body());
-
-		space_owner.free(p_rid);
-		memdelete(space);
-	} else if (joint_owner.owns(p_rid)) {
-		Joint3DSW *joint = joint_owner.get_or_null(p_rid);
-
-		joint_owner.free(p_rid);
-		memdelete(joint);
-
-	} else {
-		ERR_FAIL_MSG("Invalid ID.");
-	}
-};
-
-void PhysicsServer3DSW::set_active(bool p_active) {
-	active = p_active;
-};
-
-void PhysicsServer3DSW::set_collision_iterations(int p_iterations) {
-	iterations = p_iterations;
-};
-
-void PhysicsServer3DSW::init() {
-	iterations = 8; // 8?
-	stepper = memnew(Step3DSW);
-};
-
-void PhysicsServer3DSW::step(real_t p_step) {
-#ifndef _3D_DISABLED
-
-	if (!active) {
-		return;
-	}
-
-	_update_shapes();
-
-	island_count = 0;
-	active_objects = 0;
-	collision_pairs = 0;
-	for (Set<const Space3DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
-		stepper->step((Space3DSW *)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();
-	}
-#endif
-}
-
-void PhysicsServer3DSW::sync() {
-	doing_sync = true;
-};
-
-void PhysicsServer3DSW::flush_queries() {
-#ifndef _3D_DISABLED
-
-	if (!active) {
-		return;
-	}
-
-	flushing_queries = true;
-
-	uint64_t time_beg = OS::get_singleton()->get_ticks_usec();
-
-	for (Set<const Space3DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
-		Space3DSW *space = (Space3DSW *)E->get();
-		space->call_queries();
-	}
-
-	flushing_queries = false;
-
-	if (EngineDebugger::is_profiling("servers")) {
-		uint64_t total_time[Space3DSW::ELAPSED_TIME_MAX];
-		static const char *time_name[Space3DSW::ELAPSED_TIME_MAX] = {
-			"integrate_forces",
-			"generate_islands",
-			"setup_constraints",
-			"solve_constraints",
-			"integrate_velocities"
-		};
-
-		for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) {
-			total_time[i] = 0;
-		}
-
-		for (Set<const Space3DSW *>::Element *E = active_spaces.front(); E; E = E->next()) {
-			for (int i = 0; i < Space3DSW::ELAPSED_TIME_MAX; i++) {
-				total_time[i] += E->get()->get_elapsed_time(Space3DSW::ElapsedTime(i));
-			}
-		}
-
-		Array values;
-		values.resize(Space3DSW::ELAPSED_TIME_MAX * 2);
-		for (int i = 0; i < Space3DSW::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));
-
-		values.push_front("physics");
-		EngineDebugger::profiler_add_frame_data("servers", values);
-	}
-#endif
-};
-
-void PhysicsServer3DSW::end_sync() {
-	doing_sync = false;
-};
-
-void PhysicsServer3DSW::finish() {
-	memdelete(stepper);
-};
-
-int PhysicsServer3DSW::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;
-}
-
-void PhysicsServer3DSW::_update_shapes() {
-	while (pending_shape_update_list.first()) {
-		pending_shape_update_list.first()->self()->_shape_changed();
-		pending_shape_update_list.remove(pending_shape_update_list.first());
-	}
-}
-
-void PhysicsServer3DSW::_shape_col_cbk(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata) {
-	CollCbkData *cbk = (CollCbkData *)p_userdata;
-
-	if (cbk->max == 0) {
-		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++;
-	}
-}
-
-PhysicsServer3DSW *PhysicsServer3DSW::singletonsw = nullptr;
-PhysicsServer3DSW::PhysicsServer3DSW(bool p_using_threads) {
-	singletonsw = this;
-	BroadPhase3DSW::create_func = BroadPhase3DBVH::_create;
-
-	using_threads = p_using_threads;
-};

servers/physics_server_2d.h

@@ -28,8 +28,8 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef PHYSICS_2D_SERVER_H
-#define PHYSICS_2D_SERVER_H
+#ifndef PHYSICS_SERVER_2D_H
+#define PHYSICS_SERVER_2D_H
 
 #include "core/io/resource.h"
 #include "core/object/class_db.h"
@@ -701,4 +701,4 @@ VARIANT_ENUM_CAST(PhysicsServer2D::DampedSpringParam);
 VARIANT_ENUM_CAST(PhysicsServer2D::AreaBodyStatus);
 VARIANT_ENUM_CAST(PhysicsServer2D::ProcessInfo);
 
-#endif
+#endif // PHYSICS_SERVER_2D_H

servers/physics_2d/physics_server_2d_wrap_mt.h → servers/physics_server_2d_wrap_mt.h

@@ -28,8 +28,8 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef PHYSICS2DSERVERWRAPMT_H
-#define PHYSICS2DSERVERWRAPMT_H
+#ifndef PHYSICS_SERVER_2D_WRAP_MT_H
+#define PHYSICS_SERVER_2D_WRAP_MT_H
 
 #include "core/config/project_settings.h"
 #include "core/os/thread.h"
@@ -330,4 +330,4 @@ public:
 #endif
 #undef SYNC_DEBUG
 
-#endif // PHYSICS2DSERVERWRAPMT_H
+#endif // PHYSICS_SERVER_2D_WRAP_MT_H

servers/physics_server_3d.h

@@ -28,8 +28,8 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef PHYSICS_SERVER_H
-#define PHYSICS_SERVER_H
+#ifndef PHYSICS_SERVER_3D_H
+#define PHYSICS_SERVER_3D_H
 
 #include "core/io/resource.h"
 #include "core/object/class_db.h"
@@ -903,4 +903,4 @@ VARIANT_ENUM_CAST(PhysicsServer3D::G6DOFJointAxisFlag);
 VARIANT_ENUM_CAST(PhysicsServer3D::AreaBodyStatus);
 VARIANT_ENUM_CAST(PhysicsServer3D::ProcessInfo);
 
-#endif
+#endif // PHYSICS_SERVER_3D_H

servers/physics_3d/physics_server_3d_wrap_mt.h → servers/physics_server_3d_wrap_mt.h

@@ -28,8 +28,8 @@
 /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                */
 /*************************************************************************/
 
-#ifndef PHYSICS3DSERVERWRAPMT_H
-#define PHYSICS3DSERVERWRAPMT_H
+#ifndef PHYSICS_SERVER_3D_WRAP_MT_H
+#define PHYSICS_SERVER_3D_WRAP_MT_H
 
 #include "core/config/project_settings.h"
 #include "core/os/thread.h"
@@ -406,4 +406,4 @@ public:
 #endif
 #undef SYNC_DEBUG
 
-#endif // PHYSICS3DSERVERWRAPMT_H
+#endif // PHYSICS_SERVER_3D_WRAP_MT_H

servers/register_server_types.cpp

@@ -59,12 +59,12 @@
 #include "display_server.h"
 #include "navigation_server_2d.h"
 #include "navigation_server_3d.h"
-#include "physics_2d/physics_server_2d_sw.h"
-#include "physics_2d/physics_server_2d_wrap_mt.h"
-#include "physics_3d/physics_server_3d_sw.h"
-#include "physics_3d/physics_server_3d_wrap_mt.h"
+#include "physics_2d/godot_physics_server_2d.h"
+#include "physics_3d/godot_physics_server_3d.h"
 #include "physics_server_2d.h"
+#include "physics_server_2d_wrap_mt.h"
 #include "physics_server_3d.h"
+#include "physics_server_3d_wrap_mt.h"
 #include "rendering/renderer_compositor.h"
 #include "rendering/rendering_device.h"
 #include "rendering/rendering_device_binds.h"
@@ -82,7 +82,7 @@ ShaderTypes *shader_types = nullptr;
 PhysicsServer3D *_createGodotPhysics3DCallback() {
 	bool using_threads = GLOBAL_GET("physics/3d/run_on_thread");
 
-	PhysicsServer3D *physics_server = memnew(PhysicsServer3DSW(using_threads));
+	PhysicsServer3D *physics_server = memnew(GodotPhysicsServer3D(using_threads));
 
 	return memnew(PhysicsServer3DWrapMT(physics_server, using_threads));
 }
@@ -90,7 +90,7 @@ PhysicsServer3D *_createGodotPhysics3DCallback() {
 PhysicsServer2D *_createGodotPhysics2DCallback() {
 	bool using_threads = GLOBAL_GET("physics/2d/run_on_thread");
 
-	PhysicsServer2D *physics_server = memnew(PhysicsServer2DSW(using_threads));
+	PhysicsServer2D *physics_server = memnew(GodotPhysicsServer2D(using_threads));
 
 	return memnew(PhysicsServer2DWrapMT(physics_server, using_threads));
 }