/*************************************************************************/ /* body_pair_sw.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* http://www.godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2017 Godot Engine contributors (cf. AUTHORS.md) */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ /* "Software"), to deal in the Software without restriction, including */ /* without limitation the rights to use, copy, modify, merge, publish, */ /* distribute, sublicense, and/or sell copies of the Software, and to */ /* permit persons to whom the Software is furnished to do so, subject to */ /* the following conditions: */ /* */ /* The above copyright notice and this permission notice shall be */ /* included in all copies or substantial portions of the Software. */ /* */ /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ /*************************************************************************/ #ifndef BODY_PAIR_SW_H #define BODY_PAIR_SW_H #include "body_sw.h" #include "constraint_sw.h" class BodyPairSW : public ConstraintSW { enum { MAX_CONTACTS = 4 }; union { struct { BodySW *A; BodySW *B; }; BodySW *_arr[2]; }; int shape_A; int shape_B; struct Contact { Vector3 position; Vector3 normal; Vector3 local_A, local_B; real_t acc_normal_impulse; // accumulated normal impulse (Pn) Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt) real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb) real_t mass_normal; real_t bias; real_t bounce; real_t depth; bool active; Vector3 rA, rB; }; Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection Vector3 sep_axis; Contact contacts[MAX_CONTACTS]; int contact_count; bool collided; int cc; static void _contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata); void contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B); void validate_contacts(); bool _test_ccd(float p_step, BodySW *p_A, int p_shape_A, const Transform &p_xform_A, BodySW *p_B, int p_shape_B, const Transform &p_xform_B); SpaceSW *space; public: bool setup(float p_step); void solve(float p_step); virtual void shift_shape_indices(const CollisionObjectSW *p_object, int p_removed_index); BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B); ~BodyPairSW(); }; #endif // BODY_PAIR__SW_H