96 lines
3.7 KiB
C++
96 lines
3.7 KiB
C++
/*************************************************************************/
|
|
/* body_pair_2d_sw.h */
|
|
/*************************************************************************/
|
|
/* This file is part of: */
|
|
/* GODOT ENGINE */
|
|
/* https://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_2D_SW_H
|
|
#define BODY_PAIR_2D_SW_H
|
|
|
|
#include "body_2d_sw.h"
|
|
#include "constraint_2d_sw.h"
|
|
|
|
class BodyPair2DSW : public Constraint2DSW {
|
|
|
|
enum {
|
|
MAX_CONTACTS = 2
|
|
};
|
|
union {
|
|
struct {
|
|
Body2DSW *A;
|
|
Body2DSW *B;
|
|
};
|
|
|
|
Body2DSW *_arr[2];
|
|
};
|
|
|
|
int shape_A;
|
|
int shape_B;
|
|
|
|
Space2DSW *space;
|
|
|
|
struct Contact {
|
|
|
|
Vector2 position;
|
|
Vector2 normal;
|
|
Vector2 local_A, local_B;
|
|
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
|
|
real_t acc_tangent_impulse; // accumulated tangent impulse (Pt)
|
|
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
|
|
real_t mass_normal, mass_tangent;
|
|
real_t bias;
|
|
|
|
real_t depth;
|
|
bool active;
|
|
Vector2 rA, rB;
|
|
bool reused;
|
|
real_t bounce;
|
|
};
|
|
|
|
Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection
|
|
|
|
Vector2 sep_axis;
|
|
Contact contacts[MAX_CONTACTS];
|
|
int contact_count;
|
|
bool collided;
|
|
bool oneway_disabled;
|
|
int cc;
|
|
|
|
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);
|
|
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);
|
|
|
|
public:
|
|
bool setup(real_t p_step);
|
|
void solve(real_t p_step);
|
|
|
|
BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B);
|
|
~BodyPair2DSW();
|
|
};
|
|
|
|
#endif // BODY_PAIR_2D_SW_H
|