295 lines
10 KiB
C++
295 lines
10 KiB
C++
/*************************************************************************/
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/* collision_solver_2d_sw.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "collision_solver_2d_sw.h"
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#include "collision_solver_2d_sat.h"
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#define collision_solver sat_2d_calculate_penetration
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//#define collision_solver gjk_epa_calculate_penetration
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bool CollisionSolver2DSW::solve_static_line(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) {
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const LineShape2DSW *line = static_cast<const LineShape2DSW *>(p_shape_A);
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if (p_shape_B->get_type() == Physics2DServer::SHAPE_LINE)
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return false;
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Vector2 n = p_transform_A.basis_xform(line->get_normal()).normalized();
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Vector2 p = p_transform_A.xform(line->get_normal() * line->get_d());
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real_t d = n.dot(p);
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Vector2 supports[2];
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int support_count;
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p_shape_B->get_supports(p_transform_A.affine_inverse().basis_xform(-n).normalized(), supports, support_count);
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bool found = false;
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for (int i = 0; i < support_count; i++) {
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supports[i] = p_transform_B.xform(supports[i]);
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real_t pd = n.dot(supports[i]);
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if (pd >= d)
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continue;
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found = true;
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Vector2 support_A = supports[i] - n * (pd - d);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(supports[i], support_A, p_userdata);
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else
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p_result_callback(support_A, supports[i], p_userdata);
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}
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}
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return found;
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}
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bool CollisionSolver2DSW::solve_raycast(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, Vector2 *sep_axis) {
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const RayShape2DSW *ray = static_cast<const RayShape2DSW *>(p_shape_A);
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if (p_shape_B->get_type() == Physics2DServer::SHAPE_RAY)
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return false;
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Vector2 from = p_transform_A.get_origin();
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Vector2 to = from + p_transform_A[1] * ray->get_length();
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Vector2 support_A = to;
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Transform2D invb = p_transform_B.affine_inverse();
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from = invb.xform(from);
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to = invb.xform(to);
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Vector2 p, n;
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if (!p_shape_B->intersect_segment(from, to, p, n)) {
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if (sep_axis)
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*sep_axis = p_transform_A[1].normalized();
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return false;
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}
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Vector2 support_B = p_transform_B.xform(p);
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if (ray->get_slips_on_slope()) {
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Vector2 global_n = invb.basis_xform_inv(n).normalized();
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support_B = support_A + (support_B - support_A).length() * global_n;
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}
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(support_B, support_A, p_userdata);
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else
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p_result_callback(support_A, support_B, p_userdata);
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}
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return true;
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}
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/*
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bool CollisionSolver2DSW::solve_ray(const Shape2DSW *p_shape_A,const Matrix32& p_transform_A,const Shape2DSW *p_shape_B,const Matrix32& p_transform_B,const Matrix32& p_inverse_B,CallbackResult p_result_callback,void *p_userdata,bool p_swap_result) {
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const RayShape2DSW *ray = static_cast<const RayShape2DSW*>(p_shape_A);
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Vector2 from = p_transform_A.origin;
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Vector2 to = from+p_transform_A.basis.get_axis(2)*ray->get_length();
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Vector2 support_A=to;
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from = p_inverse_B.xform(from);
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to = p_inverse_B.xform(to);
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Vector2 p,n;
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if (!p_shape_B->intersect_segment(from,to,&p,&n))
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return false;
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Vector2 support_B=p_transform_B.xform(p);
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if (p_result_callback) {
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if (p_swap_result)
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p_result_callback(support_B,support_A,p_userdata);
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else
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p_result_callback(support_A,support_B,p_userdata);
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}
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return true;
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}
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*/
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struct _ConcaveCollisionInfo2D {
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const Transform2D *transform_A;
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const Shape2DSW *shape_A;
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const Transform2D *transform_B;
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Vector2 motion_A;
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Vector2 motion_B;
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real_t margin_A;
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real_t margin_B;
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CollisionSolver2DSW::CallbackResult result_callback;
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void *userdata;
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bool swap_result;
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bool collided;
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int aabb_tests;
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int collisions;
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Vector2 *sep_axis;
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};
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void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
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_ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata);
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cinfo.aabb_tests++;
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if (!cinfo.result_callback && cinfo.collided)
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return; //already collided and no contacts requested, don't test anymore
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bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex, *cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, cinfo.sep_axis, cinfo.margin_A, cinfo.margin_B);
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if (!collided)
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return;
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cinfo.collided = true;
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cinfo.collisions++;
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}
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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 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
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const ConcaveShape2DSW *concave_B = static_cast<const ConcaveShape2DSW *>(p_shape_B);
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_ConcaveCollisionInfo2D cinfo;
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cinfo.transform_A = &p_transform_A;
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cinfo.shape_A = p_shape_A;
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cinfo.transform_B = &p_transform_B;
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cinfo.motion_A = p_motion_A;
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cinfo.result_callback = p_result_callback;
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cinfo.userdata = p_userdata;
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cinfo.swap_result = p_swap_result;
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cinfo.collided = false;
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cinfo.collisions = 0;
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cinfo.sep_axis = sep_axis;
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cinfo.margin_A = p_margin_A;
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cinfo.margin_B = p_margin_B;
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cinfo.aabb_tests = 0;
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Transform2D rel_transform = p_transform_A;
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rel_transform.elements[2] -= p_transform_B.get_origin();
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//quickly compute a local Rect2
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Rect2 local_aabb;
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for (int i = 0; i < 2; i++) {
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Vector2 axis(p_transform_B.elements[i]);
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real_t axis_scale = 1.0 / axis.length();
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axis *= axis_scale;
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real_t smin, smax;
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p_shape_A->project_rangev(axis, rel_transform, smin, smax);
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smin *= axis_scale;
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smax *= axis_scale;
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local_aabb.position[i] = smin;
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local_aabb.size[i] = smax - smin;
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}
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concave_B->cull(local_aabb, concave_callback, &cinfo);
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//print_line("Rect2 TESTS: "+itos(cinfo.aabb_tests));
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return cinfo.collided;
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}
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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 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
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Physics2DServer::ShapeType type_A = p_shape_A->get_type();
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Physics2DServer::ShapeType type_B = p_shape_B->get_type();
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bool concave_A = p_shape_A->is_concave();
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bool concave_B = p_shape_B->is_concave();
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real_t margin_A = p_margin_A, margin_B = p_margin_B;
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bool swap = false;
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if (type_A > type_B) {
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SWAP(type_A, type_B);
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SWAP(concave_A, concave_B);
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SWAP(margin_A, margin_B);
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swap = true;
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}
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if (type_A == Physics2DServer::SHAPE_LINE) {
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if (type_B == Physics2DServer::SHAPE_LINE || type_B == Physics2DServer::SHAPE_RAY) {
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return false;
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}
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/*
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if (type_B==Physics2DServer::SHAPE_RAY) {
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return false;
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*/
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if (swap) {
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return solve_static_line(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
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} else {
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return solve_static_line(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
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}
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/*} else if (type_A==Physics2DServer::SHAPE_RAY) {
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if (type_B==Physics2DServer::SHAPE_RAY)
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return false;
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if (swap) {
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return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_inverse_A,p_result_callback,p_userdata,true);
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} else {
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return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_inverse_B,p_result_callback,p_userdata,false);
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}
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*/
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} else if (type_A == Physics2DServer::SHAPE_RAY) {
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if (type_B == Physics2DServer::SHAPE_RAY) {
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return false; //no ray-ray
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}
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if (swap) {
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return solve_raycast(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
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} else {
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return solve_raycast(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
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}
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} else if (concave_B) {
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if (concave_A)
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return false;
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if (!swap)
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return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
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else
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return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, sep_axis, margin_A, margin_B);
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} else {
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return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
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}
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return false;
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}
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