1426cd3b3a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see". Backported from #70885.
95 lines
3.7 KiB
C++
95 lines
3.7 KiB
C++
/**************************************************************************/
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/* body_pair_2d_sw.h */
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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) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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#ifndef BODY_PAIR_2D_SW_H
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#define BODY_PAIR_2D_SW_H
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#include "body_2d_sw.h"
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#include "constraint_2d_sw.h"
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class BodyPair2DSW : public Constraint2DSW {
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enum {
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MAX_CONTACTS = 2
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};
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union {
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struct {
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Body2DSW *A;
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Body2DSW *B;
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};
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Body2DSW *_arr[2];
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};
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int shape_A;
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int shape_B;
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Space2DSW *space;
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struct Contact {
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Vector2 position;
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Vector2 normal;
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Vector2 local_A, local_B;
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real_t acc_normal_impulse; // accumulated normal impulse (Pn)
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real_t acc_tangent_impulse; // accumulated tangent impulse (Pt)
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real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
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real_t mass_normal, mass_tangent;
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real_t bias;
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real_t depth;
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bool active;
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Vector2 rA, rB;
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bool reused;
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real_t bounce;
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};
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Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection
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Vector2 sep_axis;
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Contact contacts[MAX_CONTACTS];
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int contact_count;
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bool collided;
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bool oneway_disabled;
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int cc;
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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);
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void _validate_contacts();
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static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self);
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_FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B);
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public:
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bool setup(real_t p_step);
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void solve(real_t p_step);
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BodyPair2DSW(Body2DSW *p_A, int p_shape_A, Body2DSW *p_B, int p_shape_B);
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~BodyPair2DSW();
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};
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#endif // BODY_PAIR_2D_SW_H
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