98 lines
3.7 KiB
C++
98 lines
3.7 KiB
C++
/*************************************************************************/
|
|
/* body_pair_sw.h */
|
|
/*************************************************************************/
|
|
/* 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. */
|
|
/*************************************************************************/
|
|
|
|
#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 acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
|
|
real_t mass_normal;
|
|
real_t bias;
|
|
real_t bounce;
|
|
|
|
real_t depth;
|
|
bool active;
|
|
Vector3 rA, rB; // Offset in world orientation with respect to center of mass
|
|
};
|
|
|
|
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;
|
|
|
|
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(real_t 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(real_t p_step);
|
|
void solve(real_t p_step);
|
|
|
|
BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B);
|
|
~BodyPairSW();
|
|
};
|
|
|
|
#endif // BODY_PAIR__SW_H
|