30a608b7b9
For 2D: Raycast CCD now works the same as in 3D, it changes the body's velocity to place it at the impact position instead of generating a contact point that causes a wrong push back. For both 2D and 3D: The raycast CCD process reads and modifies body velocities, so it needs to be moved to pre_solve() instead of setup() to be processed linearly on the main thread, otherwise multithreading can cause some CCD results to be randomly lost when multiple collisions occur.
101 lines
4.1 KiB
C++
101 lines
4.1 KiB
C++
/*************************************************************************/
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/* godot_body_pair_2d.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) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 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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#ifndef GODOT_BODY_PAIR_2D_H
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#define GODOT_BODY_PAIR_2D_H
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#include "godot_body_2d.h"
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#include "godot_constraint_2d.h"
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class GodotBodyPair2D : public GodotConstraint2D {
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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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GodotBody2D *A;
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GodotBody2D *B;
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};
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GodotBody2D *_arr[2] = { nullptr, nullptr };
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};
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int shape_A = 0;
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int shape_B = 0;
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bool collide_A = false;
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bool collide_B = false;
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GodotSpace2D *space = nullptr;
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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 = 0.0; // accumulated normal impulse (Pn)
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real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt)
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real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
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real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
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real_t mass_normal, mass_tangent = 0.0;
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real_t bias = 0.0;
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real_t depth = 0.0;
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bool active = false;
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bool used = false;
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Vector2 rA, rB;
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real_t bounce = 0.0;
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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 = 0;
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bool collided = false;
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bool check_ccd = false;
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bool oneway_disabled = false;
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bool report_contacts_only = false;
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bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B);
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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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virtual bool setup(real_t p_step) override;
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virtual bool pre_solve(real_t p_step) override;
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virtual void solve(real_t p_step) override;
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GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B);
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~GodotBodyPair2D();
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};
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#endif // GODOT_BODY_PAIR_2D_H
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