virtualx-engine/servers/physics_2d/body_pair_2d_sw.h

/*************************************************************************/
/*  body_pair_2d_sw.h                                                    */
/*************************************************************************/
/*                       This file is part of:                           */
/*                           GODOT ENGINE                                */
/*                    http://www.godotengine.org                         */
/*************************************************************************/
/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur.                 */
/*                                                                       */
/* 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