/*************************************************************************/ /* godot_body_pair_3d.h */ /*************************************************************************/ /* This file is part of: */ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ /* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ /* Copyright (c) 2014-2022 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 GODOT_BODY_PAIR_3D_H #define GODOT_BODY_PAIR_3D_H #include "godot_body_3d.h" #include "godot_constraint_3d.h" #include "godot_soft_body_3d.h" #include "core/templates/local_vector.h" class GodotBodyContact3D : public GodotConstraint3D { protected: struct Contact { Vector3 position; Vector3 normal; int index_A = 0, index_B = 0; Vector3 local_A, local_B; real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn) Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt) real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb) real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com real_t mass_normal = 0.0; real_t bias = 0.0; real_t bounce = 0.0; real_t depth = 0.0; bool active = false; bool used = false; Vector3 rA, rB; // Offset in world orientation with respect to center of mass }; Vector3 sep_axis; bool collided = false; bool check_ccd = false; GodotSpace3D *space = nullptr; GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) : GodotConstraint3D(p_body_ptr, p_body_count) { } }; class GodotBodyPair3D : public GodotBodyContact3D { enum { MAX_CONTACTS = 4 }; union { struct { GodotBody3D *A; GodotBody3D *B; }; GodotBody3D *_arr[2] = { nullptr, nullptr }; }; int shape_A = 0; int shape_B = 0; bool collide_A = false; bool collide_B = false; bool report_contacts_only = false; Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection Contact contacts[MAX_CONTACTS]; int contact_count = 0; static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B); void validate_contacts(); bool _test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_B); public: virtual bool setup(real_t p_step) override; virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B); ~GodotBodyPair3D(); }; class GodotBodySoftBodyPair3D : public GodotBodyContact3D { GodotBody3D *body = nullptr; GodotSoftBody3D *soft_body = nullptr; int body_shape = 0; bool body_collides = false; bool soft_body_collides = false; bool report_contacts_only = false; LocalVector<Contact> contacts; static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata); void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B); void validate_contacts(); public: virtual bool setup(real_t p_step) override; virtual bool pre_solve(real_t p_step) override; virtual void solve(real_t p_step) override; virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; } virtual int get_soft_body_count() const override { return 1; } GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B); ~GodotBodySoftBodyPair3D(); }; #endif // GODOT_BODY_PAIR_3D_H