96 lines
3.7 KiB
C++
96 lines
3.7 KiB
C++
/*************************************************************************/
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/* body_pair_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) 2007-2022 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2022 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 BODY_PAIR_SW_H
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#define BODY_PAIR_SW_H
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#include "body_sw.h"
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#include "constraint_sw.h"
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class BodyPairSW : public ConstraintSW {
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enum {
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MAX_CONTACTS = 4
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};
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union {
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struct {
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BodySW *A;
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BodySW *B;
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};
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BodySW *_arr[2];
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};
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int shape_A;
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int shape_B;
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struct Contact {
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Vector3 position;
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Vector3 normal;
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Vector3 local_A, local_B;
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real_t acc_normal_impulse; // accumulated normal impulse (Pn)
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Vector3 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 acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
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real_t mass_normal;
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real_t bias;
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real_t bounce;
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real_t depth;
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bool active;
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Vector3 rA, rB; // Offset in world orientation with respect to center of mass
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};
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Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
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Vector3 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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static void _contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);
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void contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B);
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void validate_contacts();
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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);
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SpaceSW *space;
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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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BodyPairSW(BodySW *p_A, int p_shape_A, BodySW *p_B, int p_shape_B);
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~BodyPairSW();
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};
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#endif // BODY_PAIR__SW_H
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