1587 lines
48 KiB
C++
1587 lines
48 KiB
C++
/*************************************************************************/
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/* collision_solver_2d_sat.cpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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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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#include "collision_solver_2d_sat.h"
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#include "geometry.h"
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struct _CollectorCallback2D {
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CollisionSolver2DSW::CallbackResult callback;
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void *userdata;
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bool swap;
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bool collided;
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Vector2 normal;
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Vector2 *sep_axis;
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_FORCE_INLINE_ void call(const Vector2& p_point_A, const Vector2& p_point_B) {
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//if (normal.dot(p_point_A) >= normal.dot(p_point_B))
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// return;
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if (swap)
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callback(p_point_B,p_point_A,userdata);
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else
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callback(p_point_A,p_point_B,userdata);
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}
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};
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typedef void (*GenerateContactsFunc)(const Vector2 *,int, const Vector2 *,int ,_CollectorCallback2D *);
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_FORCE_INLINE_ static void _generate_contacts_point_point(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND( p_point_count_A != 1 );
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ERR_FAIL_COND( p_point_count_B != 1 );
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#endif
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p_collector->call(*p_points_A,*p_points_B);
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}
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_FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND( p_point_count_A != 1 );
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ERR_FAIL_COND( p_point_count_B != 2 );
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#endif
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Vector2 closest_B = Geometry::get_closest_point_to_segment_uncapped_2d(*p_points_A, p_points_B );
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p_collector->call(*p_points_A,closest_B);
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}
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struct _generate_contacts_Pair {
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int idx;
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float d;
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_FORCE_INLINE_ bool operator <(const _generate_contacts_Pair& l) const { return d< l.d; }
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};
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_FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND( p_point_count_A != 2 );
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ERR_FAIL_COND( p_point_count_B != 2 ); // circle is actually a 4x3 matrix
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#endif
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Vector2 rel_A=p_points_A[1]-p_points_A[0];
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Vector2 rel_B=p_points_B[1]-p_points_B[0];
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Vector2 t = p_collector->normal.tangent();
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real_t dA[2]={t.dot(p_points_A[0]),t.dot(p_points_A[1])};
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Vector2 pA[2]={p_points_A[0],p_points_A[1]};
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if (dA[0]>dA[1]) {
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SWAP(dA[0],dA[1]);
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SWAP(pA[0],pA[1]);
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}
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float dB[2]={t.dot(p_points_B[0]),t.dot(p_points_B[1])};
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Vector2 pB[2]={p_points_B[0],p_points_B[1]};
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if (dB[0]>dB[1]) {
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SWAP(dB[0],dB[1]);
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SWAP(pB[0],pB[1]);
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}
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if (dA[0]<dB[0]) {
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Vector2 n = (p_points_A[1]-p_points_A[0]).normalized().tangent();
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real_t d = n.dot(p_points_A[1]);
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if (dA[1]>dB[1]) {
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//A contains B
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for(int i=0;i<2;i++) {
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Vector2 b = p_points_B[i];
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Vector2 a = n.plane_project(d,b);
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if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
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continue;
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p_collector->call(a,b);
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}
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} else {
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// B0,A1 containment
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Vector2 n_B = (p_points_B[1]-p_points_B[0]).normalized().tangent();
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real_t d_B = n_B.dot(p_points_B[1]);
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// first, B on A
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{
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Vector2 b = p_points_B[0];
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Vector2 a = n.plane_project(d,b);
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if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
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p_collector->call(a,b);
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}
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// second, A on B
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{
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Vector2 a = p_points_A[1];
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Vector2 b = n_B.plane_project(d_B,a);
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if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
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p_collector->call(a,b);
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}
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}
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} else {
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Vector2 n = (p_points_B[1]-p_points_B[0]).normalized().tangent();
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real_t d = n.dot(p_points_B[1]);
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if (dB[1]>dA[1]) {
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//B contains A
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for(int i=0;i<2;i++) {
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Vector2 a = p_points_A[i];
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Vector2 b = n.plane_project(d,a);
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if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
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continue;
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p_collector->call(a,b);
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}
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} else {
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// A0,B1 containment
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Vector2 n_A = (p_points_A[1]-p_points_A[0]).normalized().tangent();
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real_t d_A = n_A.dot(p_points_A[1]);
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// first A on B
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{
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Vector2 a = p_points_A[0];
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Vector2 b = n.plane_project(d,a);
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if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
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p_collector->call(a,b);
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}
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//second, B on A
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{
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Vector2 b = p_points_B[1];
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Vector2 a = n_A.plane_project(d_A,b);
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if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
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p_collector->call(a,b);
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}
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}
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}
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#if 0
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Vector2 axis = rel_A.normalized();
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Vector2 axis_B = rel_B.normalized();
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if (axis.dot(axis_B)<0)
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axis_B=-axis_B;
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axis=(axis+axis_B)*0.5;
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Vector2 normal_A = axis.tangent();
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real_t dA = normal_A.dot(p_points_A[0]);
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Vector2 normal_B = rel_B.tangent().normalized();
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real_t dB = normal_A.dot(p_points_B[0]);
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Vector2 A[4]={ normal_A.plane_project(dA,p_points_B[0]), normal_A.plane_project(dA,p_points_B[1]), p_points_A[0], p_points_A[1] };
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Vector2 B[4]={ p_points_B[0], p_points_B[1], normal_B.plane_project(dB,p_points_A[0]), normal_B.plane_project(dB,p_points_A[1]) };
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_generate_contacts_Pair dvec[4];
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for(int i=0;i<4;i++) {
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dvec[i].d=axis.dot(p_points_A[0]-A[i]);
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dvec[i].idx=i;
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}
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SortArray<_generate_contacts_Pair> sa;
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sa.sort(dvec,4);
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for(int i=1;i<=2;i++) {
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Vector2 a = A[i];
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Vector2 b = B[i];
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if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
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continue;
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p_collector->call(a,b);
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}
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#elif 0
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Vector2 axis = rel_A.normalized(); //make an axis
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Vector2 axis_B = rel_B.normalized();
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if (axis.dot(axis_B)<0)
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axis_B=-axis_B;
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axis=(axis+axis_B)*0.5;
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Vector2 base_A = p_points_A[0] - axis * axis.dot(p_points_A[0]);
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Vector2 base_B = p_points_B[0] - axis * axis.dot(p_points_B[0]);
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//sort all 4 points in axis
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float dvec[4]={ axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) };
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//todo , find max/min and then use 2 central points
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SortArray<float> sa;
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sa.sort(dvec,4);
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//use the middle ones as contacts
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for (int i=1;i<=2;i++) {
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Vector2 a = base_A+axis*dvec[i];
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Vector2 b = base_B+axis*dvec[i];
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if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-0.01) {
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print_line("fail a: "+a);
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print_line("fail b: "+b);
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continue;
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}
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print_line("res a: "+a);
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print_line("res b: "+b);
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p_collector->call(a,b);
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}
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#endif
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}
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static void _generate_contacts_from_supports(const Vector2 * p_points_A,int p_point_count_A, const Vector2 * p_points_B,int p_point_count_B,_CollectorCallback2D *p_collector) {
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#ifdef DEBUG_ENABLED
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ERR_FAIL_COND( p_point_count_A <1 );
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ERR_FAIL_COND( p_point_count_B <1 );
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#endif
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static const GenerateContactsFunc generate_contacts_func_table[2][2]={
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{
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_generate_contacts_point_point,
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_generate_contacts_point_edge,
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},{
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0,
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_generate_contacts_edge_edge,
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}
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};
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int pointcount_B;
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int pointcount_A;
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const Vector2 *points_A;
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const Vector2 *points_B;
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if (p_point_count_A > p_point_count_B) {
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//swap
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p_collector->swap = !p_collector->swap;
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p_collector->normal = -p_collector->normal;
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pointcount_B = p_point_count_A;
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pointcount_A = p_point_count_B;
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points_A=p_points_B;
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points_B=p_points_A;
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} else {
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pointcount_B = p_point_count_B;
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pointcount_A = p_point_count_A;
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points_A=p_points_A;
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points_B=p_points_B;
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}
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int version_A = (pointcount_A > 3 ? 3 : pointcount_A) -1;
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int version_B = (pointcount_B > 3 ? 3 : pointcount_B) -1;
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GenerateContactsFunc contacts_func = generate_contacts_func_table[version_A][version_B];
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ERR_FAIL_COND(!contacts_func);
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contacts_func(points_A,pointcount_A,points_B,pointcount_B,p_collector);
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}
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template<class ShapeA, class ShapeB,bool castA=false,bool castB=false, bool withMargin=false>
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class SeparatorAxisTest2D {
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const ShapeA *shape_A;
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const ShapeB *shape_B;
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const Matrix32 *transform_A;
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const Matrix32 *transform_B;
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real_t best_depth;
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Vector2 best_axis;
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int best_axis_count;
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int best_axis_index;
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Vector2 motion_A;
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Vector2 motion_B;
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real_t margin_A;
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real_t margin_B;
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_CollectorCallback2D *callback;
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public:
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_FORCE_INLINE_ bool test_previous_axis() {
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if (callback && callback->sep_axis && *callback->sep_axis!=Vector2()) {
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return test_axis(*callback->sep_axis);
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} else {
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#ifdef DEBUG_ENABLED
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best_axis_count++;
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#endif
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}
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return true;
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}
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_FORCE_INLINE_ bool test_cast() {
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if (castA) {
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Vector2 na = motion_A.normalized();
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if (!test_axis(na))
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return false;
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if (!test_axis(na.tangent()))
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return false;
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}
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if (castB) {
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Vector2 nb = motion_B.normalized();
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if (!test_axis(nb))
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return false;
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if (!test_axis(nb.tangent()))
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return false;
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}
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return true;
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}
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_FORCE_INLINE_ bool test_axis(const Vector2& p_axis) {
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Vector2 axis=p_axis;
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if ( Math::abs(axis.x)<CMP_EPSILON &&
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Math::abs(axis.y)<CMP_EPSILON) {
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// strange case, try an upwards separator
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axis=Vector2(0.0,1.0);
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}
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real_t min_A,max_A,min_B,max_B;
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if (castA)
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shape_A->project_range_cast(motion_A,axis,*transform_A,min_A,max_A);
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else
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shape_A->project_range(axis,*transform_A,min_A,max_A);
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if (castB)
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shape_B->project_range_cast(motion_B,axis,*transform_B,min_B,max_B);
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else
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shape_B->project_range(axis,*transform_B,min_B,max_B);
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if (withMargin) {
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min_A-=margin_A;
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max_A+=margin_A;
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min_B-=margin_B;
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max_B+=margin_B;
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}
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min_B -= ( max_A - min_A ) * 0.5;
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max_B += ( max_A - min_A ) * 0.5;
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real_t dmin = min_B - ( min_A + max_A ) * 0.5;
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real_t dmax = max_B - ( min_A + max_A ) * 0.5;
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if (dmin > 0.0 || dmax < 0.0) {
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if (callback && callback->sep_axis)
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*callback->sep_axis=axis;
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#ifdef DEBUG_ENABLED
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best_axis_count++;
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#endif
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return false; // doesn't contain 0
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}
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//use the smallest depth
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dmin = Math::abs(dmin);
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if ( dmax < dmin ) {
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if ( dmax < best_depth ) {
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best_depth=dmax;
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best_axis=axis;
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#ifdef DEBUG_ENABLED
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best_axis_index=best_axis_count;
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#endif
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}
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} else {
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if ( dmin < best_depth ) {
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best_depth=dmin;
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best_axis=-axis; // keep it as A axis
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#ifdef DEBUG_ENABLED
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best_axis_index=best_axis_count;
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#endif
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}
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}
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// print_line("test axis: "+p_axis+" depth: "+rtos(best_depth));
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#ifdef DEBUG_ENABLED
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best_axis_count++;
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#endif
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return true;
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}
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_FORCE_INLINE_ void generate_contacts() {
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// nothing to do, don't generate
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if (best_axis==Vector2(0.0,0.0))
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return;
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callback->collided=true;
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if (!callback->callback)
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return; //only collide, no callback
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static const int max_supports=2;
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Vector2 supports_A[max_supports];
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int support_count_A;
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if (castA) {
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shape_A->get_supports_transformed_cast(motion_A,-best_axis,*transform_A,supports_A,support_count_A);
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} else {
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shape_A->get_supports(transform_A->basis_xform_inv(-best_axis).normalized(),supports_A,support_count_A);
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for(int i=0;i<support_count_A;i++) {
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supports_A[i] = transform_A->xform(supports_A[i]);
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}
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}
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if (withMargin) {
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for(int i=0;i<support_count_A;i++) {
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supports_A[i]+=-best_axis*margin_A;
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}
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}
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Vector2 supports_B[max_supports];
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int support_count_B;
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if (castB) {
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shape_B->get_supports_transformed_cast(motion_B,best_axis,*transform_B,supports_B,support_count_B);
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} else {
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shape_B->get_supports(transform_B->basis_xform_inv(best_axis).normalized(),supports_B,support_count_B);
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for(int i=0;i<support_count_B;i++) {
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supports_B[i] = transform_B->xform(supports_B[i]);
|
|
}
|
|
}
|
|
|
|
if (withMargin) {
|
|
|
|
for(int i=0;i<support_count_B;i++) {
|
|
supports_B[i]+=best_axis*margin_B;
|
|
}
|
|
|
|
}
|
|
|
|
/*
|
|
|
|
|
|
print_line("**************************");
|
|
printf("CBK: %p\n",callback->userdata);
|
|
print_line("type A: "+itos(shape_A->get_type()));
|
|
print_line("type B: "+itos(shape_B->get_type()));
|
|
print_line("xform A: "+*transform_A);
|
|
print_line("xform B: "+*transform_B);
|
|
print_line("normal: "+best_axis);
|
|
print_line("depth: "+rtos(best_depth));
|
|
print_line("index: "+itos(best_axis_index));
|
|
|
|
for(int i=0;i<support_count_A;i++) {
|
|
|
|
print_line("A-"+itos(i)+": "+supports_A[i]);
|
|
}
|
|
|
|
for(int i=0;i<support_count_B;i++) {
|
|
|
|
print_line("B-"+itos(i)+": "+supports_B[i]);
|
|
}
|
|
//*/
|
|
|
|
|
|
|
|
|
|
callback->normal=best_axis;
|
|
_generate_contacts_from_supports(supports_A,support_count_A,supports_B,support_count_B,callback);
|
|
|
|
if (callback && callback->sep_axis && *callback->sep_axis!=Vector2())
|
|
*callback->sep_axis=Vector2(); //invalidate previous axis (no test)
|
|
//CollisionSolver2DSW::CallbackResult cbk=NULL;
|
|
//cbk(Vector2(),Vector2(),NULL);
|
|
|
|
}
|
|
|
|
_FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A,const Matrix32& p_transform_a, const ShapeB *p_shape_B,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_A=Vector2(), const Vector2& p_motion_B=Vector2(),real_t p_margin_A=0,real_t p_margin_B=0) {
|
|
|
|
margin_A=p_margin_A;
|
|
margin_B=p_margin_B;
|
|
best_depth=1e15;
|
|
shape_A=p_shape_A;
|
|
shape_B=p_shape_B;
|
|
transform_A=&p_transform_a;
|
|
transform_B=&p_transform_b;
|
|
motion_A=p_motion_A;
|
|
motion_B=p_motion_B;
|
|
|
|
callback=p_collector;
|
|
#ifdef DEBUG_ENABLED
|
|
best_axis_count=0;
|
|
best_axis_index=-1;
|
|
#endif
|
|
}
|
|
|
|
};
|
|
|
|
/****** SAT TESTS *******/
|
|
/****** SAT TESTS *******/
|
|
/****** SAT TESTS *******/
|
|
/****** SAT TESTS *******/
|
|
|
|
|
|
#define TEST_POINT(m_a,m_b) \
|
|
( (!separator.test_axis(((m_a)-(m_b)).normalized())) ||\
|
|
(castA && !separator.test_axis(((m_a)+p_motion_a-(m_b)).normalized())) ||\
|
|
(castB && !separator.test_axis(((m_a)-((m_b)+p_motion_b)).normalized())) ||\
|
|
(castA && castB && !separator.test_axis(((m_a)+p_motion_a-((m_b)+p_motion_b)).normalized())) )
|
|
|
|
|
|
typedef void (*CollisionFunc)(const Shape2DSW*,const Matrix32&,const Shape2DSW*,const Matrix32&,_CollectorCallback2D *p_collector,const Vector2&,const Vector2&,float,float);
|
|
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_segment_segment(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
|
|
const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW*>(p_b);
|
|
|
|
SeparatorAxisTest2D<SegmentShape2DSW,SegmentShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,segment_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
//this collision is kind of pointless
|
|
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
|
|
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
|
|
return;
|
|
if (!separator.test_axis(segment_B->get_xformed_normal(p_transform_b)))
|
|
return;
|
|
|
|
if (withMargin) {
|
|
//points grow to circles
|
|
|
|
|
|
if (TEST_POINT( p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(segment_B->get_a())) )
|
|
return;
|
|
if (TEST_POINT( p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(segment_B->get_b())) )
|
|
return;
|
|
if (TEST_POINT( p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(segment_B->get_a())) )
|
|
return;
|
|
if (TEST_POINT( p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(segment_B->get_b())) )
|
|
return;
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_segment_circle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
|
|
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
|
|
const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<SegmentShape2DSW,CircleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,circle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//segment normal
|
|
if (!separator.test_axis(
|
|
(p_transform_a.xform(segment_A->get_b())-p_transform_a.xform(segment_A->get_a())).normalized().tangent()
|
|
))
|
|
return;
|
|
|
|
//endpoint a vs circle
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),p_transform_b.get_origin()))
|
|
return;
|
|
//endpoint b vs circle
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),p_transform_b.get_origin()))
|
|
return;
|
|
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_segment_rectangle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
|
|
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW*>(p_b);
|
|
|
|
SeparatorAxisTest2D<SegmentShape2DSW,RectangleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,rectangle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_b.elements[1].normalized()))
|
|
return;
|
|
|
|
if (withMargin) {
|
|
|
|
Matrix32 inv = p_transform_b.affine_inverse();
|
|
|
|
Vector2 a = p_transform_a.xform(segment_A->get_a());
|
|
Vector2 b = p_transform_a.xform(segment_A->get_b());
|
|
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a)))
|
|
return;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b)))
|
|
return;
|
|
|
|
if (castA) {
|
|
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a+p_motion_a)))
|
|
return;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b+p_motion_a)))
|
|
return;
|
|
}
|
|
|
|
if (castB) {
|
|
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a-p_motion_b)))
|
|
return;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b-p_motion_b)))
|
|
return;
|
|
}
|
|
|
|
if (castA && castB) {
|
|
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,a-p_motion_b+p_motion_a)))
|
|
return;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,inv,b-p_motion_b+p_motion_a)))
|
|
return;
|
|
}
|
|
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_segment_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
|
|
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
|
|
|
|
SeparatorAxisTest2D<SegmentShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
|
|
return;
|
|
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
|
|
return;
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
|
|
return;
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
|
|
return;
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
|
|
return;
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_segment_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
|
|
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
|
|
|
|
SeparatorAxisTest2D<SegmentShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
|
|
return;
|
|
|
|
for(int i=0;i<convex_B->get_point_count();i++) {
|
|
|
|
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
|
|
return;
|
|
|
|
if (withMargin) {
|
|
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(convex_B->get_point(i) )))
|
|
return;
|
|
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(convex_B->get_point(i) )))
|
|
return;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
|
|
/////////
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_circle_circle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
|
|
const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<CircleShape2DSW,CircleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,circle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
if (TEST_POINT(p_transform_a.get_origin(),p_transform_b.get_origin()))
|
|
return;
|
|
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_circle_rectangle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
|
|
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<CircleShape2DSW,RectangleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,rectangle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
const Vector2 &sphere=p_transform_a.elements[2];
|
|
const Vector2 *axis=&p_transform_b.elements[0];
|
|
// const Vector2& half_extents = rectangle_B->get_half_extents();
|
|
|
|
if (!separator.test_axis(axis[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(axis[1].normalized()))
|
|
return;
|
|
|
|
Matrix32 binv = p_transform_b.affine_inverse();
|
|
{
|
|
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv,sphere ) ) )
|
|
return;
|
|
}
|
|
|
|
if (castA) {
|
|
|
|
Vector2 sphereofs = sphere + p_motion_a;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv, sphereofs) ) )
|
|
return;
|
|
}
|
|
|
|
if (castB) {
|
|
|
|
Vector2 sphereofs = sphere - p_motion_b;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv, sphereofs) ) )
|
|
return;
|
|
}
|
|
|
|
if (castA && castB) {
|
|
|
|
Vector2 sphereofs = sphere - p_motion_b + p_motion_a;
|
|
if (!separator.test_axis( rectangle_B->get_circle_axis(p_transform_b,binv, sphereofs) ) )
|
|
return;
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_circle_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
|
|
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<CircleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//capsule axis
|
|
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
|
|
return;
|
|
|
|
//capsule endpoints
|
|
if (TEST_POINT(p_transform_a.get_origin(),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
|
|
return;
|
|
if (TEST_POINT(p_transform_a.get_origin(),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
|
|
return;
|
|
|
|
separator.generate_contacts();
|
|
|
|
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_circle_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
|
|
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<CircleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
|
|
//poly faces and poly points vs circle
|
|
for(int i=0;i<convex_B->get_point_count();i++) {
|
|
|
|
if (TEST_POINT( p_transform_a.get_origin(),p_transform_b.xform(convex_B->get_point(i)) ))
|
|
return;
|
|
|
|
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
|
|
return;
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
|
|
/////////
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_rectangle_rectangle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW*>(p_a);
|
|
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<RectangleShape2DSW,RectangleShape2DSW,castA,castB,withMargin> separator(rectangle_A,p_transform_a,rectangle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//box faces A
|
|
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_a.elements[1].normalized()))
|
|
return;
|
|
|
|
//box faces B
|
|
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_b.elements[1].normalized()))
|
|
return;
|
|
|
|
if (withMargin) {
|
|
|
|
Matrix32 invA=p_transform_a.affine_inverse();
|
|
Matrix32 invB=p_transform_b.affine_inverse();
|
|
|
|
if (!separator.test_axis( rectangle_A->get_box_axis(p_transform_a,invA,rectangle_B,p_transform_b,invB) ) )
|
|
return;
|
|
|
|
if (castA || castB) {
|
|
|
|
Matrix32 aofs = p_transform_a;
|
|
aofs.elements[2]+=p_motion_a;
|
|
|
|
Matrix32 bofs = p_transform_b;
|
|
bofs.elements[2]+=p_motion_b;
|
|
|
|
Matrix32 aofsinv = aofs.affine_inverse();
|
|
Matrix32 bofsinv = bofs.affine_inverse();
|
|
|
|
if (castA) {
|
|
|
|
if (!separator.test_axis( rectangle_A->get_box_axis(aofs,aofsinv,rectangle_B,p_transform_b,invB) ) )
|
|
return;
|
|
}
|
|
|
|
if (castB) {
|
|
|
|
if (!separator.test_axis( rectangle_A->get_box_axis(p_transform_a,invA,rectangle_B,bofs,bofsinv) ) )
|
|
return;
|
|
}
|
|
|
|
if (castA && castB) {
|
|
|
|
if (!separator.test_axis( rectangle_A->get_box_axis(aofs,aofsinv,rectangle_B,bofs,bofsinv) ) )
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_rectangle_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW*>(p_a);
|
|
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<RectangleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(rectangle_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//box faces
|
|
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_a.elements[1].normalized()))
|
|
return;
|
|
|
|
//capsule axis
|
|
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
|
|
return;
|
|
|
|
|
|
//box endpoints to capsule circles
|
|
|
|
Matrix32 boxinv = p_transform_a.affine_inverse();
|
|
|
|
for(int i=0;i<2;i++) {
|
|
|
|
{
|
|
Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
|
|
return;
|
|
}
|
|
|
|
|
|
if (castA) {
|
|
Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
|
|
capsule_endpoint-=p_motion_a;
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
|
|
return;
|
|
}
|
|
|
|
if (castB) {
|
|
Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
|
|
capsule_endpoint+=p_motion_b;
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
|
|
return;
|
|
}
|
|
|
|
if (castA && castB) {
|
|
Vector2 capsule_endpoint = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(i==0?0.5:-0.5);
|
|
capsule_endpoint-=p_motion_a;
|
|
capsule_endpoint+=p_motion_b;
|
|
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,capsule_endpoint)))
|
|
return;
|
|
}
|
|
|
|
}
|
|
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_rectangle_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW*>(p_a);
|
|
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
|
|
|
|
SeparatorAxisTest2D<RectangleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(rectangle_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//box faces
|
|
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_a.elements[1].normalized()))
|
|
return;
|
|
|
|
//convex faces
|
|
Matrix32 boxinv;
|
|
if (withMargin) {
|
|
boxinv=p_transform_a.affine_inverse();
|
|
}
|
|
for(int i=0;i<convex_B->get_point_count();i++) {
|
|
|
|
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
|
|
return;
|
|
|
|
if (withMargin) {
|
|
//all points vs all points need to be tested if margin exist
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i)))))
|
|
return;
|
|
if (castA) {
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i))-p_motion_a)))
|
|
return;
|
|
}
|
|
if (castB) {
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i))+p_motion_b)))
|
|
return;
|
|
}
|
|
if (castA && castB) {
|
|
|
|
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a,boxinv,p_transform_b.xform(convex_B->get_point(i))+p_motion_b-p_motion_a)))
|
|
return;
|
|
}
|
|
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
|
|
/////////
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_capsule_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW*>(p_a);
|
|
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<CapsuleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(capsule_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//capsule axis
|
|
|
|
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
|
|
return;
|
|
|
|
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
|
|
return;
|
|
|
|
//capsule endpoints
|
|
|
|
for(int i=0;i<2;i++) {
|
|
|
|
Vector2 capsule_endpoint_A = p_transform_a.get_origin()+p_transform_a.elements[1]*capsule_A->get_height()*(i==0?0.5:-0.5);
|
|
|
|
for(int j=0;j<2;j++) {
|
|
|
|
Vector2 capsule_endpoint_B = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(j==0?0.5:-0.5);
|
|
|
|
if (TEST_POINT(capsule_endpoint_A,capsule_endpoint_B) )
|
|
return;
|
|
|
|
}
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_capsule_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW*>(p_a);
|
|
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
|
|
|
|
|
|
SeparatorAxisTest2D<CapsuleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(capsule_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
//capsule axis
|
|
|
|
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
|
|
return;
|
|
|
|
|
|
//poly vs capsule
|
|
for(int i=0;i<convex_B->get_point_count();i++) {
|
|
|
|
Vector2 cpoint = p_transform_b.xform(convex_B->get_point(i));
|
|
|
|
for(int j=0;j<2;j++) {
|
|
|
|
Vector2 capsule_endpoint_A = p_transform_a.get_origin()+p_transform_a.elements[1]*capsule_A->get_height()*(j==0?0.5:-0.5);
|
|
|
|
if (TEST_POINT(capsule_endpoint_A,cpoint ))
|
|
return;
|
|
|
|
}
|
|
|
|
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
|
|
return;
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
}
|
|
|
|
|
|
/////////
|
|
|
|
|
|
template<bool castA, bool castB,bool withMargin>
|
|
static void _collision_convex_polygon_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
|
|
|
|
|
|
const ConvexPolygonShape2DSW *convex_A = static_cast<const ConvexPolygonShape2DSW*>(p_a);
|
|
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
|
|
|
|
SeparatorAxisTest2D<ConvexPolygonShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(convex_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
|
|
|
|
if (!separator.test_previous_axis())
|
|
return;
|
|
|
|
if (!separator.test_cast())
|
|
return;
|
|
|
|
|
|
for(int i=0;i<convex_A->get_point_count();i++) {
|
|
|
|
if (!separator.test_axis( convex_A->get_xformed_segment_normal(p_transform_a,i)))
|
|
return;
|
|
}
|
|
|
|
for(int i=0;i<convex_B->get_point_count();i++) {
|
|
|
|
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
|
|
return;
|
|
|
|
}
|
|
|
|
if (withMargin) {
|
|
|
|
for(int i=0;i<convex_A->get_point_count();i++) {
|
|
for(int j=0;j<convex_B->get_point_count();j++) {
|
|
|
|
if (TEST_POINT(p_transform_a.xform(convex_A->get_point(i)) , p_transform_b.xform(convex_B->get_point(j))))
|
|
return;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
separator.generate_contacts();
|
|
|
|
}
|
|
|
|
|
|
////////
|
|
|
|
bool sat_2d_calculate_penetration(const Shape2DSW *p_shape_A, const Matrix32& p_transform_A, const Vector2& p_motion_A, const Shape2DSW *p_shape_B, const Matrix32& p_transform_B,const Vector2& p_motion_B, CollisionSolver2DSW::CallbackResult p_result_callback,void *p_userdata, bool p_swap,Vector2 *sep_axis,float p_margin_A,float p_margin_B) {
|
|
|
|
Physics2DServer::ShapeType type_A=p_shape_A->get_type();
|
|
|
|
ERR_FAIL_COND_V(type_A==Physics2DServer::SHAPE_LINE,false);
|
|
//ERR_FAIL_COND_V(type_A==Physics2DServer::SHAPE_RAY,false);
|
|
ERR_FAIL_COND_V(p_shape_A->is_concave(),false);
|
|
|
|
Physics2DServer::ShapeType type_B=p_shape_B->get_type();
|
|
|
|
ERR_FAIL_COND_V(type_B==Physics2DServer::SHAPE_LINE,false);
|
|
//ERR_FAIL_COND_V(type_B==Physics2DServer::SHAPE_RAY,false);
|
|
ERR_FAIL_COND_V(p_shape_B->is_concave(),false);
|
|
|
|
|
|
static const CollisionFunc collision_table[5][5]={
|
|
{_collision_segment_segment<false,false,false>,
|
|
_collision_segment_circle<false,false,false>,
|
|
_collision_segment_rectangle<false,false,false>,
|
|
_collision_segment_capsule<false,false,false>,
|
|
_collision_segment_convex_polygon<false,false,false>},
|
|
{0,
|
|
_collision_circle_circle<false,false,false>,
|
|
_collision_circle_rectangle<false,false,false>,
|
|
_collision_circle_capsule<false,false,false>,
|
|
_collision_circle_convex_polygon<false,false,false>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<false,false,false>,
|
|
_collision_rectangle_capsule<false,false,false>,
|
|
_collision_rectangle_convex_polygon<false,false,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<false,false,false>,
|
|
_collision_capsule_convex_polygon<false,false,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<false,false,false>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_castA[5][5]={
|
|
{_collision_segment_segment<true,false,false>,
|
|
_collision_segment_circle<true,false,false>,
|
|
_collision_segment_rectangle<true,false,false>,
|
|
_collision_segment_capsule<true,false,false>,
|
|
_collision_segment_convex_polygon<true,false,false>},
|
|
{0,
|
|
_collision_circle_circle<true,false,false>,
|
|
_collision_circle_rectangle<true,false,false>,
|
|
_collision_circle_capsule<true,false,false>,
|
|
_collision_circle_convex_polygon<true,false,false>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<true,false,false>,
|
|
_collision_rectangle_capsule<true,false,false>,
|
|
_collision_rectangle_convex_polygon<true,false,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<true,false,false>,
|
|
_collision_capsule_convex_polygon<true,false,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<true,false,false>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_castB[5][5]={
|
|
{_collision_segment_segment<false,true,false>,
|
|
_collision_segment_circle<false,true,false>,
|
|
_collision_segment_rectangle<false,true,false>,
|
|
_collision_segment_capsule<false,true,false>,
|
|
_collision_segment_convex_polygon<false,true,false>},
|
|
{0,
|
|
_collision_circle_circle<false,true,false>,
|
|
_collision_circle_rectangle<false,true,false>,
|
|
_collision_circle_capsule<false,true,false>,
|
|
_collision_circle_convex_polygon<false,true,false>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<false,true,false>,
|
|
_collision_rectangle_capsule<false,true,false>,
|
|
_collision_rectangle_convex_polygon<false,true,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<false,true,false>,
|
|
_collision_capsule_convex_polygon<false,true,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<false,true,false>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_castA_castB[5][5]={
|
|
{_collision_segment_segment<true,true,false>,
|
|
_collision_segment_circle<true,true,false>,
|
|
_collision_segment_rectangle<true,true,false>,
|
|
_collision_segment_capsule<true,true,false>,
|
|
_collision_segment_convex_polygon<true,true,false>},
|
|
{0,
|
|
_collision_circle_circle<true,true,false>,
|
|
_collision_circle_rectangle<true,true,false>,
|
|
_collision_circle_capsule<true,true,false>,
|
|
_collision_circle_convex_polygon<true,true,false>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<true,true,false>,
|
|
_collision_rectangle_capsule<true,true,false>,
|
|
_collision_rectangle_convex_polygon<true,true,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<true,true,false>,
|
|
_collision_capsule_convex_polygon<true,true,false>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<true,true,false>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_margin[5][5]={
|
|
{_collision_segment_segment<false,false,true>,
|
|
_collision_segment_circle<false,false,true>,
|
|
_collision_segment_rectangle<false,false,true>,
|
|
_collision_segment_capsule<false,false,true>,
|
|
_collision_segment_convex_polygon<false,false,true>},
|
|
{0,
|
|
_collision_circle_circle<false,false,true>,
|
|
_collision_circle_rectangle<false,false,true>,
|
|
_collision_circle_capsule<false,false,true>,
|
|
_collision_circle_convex_polygon<false,false,true>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<false,false,true>,
|
|
_collision_rectangle_capsule<false,false,true>,
|
|
_collision_rectangle_convex_polygon<false,false,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<false,false,true>,
|
|
_collision_capsule_convex_polygon<false,false,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<false,false,true>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_castA_margin[5][5]={
|
|
{_collision_segment_segment<true,false,true>,
|
|
_collision_segment_circle<true,false,true>,
|
|
_collision_segment_rectangle<true,false,true>,
|
|
_collision_segment_capsule<true,false,true>,
|
|
_collision_segment_convex_polygon<true,false,true>},
|
|
{0,
|
|
_collision_circle_circle<true,false,true>,
|
|
_collision_circle_rectangle<true,false,true>,
|
|
_collision_circle_capsule<true,false,true>,
|
|
_collision_circle_convex_polygon<true,false,true>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<true,false,true>,
|
|
_collision_rectangle_capsule<true,false,true>,
|
|
_collision_rectangle_convex_polygon<true,false,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<true,false,true>,
|
|
_collision_capsule_convex_polygon<true,false,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<true,false,true>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_castB_margin[5][5]={
|
|
{_collision_segment_segment<false,true,true>,
|
|
_collision_segment_circle<false,true,true>,
|
|
_collision_segment_rectangle<false,true,true>,
|
|
_collision_segment_capsule<false,true,true>,
|
|
_collision_segment_convex_polygon<false,true,true>},
|
|
{0,
|
|
_collision_circle_circle<false,true,true>,
|
|
_collision_circle_rectangle<false,true,true>,
|
|
_collision_circle_capsule<false,true,true>,
|
|
_collision_circle_convex_polygon<false,true,true>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<false,true,true>,
|
|
_collision_rectangle_capsule<false,true,true>,
|
|
_collision_rectangle_convex_polygon<false,true,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<false,true,true>,
|
|
_collision_capsule_convex_polygon<false,true,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<false,true,true>}
|
|
|
|
};
|
|
|
|
static const CollisionFunc collision_table_castA_castB_margin[5][5]={
|
|
{_collision_segment_segment<true,true,true>,
|
|
_collision_segment_circle<true,true,true>,
|
|
_collision_segment_rectangle<true,true,true>,
|
|
_collision_segment_capsule<true,true,true>,
|
|
_collision_segment_convex_polygon<true,true,true>},
|
|
{0,
|
|
_collision_circle_circle<true,true,true>,
|
|
_collision_circle_rectangle<true,true,true>,
|
|
_collision_circle_capsule<true,true,true>,
|
|
_collision_circle_convex_polygon<true,true,true>},
|
|
{0,
|
|
0,
|
|
_collision_rectangle_rectangle<true,true,true>,
|
|
_collision_rectangle_capsule<true,true,true>,
|
|
_collision_rectangle_convex_polygon<true,true,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
_collision_capsule_capsule<true,true,true>,
|
|
_collision_capsule_convex_polygon<true,true,true>},
|
|
{0,
|
|
0,
|
|
0,
|
|
0,
|
|
_collision_convex_polygon_convex_polygon<true,true,true>}
|
|
|
|
};
|
|
|
|
|
|
_CollectorCallback2D callback;
|
|
callback.callback=p_result_callback;
|
|
callback.swap=p_swap;
|
|
callback.userdata=p_userdata;
|
|
callback.collided=false;
|
|
callback.sep_axis=sep_axis;
|
|
|
|
const Shape2DSW *A=p_shape_A;
|
|
const Shape2DSW *B=p_shape_B;
|
|
const Matrix32 *transform_A=&p_transform_A;
|
|
const Matrix32 *transform_B=&p_transform_B;
|
|
const Vector2 *motion_A=&p_motion_A;
|
|
const Vector2 *motion_B=&p_motion_B;
|
|
real_t margin_A=p_margin_A,margin_B=p_margin_B;
|
|
|
|
if (type_A > type_B) {
|
|
SWAP(A,B);
|
|
SWAP(transform_A,transform_B);
|
|
SWAP(type_A,type_B);
|
|
SWAP(motion_A,motion_B);
|
|
SWAP(margin_A,margin_B);
|
|
callback.swap = !callback.swap;
|
|
}
|
|
|
|
|
|
CollisionFunc collision_func;
|
|
|
|
if (p_margin_A || p_margin_B) {
|
|
if (*motion_A==Vector2() && *motion_B==Vector2()) {
|
|
collision_func = collision_table_margin[type_A-2][type_B-2];
|
|
} else if (*motion_A!=Vector2() && *motion_B==Vector2()) {
|
|
collision_func = collision_table_castA_margin[type_A-2][type_B-2];
|
|
} else if (*motion_A==Vector2() && *motion_B!=Vector2()) {
|
|
collision_func = collision_table_castB_margin[type_A-2][type_B-2];
|
|
} else {
|
|
collision_func = collision_table_castA_castB_margin[type_A-2][type_B-2];
|
|
}
|
|
} else {
|
|
|
|
if (*motion_A==Vector2() && *motion_B==Vector2()) {
|
|
collision_func = collision_table[type_A-2][type_B-2];
|
|
} else if (*motion_A!=Vector2() && *motion_B==Vector2()) {
|
|
collision_func = collision_table_castA[type_A-2][type_B-2];
|
|
} else if (*motion_A==Vector2() && *motion_B!=Vector2()) {
|
|
collision_func = collision_table_castB[type_A-2][type_B-2];
|
|
} else {
|
|
collision_func = collision_table_castA_castB[type_A-2][type_B-2];
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
ERR_FAIL_COND_V(!collision_func,false);
|
|
|
|
collision_func(A,*transform_A,B,*transform_B,&callback,*motion_A,*motion_B,margin_A,margin_B);
|
|
|
|
return callback.collided;
|
|
|
|
|
|
}
|