940838c174
Check for each body individually if it collides with the other one or ignores it. When a body is being ignored, the other body's mass is considered infinite when applying impulses to avoid extra overlapping.
143 lines
5.2 KiB
C++
143 lines
5.2 KiB
C++
/*************************************************************************/
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/* body_pair_3d_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) 2007-2021 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 BODY_PAIR_3D_SW_H
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#define BODY_PAIR_3D_SW_H
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#include "body_3d_sw.h"
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#include "constraint_3d_sw.h"
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#include "core/templates/local_vector.h"
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#include "soft_body_3d_sw.h"
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class BodyContact3DSW : public Constraint3DSW {
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protected:
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struct Contact {
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Vector3 position;
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Vector3 normal;
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int index_A, index_B;
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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 sep_axis;
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bool collided = false;
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Space3DSW *space = nullptr;
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BodyContact3DSW(Body3DSW **p_body_ptr = nullptr, int p_body_count = 0) :
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Constraint3DSW(p_body_ptr, p_body_count) {
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}
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};
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class BodyPair3DSW : public BodyContact3DSW {
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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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Body3DSW *A;
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Body3DSW *B;
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};
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Body3DSW *_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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bool report_contacts_only = false;
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Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
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Contact contacts[MAX_CONTACTS];
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int contact_count = 0;
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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);
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void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
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void validate_contacts();
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bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform3D &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform3D &p_xform_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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BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B);
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~BodyPair3DSW();
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};
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class BodySoftBodyPair3DSW : public BodyContact3DSW {
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Body3DSW *body = nullptr;
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SoftBody3DSW *soft_body = nullptr;
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int body_shape = 0;
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bool body_collides = false;
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bool soft_body_collides = false;
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bool report_contacts_only = false;
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LocalVector<Contact> contacts;
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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);
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void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
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void validate_contacts();
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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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virtual SoftBody3DSW *get_soft_body_ptr(int p_index) const override { return soft_body; }
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virtual int get_soft_body_count() const override { return 1; }
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BodySoftBodyPair3DSW(Body3DSW *p_A, int p_shape_A, SoftBody3DSW *p_B);
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~BodySoftBodyPair3DSW();
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};
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#endif // BODY_PAIR_3D_SW_H
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