591 lines
19 KiB
C++
591 lines
19 KiB
C++
/*************************************************************************/
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/* shape_2d_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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/* 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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#ifndef SHAPE_2D_2DSW_H
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#define SHAPE_2D_2DSW_H
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#include "servers/physics_2d_server.h"
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#define _SEGMENT_IS_VALID_SUPPORT_TRESHOLD 0.99998
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/*
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SHAPE_LINE, ///< plane:"plane"
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SHAPE_SEGMENT, ///< float:"length"
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SHAPE_CIRCLE, ///< float:"radius"
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SHAPE_RECTANGLE, ///< vec3:"extents"
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SHAPE_CONVEX_POLYGON, ///< array of planes:"planes"
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SHAPE_CONCAVE_POLYGON, ///< Vector2 array:"triangles" , or Dictionary with "indices" (int array) and "triangles" (Vector2 array)
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SHAPE_CUSTOM, ///< Server-Implementation based custom shape, calling shape_create() with this value will result in an error
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*/
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class Shape2DSW;
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class ShapeOwner2DSW {
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public:
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virtual void _shape_changed()=0;
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virtual void remove_shape(Shape2DSW *p_shape)=0;
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virtual ~ShapeOwner2DSW() {}
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};
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class Shape2DSW {
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RID self;
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Rect2 aabb;
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bool configured;
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real_t custom_bias;
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Map<ShapeOwner2DSW*,int> owners;
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protected:
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void configure(const Rect2& p_aabb);
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public:
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_FORCE_INLINE_ void set_self(const RID& p_self) { self=p_self; }
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_FORCE_INLINE_ RID get_self() const {return self; }
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virtual Physics2DServer::ShapeType get_type() const=0;
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_FORCE_INLINE_ Rect2 get_aabb() const { return aabb; }
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_FORCE_INLINE_ bool is_configured() const { return configured; }
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virtual bool is_concave() const { return false; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const=0;
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virtual void project_range_castv(const Vector2& p_cast, const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const=0;
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virtual Vector2 get_support(const Vector2& p_normal) const;
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const=0;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const=0;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const=0;
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virtual void set_data(const Variant& p_data)=0;
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virtual Variant get_data() const=0;
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_FORCE_INLINE_ void set_custom_bias(real_t p_bias) { custom_bias=p_bias; }
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_FORCE_INLINE_ real_t get_custom_bias() const { return custom_bias; }
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void add_owner(ShapeOwner2DSW *p_owner);
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void remove_owner(ShapeOwner2DSW *p_owner);
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bool is_owner(ShapeOwner2DSW *p_owner) const;
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const Map<ShapeOwner2DSW*,int>& get_owners() const;
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_FORCE_INLINE_ void get_supports_transformed_cast(const Vector2& p_cast,const Vector2& p_normal,const Matrix32& p_xform,Vector2 *r_supports,int & r_amount) const {
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get_supports(p_xform.basis_xform_inv(p_normal).normalized(),r_supports,r_amount);
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for(int i=0;i<r_amount;i++)
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r_supports[i]=p_xform.xform(r_supports[i]);
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if (r_amount==1) {
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if (Math::abs( p_normal.dot(p_cast.normalized()) )<(1.0-_SEGMENT_IS_VALID_SUPPORT_TRESHOLD) ) {
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//make line because they are parallel
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r_amount=2;
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r_supports[1]=r_supports[0]+p_cast;
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} else if (p_cast.dot(p_normal)>0) {
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//normal points towards cast, add cast
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r_supports[0]+=p_cast;
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}
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} else {
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if (Math::abs( p_normal.dot(p_cast.normalized()) )<(1.0-_SEGMENT_IS_VALID_SUPPORT_TRESHOLD) ) {
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//optimize line and make it larger because they are parallel
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if ((r_supports[1]-r_supports[0]).dot(p_cast)>0) {
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//larger towards 1
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r_supports[1]+=p_cast;
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} else {
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//larger towards 0
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r_supports[0]+=p_cast;
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}
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} else if (p_cast.dot(p_normal)>0) {
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//normal points towards cast, add cast
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r_supports[0]+=p_cast;
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r_supports[1]+=p_cast;
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}
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}
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}
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Shape2DSW();
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virtual ~Shape2DSW();
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};
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//let the optimizer do the magic
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#define DEFAULT_PROJECT_RANGE_CAST \
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virtual void project_range_castv(const Vector2& p_cast, const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {\
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project_range_cast(p_cast,p_normal,p_transform,r_min,r_max);\
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}\
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_FORCE_INLINE_ void project_range_cast(const Vector2& p_cast, const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {\
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\
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real_t mina,maxa;\
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real_t minb,maxb;\
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Matrix32 ofsb=p_transform;\
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ofsb.elements[2]+=p_cast;\
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project_range(p_normal,p_transform,mina,maxa);\
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project_range(p_normal,ofsb,minb,maxb); \
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r_min=MIN(mina,minb);\
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r_max=MAX(maxa,maxb);\
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}
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class LineShape2DSW : public Shape2DSW {
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Vector2 normal;
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real_t d;
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public:
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_FORCE_INLINE_ Vector2 get_normal() const { return normal; }
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_FORCE_INLINE_ real_t get_d() const { return d; }
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_LINE; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_min=-1e10;
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r_max=1e10;
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}
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virtual void project_range_castv(const Vector2& p_cast, const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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project_range_cast(p_cast,p_normal,p_transform,r_min,r_max);
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}
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_FORCE_INLINE_ void project_range_cast(const Vector2& p_cast, const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_min=-1e10;
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r_max=1e10;
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}
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};
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class RayShape2DSW : public Shape2DSW {
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real_t length;
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public:
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_FORCE_INLINE_ real_t get_length() const { return length; }
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RAY; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_max = p_normal.dot(p_transform.get_origin());
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r_min = p_normal.dot(p_transform.xform(Vector2(0,length)));
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if (r_max<r_min) {
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SWAP(r_max,r_min);
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}
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}
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DEFAULT_PROJECT_RANGE_CAST
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_FORCE_INLINE_ RayShape2DSW() {}
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_FORCE_INLINE_ RayShape2DSW(real_t p_length) { length=p_length; }
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};
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class SegmentShape2DSW : public Shape2DSW {
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Vector2 a;
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Vector2 b;
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Vector2 n;
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public:
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_FORCE_INLINE_ const Vector2& get_a() const { return a; }
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_FORCE_INLINE_ const Vector2& get_b() const { return b; }
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_FORCE_INLINE_ const Vector2& get_normal() const { return n; }
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_SEGMENT; }
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_FORCE_INLINE_ Vector2 get_xformed_normal(const Matrix32& p_xform) const {
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return (p_xform.xform(b) - p_xform.xform(a)).normalized().tangent();
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}
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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r_max = p_normal.dot(p_transform.xform(a));
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r_min = p_normal.dot(p_transform.xform(b));
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if (r_max<r_min) {
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SWAP(r_max,r_min);
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}
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}
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DEFAULT_PROJECT_RANGE_CAST
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_FORCE_INLINE_ SegmentShape2DSW() {}
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_FORCE_INLINE_ SegmentShape2DSW(const Vector2& p_a,const Vector2& p_b,const Vector2& p_n) { a=p_a; b=p_b; n=p_n; }
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};
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class CircleShape2DSW : public Shape2DSW {
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real_t radius;
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public:
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_FORCE_INLINE_ const real_t& get_radius() const { return radius; }
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CIRCLE; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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//real large
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real_t d = p_normal.dot( p_transform.get_origin() );
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// figure out scale at point
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Vector2 local_normal = p_transform.basis_xform_inv(p_normal);
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real_t scale = local_normal.length();
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r_min = d - (radius) * scale;
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r_max = d + (radius) * scale;
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}
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DEFAULT_PROJECT_RANGE_CAST
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};
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class RectangleShape2DSW : public Shape2DSW {
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Vector2 half_extents;
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public:
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_FORCE_INLINE_ const Vector2& get_half_extents() const { return half_extents; }
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_RECTANGLE; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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// no matter the angle, the box is mirrored anyway
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r_max=-1e20;
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r_min=1e20;
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for(int i=0;i<4;i++) {
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real_t d=p_normal.dot(p_transform.xform(Vector2( ((i&1)*2-1)*half_extents.x, ((i>>1)*2-1)*half_extents.y )));
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if (d>r_max)
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r_max=d;
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if (d<r_min)
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r_min=d;
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}
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}
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_FORCE_INLINE_ Vector2 get_circle_axis(const Matrix32& p_xform, const Matrix32& p_xform_inv,const Vector2& p_circle) const {
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Vector2 local_v = p_xform_inv.xform(p_circle);
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Vector2 he(
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(local_v.x<0) ? -half_extents.x : half_extents.x,
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(local_v.y<0) ? -half_extents.y : half_extents.y
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);
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return (p_xform.xform(he)-p_circle).normalized();
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}
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_FORCE_INLINE_ Vector2 get_box_axis(const Matrix32& p_xform, const Matrix32& p_xform_inv,const RectangleShape2DSW *p_B,const Matrix32& p_B_xform, const Matrix32& p_B_xform_inv) const {
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Vector2 a,b;
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{
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Vector2 local_v = p_xform_inv.xform(p_B_xform.get_origin());
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Vector2 he(
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(local_v.x<0) ? -half_extents.x : half_extents.x,
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(local_v.y<0) ? -half_extents.y : half_extents.y
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);
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a=p_xform.xform(he);
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}
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{
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Vector2 local_v = p_B_xform_inv.xform(p_xform.get_origin());
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Vector2 he(
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(local_v.x<0) ? -p_B->half_extents.x : p_B->half_extents.x,
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(local_v.y<0) ? -p_B->half_extents.y : p_B->half_extents.y
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);
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b=p_B_xform.xform(he);
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}
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return (a-b).normalized();
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}
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DEFAULT_PROJECT_RANGE_CAST
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};
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class CapsuleShape2DSW : public Shape2DSW {
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real_t radius;
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real_t height;
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public:
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_FORCE_INLINE_ const real_t& get_radius() const { return radius; }
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_FORCE_INLINE_ const real_t& get_height() const { return height; }
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CAPSULE; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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// no matter the angle, the box is mirrored anyway
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Vector2 n=p_transform.basis_xform_inv(p_normal).normalized();
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float h = (n.y > 0) ? height : -height;
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n *= radius;
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n.y += h * 0.5;
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r_max = p_normal.dot(p_transform.xform(n));
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r_min = p_normal.dot(p_transform.xform(-n));
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if (r_max<r_min) {
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SWAP(r_max,r_min);
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}
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//ERR_FAIL_COND( r_max < r_min );
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}
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DEFAULT_PROJECT_RANGE_CAST
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};
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class ConvexPolygonShape2DSW : public Shape2DSW {
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struct Point {
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Vector2 pos;
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Vector2 normal; //normal to next segment
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};
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Point *points;
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int point_count;
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public:
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_FORCE_INLINE_ int get_point_count() const { return point_count; }
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_FORCE_INLINE_ const Vector2& get_point(int p_idx) const { return points[p_idx].pos; }
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_FORCE_INLINE_ const Vector2& get_segment_normal(int p_idx) const { return points[p_idx].normal; }
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_FORCE_INLINE_ Vector2 get_xformed_segment_normal(const Matrix32& p_xform, int p_idx) const {
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Vector2 a = points[p_idx].pos;
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p_idx++;
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Vector2 b = points[p_idx==point_count?0:p_idx].pos;
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return (p_xform.xform(b)-p_xform.xform(a)).normalized().tangent();
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}
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virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CONVEX_POLYGON; }
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virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { project_range(p_normal,p_transform,r_min,r_max); }
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virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
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virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
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virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const;
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virtual void set_data(const Variant& p_data);
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virtual Variant get_data() const;
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_FORCE_INLINE_ void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const {
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// no matter the angle, the box is mirrored anyway
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r_min = r_max = p_normal.dot(p_transform.xform(points[0].pos));
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for(int i=1;i<point_count;i++) {
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float d = p_normal.dot(p_transform.xform(points[i].pos));
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if (d>r_max)
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r_max=d;
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if (d<r_min)
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r_min=d;
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}
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}
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DEFAULT_PROJECT_RANGE_CAST
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ConvexPolygonShape2DSW();
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~ConvexPolygonShape2DSW();
|
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};
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class ConcaveShape2DSW : public Shape2DSW {
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|
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public:
|
|
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virtual bool is_concave() const { return true; }
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typedef void (*Callback)(void* p_userdata,Shape2DSW *p_convex);
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|
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virtual void cull(const Rect2& p_local_aabb,Callback p_callback,void* p_userdata) const=0;
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|
|
|
};
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|
|
|
class ConcavePolygonShape2DSW : public ConcaveShape2DSW {
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|
|
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struct Segment {
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|
|
|
int points[2];
|
|
};
|
|
|
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Vector<Segment> segments;
|
|
Vector<Point2> points;
|
|
|
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struct BVH {
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|
|
|
Rect2 aabb;
|
|
int left,right;
|
|
};
|
|
|
|
|
|
Vector<BVH> bvh;
|
|
int bvh_depth;
|
|
|
|
|
|
struct BVH_CompareX {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const BVH& a, const BVH& b) const {
|
|
|
|
return (a.aabb.pos.x+a.aabb.size.x*0.5) < (b.aabb.pos.x+b.aabb.size.x*0.5);
|
|
}
|
|
};
|
|
|
|
struct BVH_CompareY {
|
|
|
|
_FORCE_INLINE_ bool operator ()(const BVH& a, const BVH& b) const {
|
|
|
|
return (a.aabb.pos.y+a.aabb.size.y*0.5) < (b.aabb.pos.y+b.aabb.size.y*0.5);
|
|
}
|
|
};
|
|
|
|
int _generate_bvh(BVH *p_bvh,int p_len,int p_depth);
|
|
|
|
public:
|
|
|
|
virtual Physics2DServer::ShapeType get_type() const { return Physics2DServer::SHAPE_CONCAVE_POLYGON; }
|
|
|
|
virtual void project_rangev(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/ }
|
|
virtual void project_range(const Vector2& p_normal, const Matrix32& p_transform, real_t &r_min, real_t &r_max) const { /*project_range(p_normal,p_transform,r_min,r_max);*/ }
|
|
virtual void get_supports(const Vector2& p_normal,Vector2 *r_supports,int & r_amount) const;
|
|
|
|
virtual bool intersect_segment(const Vector2& p_begin,const Vector2& p_end,Vector2 &r_point, Vector2 &r_normal) const;
|
|
|
|
virtual real_t get_moment_of_inertia(float p_mass,const Vector2& p_scale) const { return 0; }
|
|
|
|
virtual void set_data(const Variant& p_data);
|
|
virtual Variant get_data() const;
|
|
|
|
virtual void cull(const Rect2& p_local_aabb,Callback p_callback,void* p_userdata) const;
|
|
|
|
|
|
DEFAULT_PROJECT_RANGE_CAST
|
|
|
|
};
|
|
|
|
#undef DEFAULT_PROJECT_RANGE_CAST
|
|
|
|
#endif // SHAPE_2D_2DSW_H
|