diff options
Diffstat (limited to 'servers/physics/collision_solver_sat.cpp')
| -rw-r--r-- | servers/physics/collision_solver_sat.cpp | 62 |
1 files changed, 60 insertions, 2 deletions
diff --git a/servers/physics/collision_solver_sat.cpp b/servers/physics/collision_solver_sat.cpp index 8f2b147460..b059c20c95 100644 --- a/servers/physics/collision_solver_sat.cpp +++ b/servers/physics/collision_solver_sat.cpp @@ -560,6 +560,12 @@ static void _collision_sphere_capsule(const ShapeSW *p_a, const Transform &p_tra } template <bool withMargin> +static void _collision_sphere_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + + return; +} + +template <bool withMargin> static void _collision_sphere_convex_polygon(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { const SphereShapeSW *sphere_A = static_cast<const SphereShapeSW *>(p_a); @@ -851,6 +857,12 @@ static void _collision_box_capsule(const ShapeSW *p_a, const Transform &p_transf } template <bool withMargin> +static void _collision_box_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + + return; +} + +template <bool withMargin> static void _collision_box_convex_polygon(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { const BoxShapeSW *box_A = static_cast<const BoxShapeSW *>(p_a); @@ -1127,6 +1139,12 @@ static void _collision_capsule_capsule(const ShapeSW *p_a, const Transform &p_tr } template <bool withMargin> +static void _collision_capsule_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + + return; +} + +template <bool withMargin> static void _collision_capsule_convex_polygon(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { const CapsuleShapeSW *capsule_A = static_cast<const CapsuleShapeSW *>(p_a); @@ -1247,6 +1265,24 @@ static void _collision_capsule_face(const ShapeSW *p_a, const Transform &p_trans } template <bool withMargin> +static void _collision_cylinder_cylinder(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + + return; +} + +template <bool withMargin> +static void _collision_cylinder_convex_polygon(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + + return; +} + +template <bool withMargin> +static void _collision_cylinder_face(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { + + return; +} + +template <bool withMargin> static void _collision_convex_polygon_convex_polygon(const ShapeSW *p_a, const Transform &p_transform_a, const ShapeSW *p_b, const Transform &p_transform_b, _CollectorCallback *p_collector, real_t p_margin_a, real_t p_margin_b) { const ConvexPolygonShapeSW *convex_polygon_A = static_cast<const ConvexPolygonShapeSW *>(p_a); @@ -1475,59 +1511,81 @@ bool sat_calculate_penetration(const ShapeSW *p_shape_A, const Transform &p_tran ERR_FAIL_COND_V(type_B == PhysicsServer::SHAPE_RAY, false); ERR_FAIL_COND_V(p_shape_B->is_concave(), false); - static const CollisionFunc collision_table[5][5] = { + static const CollisionFunc collision_table[6][6] = { { _collision_sphere_sphere<false>, _collision_sphere_box<false>, _collision_sphere_capsule<false>, + _collision_sphere_cylinder<false>, _collision_sphere_convex_polygon<false>, _collision_sphere_face<false> }, { 0, _collision_box_box<false>, _collision_box_capsule<false>, + _collision_box_cylinder<false>, _collision_box_convex_polygon<false>, _collision_box_face<false> }, { 0, 0, _collision_capsule_capsule<false>, + _collision_capsule_cylinder<false>, _collision_capsule_convex_polygon<false>, _collision_capsule_face<false> }, { 0, 0, 0, + _collision_cylinder_cylinder<false>, + _collision_cylinder_convex_polygon<false>, + _collision_cylinder_face<false> }, + { 0, + 0, + 0, + 0, _collision_convex_polygon_convex_polygon<false>, _collision_convex_polygon_face<false> }, { 0, 0, 0, 0, + 0, 0 }, }; - static const CollisionFunc collision_table_margin[5][5] = { + static const CollisionFunc collision_table_margin[6][6] = { { _collision_sphere_sphere<true>, _collision_sphere_box<true>, _collision_sphere_capsule<true>, + _collision_sphere_cylinder<true>, _collision_sphere_convex_polygon<true>, _collision_sphere_face<true> }, { 0, _collision_box_box<true>, _collision_box_capsule<true>, + _collision_box_cylinder<true>, _collision_box_convex_polygon<true>, _collision_box_face<true> }, { 0, 0, _collision_capsule_capsule<true>, + _collision_capsule_cylinder<true>, _collision_capsule_convex_polygon<true>, _collision_capsule_face<true> }, { 0, 0, 0, + _collision_cylinder_cylinder<true>, + _collision_cylinder_convex_polygon<true>, + _collision_cylinder_face<true> }, + { 0, + 0, + 0, + 0, _collision_convex_polygon_convex_polygon<true>, _collision_convex_polygon_face<true> }, { 0, 0, 0, 0, + 0, 0 }, }; |