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/*************************************************************************/
/* body_pair_2d_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
/* "Software"), to deal in the Software without restriction, including */
/* without limitation the rights to use, copy, modify, merge, publish, */
/* distribute, sublicense, and/or sell copies of the Software, and to */
/* permit persons to whom the Software is furnished to do so, subject to */
/* the following conditions: */
/* */
/* The above copyright notice and this permission notice shall be */
/* included in all copies or substantial portions of the Software. */
/* */
/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#ifndef BODY_PAIR_2D_SW_H
#define BODY_PAIR_2D_SW_H
#include "body_2d_sw.h"
#include "constraint_2d_sw.h"
class BodyPair2DSW : public Constraint2DSW {
enum {
MAX_CONTACTS=2
};
union {
struct {
Body2DSW *A;
Body2DSW *B;
};
Body2DSW *_arr[2];
};
int shape_A;
int shape_B;
Space2DSW *space;
struct Contact {
Vector2 position;
Vector2 normal;
Vector2 local_A, local_B;
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
real_t acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
real_t mass_normal, mass_tangent;
real_t bias;
real_t depth;
bool active;
Vector2 rA,rB;
bool reused;
};
Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection
Vector2 sep_axis;
Contact contacts[MAX_CONTACTS];
int contact_count;
bool collided;
int cc;
bool _test_ccd(float p_step,Body2DSW *p_A, int p_shape_A,const Matrix32& p_xform_A,Body2DSW *p_B, int p_shape_B,const Matrix32& p_xform_B,bool p_swap_result=false);
void _validate_contacts();
static void _add_contact(const Vector2& p_point_A,const Vector2& p_point_B,void *p_self);
_FORCE_INLINE_ void _contact_added_callback(const Vector2& p_point_A,const Vector2& p_point_B);
public:
bool setup(float p_step);
void solve(float p_step);
BodyPair2DSW(Body2DSW *p_A, int p_shape_A,Body2DSW *p_B, int p_shape_B);
~BodyPair2DSW();
};
#endif // BODY_PAIR_2D_SW_H
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