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/*************************************************************************/
/* body_pair_2d_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* 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] = { nullptr, nullptr };
};
int shape_A = 0;
int shape_B = 0;
bool collide_A = false;
bool collide_B = false;
Space2DSW *space = nullptr;
struct Contact {
Vector2 position;
Vector2 normal;
Vector2 local_A, local_B;
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
real_t mass_normal, mass_tangent = 0.0;
real_t bias = 0.0;
real_t depth = 0.0;
bool active = false;
Vector2 rA, rB;
bool reused = false;
real_t bounce = 0.0;
};
Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection
Vector2 sep_axis;
Contact contacts[MAX_CONTACTS];
int contact_count = 0;
bool collided = false;
bool oneway_disabled = false;
bool report_contacts_only = false;
bool _test_ccd(real_t p_step, Body2DSW *p_A, int p_shape_A, const Transform2D &p_xform_A, Body2DSW *p_B, int p_shape_B, const Transform2D &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:
virtual bool setup(real_t p_step) override;
virtual bool pre_solve(real_t p_step) override;
virtual void solve(real_t p_step) override;
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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