1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
|
/*************************************************************************/
/* body_pair_3d_sw.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2020 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_SW_H
#define BODY_PAIR_SW_H
#include "body_3d_sw.h"
#include "constraint_3d_sw.h"
class BodyPair3DSW : public Constraint3DSW {
enum {
MAX_CONTACTS = 4
};
union {
struct {
Body3DSW *A;
Body3DSW *B;
};
Body3DSW *_arr[2];
};
int shape_A;
int shape_B;
struct Contact {
Vector3 position;
Vector3 normal;
Vector3 local_A, local_B;
real_t acc_normal_impulse; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse; // accumulated normal impulse for position bias (Pnb)
real_t acc_bias_impulse_center_of_mass; // accumulated normal impulse for position bias applied to com
real_t mass_normal;
real_t bias;
real_t bounce;
real_t depth;
bool active;
Vector3 rA, rB; // Offset in world orientation with respect to center of mass
};
Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
Vector3 sep_axis;
Contact contacts[MAX_CONTACTS];
int contact_count;
bool collided;
static void _contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);
void contact_added_callback(const Vector3 &p_point_A, const Vector3 &p_point_B);
void validate_contacts();
bool _test_ccd(real_t p_step, Body3DSW *p_A, int p_shape_A, const Transform &p_xform_A, Body3DSW *p_B, int p_shape_B, const Transform &p_xform_B);
Space3DSW *space;
public:
bool setup(real_t p_step);
void solve(real_t p_step);
BodyPair3DSW(Body3DSW *p_A, int p_shape_A, Body3DSW *p_B, int p_shape_B);
~BodyPair3DSW();
};
#endif // BODY_PAIR__SW_H
|