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/*************************************************************************/
/* godot_body_pair_3d.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 GODOT_BODY_PAIR_3D_H
#define GODOT_BODY_PAIR_3D_H
#include "godot_body_3d.h"
#include "godot_constraint_3d.h"
#include "godot_soft_body_3d.h"
#include "core/templates/local_vector.h"
class GodotBodyContact3D : public GodotConstraint3D {
protected:
struct Contact {
Vector3 position;
Vector3 normal;
int index_A = 0, index_B = 0;
Vector3 local_A, local_B;
real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
real_t mass_normal = 0.0;
real_t bias = 0.0;
real_t bounce = 0.0;
real_t depth = 0.0;
bool active = false;
Vector3 rA, rB; // Offset in world orientation with respect to center of mass
};
Vector3 sep_axis;
bool collided = false;
GodotSpace3D *space = nullptr;
GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
GodotConstraint3D(p_body_ptr, p_body_count) {
}
};
class GodotBodyPair3D : public GodotBodyContact3D {
enum {
MAX_CONTACTS = 4
};
union {
struct {
GodotBody3D *A;
GodotBody3D *B;
};
GodotBody3D *_arr[2] = { nullptr, nullptr };
};
int shape_A = 0;
int shape_B = 0;
bool collide_A = false;
bool collide_B = false;
bool report_contacts_only = false;
Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
Contact contacts[MAX_CONTACTS];
int contact_count = 0;
static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
void validate_contacts();
bool _test_ccd(real_t p_step, GodotBody3D *p_A, int p_shape_A, const Transform3D &p_xform_A, GodotBody3D *p_B, int p_shape_B, const Transform3D &p_xform_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;
GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B);
~GodotBodyPair3D();
};
class GodotBodySoftBodyPair3D : public GodotBodyContact3D {
GodotBody3D *body = nullptr;
GodotSoftBody3D *soft_body = nullptr;
int body_shape = 0;
bool body_collides = false;
bool soft_body_collides = false;
bool report_contacts_only = false;
LocalVector<Contact> contacts;
static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
void validate_contacts();
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;
virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; }
virtual int get_soft_body_count() const override { return 1; }
GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B);
~GodotBodySoftBodyPair3D();
};
#endif // GODOT_BODY_PAIR_3D_H
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