godot/servers/physics_2d/godot_body_pair_2d.h
Ricardo Buring 3efa105548 Add get_contact_impulse method to PhysicsDirectBodyState2D
This makes it consistent with 3D.
2023-01-10 23:28:02 +01:00

102 lines
4.2 KiB
C++

/**************************************************************************/
/* godot_body_pair_2d.h */
/**************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
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/* "Software"), to deal in the Software without restriction, including */
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/* the following conditions: */
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/**************************************************************************/
#ifndef GODOT_BODY_PAIR_2D_H
#define GODOT_BODY_PAIR_2D_H
#include "godot_body_2d.h"
#include "godot_constraint_2d.h"
class GodotBodyPair2D : public GodotConstraint2D {
enum {
MAX_CONTACTS = 2
};
union {
struct {
GodotBody2D *A;
GodotBody2D *B;
};
GodotBody2D *_arr[2] = { nullptr, nullptr };
};
int shape_A = 0;
int shape_B = 0;
bool collide_A = false;
bool collide_B = false;
GodotSpace2D *space = nullptr;
struct Contact {
Vector2 position;
Vector2 normal;
Vector2 local_A, local_B;
Vector2 acc_impulse; // accumulated impulse
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 acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
real_t mass_normal, mass_tangent = 0.0;
real_t bias = 0.0;
real_t depth = 0.0;
bool active = false;
bool used = false;
Vector2 rA, rB;
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 check_ccd = false;
bool oneway_disabled = false;
bool report_contacts_only = false;
bool _test_ccd(real_t p_step, GodotBody2D *p_A, int p_shape_A, const Transform2D &p_xform_A, GodotBody2D *p_B, int p_shape_B, const Transform2D &p_xform_B);
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;
GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B);
~GodotBodyPair2D();
};
#endif // GODOT_BODY_PAIR_2D_H