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d95794ec8a
As many open source projects have started doing it, we're removing the current year from the copyright notice, so that we don't need to bump it every year. It seems like only the first year of publication is technically relevant for copyright notices, and even that seems to be something that many companies stopped listing altogether (in a version controlled codebase, the commits are a much better source of date of publication than a hardcoded copyright statement). We also now list Godot Engine contributors first as we're collectively the current maintainers of the project, and we clarify that the "exclusive" copyright of the co-founders covers the timespan before opensourcing (their further contributions are included as part of Godot Engine contributors). Also fixed "cf." Frenchism - it's meant as "refer to / see".
147 lines
5.5 KiB
C++
147 lines
5.5 KiB
C++
/**************************************************************************/
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/* godot_body_pair_3d.h */
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/**************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/**************************************************************************/
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/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
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/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/**************************************************************************/
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#ifndef GODOT_BODY_PAIR_3D_H
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#define GODOT_BODY_PAIR_3D_H
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#include "godot_body_3d.h"
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#include "godot_constraint_3d.h"
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#include "godot_soft_body_3d.h"
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#include "core/templates/local_vector.h"
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class GodotBodyContact3D : public GodotConstraint3D {
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protected:
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struct Contact {
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Vector3 position;
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Vector3 normal;
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int index_A = 0, index_B = 0;
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Vector3 local_A, local_B;
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real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
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Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
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real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
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real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
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real_t mass_normal = 0.0;
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real_t bias = 0.0;
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real_t bounce = 0.0;
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real_t depth = 0.0;
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bool active = false;
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bool used = false;
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Vector3 rA, rB; // Offset in world orientation with respect to center of mass
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};
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Vector3 sep_axis;
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bool collided = false;
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bool check_ccd = false;
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GodotSpace3D *space = nullptr;
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GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
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GodotConstraint3D(p_body_ptr, p_body_count) {
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}
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};
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class GodotBodyPair3D : public GodotBodyContact3D {
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enum {
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MAX_CONTACTS = 4
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};
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union {
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struct {
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GodotBody3D *A;
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GodotBody3D *B;
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};
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GodotBody3D *_arr[2] = { nullptr, nullptr };
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};
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int shape_A = 0;
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int shape_B = 0;
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bool collide_A = false;
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bool collide_B = false;
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bool report_contacts_only = false;
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Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
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Contact contacts[MAX_CONTACTS];
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int contact_count = 0;
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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);
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void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
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void validate_contacts();
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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);
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public:
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virtual bool setup(real_t p_step) override;
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virtual bool pre_solve(real_t p_step) override;
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virtual void solve(real_t p_step) override;
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GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B);
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~GodotBodyPair3D();
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};
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class GodotBodySoftBodyPair3D : public GodotBodyContact3D {
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GodotBody3D *body = nullptr;
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GodotSoftBody3D *soft_body = nullptr;
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int body_shape = 0;
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bool body_collides = false;
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bool soft_body_collides = false;
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bool report_contacts_only = false;
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LocalVector<Contact> contacts;
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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);
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void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B);
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void validate_contacts();
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public:
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virtual bool setup(real_t p_step) override;
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virtual bool pre_solve(real_t p_step) override;
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virtual void solve(real_t p_step) override;
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virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; }
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virtual int get_soft_body_count() const override { return 1; }
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GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B);
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~GodotBodySoftBodyPair3D();
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};
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#endif // GODOT_BODY_PAIR_3D_H
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