0be6d925dc
Which means that reduz' beloved style which we all became used to will now be changed automatically to remove the first empty line. This makes us lean closer to 1TBS (the one true brace style) instead of hybridating it with some Allman-inspired spacing. There's still the case of braces around single-statement blocks that needs to be addressed (but clang-format can't help with that, but clang-tidy may if we agree about it). Part of #33027.
97 lines
3.7 KiB
C++
97 lines
3.7 KiB
C++
/*************************************************************************/
|
|
/* 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
|