1/**************************************************************************/
2/* godot_body_pair_2d.h */
3/**************************************************************************/
4/* This file is part of: */
5/* GODOT ENGINE */
6/* https://godotengine.org */
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8/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
9/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */
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17/* the following conditions: */
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20/* included in all copies or substantial portions of the Software. */
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29/**************************************************************************/
30
31#ifndef GODOT_BODY_PAIR_2D_H
32#define GODOT_BODY_PAIR_2D_H
33
34#include "godot_body_2d.h"
35#include "godot_constraint_2d.h"
36
37class GodotBodyPair2D : public GodotConstraint2D {
38 enum {
39 MAX_CONTACTS = 2
40 };
41 union {
42 struct {
43 GodotBody2D *A;
44 GodotBody2D *B;
45 };
46
47 GodotBody2D *_arr[2] = { nullptr, nullptr };
48 };
49
50 int shape_A = 0;
51 int shape_B = 0;
52
53 bool collide_A = false;
54 bool collide_B = false;
55
56 GodotSpace2D *space = nullptr;
57
58 struct Contact {
59 Vector2 position;
60 Vector2 normal;
61 Vector2 local_A, local_B;
62 Vector2 acc_impulse; // accumulated impulse
63 real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
64 real_t acc_tangent_impulse = 0.0; // accumulated tangent impulse (Pt)
65 real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
66 real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
67 real_t mass_normal, mass_tangent = 0.0;
68 real_t bias = 0.0;
69
70 real_t depth = 0.0;
71 bool active = false;
72 bool used = false;
73 Vector2 rA, rB;
74 real_t bounce = 0.0;
75 };
76
77 Vector2 offset_B; //use local A coordinates to avoid numerical issues on collision detection
78
79 Vector2 sep_axis;
80 Contact contacts[MAX_CONTACTS];
81 int contact_count = 0;
82 bool collided = false;
83 bool check_ccd = false;
84 bool oneway_disabled = false;
85 bool report_contacts_only = false;
86
87 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);
88 void _validate_contacts();
89 static void _add_contact(const Vector2 &p_point_A, const Vector2 &p_point_B, void *p_self);
90 _FORCE_INLINE_ void _contact_added_callback(const Vector2 &p_point_A, const Vector2 &p_point_B);
91
92public:
93 virtual bool setup(real_t p_step) override;
94 virtual bool pre_solve(real_t p_step) override;
95 virtual void solve(real_t p_step) override;
96
97 GodotBodyPair2D(GodotBody2D *p_A, int p_shape_A, GodotBody2D *p_B, int p_shape_B);
98 ~GodotBodyPair2D();
99};
100
101#endif // GODOT_BODY_PAIR_2D_H
102