1/**************************************************************************/
2/* godot_body_pair_3d.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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29/**************************************************************************/
30
31#ifndef GODOT_BODY_PAIR_3D_H
32#define GODOT_BODY_PAIR_3D_H
33
34#include "godot_body_3d.h"
35#include "godot_constraint_3d.h"
36#include "godot_soft_body_3d.h"
37
38#include "core/templates/local_vector.h"
39
40class GodotBodyContact3D : public GodotConstraint3D {
41protected:
42 struct Contact {
43 Vector3 position;
44 Vector3 normal;
45 int index_A = 0, index_B = 0;
46 Vector3 local_A, local_B;
47 Vector3 acc_impulse; // accumulated impulse - only one of the object's impulse is needed as impulse_a == -impulse_b
48 real_t acc_normal_impulse = 0.0; // accumulated normal impulse (Pn)
49 Vector3 acc_tangent_impulse; // accumulated tangent impulse (Pt)
50 real_t acc_bias_impulse = 0.0; // accumulated normal impulse for position bias (Pnb)
51 real_t acc_bias_impulse_center_of_mass = 0.0; // accumulated normal impulse for position bias applied to com
52 real_t mass_normal = 0.0;
53 real_t bias = 0.0;
54 real_t bounce = 0.0;
55
56 real_t depth = 0.0;
57 bool active = false;
58 bool used = false;
59 Vector3 rA, rB; // Offset in world orientation with respect to center of mass
60 };
61
62 Vector3 sep_axis;
63 bool collided = false;
64 bool check_ccd = false;
65
66 GodotSpace3D *space = nullptr;
67
68 GodotBodyContact3D(GodotBody3D **p_body_ptr = nullptr, int p_body_count = 0) :
69 GodotConstraint3D(p_body_ptr, p_body_count) {
70 }
71};
72
73class GodotBodyPair3D : public GodotBodyContact3D {
74 enum {
75 MAX_CONTACTS = 4
76 };
77
78 union {
79 struct {
80 GodotBody3D *A;
81 GodotBody3D *B;
82 };
83
84 GodotBody3D *_arr[2] = { nullptr, nullptr };
85 };
86
87 int shape_A = 0;
88 int shape_B = 0;
89
90 bool collide_A = false;
91 bool collide_B = false;
92
93 bool report_contacts_only = false;
94
95 Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
96
97 Contact contacts[MAX_CONTACTS];
98 int contact_count = 0;
99
100 static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata);
101
102 void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal);
103
104 void validate_contacts();
105 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);
106
107public:
108 virtual bool setup(real_t p_step) override;
109 virtual bool pre_solve(real_t p_step) override;
110 virtual void solve(real_t p_step) override;
111
112 GodotBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotBody3D *p_B, int p_shape_B);
113 ~GodotBodyPair3D();
114};
115
116class GodotBodySoftBodyPair3D : public GodotBodyContact3D {
117 GodotBody3D *body = nullptr;
118 GodotSoftBody3D *soft_body = nullptr;
119
120 int body_shape = 0;
121
122 bool body_collides = false;
123 bool soft_body_collides = false;
124
125 bool report_contacts_only = false;
126
127 LocalVector<Contact> contacts;
128
129 static void _contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata);
130
131 void contact_added_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal);
132
133 void validate_contacts();
134
135public:
136 virtual bool setup(real_t p_step) override;
137 virtual bool pre_solve(real_t p_step) override;
138 virtual void solve(real_t p_step) override;
139
140 virtual GodotSoftBody3D *get_soft_body_ptr(int p_index) const override { return soft_body; }
141 virtual int get_soft_body_count() const override { return 1; }
142
143 GodotBodySoftBodyPair3D(GodotBody3D *p_A, int p_shape_A, GodotSoftBody3D *p_B);
144 ~GodotBodySoftBodyPair3D();
145};
146
147#endif // GODOT_BODY_PAIR_3D_H
148