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godot_collision_solver_3d.h

godot_collision_solver_3d.h 4.7 KB
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  1. /**************************************************************************/
    2. 

  2. /*  godot_collision_solver_3d.h                                           */
    3. 

  3. /**************************************************************************/
    4. 

  4. /*                         This file is part of:                          */
    5. 

  5. /*                             GODOT ENGINE                               */
    6. 

  6. /*                        https://godotengine.org                         */
    7. 

  7. /**************************************************************************/
    8. 

  8. /* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
    9. 

  9. /* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
    10. 

  10. /*                                                                        */
    11. 

  11. /* Permission is hereby granted, free of charge, to any person obtaining  */
    12. 

  12. /* a copy of this software and associated documentation files (the        */
    13. 

  13. /* "Software"), to deal in the Software without restriction, including    */
    14. 

  14. /* without limitation the rights to use, copy, modify, merge, publish,    */
    15. 

  15. /* distribute, sublicense, and/or sell copies of the Software, and to     */
    16. 

  16. /* permit persons to whom the Software is furnished to do so, subject to  */
    17. 

  17. /* the following conditions:                                              */
    18. 

  18. /*                                                                        */
    19. 

  19. /* The above copyright notice and this permission notice shall be         */
    20. 

  20. /* included in all copies or substantial portions of the Software.        */
    21. 

  21. /*                                                                        */
    22. 

  22. /* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
    23. 

  23. /* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
    24. 

  24. /* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
    25. 

  25. /* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
    26. 

  26. /* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
    27. 

  27. /* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
    28. 

  28. /* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
    29. 

  29. /**************************************************************************/
    30. 

  30. 

  31. #ifndef GODOT_COLLISION_SOLVER_3D_H
    32. 

  32. #define GODOT_COLLISION_SOLVER_3D_H
    33. 

  33. 

  34. #include "godot_shape_3d.h"
    35. 

  35. 

  36. class GodotCollisionSolver3D {
    37. 

  37. public:
    38. 

  38. 	typedef void (*CallbackResult)(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, const Vector3 &normal, void *p_userdata);
    39. 

  39. 

  40. private:
    41. 

  41. 	static bool soft_body_query_callback(uint32_t p_node_index, void *p_userdata);
    42. 

  42. 	static void soft_body_contact_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);
    43. 

  43. 	static bool soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex);
    44. 

  44. 	static bool concave_callback(void *p_userdata, GodotShape3D *p_convex);
    45. 

  45. 	static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
    46. 

  46. 	static bool solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
    47. 

  47. 	static bool solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
    48. 

  48. 	static bool solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
    49. 

  49. 	static bool concave_distance_callback(void *p_userdata, GodotShape3D *p_convex);
    50. 

  50. 	static bool solve_distance_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);
    51. 

  51. 

  52. public:
    53. 

  53. 	static bool solve_static(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = nullptr, real_t p_margin_A = 0, real_t p_margin_B = 0);
    54. 

  54. 	static bool solve_distance(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = nullptr);
    55. 

  55. };
    56. 

  56. 

  57. #endif // GODOT_COLLISION_SOLVER_3D_H
    58. 

  58.