godot_collision_solver_2d_sat.cpp | Explore in Territory

/**************************************************************************/
/*  godot_collision_solver_2d_sat.cpp                                     */
/**************************************************************************/
/*                         This file is part of:                          */
/*                             GODOT ENGINE                               */
/*                        https://godotengine.org                         */
/**************************************************************************/
/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
/*                                                                        */
/* 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.                 */
/**************************************************************************/

#include "godot_collision_solver_2d_sat.h"

#include "core/math/geometry_2d.h"

struct _CollectorCallback2D { … };

GenerateContactsFunc;

_FORCE_INLINE_ static void _generate_contacts_point_point(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { … }

_FORCE_INLINE_ static void _generate_contacts_point_edge(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { … }

struct _generate_contacts_Pair { … };

_FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { … }

static void _generate_contacts_from_supports(const Vector2 *p_points_A, int p_point_count_A, const Vector2 *p_points_B, int p_point_count_B, _CollectorCallback2D *p_collector) { … }

template <typename ShapeA, typename ShapeB, bool castA = false, bool castB = false, bool withMargin = false>
class SeparatorAxisTest2D { … };

/****** SAT TESTS *******/

#define TEST_POINT(m_a, m_b) …

CollisionFunc;

template <bool castA, bool castB, bool withMargin>
static void _collision_segment_segment(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_segment_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_segment_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_segment_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_segment_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

/////////

template <bool castA, bool castB, bool withMargin>
static void _collision_circle_circle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_circle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_circle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_circle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

/////////

template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_rectangle(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

/////////

template <bool castA, bool castB, bool withMargin>
static void _collision_capsule_capsule(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

template <bool castA, bool castB, bool withMargin>
static void _collision_capsule_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

/////////

template <bool castA, bool castB, bool withMargin>
static void _collision_convex_polygon_convex_polygon(const GodotShape2D *p_a, const Transform2D &p_transform_a, const GodotShape2D *p_b, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_a, const Vector2 &p_motion_b, real_t p_margin_A, real_t p_margin_B) { … }

////////

bool sat_2d_calculate_penetration(const GodotShape2D *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const GodotShape2D *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, GodotCollisionSolver2D::CallbackResult p_result_callback, void *p_userdata, bool p_swap, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) { … }
godot/servers/physics_2d/godot_collision_solver_2d_sat.cpp
