static void _collision_segment_circle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW*>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW,CircleShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,circle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
//segment normal
if (!separator.test_axis(
(p_transform_a.xform(segment_A->get_b())-p_transform_a.xform(segment_A->get_a())).normalized().tangent()
))
return;
//endpoint a vs circle
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),p_transform_b.get_origin()))
return;
//endpoint b vs circle
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),p_transform_b.get_origin()))
return;
separator.generate_contacts();
}
static void _collision_circle_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
SeparatorAxisTest2D<CircleShape2DSW,CapsuleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
//capsule axis
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
return;
//capsule endpoints
if (TEST_POINT(p_transform_a.get_origin(),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
return;
if (TEST_POINT(p_transform_a.get_origin(),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
return;
separator.generate_contacts();
}
static void _collision_segment_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
return;
for(int i=0;i<convex_B->get_point_count();i++) {
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
return;
if (withMargin) {
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(convex_B->get_point(i) )))
return;
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(convex_B->get_point(i) )))
return;
}
}
separator.generate_contacts();
}
static void _collision_segment_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW,CapsuleShape2DSW,castA,castB> separator(segment_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
return;
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
return;
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
return;
if (TEST_POINT(p_transform_a.xform(segment_A->get_a()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
return;
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*0.5)))
return;
if (TEST_POINT(p_transform_a.xform(segment_A->get_b()),(p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*-0.5)))
return;
separator.generate_contacts();
}
static void _collision_circle_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
SeparatorAxisTest2D<CircleShape2DSW,ConvexPolygonShape2DSW,castA,castB> separator(circle_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
//poly faces and poly points vs circle
for(int i=0;i<convex_B->get_point_count();i++) {
if (TEST_POINT( p_transform_a.get_origin(),p_transform_b.xform(convex_B->get_point(i)) ))
return;
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
return;
}
separator.generate_contacts();
}
static void _collision_segment_segment(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW*>(p_a);
const SegmentShape2DSW *segment_B = static_cast<const SegmentShape2DSW*>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW,SegmentShape2DSW,castA,castB,withMargin> separator(segment_A,p_transform_a,segment_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
if (!separator.test_previous_axis())
return;
//this collision is kind of pointless
//if (!separator.test_previous_axis())
// return;
if (!separator.test_cast())
return;
if (!separator.test_axis(segment_A->get_xformed_normal(p_transform_a)))
return;
if (!separator.test_axis(segment_B->get_xformed_normal(p_transform_b)))
return;
if (withMargin) {
//points grow to circles
if (TEST_POINT( p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(segment_B->get_a())) )
return;
if (TEST_POINT( p_transform_a.xform(segment_A->get_a()),p_transform_b.xform(segment_B->get_b())) )
return;
if (TEST_POINT( p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(segment_B->get_a())) )
return;
if (TEST_POINT( p_transform_a.xform(segment_A->get_b()),p_transform_b.xform(segment_B->get_b())) )
return;
}
separator.generate_contacts();
}
static void _collision_capsule_capsule(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b) {
const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW*>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW*>(p_b);
SeparatorAxisTest2D<CapsuleShape2DSW,CapsuleShape2DSW,castA,castB> separator(capsule_A,p_transform_a,capsule_B,p_transform_b,p_collector,p_motion_a,p_motion_b);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
//capsule axis
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
return;
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
return;
//capsule endpoints
for(int i=0;i<2;i++) {
Vector2 capsule_endpoint_A = p_transform_a.get_origin()+p_transform_a.elements[1]*capsule_A->get_height()*(i==0?0.5:-0.5);
for(int j=0;j<2;j++) {
Vector2 capsule_endpoint_B = p_transform_b.get_origin()+p_transform_b.elements[1]*capsule_B->get_height()*(j==0?0.5:-0.5);
if (TEST_POINT(capsule_endpoint_A,capsule_endpoint_B) )
return;
}
}
separator.generate_contacts();
}
static void _collision_circle_circle(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW*>(p_a);
const CircleShape2DSW *circle_B = static_cast<const CircleShape2DSW*>(p_b);
SeparatorAxisTest2D<CircleShape2DSW,CircleShape2DSW,castA,castB,withMargin> separator(circle_A,p_transform_a,circle_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
if (TEST_POINT(p_transform_a.get_origin(),p_transform_b.get_origin()))
return;
separator.generate_contacts();
}
static void _collision_capsule_convex_polygon(const Shape2DSW* p_a,const Matrix32& p_transform_a,const Shape2DSW* p_b,const Matrix32& p_transform_b,_CollectorCallback2D *p_collector,const Vector2& p_motion_a,const Vector2& p_motion_b,float p_margin_A,float p_margin_B) {
const CapsuleShape2DSW *capsule_A = static_cast<const CapsuleShape2DSW*>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW*>(p_b);
SeparatorAxisTest2D<CapsuleShape2DSW,ConvexPolygonShape2DSW,castA,castB,withMargin> separator(capsule_A,p_transform_a,convex_B,p_transform_b,p_collector,p_motion_a,p_motion_b,p_margin_A,p_margin_B);
if (!separator.test_previous_axis())
return;
if (!separator.test_cast())
return;
//capsule axis
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
return;
//poly vs capsule
for(int i=0;i<convex_B->get_point_count();i++) {
Vector2 cpoint = p_transform_b.xform(convex_B->get_point(i));
for(int j=0;j<2;j++) {
Vector2 capsule_endpoint_A = p_transform_a.get_origin()+p_transform_a.elements[1]*capsule_A->get_height()*(j==0?0.5:-0.5);
if (TEST_POINT(capsule_endpoint_A,cpoint ))
return;
}
if (!separator.test_axis( convex_B->get_xformed_segment_normal(p_transform_b,i)))
return;
}
separator.generate_contacts();
}
