bool CollisionSolverSW::solve_static(const ShapeSW *p_shape_A, const Transform &p_transform_A, const ShapeSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis, real_t p_margin_A, real_t p_margin_B) {
PhysicsServer::ShapeType type_A = p_shape_A->get_type();
PhysicsServer::ShapeType type_B = p_shape_B->get_type();
bool concave_A = p_shape_A->is_concave();
bool concave_B = p_shape_B->is_concave();
bool swap = false;
if (type_A > type_B) {
SWAP(type_A, type_B);
SWAP(concave_A, concave_B);
swap = true;
}
if (type_A == PhysicsServer::SHAPE_PLANE) {
if (type_B == PhysicsServer::SHAPE_PLANE)
return false;
if (type_B == PhysicsServer::SHAPE_RAY) {
return false;
}
if (swap) {
return solve_static_plane(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
} else {
return solve_static_plane(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
} else if (type_A == PhysicsServer::SHAPE_RAY) {
if (type_B == PhysicsServer::SHAPE_RAY)
return false;
if (swap) {
return solve_ray(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
} else {
return solve_ray(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
} else if (concave_B) {
if (concave_A)
return false;
if (!swap)
return solve_concave(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_A, p_margin_B);
else
return solve_concave(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A, p_margin_B);
} else {
return collision_solver(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, r_sep_axis, p_margin_A, p_margin_B);
}
return false;
}
void CollisionSolverSW::concave_callback(void *p_userdata, ShapeSW *p_convex) {
_ConcaveCollisionInfo &cinfo = *(_ConcaveCollisionInfo *)(p_userdata);
cinfo.aabb_tests++;
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, p_convex, *cinfo.transform_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, NULL, cinfo.margin_A, cinfo.margin_B);
if (!collided)
return;
cinfo.collided = true;
cinfo.collisions++;
}
void CollisionSolver2DSW::concave_callback(void *p_userdata, Shape2DSW *p_convex) {
_ConcaveCollisionInfo2D &cinfo = *(_ConcaveCollisionInfo2D *)(p_userdata);
cinfo.aabb_tests++;
if (!cinfo.result_callback && cinfo.collided)
return; //already collided and no contacts requested, don't test anymore
bool collided = collision_solver(cinfo.shape_A, *cinfo.transform_A, cinfo.motion_A, p_convex, *cinfo.transform_B, cinfo.motion_B, cinfo.result_callback, cinfo.userdata, cinfo.swap_result, cinfo.sep_axis, cinfo.margin_A, cinfo.margin_B);
if (!collided)
return;
cinfo.collided = true;
cinfo.collisions++;
}
bool CollisionSolver2DSW::solve(const Shape2DSW *p_shape_A, const Transform2D &p_transform_A, const Vector2 &p_motion_A, const Shape2DSW *p_shape_B, const Transform2D &p_transform_B, const Vector2 &p_motion_B, CallbackResult p_result_callback, void *p_userdata, Vector2 *sep_axis, real_t p_margin_A, real_t p_margin_B) {
Physics2DServer::ShapeType type_A = p_shape_A->get_type();
Physics2DServer::ShapeType type_B = p_shape_B->get_type();
bool concave_A = p_shape_A->is_concave();
bool concave_B = p_shape_B->is_concave();
real_t margin_A = p_margin_A, margin_B = p_margin_B;
bool swap = false;
if (type_A > type_B) {
SWAP(type_A, type_B);
SWAP(concave_A, concave_B);
SWAP(margin_A, margin_B);
swap = true;
}
if (type_A == Physics2DServer::SHAPE_LINE) {
if (type_B == Physics2DServer::SHAPE_LINE || type_B == Physics2DServer::SHAPE_RAY) {
return false;
}
/*
if (type_B==Physics2DServer::SHAPE_RAY) {
return false;
*/
if (swap) {
return solve_static_line(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
} else {
return solve_static_line(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
}
/*} else if (type_A==Physics2DServer::SHAPE_RAY) {
if (type_B==Physics2DServer::SHAPE_RAY)
return false;
if (swap) {
return solve_ray(p_shape_B,p_transform_B,p_shape_A,p_transform_A,p_inverse_A,p_result_callback,p_userdata,true);
} else {
return solve_ray(p_shape_A,p_transform_A,p_shape_B,p_transform_B,p_inverse_B,p_result_callback,p_userdata,false);
}
*/
} else if (type_A == Physics2DServer::SHAPE_RAY) {
if (type_B == Physics2DServer::SHAPE_RAY) {
return false; //no ray-ray
}
if (swap) {
return solve_raycast(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, sep_axis);
} else {
return solve_raycast(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, sep_axis);
}
} else if (concave_B) {
if (concave_A)
return false;
if (!swap)
return solve_concave(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
else
return solve_concave(p_shape_B, p_transform_B, p_motion_B, p_shape_A, p_transform_A, p_motion_A, p_result_callback, p_userdata, true, sep_axis, margin_A, margin_B);
} else {
return collision_solver(p_shape_A, p_transform_A, p_motion_A, p_shape_B, p_transform_B, p_motion_B, p_result_callback, p_userdata, false, sep_axis, margin_A, margin_B);
}
return false;
}
