2014-02-10 09:10:30 +08:00
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/*************************************************************************/
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/* collision_solver_sw.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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2017-08-27 20:16:55 +08:00
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/* https://godotengine.org */
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2014-02-10 09:10:30 +08:00
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/*************************************************************************/
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2020-01-01 18:16:22 +08:00
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/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
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2014-02-10 09:10:30 +08:00
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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2018-01-05 07:50:27 +08:00
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2014-02-10 09:10:30 +08:00
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#ifndef COLLISION_SOLVER_SW_H
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#define COLLISION_SOLVER_SW_H
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2020-03-28 02:21:27 +08:00
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#include "shape_3d_sw.h"
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2020-03-28 02:21:27 +08:00
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class CollisionSolver3DSW {
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public:
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typedef void (*CallbackResult)(const Vector3 &p_point_A, const Vector3 &p_point_B, void *p_userdata);
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2017-03-05 23:44:50 +08:00
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private:
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static void concave_callback(void *p_userdata, Shape3DSW *p_convex);
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static bool solve_static_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
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static bool solve_ray(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
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static bool solve_concave(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &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);
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static void concave_distance_callback(void *p_userdata, Shape3DSW *p_convex);
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static bool solve_distance_plane(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B);
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public:
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static bool solve_static(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, CallbackResult p_result_callback, void *p_userdata, Vector3 *r_sep_axis = NULL, real_t p_margin_A = 0, real_t p_margin_B = 0);
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static bool solve_distance(const Shape3DSW *p_shape_A, const Transform &p_transform_A, const Shape3DSW *p_shape_B, const Transform &p_transform_B, Vector3 &r_point_A, Vector3 &r_point_B, const AABB &p_concave_hint, Vector3 *r_sep_axis = NULL);
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};
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#endif // COLLISION_SOLVER__SW_H
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