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collision_solver_2d_sat.cpp
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/*************************************************************************/
/* collision_solver_2d_sat.cpp */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2018 Juan Linietsky, Ariel Manzur. */
/* Copyright (c) 2014-2018 Godot Engine contributors (cf. AUTHORS.md) */
/* */
/* 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 "collision_solver_2d_sat.h"
#include "geometry.h"
struct _CollectorCallback2D {
CollisionSolver2DSW::CallbackResult callback;
void *userdata;
bool swap;
bool collided;
Vector2 normal;
Vector2 *sep_axis;
_FORCE_INLINE_ void call(const Vector2 &p_point_A, const Vector2 &p_point_B) {
/*
if (normal.dot(p_point_A) >= normal.dot(p_point_B))
return;
*/
if (swap)
callback(p_point_B, p_point_A, userdata);
else
callback(p_point_A, p_point_B, userdata);
}
};
typedef void (*GenerateContactsFunc)(const Vector2 *, int, const Vector2 *, int, _CollectorCallback2D *);
_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) {
#ifdef DEBUG_ENABLED
ERR_FAIL_COND(p_point_count_A != 1);
ERR_FAIL_COND(p_point_count_B != 1);
#endif
p_collector->call(*p_points_A, *p_points_B);
}
_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) {
#ifdef DEBUG_ENABLED
ERR_FAIL_COND(p_point_count_A != 1);
ERR_FAIL_COND(p_point_count_B != 2);
#endif
Vector2 closest_B = Geometry::get_closest_point_to_segment_uncapped_2d(*p_points_A, p_points_B);
p_collector->call(*p_points_A, closest_B);
}
struct _generate_contacts_Pair {
bool a;
int idx;
real_t d;
_FORCE_INLINE_ bool operator<(const _generate_contacts_Pair &l) const { return d < l.d; }
};
_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) {
#ifdef DEBUG_ENABLED
ERR_FAIL_COND(p_point_count_A != 2);
ERR_FAIL_COND(p_point_count_B != 2); // circle is actually a 4x3 matrix
#endif
Vector2 n = p_collector->normal;
Vector2 t = n.tangent();
real_t dA = n.dot(p_points_A[0]);
real_t dB = n.dot(p_points_B[0]);
_generate_contacts_Pair dvec[4];
dvec[0].d = t.dot(p_points_A[0]);
dvec[0].a = true;
dvec[0].idx = 0;
dvec[1].d = t.dot(p_points_A[1]);
dvec[1].a = true;
dvec[1].idx = 1;
dvec[2].d = t.dot(p_points_B[0]);
dvec[2].a = false;
dvec[2].idx = 0;
dvec[3].d = t.dot(p_points_B[1]);
dvec[3].a = false;
dvec[3].idx = 1;
SortArray<_generate_contacts_Pair> sa;
sa.sort(dvec, 4);
for (int i = 1; i <= 2; i++) {
if (dvec[i].a) {
Vector2 a = p_points_A[dvec[i].idx];
Vector2 b = n.plane_project(dB, a);
if (n.dot(a) > n.dot(b) - CMP_EPSILON)
continue;
p_collector->call(a, b);
} else {
Vector2 b = p_points_B[dvec[i].idx];
Vector2 a = n.plane_project(dA, b);
if (n.dot(a) > n.dot(b) - CMP_EPSILON)
continue;
p_collector->call(a, b);
}
}
}
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) {
#ifdef DEBUG_ENABLED
ERR_FAIL_COND(p_point_count_A < 1);
ERR_FAIL_COND(p_point_count_B < 1);
#endif
static const GenerateContactsFunc generate_contacts_func_table[2][2] = {
{
_generate_contacts_point_point,
_generate_contacts_point_edge,
},
{
0,
_generate_contacts_edge_edge,
}
};
int pointcount_B;
int pointcount_A;
const Vector2 *points_A;
const Vector2 *points_B;
if (p_point_count_A > p_point_count_B) {
//swap
p_collector->swap = !p_collector->swap;
p_collector->normal = -p_collector->normal;
pointcount_B = p_point_count_A;
pointcount_A = p_point_count_B;
points_A = p_points_B;
points_B = p_points_A;
} else {
pointcount_B = p_point_count_B;
pointcount_A = p_point_count_A;
points_A = p_points_A;
points_B = p_points_B;
}
int version_A = (pointcount_A > 3 ? 3 : pointcount_A) - 1;
int version_B = (pointcount_B > 3 ? 3 : pointcount_B) - 1;
GenerateContactsFunc contacts_func = generate_contacts_func_table[version_A][version_B];
ERR_FAIL_COND(!contacts_func);
contacts_func(points_A, pointcount_A, points_B, pointcount_B, p_collector);
}
template <class ShapeA, class ShapeB, bool castA = false, bool castB = false, bool withMargin = false>
class SeparatorAxisTest2D {
const ShapeA *shape_A;
const ShapeB *shape_B;
const Transform2D *transform_A;
const Transform2D *transform_B;
real_t best_depth;
Vector2 best_axis;
int best_axis_count;
int best_axis_index;
Vector2 motion_A;
Vector2 motion_B;
real_t margin_A;
real_t margin_B;
_CollectorCallback2D *callback;
public:
_FORCE_INLINE_ bool test_previous_axis() {
if (callback && callback->sep_axis && *callback->sep_axis != Vector2()) {
return test_axis(*callback->sep_axis);
} else {
#ifdef DEBUG_ENABLED
best_axis_count++;
#endif
}
return true;
}
_FORCE_INLINE_ bool test_cast() {
if (castA) {
Vector2 na = motion_A.normalized();
if (!test_axis(na))
return false;
if (!test_axis(na.tangent()))
return false;
}
if (castB) {
Vector2 nb = motion_B.normalized();
if (!test_axis(nb))
return false;
if (!test_axis(nb.tangent()))
return false;
}
return true;
}
_FORCE_INLINE_ bool test_axis(const Vector2 &p_axis) {
Vector2 axis = p_axis;
if (Math::abs(axis.x) < CMP_EPSILON &&
Math::abs(axis.y) < CMP_EPSILON) {
// strange case, try an upwards separator
axis = Vector2(0.0, 1.0);
}
real_t min_A, max_A, min_B, max_B;
if (castA)
shape_A->project_range_cast(motion_A, axis, *transform_A, min_A, max_A);
else
shape_A->project_range(axis, *transform_A, min_A, max_A);
if (castB)
shape_B->project_range_cast(motion_B, axis, *transform_B, min_B, max_B);
else
shape_B->project_range(axis, *transform_B, min_B, max_B);
if (withMargin) {
min_A -= margin_A;
max_A += margin_A;
min_B -= margin_B;
max_B += margin_B;
}
min_B -= (max_A - min_A) * 0.5;
max_B += (max_A - min_A) * 0.5;
real_t dmin = min_B - (min_A + max_A) * 0.5;
real_t dmax = max_B - (min_A + max_A) * 0.5;
if (dmin > 0.0 || dmax < 0.0) {
if (callback && callback->sep_axis)
*callback->sep_axis = axis;
#ifdef DEBUG_ENABLED
best_axis_count++;
#endif
return false; // doesn't contain 0
}
//use the smallest depth
dmin = Math::abs(dmin);
if (dmax < dmin) {
if (dmax < best_depth) {
best_depth = dmax;
best_axis = axis;
#ifdef DEBUG_ENABLED
best_axis_index = best_axis_count;
#endif
}
} else {
if (dmin < best_depth) {
best_depth = dmin;
best_axis = -axis; // keep it as A axis
#ifdef DEBUG_ENABLED
best_axis_index = best_axis_count;
#endif
}
}
//print_line("test axis: "+p_axis+" depth: "+rtos(best_depth));
#ifdef DEBUG_ENABLED
best_axis_count++;
#endif
return true;
}
_FORCE_INLINE_ void generate_contacts() {
// nothing to do, don't generate
if (best_axis == Vector2(0.0, 0.0))
return;
callback->collided = true;
if (!callback->callback)
return; //only collide, no callback
static const int max_supports = 2;
Vector2 supports_A[max_supports];
int support_count_A;
if (castA) {
shape_A->get_supports_transformed_cast(motion_A, -best_axis, *transform_A, supports_A, support_count_A);
} else {
shape_A->get_supports(transform_A->basis_xform_inv(-best_axis).normalized(), supports_A, support_count_A);
for (int i = 0; i < support_count_A; i++) {
supports_A[i] = transform_A->xform(supports_A[i]);
}
}
if (withMargin) {
for (int i = 0; i < support_count_A; i++) {
supports_A[i] += -best_axis * margin_A;
}
}
Vector2 supports_B[max_supports];
int support_count_B;
if (castB) {
shape_B->get_supports_transformed_cast(motion_B, best_axis, *transform_B, supports_B, support_count_B);
} else {
shape_B->get_supports(transform_B->basis_xform_inv(best_axis).normalized(), supports_B, support_count_B);
for (int i = 0; i < support_count_B; i++) {
supports_B[i] = transform_B->xform(supports_B[i]);
}
}
if (withMargin) {
for (int i = 0; i < support_count_B; i++) {
supports_B[i] += best_axis * margin_B;
}
}
callback->normal = best_axis;
_generate_contacts_from_supports(supports_A, support_count_A, supports_B, support_count_B, callback);
if (callback && callback->sep_axis && *callback->sep_axis != Vector2())
*callback->sep_axis = Vector2(); //invalidate previous axis (no test)
}
_FORCE_INLINE_ SeparatorAxisTest2D(const ShapeA *p_shape_A, const Transform2D &p_transform_a, const ShapeB *p_shape_B, const Transform2D &p_transform_b, _CollectorCallback2D *p_collector, const Vector2 &p_motion_A = Vector2(), const Vector2 &p_motion_B = Vector2(), real_t p_margin_A = 0, real_t p_margin_B = 0) {
margin_A = p_margin_A;
margin_B = p_margin_B;
best_depth = 1e15;
shape_A = p_shape_A;
shape_B = p_shape_B;
transform_A = &p_transform_a;
transform_B = &p_transform_b;
motion_A = p_motion_A;
motion_B = p_motion_B;
callback = p_collector;
#ifdef DEBUG_ENABLED
best_axis_count = 0;
best_axis_index = -1;
#endif
}
};
/****** SAT TESTS *******/
#define TEST_POINT(m_a, m_b) \
((!separator.test_axis(((m_a) - (m_b)).normalized())) || \
(castA && !separator.test_axis(((m_a) + p_motion_a - (m_b)).normalized())) || \
(castB && !separator.test_axis(((m_a) - ((m_b) + p_motion_b)).normalized())) || \
(castA && castB && !separator.test_axis(((m_a) + p_motion_a - ((m_b) + p_motion_b)).normalized())))
typedef void (*CollisionFunc)(const Shape2DSW *, const Transform2D &, const Shape2DSW *, const Transform2D &, _CollectorCallback2D *p_collector, const Vector2 &, const Vector2 &, real_t, real_t);
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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_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();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
const SegmentShape2DSW *segment_A = static_cast<const SegmentShape2DSW *>(p_a);
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
SeparatorAxisTest2D<SegmentShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(segment_A, p_transform_a, rectangle_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;
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
return;
if (!separator.test_axis(p_transform_b.elements[1].normalized()))
return;
if (withMargin) {
Transform2D inv = p_transform_b.affine_inverse();
Vector2 a = p_transform_a.xform(segment_A->get_a());
Vector2 b = p_transform_a.xform(segment_A->get_b());
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a)))
return;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b)))
return;
if (castA) {
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a + p_motion_a)))
return;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b + p_motion_a)))
return;
}
if (castB) {
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a - p_motion_b)))
return;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b - p_motion_b)))
return;
}
if (castA && castB) {
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, a - p_motion_b + p_motion_a)))
return;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, inv, b - p_motion_b + p_motion_a)))
return;
}
}
separator.generate_contacts();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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, withMargin> separator(segment_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;
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();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_segment_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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();
}
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_circle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
const CircleShape2DSW *circle_A = static_cast<const CircleShape2DSW *>(p_a);
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
SeparatorAxisTest2D<CircleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(circle_A, p_transform_a, rectangle_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;
const Vector2 &sphere = p_transform_a.elements[2];
const Vector2 *axis = &p_transform_b.elements[0];
//const Vector2& half_extents = rectangle_B->get_half_extents();
if (!separator.test_axis(axis[0].normalized()))
return;
if (!separator.test_axis(axis[1].normalized()))
return;
Transform2D binv = p_transform_b.affine_inverse();
{
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphere)))
return;
}
if (castA) {
Vector2 sphereofs = sphere + p_motion_a;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphereofs)))
return;
}
if (castB) {
Vector2 sphereofs = sphere - p_motion_b;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphereofs)))
return;
}
if (castA && castB) {
Vector2 sphereofs = sphere - p_motion_b + p_motion_a;
if (!separator.test_axis(rectangle_B->get_circle_axis(p_transform_b, binv, sphereofs)))
return;
}
separator.generate_contacts();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_circle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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, withMargin> separator(circle_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;
//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();
}
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_rectangle(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
const RectangleShape2DSW *rectangle_B = static_cast<const RectangleShape2DSW *>(p_b);
SeparatorAxisTest2D<RectangleShape2DSW, RectangleShape2DSW, castA, castB, withMargin> separator(rectangle_A, p_transform_a, rectangle_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;
//box faces A
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
return;
if (!separator.test_axis(p_transform_a.elements[1].normalized()))
return;
//box faces B
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
return;
if (!separator.test_axis(p_transform_b.elements[1].normalized()))
return;
if (withMargin) {
Transform2D invA = p_transform_a.affine_inverse();
Transform2D invB = p_transform_b.affine_inverse();
if (!separator.test_axis(rectangle_A->get_box_axis(p_transform_a, invA, rectangle_B, p_transform_b, invB)))
return;
if (castA || castB) {
Transform2D aofs = p_transform_a;
aofs.elements[2] += p_motion_a;
Transform2D bofs = p_transform_b;
bofs.elements[2] += p_motion_b;
Transform2D aofsinv = aofs.affine_inverse();
Transform2D bofsinv = bofs.affine_inverse();
if (castA) {
if (!separator.test_axis(rectangle_A->get_box_axis(aofs, aofsinv, rectangle_B, p_transform_b, invB)))
return;
}
if (castB) {
if (!separator.test_axis(rectangle_A->get_box_axis(p_transform_a, invA, rectangle_B, bofs, bofsinv)))
return;
}
if (castA && castB) {
if (!separator.test_axis(rectangle_A->get_box_axis(aofs, aofsinv, rectangle_B, bofs, bofsinv)))
return;
}
}
}
separator.generate_contacts();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
const CapsuleShape2DSW *capsule_B = static_cast<const CapsuleShape2DSW *>(p_b);
SeparatorAxisTest2D<RectangleShape2DSW, CapsuleShape2DSW, castA, castB, withMargin> separator(rectangle_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;
//box faces
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
return;
if (!separator.test_axis(p_transform_a.elements[1].normalized()))
return;
//capsule axis
if (!separator.test_axis(p_transform_b.elements[0].normalized()))
return;
//box endpoints to capsule circles
Transform2D boxinv = p_transform_a.affine_inverse();
for (int i = 0; i < 2; i++) {
{
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint)))
return;
}
if (castA) {
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
capsule_endpoint -= p_motion_a;
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint)))
return;
}
if (castB) {
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
capsule_endpoint += p_motion_b;
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint)))
return;
}
if (castA && castB) {
Vector2 capsule_endpoint = p_transform_b.get_origin() + p_transform_b.elements[1] * capsule_B->get_height() * (i == 0 ? 0.5 : -0.5);
capsule_endpoint -= p_motion_a;
capsule_endpoint += p_motion_b;
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, capsule_endpoint)))
return;
}
}
separator.generate_contacts();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_rectangle_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
const RectangleShape2DSW *rectangle_A = static_cast<const RectangleShape2DSW *>(p_a);
const ConvexPolygonShape2DSW *convex_B = static_cast<const ConvexPolygonShape2DSW *>(p_b);
SeparatorAxisTest2D<RectangleShape2DSW, ConvexPolygonShape2DSW, castA, castB, withMargin> separator(rectangle_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;
//box faces
if (!separator.test_axis(p_transform_a.elements[0].normalized()))
return;
if (!separator.test_axis(p_transform_a.elements[1].normalized()))
return;
//convex faces
Transform2D boxinv;
if (withMargin) {
boxinv = p_transform_a.affine_inverse();
}
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) {
//all points vs all points need to be tested if margin exist
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)))))
return;
if (castA) {
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)) - p_motion_a)))
return;
}
if (castB) {
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)) + p_motion_b)))
return;
}
if (castA && castB) {
if (!separator.test_axis(rectangle_A->get_circle_axis(p_transform_a, boxinv, p_transform_b.xform(convex_B->get_point(i)) + p_motion_b - p_motion_a)))
return;
}
}
}
separator.generate_contacts();
}
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_capsule_capsule(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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, withMargin> separator(capsule_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;
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();
}
template <bool castA, bool castB, bool withMargin>
static void _collision_capsule_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {
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();
}
/////////
template <bool castA, bool castB, bool withMargin>
static void _collision_convex_polygon_convex_polygon(const Shape2DSW *p_a, const Transform2D &p_transform_a, const Shape2DSW *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) {