1 files changed, 97 insertions, 0 deletions
diff --git a/servers/physics/body_pair_sw.h b/servers/physics/body_pair_sw.h
new file mode 100644
index 000000000..ad66227b3
--- /dev/null
+++ b/servers/physics/body_pair_sw.h
@@ -0,0 +1,97 @@
+/*************************************************************************/
+/*  body_pair_sw.h                                                       */
+/*************************************************************************/
+/*                       This file is part of:                           */
+/*                           GODOT ENGINE                                */
+/*                    http://www.godotengine.org                         */
+/*************************************************************************/
+/* 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.                */
+/*************************************************************************/
+#ifndef BODY_PAIR_SW_H
+#define BODY_PAIR_SW_H
+
+#include "body_sw.h"
+#include "constraint_sw.h"
+
+class BodyPairSW : public ConstraintSW {
+	enum {
+
+		MAX_CONTACTS=4
+	};
+
+	union {
+		struct {
+			BodySW *A;
+			BodySW *B;
+		};
+
+		BodySW *_arr[2];
+	};
+
+	int shape_A;
+	int shape_B;
+
+
+	struct Contact {
+
+		Vector3 position;
+		Vector3 normal;
+		Vector3 local_A, local_B;
+		real_t acc_normal_impulse;	// accumulated normal impulse (Pn)
+		Vector3 acc_tangent_impulse;	// accumulated tangent impulse (Pt)
+		real_t acc_bias_impulse;	// accumulated normal impulse for position bias (Pnb)
+		real_t mass_normal;
+		real_t bias;
+
+		real_t depth;
+		bool active;
+		Vector3 rA,rB;
+	};
+
+	Vector3 offset_B; //use local A coordinates to avoid numerical issues on collision detection
+
+	Vector3 sep_axis;
+	Contact contacts[MAX_CONTACTS];
+	int contact_count;
+	bool collided;
+	int cc;
+
+
+	static void _contact_added_callback(const Vector3& p_point_A,const Vector3& p_point_B,void *p_userdata);
+
+	void contact_added_callback(const Vector3& p_point_A,const Vector3& p_point_B);
+
+	void validate_contacts();
+
+	SpaceSW *space;
+
+public:
+
+	bool setup(float p_step);
+	void solve(float p_step);
+
+	BodyPairSW(BodySW *p_A, int p_shape_A,BodySW *p_B, int p_shape_B);
+	~BodyPairSW();
+
+};
+
+#endif // BODY_PAIR__SW_H