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-rw-r--r--servers/physics_2d/collision_solver_2d_sat.cpp185
1 files changed, 1 insertions, 184 deletions
diff --git a/servers/physics_2d/collision_solver_2d_sat.cpp b/servers/physics_2d/collision_solver_2d_sat.cpp
index b2363e30e..bf8478d0b 100644
--- a/servers/physics_2d/collision_solver_2d_sat.cpp
+++ b/servers/physics_2d/collision_solver_2d_sat.cpp
@@ -28,6 +28,7 @@
/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
/*************************************************************************/
#include "collision_solver_2d_sat.h"
+
#include "geometry.h"
struct _CollectorCallback2D {
@@ -89,124 +90,6 @@ _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 *p_points_
ERR_FAIL_COND(p_point_count_B != 2); // circle is actually a 4x3 matrix
#endif
-#if 0
- Vector2 rel_A=p_points_A[1]-p_points_A[0];
- Vector2 rel_B=p_points_B[1]-p_points_B[0];
-
- Vector2 t = p_collector->normal.tangent();
-
- print_line("tangent: "+t);
-
- real_t dA[2]={t.dot(p_points_A[0]),t.dot(p_points_A[1])};
- Vector2 pA[2]={p_points_A[0],p_points_A[1]};
-
- if (dA[0]>dA[1]) {
- SWAP(dA[0],dA[1]);
- SWAP(pA[0],pA[1]);
- }
-
- real_t dB[2]={t.dot(p_points_B[0]),t.dot(p_points_B[1])};
- Vector2 pB[2]={p_points_B[0],p_points_B[1]};
- if (dB[0]>dB[1]) {
- SWAP(dB[0],dB[1]);
- SWAP(pB[0],pB[1]);
- }
-
-
- if (dA[0]<dB[0]) {
-
- Vector2 n = (p_points_A[1]-p_points_A[0]).normalized().tangent();
- real_t d = n.dot(p_points_A[1]);
-
- if (dA[1]>dB[1]) {
- //A contains B
- for(int i=0;i<2;i++) {
-
- Vector2 b = p_points_B[i];
- Vector2 a = n.plane_project(d,b);
- if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
- continue;
- p_collector->call(a,b);
-
- }
- } else {
-
- // B0,A1 containment
-
- Vector2 n_B = (p_points_B[1]-p_points_B[0]).normalized().tangent();
- real_t d_B = n_B.dot(p_points_B[1]);
-
- // first, B on A
-
- {
- Vector2 b = p_points_B[0];
- Vector2 a = n.plane_project(d,b);
- if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
- p_collector->call(a,b);
- }
-
- // second, A on B
-
- {
- Vector2 a = p_points_A[1];
- Vector2 b = n_B.plane_project(d_B,a);
- if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
- p_collector->call(a,b);
- }
-
-
-
- }
-
-
- } else {
-
- Vector2 n = (p_points_B[1]-p_points_B[0]).normalized().tangent();
- real_t d = n.dot(p_points_B[1]);
-
- if (dB[1]>dA[1]) {
- //B contains A
- for(int i=0;i<2;i++) {
-
- Vector2 a = p_points_A[i];
- Vector2 b = n.plane_project(d,a);
- if (p_collector->normal.dot(a) > p_collector->normal.dot(b)-CMP_EPSILON)
- continue;
- p_collector->call(a,b);
- }
- } else {
-
- // A0,B1 containment
- Vector2 n_A = (p_points_A[1]-p_points_A[0]).normalized().tangent();
- real_t d_A = n_A.dot(p_points_A[1]);
-
- // first A on B
-
- {
- Vector2 a = p_points_A[0];
- Vector2 b = n.plane_project(d,a);
- if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
- p_collector->call(a,b);
-
- }
-
- //second, B on A
-
- {
-
- Vector2 b = p_points_B[1];
- Vector2 a = n_A.plane_project(d_A,b);
- if (p_collector->normal.dot(a) < p_collector->normal.dot(b)-CMP_EPSILON)
- p_collector->call(a,b);
- }
-
- }
- }
-
-#endif
-
-#if 1
-
Vector2 n = p_collector->normal;
Vector2 t = n.tangent();
real_t dA = n.dot(p_points_A[0]);
@@ -246,38 +129,6 @@ _FORCE_INLINE_ static void _generate_contacts_edge_edge(const Vector2 *p_points_
p_collector->call(a, b);
}
}
-
-#elif 0
- Vector2 axis = rel_A.normalized(); //make an axis
- Vector2 axis_B = rel_B.normalized();
- if (axis.dot(axis_B) < 0)
- axis_B = -axis_B;
- axis = (axis + axis_B) * 0.5;
- Vector2 base_A = p_points_A[0] - axis * axis.dot(p_points_A[0]);
- Vector2 base_B = p_points_B[0] - axis * axis.dot(p_points_B[0]);
-
- //sort all 4 points in axis
- real_t dvec[4] = { axis.dot(p_points_A[0]), axis.dot(p_points_A[1]), axis.dot(p_points_B[0]), axis.dot(p_points_B[1]) };
-
- //todo , find max/min and then use 2 central points
- SortArray<real_t> sa;
- sa.sort(dvec, 4);
-
- //use the middle ones as contacts
- for (int i = 1; i <= 2; i++) {
-
- Vector2 a = base_A + axis * dvec[i];
- Vector2 b = base_B + axis * dvec[i];
- if (p_collector->normal.dot(a) > p_collector->normal.dot(b) - 0.01) {
- print_line("fail a: " + a);
- print_line("fail b: " + b);
- continue;
- }
- print_line("res a: " + a);
- print_line("res b: " + b);
- p_collector->call(a, b);
- }
-#endif
}
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) {
@@ -504,37 +355,11 @@ public:
}
}
- /*
-
-
- print_line("**************************");
- printf("CBK: %p\n",callback->userdata);
- print_line("type A: "+itos(shape_A->get_type()));
- print_line("type B: "+itos(shape_B->get_type()));
- print_line("xform A: "+*transform_A);
- print_line("xform B: "+*transform_B);
- print_line("normal: "+best_axis);
- print_line("depth: "+rtos(best_depth));
- print_line("index: "+itos(best_axis_index));
-
- for(int i=0;i<support_count_A;i++) {
-
- print_line("A-"+itos(i)+": "+supports_A[i]);
- }
-
- for(int i=0;i<support_count_B;i++) {
-
- print_line("B-"+itos(i)+": "+supports_B[i]);
- }
-//*/
-
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)
- //CollisionSolver2DSW::CallbackResult cbk=NULL;
- //cbk(Vector2(),Vector2(),NULL);
}
_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) {
@@ -558,9 +383,6 @@ public:
};
/****** SAT TESTS *******/
-/****** SAT TESTS *******/
-/****** SAT TESTS *******/
-/****** SAT TESTS *******/
#define TEST_POINT(m_a, m_b) \
((!separator.test_axis(((m_a) - (m_b)).normalized())) || \
@@ -582,11 +404,6 @@ static void _collision_segment_segment(const Shape2DSW *p_a, const Transform2D &
return;
//this collision is kind of pointless
- /*
- if (!separator.test_previous_axis())
- return;
- */
-
if (!separator.test_cast())
return;
generated by cgit v1.2.3-70-g09d2 (git 2.51.2) at 2025-11-08 15:44:54 +0000