fahhh

2026-09-05 05:07:48 +00:00 · 2025-10-28 14:05:46 -04:00
parent 977f1ff4b8
commit c93494f795
452 changed files with 47860 additions and 152 deletions
@@ -0,0 +1,220 @@
+/* Copyright 2003-2006 ROBLOX Corporation, All Rights Reserved */
+
+#pragma once
+
+#include "V8Kernel/Connector.h"
+#include "V8Kernel/ContactParams.h"
+#include "V8Kernel/Pair.h"
+#include "V8Kernel/Body.h"
+#include "v8kernel/SimBody.h"
+#include "v8kernel/Constants.h"
+#include "Util/NormalID.h"
+#include "rbx/Debug.h"
+#include "Util/Memory.h"
+
+
+namespace RBX {
+
+	//////////////////////////////////////////////////////////////////////////
+	class ContactConnector : public Connector
+	{
+	private:
+		static int		inContactHit;
+		static int		outOfContactHit;
+
+		int				age;
+		// Cache for computeImpulse
+		Matrix3 deltaVelPerUnitImpulse;
+		Matrix3 impulsePerUnitDeltaVel;
+		float	inverseMass;
+		float	penetrationVelocity;
+		float	reboundVelocity;
+		bool	impulseComputed;
+
+	protected:
+		GeoPair			geoPair;
+		ContactParams	contactParams;
+		PairParams		oldContactPoint;
+		PairParams		contactPoint;
+
+		// state variables
+		float			firstApproach;
+		float			threshold;
+
+		// delay variables
+		float			forceMagLast;	// contact only variable
+		Vector3			frictionOffset;
+
+		/*override*/ virtual KernelType getConnectorKernelType() const { return Connector::CONTACT; }
+
+	public:
+		virtual void updateContactPoint();
+
+		static float overlapGoal() {return 0.01f;}		// standard goal seek for overlapping objects
+
+		/*override*/ Body* getBody(BodyIndex id)	{return (id == body0) ? geoPair.body0 : geoPair.body1;}
+		void setBody(int id, Body* b) {
+			if (id == 0) {
+				geoPair.body0 = b;
+			}
+			else {
+				geoPair.body1 = b;
+			}
+		}
+
+		ContactConnector(Body* b0, Body* b1, const ContactParams& contactParams) 
+			: contactParams(contactParams), inverseMass(0.0f), impulseComputed(false)
+		{
+			geoPair.body0 = b0;
+			geoPair.body1 = b1;
+			reset();
+		}
+
+		void reset() {			// cleans up state variables for buffered version
+			firstApproach = 0.0;
+			threshold = 0.0;
+			forceMagLast = 0.0;
+			age = 0;
+			penetrationVelocity = 0.0;
+			reboundVelocity = 0.0;
+		}
+
+		inline void clearImpulseComputed() { impulseComputed = false; }
+
+		bool isIntersecting() {
+			RBXASSERT(geoPair.geoPairType == POINT_PLANE_PAIR);
+			return (contactPoint.length < -overlapGoal());
+		}
+
+		// Reorder the SimBody(s) so that simBody0 is always in kernel and adjust contact point data accordingly
+		bool getReordedSimBody(SimBody*& simBody0, SimBody*& simBody1, Body*& bodyNotInKernel, PairParams& params);
+		bool getReordedSimBody(SimBody*& simBody0, SimBody*& simBody1, PairParams& params);
+
+		// Compute the relative velocities between the two bodies
+		bool getSimBodyAndContactVelocity(SimBody*& simBody0, SimBody*& simBody1, PairParams& params, 
+										  float& normalVel, Vector3& perpVel);
+		float computeRelativeVelocity(const PairParams &params, Vector3* deltaVnormal, Vector3* perpVel);
+		float computeRelativeVelocity();
+
+		void applyContactPointForSymmetryDetection(SimBody* simBody0, SimBody* simBody1,
+												   const PairParams& params, float direction);
+
+        const ContactParams& getContactParams() const { return contactParams; }
+		void setContactParams(const ContactParams& params) { contactParams = params; }
+
+		/////////// Called by kernel //////////////////////////////
+		/* override*/ virtual void computeForce(bool throttling);
+		/* override*/ virtual bool computeImpulse(float& residualVelocity);
+		/* override*/ bool canThrottle() const;
+
+		// Debug
+		static float percentActive();
+
+		float computeOverlap() {			// positive == bigger overlap
+			updateContactPoint();
+			return -contactPoint.length;
+		}
+
+        inline PairParams& getContactPoint() { return contactPoint; }
+		inline const PairParams& getContactPoint() const { return contactPoint; }
+
+		void getLengthNormalPosition(Vector3& position, Vector3& normal, float& length) {
+			position = contactPoint.position;
+			normal = contactPoint.normal;
+			length = contactPoint.length;
+		}
+
+		inline bool isRestingContact() { return age > 4; }
+	};
+
+	class GeoPairConnector 
+		: public ContactConnector
+		, public Allocator<GeoPairConnector>
+	{
+	public:
+		GeoPairConnector(Body* b0, Body* b1, const ContactParams& contactParams) : ContactConnector(b0, b1, contactParams)
+		{}
+
+		//////////////////////////////////////////////////////////////////////////////////
+
+		/*override*/ void updateContactPoint()
+		{
+			geoPair.computeLengthNormalPosition(contactPoint);
+			ContactConnector::updateContactPoint();
+		}
+
+		void setPointPlane(const Vector3* oPoint, const Vector3* oPlane, 
+			int pointId, NormalId planeId) 
+		{
+			geoPair.setPointPlane(oPoint, oPlane, pointId, planeId);
+		}
+
+		void setEdgeEdgePlane(const Vector3* e0, const Vector3* e1, 
+			NormalId n0, NormalId n1, NormalId planeId, float edgeLength0, float edgeLength1) 
+		{
+			geoPair.setEdgeEdgePlane(e0, e1, n0, n1, planeId, edgeLength0, edgeLength1);
+		}
+
+		void setEdgeEdge(const Vector3* e0, const Vector3* e1, NormalId n0, NormalId n1) 
+		{
+			geoPair.setEdgeEdge(e0, e1, n0, n1);
+		}
+	
+		bool match(Body* b0, Body* b1, GeoPairType pairType, int param0, int param1) 
+		{
+			return geoPair.match(b0, b1, pairType, param0, param1);
+		}
+	};
+	
+	////////////////////////////////////////////////////////////////////////////////
+
+	class BallBallConnector : public ContactConnector
+							, public Allocator<BallBallConnector>
+	{
+	private:
+		float radius0;
+		float radiusSum;
+
+	public:
+		BallBallConnector(Body* b0, Body* b1, const ContactParams& contactParams) 
+			: ContactConnector(b0, b1, contactParams)
+		{}
+
+		/*override*/ void updateContactPoint();
+		void setRadius(float r0, float r1) {
+			radius0 = r0;
+			radiusSum = r0 + r1;
+		}
+	};
+
+
+	////////////////////////////////////////////////////////////////////////////////
+
+	class BallBlockConnector :	public ContactConnector, 
+								public Allocator<BallBlockConnector>
+	{
+	private:
+		float radius0;		// ball
+		Vector3 offset1;
+		NormalId normalId1;
+		GeoPairType geoPairType;
+
+		void computeBallPoint(PairParams& params);	
+		void computeBallEdge(PairParams& params);	
+		void computeBallPlane(PairParams& params);	
+
+	public:
+		BallBlockConnector(Body* b0, Body* b1, const ContactParams& contactParams) 
+			: ContactConnector(b0, b1, contactParams)
+		{}
+
+		/*override*/ void updateContactPoint();
+		void setBallBlock(float _radius0, const Vector3* _offset1, RBX::NormalId _normalID, GeoPairType _geoPairType) {
+			offset1 = *_offset1;
+			radius0 = _radius0;
+			normalId1 = _normalID;
+			geoPairType = _geoPairType;
+		}
+	};
+
+} // namespace