fahhh

2026-09-05 13:17:49 +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 +1,148 @@
+/* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
+
+#pragma once
+
+#include "V8Kernel/ContactParams.h"
+#include "Util/NormalID.h"
+#include "Util/G3DCore.h"
+#include "rbx/Debug.h"
+
+namespace RBX {
+
+	class Body;
+
+	class PairParams {
+	public:
+		Vector3	normal;
+		union {
+			float length;
+			float rotation;
+		};
+		Vector3	position;
+		PairParams() {
+			normal = position = Vector3::zero();
+			length = 0.0f;
+		}
+		bool operator==(const PairParams& other) {
+			return (length == other.length && position == other.position && normal == other.normal);
+		}
+	};
+
+	///////////////////////////////////////////////////////////////////
+
+	class GeoPair
+	{
+	public:
+		GeoPairType	geoPairType;
+
+		// note, pair point0 and point1 have the following polarity
+		// ball ball: radius0 == point0 body
+		// ball block: ball->point0, block->point1
+		// point plane: pointBlock->0, planeBlock->1
+		// edge edge plane:  planeBlock->1
+		// fixed, not allocated here
+
+		// This is defining data
+		Vector3		offset0;	
+		Vector3		offset1;
+		Body*		body0;
+		Body*		body1;
+		float		edgeLength0;
+		float		edgeLength1;
+		struct {
+			union {
+				RBX::NormalId	normalID0;
+				float			radius0;		};
+			union {
+				RBX::NormalId	normalID1;
+				float			radiusSum;		};
+			union {
+				RBX::NormalId	planeID;// edge/edge/plane coords - the normal from the plane
+				int				point0ID;		};
+		} pairData;
+
+	private:
+		void computePointPlane(PairParams& _params);
+		void computeEdgeEdgePlane(PairParams& _params);
+		void computeEdgeEdgePlane2(PairParams& _params);
+		void computeEdgeEdge(PairParams& _params);
+
+	public:
+		GeoPair();
+
+		////////// Kernel Update
+
+		inline void computeLengthNormalPosition(PairParams& _params) 
+		{
+			switch (geoPairType) {
+				case (POINT_PLANE_PAIR):		computePointPlane(_params);			break;
+				case (EDGE_EDGE_PLANE_PAIR):	computeEdgeEdgePlane2(_params);		break;
+				case (EDGE_EDGE_PAIR):			computeEdgeEdge(_params);			break;
+				default:	RBXASSERT(0);
+			}
+		}
+
+		///////////////// GeoPair geometric functions
+
+		void setPointPlane(const Vector3* _offsetPoint,
+							const Vector3* _offsetPlane, int _pointID, RBX::NormalId _planeNormalID) {
+			offset0 = *_offsetPoint;
+			offset1 = *_offsetPlane;
+			pairData.point0ID = _pointID;		// purely here for the match
+			pairData.normalID1 = _planeNormalID;
+			geoPairType = POINT_PLANE_PAIR;
+		}
+
+		void setEdgeEdgePlane(const Vector3* _edge0, const Vector3* _edge1, 
+				RBX::NormalId _normal0, RBX::NormalId _normal1, RBX::NormalId _planeID, float _edgeLength0, float _edgeLength1) {
+			offset0 = *_edge0;
+			offset1 = *_edge1;
+			pairData.normalID0 = _normal0;
+			pairData.normalID1 = _normal1;
+			pairData.planeID = _planeID;
+			edgeLength0 = _edgeLength0;
+			edgeLength1 = _edgeLength1;
+			geoPairType = EDGE_EDGE_PLANE_PAIR;
+		}
+
+		void setEdgeEdge(const Vector3* _edge0, const Vector3* _edge1, 
+							RBX::NormalId _normal0, RBX::NormalId _normal1) {
+			offset0 = *_edge0;
+			offset1 = *_edge1;
+			pairData.normalID0 = _normal0;
+			pairData.normalID1 = _normal1;
+			geoPairType = EDGE_EDGE_PAIR;
+		}
+
+		bool match(Body* _b0, Body* _b1, GeoPairType _pairType, int param0, int param1) {
+			if  (_pairType == POINT_PLANE_PAIR) {
+				return (	(_b0 == body0)
+						&&	(_b1 == body1) 
+						&&  (param0 == pairData.point0ID)
+						&&	(param1 == pairData.normalID1)			);
+			}
+
+			else if  (_pairType == EDGE_EDGE_PLANE_PAIR) {
+				return (	(_b0 == body0)
+						&&	(_b1 == body1) 
+						&&  (param0 == pairData.normalID0)
+						&&	(param1 == pairData.normalID1)			);
+			}
+
+			else {
+				RBXASSERT(_pairType == EDGE_EDGE_PAIR);
+				return (	(	(_b0 == body0)
+							&&	(_b1 == body1) 
+							&&  (param0 == pairData.normalID0)
+							&&	(param1 == pairData.normalID1)			)		
+						||	
+							(	(_b0 == body1)
+							&&	(_b1 == body0) 
+							&&  (param0 == pairData.normalID1)
+							&&	(param1 == pairData.normalID0)			)		
+						);
+			}
+		}
+	};
+
+} // namespace RBX