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54fe85c5 PG |
1 | /* |
2 | * Copyright (C) 2008 Patrik Gornicz, Gornicz_P (at) hotmail (dot) com. | |
3 | * | |
4 | * This program is free software: you can redistribute it and/or modify | |
5 | * it under the terms of the GNU General Public License as published by | |
6 | * the Free Software Foundation, either version 3 of the License, or | |
7 | * (at your option) any later version. | |
8 | * | |
9 | * This program is distributed in the hope that it will be useful, | |
10 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | |
11 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
12 | * GNU General Public License for more details. | |
13 | * | |
14 | * You should have received a copy of the GNU General Public License | |
15 | * along with this program. If not, see <http://www.gnu.org/licenses/>. | |
16 | */ | |
17 | ||
0ac1dc80 | 18 | #include "collisionManager.h" |
54fe85c5 PG |
19 | #include "debug.h" |
20 | ||
21 | #include "Vector2.h" | |
22 | ||
23 | #include "Entities/Ball.h" | |
aa2791cf | 24 | #include "Entities/Polygon.h" |
54fe85c5 PG |
25 | #include "Entities/PhysicsEntity.h" |
26 | ||
27 | #include "CollisionInfo.h" | |
28 | ||
aa2791cf PG |
29 | #include "mathw.h" |
30 | ||
54fe85c5 PG |
31 | /// ***** Private Class Header ***** |
32 | ||
33 | /// ***** Private Method Headers ***** | |
34 | ||
14597cf6 PG |
35 | void clearEntities(); |
36 | void placeEntity(PhysicsEntity* p); | |
37 | void updateEntities(); | |
54fe85c5 | 38 | |
14597cf6 PG |
39 | void applyCollision(PhysicsEntity* p1, PhysicsEntity* p2); |
40 | void applyCollision(Ball* b1, Ball* b2); | |
aa2791cf | 41 | void applyCollision(Polygon* pPoly, Ball* pBall); |
14597cf6 | 42 | |
aa2791cf PG |
43 | bool getInfo(const Ball* b1, const Ball* b2, CollisionInfo* cInfo); |
44 | bool getInfo(const Polygon* pPoly, const Ball* pBall, CollisionInfo* cInfo); | |
54fe85c5 PG |
45 | |
46 | /// ***** Private Variables ***** | |
47 | ||
14597cf6 PG |
48 | const int xDivisions = 20; |
49 | const int yDivisions = 16; | |
719d202f PG |
50 | const int screenX = 800; |
51 | const int screenY = 600; | |
14597cf6 PG |
52 | |
53 | setPhys divisions[xDivisions][yDivisions]; | |
54 | ||
54fe85c5 PG |
55 | /// ***** Initializers/Cleaners ***** |
56 | ||
57 | void collision::init() | |
58 | { | |
59 | ||
60 | } | |
61 | void collision::clean() | |
62 | { | |
63 | ||
64 | } | |
65 | ||
66 | /// ***** Public Methods ***** | |
67 | ||
2869e2e8 | 68 | void collision::update(setPhys& sp) |
54fe85c5 | 69 | { |
14597cf6 PG |
70 | clearEntities(); |
71 | ||
72 | for( setPhys::iterator it = sp.begin(); | |
73 | it != sp.end(); | |
74 | it++ ) | |
54fe85c5 | 75 | { |
14597cf6 PG |
76 | placeEntity(*it); |
77 | } | |
78 | ||
79 | updateEntities(); | |
80 | } | |
81 | ||
82 | /// ***** Private Methods ***** | |
83 | ||
84 | void clearEntities() | |
85 | { | |
86 | for( int x = 0; | |
87 | x < xDivisions; | |
88 | x++ ) | |
89 | { | |
90 | for( int y = 0; | |
91 | y < yDivisions; | |
92 | y++ ) | |
54fe85c5 | 93 | { |
14597cf6 | 94 | divisions[x][y].clear(); |
54fe85c5 PG |
95 | } |
96 | } | |
14597cf6 | 97 | } |
54fe85c5 | 98 | |
14597cf6 PG |
99 | void placeEntity(PhysicsEntity* p) |
100 | { | |
aa2791cf PG |
101 | Vector2 minP; |
102 | Vector2 maxP; | |
14597cf6 | 103 | |
aa2791cf PG |
104 | { // Ball case |
105 | Ball* b = dynamic_cast<Ball*>(p); | |
106 | ||
107 | if( b != NULL ) | |
108 | { | |
9d6dea5f PG |
109 | const float& xb = b->positionRaw().m_fX; |
110 | const float& yb = b->positionRaw().m_fY; | |
aa2791cf PG |
111 | const float& rad = b->radius; |
112 | ||
9d6dea5f PG |
113 | minP.m_fX = xb - rad; |
114 | minP.m_fY = yb - rad; | |
115 | maxP.m_fX = xb + rad; | |
116 | maxP.m_fY = yb + rad; | |
aa2791cf PG |
117 | |
118 | goto start; | |
119 | } | |
14597cf6 PG |
120 | } |
121 | ||
aa2791cf PG |
122 | { // Polygon case |
123 | Polygon* pPoly = dynamic_cast<Polygon*>(p); | |
14597cf6 | 124 | |
aa2791cf PG |
125 | if( pPoly != NULL ) |
126 | { | |
127 | minP = pPoly->minP; | |
128 | maxP = pPoly->maxP; | |
129 | ||
130 | goto start; | |
131 | } | |
132 | } | |
133 | ||
134 | DPF(0, "ENTITY TYPE NOT SUPPORTED BY placeEntity()!!"); | |
135 | return; | |
136 | ||
137 | start: | |
9d6dea5f PG |
138 | for( int x = static_cast<int>( minP.m_fX / (screenX / xDivisions) ); |
139 | x <= static_cast<int>( maxP.m_fX / (screenX / xDivisions) ); | |
14597cf6 PG |
140 | x++ ) |
141 | { | |
142 | if(x < 0 || xDivisions <= x) | |
143 | break; | |
144 | ||
9d6dea5f PG |
145 | for( int y = static_cast<int>( minP.m_fY / (screenY / yDivisions) ); |
146 | y <= static_cast<int>( maxP.m_fY / (screenY / yDivisions) ); | |
14597cf6 PG |
147 | y++ ) |
148 | { | |
149 | if(y < 0 || yDivisions <= y) | |
150 | break; | |
151 | ||
152 | divisions[x][y].insert(p); | |
153 | } | |
154 | } | |
54fe85c5 PG |
155 | } |
156 | ||
14597cf6 PG |
157 | void updateEntities() |
158 | { | |
159 | for( int x = 0; | |
160 | x < xDivisions; | |
161 | x++ ) | |
162 | { | |
163 | for( int y = 0; | |
164 | y < yDivisions; | |
165 | y++ ) | |
166 | { | |
167 | for( setPhys::iterator it1 = divisions[x][y].begin(); | |
168 | it1 != divisions[x][y].end(); | |
169 | it1++ ) | |
170 | { | |
171 | for( setPhys::iterator it2 = divisions[x][y].begin(); | |
172 | it2 != divisions[x][y].end(); | |
173 | it2++ ) | |
174 | { | |
1a4f2f30 PG |
175 | if( *it1 == *it2 ) |
176 | break; | |
177 | ||
178 | applyCollision(*it1, *it2); | |
14597cf6 PG |
179 | } |
180 | } | |
181 | } | |
182 | } | |
183 | } | |
54fe85c5 | 184 | |
14597cf6 | 185 | void applyCollision(PhysicsEntity* p1, PhysicsEntity* p2) |
54fe85c5 | 186 | { |
aa2791cf PG |
187 | { |
188 | Ball* b1 = dynamic_cast<Ball*>(p1); | |
189 | Ball* b2 = dynamic_cast<Ball*>(p2); | |
190 | ||
191 | if( b1 != NULL && b2 != NULL ) | |
192 | { | |
193 | applyCollision(b1, b2); | |
194 | return; | |
195 | } | |
196 | } | |
54fe85c5 | 197 | |
54fe85c5 | 198 | { |
aa2791cf PG |
199 | Polygon* pPoly = dynamic_cast<Polygon*>(p1); |
200 | Ball* pBall = dynamic_cast<Ball*>(p2); | |
201 | ||
202 | if( pPoly != NULL && pBall != NULL ) | |
203 | { | |
204 | applyCollision(pPoly, pBall); | |
205 | return; | |
206 | } | |
207 | } | |
208 | ||
209 | { | |
210 | Polygon* pPoly = dynamic_cast<Polygon*>(p2); | |
211 | Ball* pBall = dynamic_cast<Ball*>(p1); | |
212 | ||
213 | if( pPoly != NULL && pBall != NULL ) | |
214 | { | |
215 | applyCollision(pPoly, pBall); | |
216 | return; | |
217 | } | |
54fe85c5 PG |
218 | } |
219 | ||
14597cf6 | 220 | DPF(0, "ENTITY TYPE NOT SUPPORTED BY applyCollision()!!"); |
54fe85c5 PG |
221 | } |
222 | ||
14597cf6 | 223 | void applyCollision(Ball* b1, Ball* b2) |
54fe85c5 | 224 | { |
39643454 | 225 | CollisionInfo cInfo; |
54fe85c5 | 226 | |
14597cf6 | 227 | if(!getInfo(b1, b2, &cInfo)) |
54fe85c5 PG |
228 | return; |
229 | ||
230 | // a few values to simplify the equations | |
e86c86b3 PG |
231 | const Vector2& normal = cInfo.m_vecNormal; |
232 | const Vector2& point = cInfo.m_vecPoint; | |
54fe85c5 PG |
233 | |
234 | float m1 = b1->mass; | |
235 | float m2 = b2->mass; | |
236 | ||
237 | float e = (b1->CoR + b2->CoR) / 2; | |
238 | ||
2869e2e8 PG |
239 | Vector2 v1 = b1->velocityRaw(); |
240 | Vector2 v2 = b2->velocityRaw(); | |
54fe85c5 PG |
241 | |
242 | ||
243 | float iTop = -(e + 1) * (v1 - v2).dot(normal); | |
244 | ||
245 | // otherwise the collision happened and we do the math the below assumes | |
246 | // collisions have no friction | |
247 | ||
248 | float impulse = iTop / (normal.dot(normal) * (1 / m1 + 1 / m2)); | |
249 | ||
250 | b1->applyImpulse(impulse / m1 * normal, point); | |
251 | b2->applyImpulse(-impulse / m2 * normal, point); | |
54fe85c5 PG |
252 | } |
253 | ||
aa2791cf PG |
254 | void applyCollision(Polygon* pPoly, Ball* pBall) |
255 | { | |
256 | CollisionInfo cInfo; | |
257 | ||
258 | if(!getInfo(pPoly, pBall, &cInfo)) | |
259 | return; | |
260 | ||
261 | float fCoR = pBall->CoR; | |
e86c86b3 | 262 | Vector2 vecNorm = cInfo.m_vecNormal; |
aa2791cf PG |
263 | |
264 | Vector2 vecVelo = pBall->velocityRaw(); | |
265 | ||
266 | // impulse divided by mass | |
267 | float idm = (-(fCoR + 1) * vecVelo.dot(vecNorm)) | |
268 | / (vecNorm.dot(vecNorm)); | |
269 | ||
270 | pBall->applyImpulse(idm * vecNorm); | |
271 | ||
272 | // HACK | |
273 | // CoR penetration fix, adds the jitters | |
274 | ||
275 | // from center to point | |
19c2da50 | 276 | Vector2 vecCollP = vecNorm / vecNorm.length() * pBall->radius; |
e86c86b3 | 277 | pBall->applyNudge(cInfo.m_vecPoint + vecCollP - pBall->positionRaw()); |
aa2791cf PG |
278 | } |
279 | ||
280 | bool getInfo(const Ball* b1, const Ball* b2, CollisionInfo* pcInfo) | |
54fe85c5 PG |
281 | { |
282 | // a few values to simplify the equations | |
283 | float r1 = b1->radius; | |
284 | float r2 = b2->radius; | |
285 | ||
2869e2e8 PG |
286 | Vector2 p1 = b1->positionRaw(); |
287 | Vector2 p2 = b2->positionRaw(); | |
288 | Vector2 v1 = b1->velocityRaw(); | |
289 | Vector2 v2 = b2->velocityRaw(); | |
54fe85c5 PG |
290 | |
291 | // quick binding box check | |
9d6dea5f PG |
292 | if (p1.m_fX - r1 > p2.m_fX + r2 |
293 | || p1.m_fX + r1 < p2.m_fX - r2 | |
294 | || p1.m_fY - r1 > p2.m_fY + r2 | |
295 | || p1.m_fY + r1 < p2.m_fY - r2) | |
39643454 | 296 | return false; |
54fe85c5 PG |
297 | |
298 | // test if not touching | |
299 | if ((p1 - p2).sqrLength() >= (r1 + r2)*(r1 + r2)) | |
39643454 | 300 | return false; |
54fe85c5 PG |
301 | |
302 | // test if they are moving apart in some way if they aren't it's likely | |
303 | // that they collided last frame and are still overlapping | |
304 | ||
305 | if ((v1 - v2).dot(p1 - p2) >= 0) | |
39643454 PG |
306 | return false; |
307 | ||
e86c86b3 PG |
308 | pcInfo->m_vecPoint = p1 - (p1 - p2) * r1 / (r1 + r2); |
309 | pcInfo->m_vecNormal = p1 - p2; | |
54fe85c5 | 310 | |
39643454 | 311 | return true; |
54fe85c5 | 312 | } |
aa2791cf PG |
313 | |
314 | bool getInfo(const Polygon* pPoly, const Ball* pBall, CollisionInfo* pcInfo) | |
315 | { | |
316 | // a few values to simplify the equations | |
317 | float fRad = pBall->radius; | |
318 | Vector2 vecPos = pBall->positionRaw(); | |
319 | Vector2 vecVelo = pBall->velocityRaw(); | |
320 | ||
9d6dea5f PG |
321 | float fMaxX = pPoly->maxP.m_fX; |
322 | float fMinX = pPoly->minP.m_fX; | |
323 | float fMaxY = pPoly->maxP.m_fY; | |
324 | float fMinY = pPoly->minP.m_fY; | |
aa2791cf PG |
325 | |
326 | // quick binding box check | |
9d6dea5f PG |
327 | if (vecPos.m_fX - fRad > fMaxX || vecPos.m_fX + fRad < fMinX || |
328 | vecPos.m_fY - fRad > fMaxY || vecPos.m_fY + fRad < fMinY) | |
aa2791cf PG |
329 | return false; |
330 | ||
331 | ||
332 | Vector2 vecTotVec; | |
333 | int iTot = 0; | |
334 | ||
335 | { | |
336 | const vector<Vector2>& pts = pPoly->points; | |
337 | unsigned int num = pts.size(); | |
338 | ||
339 | for (unsigned int i = 0; i < num; i++) | |
340 | { | |
341 | Vector2 vec = vectorToLine(vecPos, | |
9d6dea5f PG |
342 | pts[i].m_fX, |
343 | pts[i].m_fY, | |
344 | pts[(i + 1) % num].m_fX, | |
345 | pts[(i + 1) % num].m_fY); | |
aa2791cf PG |
346 | |
347 | if (vec.sqrLength() <= fRad*fRad && 0 < vec.dot(vecVelo)) | |
348 | { | |
349 | vecTotVec += vec; | |
350 | iTot += 1; | |
351 | } | |
352 | } | |
353 | } | |
354 | ||
355 | if (iTot <= 0) | |
356 | return false; | |
357 | ||
358 | ||
e86c86b3 PG |
359 | pcInfo->m_vecPoint = vecTotVec / iTot + vecPos; |
360 | pcInfo->m_vecNormal = vecPos - pcInfo->m_vecPoint; | |
aa2791cf PG |
361 | |
362 | return true; | |
363 | } |