#include "Vector2.h"
#include "Entities/Ball.h"
+#include "Entities/Polygon.h"
#include "Entities/PhysicsEntity.h"
#include "CollisionInfo.h"
+#include "mathw.h"
+
/// ***** Private Class Header *****
/// ***** Private Method Headers *****
void applyCollision(PhysicsEntity* p1, PhysicsEntity* p2);
void applyCollision(Ball* b1, Ball* b2);
+void applyCollision(Polygon* pPoly, Ball* pBall);
-bool getInfo(Ball* b1, Ball* b2, CollisionInfo* cInfo);
+bool getInfo(const Ball* b1, const Ball* b2, CollisionInfo* cInfo);
+bool getInfo(const Polygon* pPoly, const Ball* pBall, CollisionInfo* cInfo);
/// ***** Private Variables *****
void placeEntity(PhysicsEntity* p)
{
- Ball* b = dynamic_cast<Ball*>(p);
+ Vector2 minP;
+ Vector2 maxP;
- if( b == NULL )
- {
- DPF(0, "ENTITY TYPE NOT SUPPORTED BY placeEntity()!!");
- return;
+ { // Ball case
+ Ball* b = dynamic_cast<Ball*>(p);
+
+ if( b != NULL )
+ {
+ const float& xb = b->positionRaw().m_fX;
+ const float& yb = b->positionRaw().m_fY;
+ const float& rad = b->radius;
+
+ minP.m_fX = xb - rad;
+ minP.m_fY = yb - rad;
+ maxP.m_fX = xb + rad;
+ maxP.m_fY = yb + rad;
+
+ goto start;
+ }
}
- const float& xb = b->positionRaw().x;
- const float& yb = b->positionRaw().y;
- const float& rad = b->radius;
+ { // Polygon case
+ Polygon* pPoly = dynamic_cast<Polygon*>(p);
- for( int x = static_cast<int>( (xb - rad) / (screenX / xDivisions) );
- x <= static_cast<int>( (xb + rad) / (screenX / xDivisions) );
+ if( pPoly != NULL )
+ {
+ minP = pPoly->minP;
+ maxP = pPoly->maxP;
+
+ goto start;
+ }
+ }
+
+ DPF(0, "ENTITY TYPE NOT SUPPORTED BY placeEntity()!!");
+ return;
+
+start:
+ for( int x = static_cast<int>( minP.m_fX / (screenX / xDivisions) );
+ x <= static_cast<int>( maxP.m_fX / (screenX / xDivisions) );
x++ )
{
if(x < 0 || xDivisions <= x)
break;
- for( int y = static_cast<int>( (yb - rad) / (screenY / yDivisions) );
- y <= static_cast<int>( (yb + rad) / (screenY / yDivisions) );
+ for( int y = static_cast<int>( minP.m_fY / (screenY / yDivisions) );
+ y <= static_cast<int>( maxP.m_fY / (screenY / yDivisions) );
y++ )
{
if(y < 0 || yDivisions <= y)
it2 != divisions[x][y].end();
it2++ )
{
- if( *it1 != *it2 )
- {
- applyCollision(*it1, *it2);
- }
+ if( *it1 == *it2 )
+ break;
+
+ applyCollision(*it1, *it2);
}
}
}
void applyCollision(PhysicsEntity* p1, PhysicsEntity* p2)
{
- Ball* b1 = dynamic_cast<Ball*>(p1);
- Ball* b2 = dynamic_cast<Ball*>(p2);
+ {
+ Ball* b1 = dynamic_cast<Ball*>(p1);
+ Ball* b2 = dynamic_cast<Ball*>(p2);
+
+ if( b1 != NULL && b2 != NULL )
+ {
+ applyCollision(b1, b2);
+ return;
+ }
+ }
- if( b1 != NULL && b2 != NULL )
{
- applyCollision(b1, b2);
- return;
+ Polygon* pPoly = dynamic_cast<Polygon*>(p1);
+ Ball* pBall = dynamic_cast<Ball*>(p2);
+
+ if( pPoly != NULL && pBall != NULL )
+ {
+ applyCollision(pPoly, pBall);
+ return;
+ }
+ }
+
+ {
+ Polygon* pPoly = dynamic_cast<Polygon*>(p2);
+ Ball* pBall = dynamic_cast<Ball*>(p1);
+
+ if( pPoly != NULL && pBall != NULL )
+ {
+ applyCollision(pPoly, pBall);
+ return;
+ }
}
DPF(0, "ENTITY TYPE NOT SUPPORTED BY applyCollision()!!");
return;
// a few values to simplify the equations
- const Vector2& normal = cInfo.normal;
- const Vector2& point = cInfo.point;
+ const Vector2& normal = cInfo.m_vecNormal;
+ const Vector2& point = cInfo.m_vecPoint;
float m1 = b1->mass;
float m2 = b2->mass;
b2->applyImpulse(-impulse / m2 * normal, point);
}
-bool getInfo(Ball* b1, Ball* b2, CollisionInfo* pcInfo)
+void applyCollision(Polygon* pPoly, Ball* pBall)
+{
+ CollisionInfo cInfo;
+
+ if(!getInfo(pPoly, pBall, &cInfo))
+ return;
+
+ float fCoR = pBall->CoR;
+ Vector2 vecNorm = cInfo.m_vecNormal;
+
+ Vector2 vecVelo = pBall->velocityRaw();
+
+ // impulse divided by mass
+ float idm = (-(fCoR + 1) * vecVelo.dot(vecNorm))
+ / (vecNorm.dot(vecNorm));
+
+ pBall->applyImpulse(idm * vecNorm);
+
+ // HACK
+ // CoR penetration fix, adds the jitters
+
+ // from center to point
+ Vector2 vecCollP = vecNorm / vecNorm.length() * pBall->radius;
+ pBall->applyNudge(cInfo.m_vecPoint + vecCollP - pBall->positionRaw());
+}
+
+bool getInfo(const Ball* b1, const Ball* b2, CollisionInfo* pcInfo)
{
// a few values to simplify the equations
float r1 = b1->radius;
Vector2 v2 = b2->velocityRaw();
// quick binding box check
- if (p1.x - r1 > p2.x + r2
- || p1.x + r1 < p2.x - r2
- || p1.y - r1 > p2.y + r2
- || p1.y + r1 < p2.y - r2)
+ if (p1.m_fX - r1 > p2.m_fX + r2
+ || p1.m_fX + r1 < p2.m_fX - r2
+ || p1.m_fY - r1 > p2.m_fY + r2
+ || p1.m_fY + r1 < p2.m_fY - r2)
return false;
// test if not touching
if ((v1 - v2).dot(p1 - p2) >= 0)
return false;
- pcInfo->point = p1 - (p1 - p2) * r1 / (r1 + r2);
- pcInfo->normal = p1 - p2;
+ pcInfo->m_vecPoint = p1 - (p1 - p2) * r1 / (r1 + r2);
+ pcInfo->m_vecNormal = p1 - p2;
+
+ return true;
+}
+
+bool getInfo(const Polygon* pPoly, const Ball* pBall, CollisionInfo* pcInfo)
+{
+ // a few values to simplify the equations
+ float fRad = pBall->radius;
+ Vector2 vecPos = pBall->positionRaw();
+ Vector2 vecVelo = pBall->velocityRaw();
+
+ float fMaxX = pPoly->maxP.m_fX;
+ float fMinX = pPoly->minP.m_fX;
+ float fMaxY = pPoly->maxP.m_fY;
+ float fMinY = pPoly->minP.m_fY;
+
+ // quick binding box check
+ if (vecPos.m_fX - fRad > fMaxX || vecPos.m_fX + fRad < fMinX ||
+ vecPos.m_fY - fRad > fMaxY || vecPos.m_fY + fRad < fMinY)
+ return false;
+
+
+ Vector2 vecTotVec;
+ int iTot = 0;
+
+ {
+ const vector<Vector2>& pts = pPoly->points;
+ unsigned int num = pts.size();
+
+ for (unsigned int i = 0; i < num; i++)
+ {
+ Vector2 vec = vectorToLine(vecPos,
+ pts[i].m_fX,
+ pts[i].m_fY,
+ pts[(i + 1) % num].m_fX,
+ pts[(i + 1) % num].m_fY);
+
+ if (vec.sqrLength() <= fRad*fRad && 0 < vec.dot(vecVelo))
+ {
+ vecTotVec += vec;
+ iTot += 1;
+ }
+ }
+ }
+
+ if (iTot <= 0)
+ return false;
+
+
+ pcInfo->m_vecPoint = vecTotVec / iTot + vecPos;
+ pcInfo->m_vecNormal = vecPos - pcInfo->m_vecPoint;
return true;
}