#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 applyCollisionAt(PhysicsEntity* p1, PhysicsEntity* p2);
-void applyCollisionAt(Ball* b1, Ball* b2);
+void clearEntities();
+void placeEntity(PhysicsEntity* p);
+void updateEntities();
+
+void applyCollision(PhysicsEntity* p1, PhysicsEntity* p2);
+void applyCollision(Ball* b1, Ball* b2);
+void applyCollision(Polygon* pPoly, Ball* pBall);
-CollisionInfo* getInfoAt(Ball* b1, Ball* b2);
+bool getInfo(const Ball* b1, const Ball* b2, CollisionInfo* cInfo);
+bool getInfo(const Polygon* pPoly, const Ball* pBall, CollisionInfo* cInfo);
/// ***** Private Variables *****
+const int xDivisions = 20;
+const int yDivisions = 16;
+const int screenX = 800;
+const int screenY = 600;
+
+setPhys divisions[xDivisions][yDivisions];
+
/// ***** Initializers/Cleaners *****
void collision::init()
void collision::update(setPhys& sp)
{
- for( setPhys::iterator it1 = sp.begin();
- it1 != sp.end();
- it1++ )
+ clearEntities();
+
+ for( setPhys::iterator it = sp.begin();
+ it != sp.end();
+ it++ )
+ {
+ placeEntity(*it);
+ }
+
+ updateEntities();
+}
+
+/// ***** Private Methods *****
+
+void clearEntities()
+{
+ for( int x = 0;
+ x < xDivisions;
+ x++ )
{
- for( setPhys::iterator it2 = sp.begin();
- it2 != sp.end();
- it2++ )
+ for( int y = 0;
+ y < yDivisions;
+ y++ )
{
- if( *it1 != *it2 )
- {
- applyCollisionAt(*it1, *it2);
- }
+ divisions[x][y].clear();
+ }
+ }
+}
+
+void placeEntity(PhysicsEntity* p)
+{
+ Vector2 minP;
+ Vector2 maxP;
+
+ { // Ball case
+ Ball* b = dynamic_cast<Ball*>(p);
+
+ if( b != NULL )
+ {
+ const float& xb = b->positionRaw().x;
+ const float& yb = b->positionRaw().y;
+ const float& rad = b->radius;
+
+ minP.x = xb - rad;
+ minP.y = yb - rad;
+ maxP.x = xb + rad;
+ maxP.y = yb + rad;
+
+ goto start;
}
}
+ { // Polygon case
+ Polygon* pPoly = dynamic_cast<Polygon*>(p);
+
+ 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.x / (screenX / xDivisions) );
+ x <= static_cast<int>( maxP.x / (screenX / xDivisions) );
+ x++ )
+ {
+ if(x < 0 || xDivisions <= x)
+ break;
+
+ for( int y = static_cast<int>( minP.y / (screenY / yDivisions) );
+ y <= static_cast<int>( maxP.y / (screenY / yDivisions) );
+ y++ )
+ {
+ if(y < 0 || yDivisions <= y)
+ break;
+
+ divisions[x][y].insert(p);
+ }
+ }
}
-/// ***** Private Methods *****
+void updateEntities()
+{
+ for( int x = 0;
+ x < xDivisions;
+ x++ )
+ {
+ for( int y = 0;
+ y < yDivisions;
+ y++ )
+ {
+ for( setPhys::iterator it1 = divisions[x][y].begin();
+ it1 != divisions[x][y].end();
+ it1++ )
+ {
+ for( setPhys::iterator it2 = divisions[x][y].begin();
+ it2 != divisions[x][y].end();
+ it2++ )
+ {
+ if( *it1 == *it2 )
+ break;
+
+ applyCollision(*it1, *it2);
+ }
+ }
+ }
+ }
+}
-void applyCollisionAt(PhysicsEntity* p1, PhysicsEntity* p2)
+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 )
{
- applyCollisionAt(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;
+ }
}
-#ifdef WARNINGS
- cerr << "ENTITY TYPE NOT SUPPORTED BY applyCollisionAt()!!" << endl;
-#endif
+ DPF(0, "ENTITY TYPE NOT SUPPORTED BY applyCollision()!!");
}
-void applyCollisionAt(Ball* b1, Ball* b2)
+void applyCollision(Ball* b1, Ball* b2)
{
- // /*
- CollisionInfo* info = getInfoAt(b1, b2);
+ CollisionInfo cInfo;
- if(info == NULL)
+ if(!getInfo(b1, b2, &cInfo))
return;
// a few values to simplify the equations
- Vector2 normal = info->normal;
- Vector2 point = info->point;
-
- delete info;
+ const Vector2& normal = cInfo.normal;
+ const Vector2& point = cInfo.point;
float m1 = b1->mass;
float m2 = b2->mass;
b1->applyImpulse(impulse / m1 * normal, point);
b2->applyImpulse(-impulse / m2 * normal, point);
- // */
}
-CollisionInfo* getInfoAt(Ball* b1, Ball* b2)
+void applyCollision(Polygon* pPoly, Ball* pBall)
+{
+ CollisionInfo cInfo;
+
+ if(!getInfo(pPoly, pBall, &cInfo))
+ return;
+
+ float fCoR = pBall->CoR;
+ Vector2 vecNorm = cInfo.normal;
+
+ 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 CollP = normal / normal.Length * Ball.Radius;
+ //Ball.Position = Info.Point + CollP;
+}
+
+bool getInfo(const Ball* b1, const Ball* b2, CollisionInfo* pcInfo)
{
// a few values to simplify the equations
float r1 = b1->radius;
|| p1.x + r1 < p2.x - r2
|| p1.y - r1 > p2.y + r2
|| p1.y + r1 < p2.y - r2)
- return NULL;
+ return false;
// test if not touching
if ((p1 - p2).sqrLength() >= (r1 + r2)*(r1 + r2))
- return NULL;
+ return false;
// test if they are moving apart in some way if they aren't it's likely
// that they collided last frame and are still overlapping
if ((v1 - v2).dot(p1 - p2) >= 0)
- return NULL;
+ return false;
+
+ pcInfo->point = p1 - (p1 - p2) * r1 / (r1 + r2);
+ pcInfo->normal = 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.x;
+ float fMinX = pPoly->minP.x;
+ float fMaxY = pPoly->maxP.y;
+ float fMinY = pPoly->minP.y;
+
+ // quick binding box check
+ if (vecPos.x - fRad > fMaxX || vecPos.x + fRad < fMinX ||
+ vecPos.y - fRad > fMaxY || vecPos.y + 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].x,
+ pts[i].y,
+ pts[(i + 1) % num].x,
+ pts[(i + 1) % num].y);
+
+ if (vec.sqrLength() <= fRad*fRad && 0 < vec.dot(vecVelo))
+ {
+ vecTotVec += vec;
+ iTot += 1;
+ }
+ }
+ }
+
+ if (iTot <= 0)
+ return false;
+
+
+ pcInfo->point = vecTotVec / iTot + vecPos;
+ pcInfo->normal = vecPos - pcInfo->point;
- return new CollisionInfo(p1 - (p1 - p2) * r1 / (r1 + r2), p1 - p2);
+ return true;
}
projects / physics.git / blobdiff