merge masterloek/replay

1 files changed, 443 insertions, 425 deletions

diff --git a/src/crepe/system/CollisionSystem.cpp b/src/crepe/system/CollisionSystem.cpp
index 9d88d9f..654d4c6 100644
--- a/src/crepe/system/CollisionSystem.cpp
+++ b/src/crepe/system/CollisionSystem.cpp
@@ -1,6 +1,7 @@
 #include <algorithm>
 #include <cmath>
 #include <cstddef>
+#include <emmintrin.h>
 #include <functional>
 #include <optional>
 #include <utility>
@@ -15,13 +16,23 @@
 #include "api/Rigidbody.h"
 #include "api/Transform.h"
 #include "api/Vector2.h"
+#include "util/AbsolutePosition.h"
+#include "util/OptionalRef.h"
 
-#include "Collider.h"
 #include "CollisionSystem.h"
 #include "types.h"
-#include "util/OptionalRef.h"
 
 using namespace crepe;
+using enum Rigidbody::BodyType;
+
+CollisionSystem::CollisionInfo CollisionSystem::CollisionInfo::operator-() const {
+	return {
+		.self = this->other,
+		.other = this->self,
+		.resolution = -this->resolution,
+		.resolution_direction = this->resolution_direction,
+	};
+}
 
 void CollisionSystem::fixed_update() {
 	std::vector<CollisionInternal> all_colliders;
@@ -33,6 +44,7 @@ void CollisionSystem::fixed_update() {
 		if (!rigidbody.active) continue;
 		id = rigidbody.game_object_id;
 		Transform & transform = mgr.get_components_by_id<Transform>(id).front().get();
+		Metadata & metadata = mgr.get_components_by_id<Metadata>(id).front().get();
 		// Check if the boxcollider is active and has the same id as the rigidbody.
 		RefVector<BoxCollider> boxcolliders = mgr.get_components_by_type<BoxCollider>();
 		for (BoxCollider & boxcollider : boxcolliders) {
@@ -40,8 +52,7 @@ void CollisionSystem::fixed_update() {
 			if (!boxcollider.active) continue;
 			all_colliders.push_back({.id = id,
 									 .collider = collider_variant{boxcollider},
-									 .transform = transform,
-									 .rigidbody = rigidbody});
+									 .info = {transform, rigidbody, metadata}});
 		}
 		// Check if the circlecollider is active and has the same id as the rigidbody.
 		RefVector<CircleCollider> circlecolliders
@@ -51,310 +62,450 @@ void CollisionSystem::fixed_update() {
 			if (!circlecollider.active) continue;
 			all_colliders.push_back({.id = id,
 									 .collider = collider_variant{circlecollider},
-									 .transform = transform,
-									 .rigidbody = rigidbody});
+									 .info = {transform, rigidbody, metadata}});
 		}
 	}
 
-	// Check between all colliders if there is a collision
+	// Check between all colliders if there is a collision (collision handling)
 	std::vector<std::pair<CollisionInternal, CollisionInternal>> collided
 		= this->gather_collisions(all_colliders);
 
-	// For both objects call the collision handler
+	// For the object convert the info and call the collision handler if needed
 	for (auto & collision_pair : collided) {
-		this->collision_handler_request(collision_pair.first, collision_pair.second);
-		this->collision_handler_request(collision_pair.second, collision_pair.first);
+		// Convert internal struct to external struct
+		CollisionInfo info
+			= this->get_collision_info(collision_pair.first, collision_pair.second);
+		// Determine if and/or what collison handler is needed.
+		this->determine_collision_handler(info);
 	}
 }
 
-void CollisionSystem::collision_handler_request(CollisionInternal & this_data,
-												CollisionInternal & other_data) {
+// Below is for collision detection
+std::vector<std::pair<CollisionSystem::CollisionInternal, CollisionSystem::CollisionInternal>>
+CollisionSystem::gather_collisions(std::vector<CollisionInternal> & colliders) {
 
-	CollisionInternalType type
-		= this->get_collider_type(this_data.collider, other_data.collider);
-	std::pair<vec2, CollisionSystem::Direction> resolution_data
-		= this->collision_handler(this_data, other_data, type);
-	ComponentManager & mgr = this->mediator.component_manager;
-	OptionalRef<Metadata> this_metadata
-		= mgr.get_components_by_id<Metadata>(this_data.id).front().get();
-	OptionalRef<Metadata> other_metadata
-		= mgr.get_components_by_id<Metadata>(other_data.id).front().get();
-	OptionalRef<Collider> this_collider;
-	OptionalRef<Collider> other_collider;
-	switch (type) {
-		case CollisionInternalType::BOX_BOX: {
-			this_collider = std::get<std::reference_wrapper<BoxCollider>>(this_data.collider);
-			other_collider
-				= std::get<std::reference_wrapper<BoxCollider>>(other_data.collider);
-			break;
-		}
-		case CollisionInternalType::BOX_CIRCLE: {
-			this_collider = std::get<std::reference_wrapper<BoxCollider>>(this_data.collider);
-			other_collider
-				= std::get<std::reference_wrapper<CircleCollider>>(other_data.collider);
-			break;
-		}
-		case CollisionInternalType::CIRCLE_BOX: {
-			this_collider
-				= std::get<std::reference_wrapper<CircleCollider>>(this_data.collider);
-			other_collider
-				= std::get<std::reference_wrapper<BoxCollider>>(other_data.collider);
-			break;
-		}
-		case CollisionInternalType::CIRCLE_CIRCLE: {
-			this_collider
-				= std::get<std::reference_wrapper<CircleCollider>>(this_data.collider);
-			other_collider
-				= std::get<std::reference_wrapper<CircleCollider>>(other_data.collider);
-			break;
+	// TODO:
+	// If no colliders skip
+	// Check if colliders has rigidbody if not skip
+
+	// TODO:
+	// If amount is higer than lets say 16 for now use quadtree otwerwise skip
+	// Quadtree code
+	// Quadtree is placed over the input vector
+
+	// Return data of collided colliders which are variants
+	std::vector<std::pair<CollisionInternal, CollisionInternal>> collisions_ret;
+	//using visit to visit the variant to access the active and id.
+	for (size_t i = 0; i < colliders.size(); ++i) {
+		for (size_t j = i + 1; j < colliders.size(); ++j) {
+			if (colliders[i].id == colliders[j].id) continue;
+			if (!should_collide(colliders[i], colliders[j])) continue;
+			CollisionInternalType type
+				= get_collider_type(colliders[i].collider, colliders[j].collider);
+			if (!detect_collision(colliders[i], colliders[j], type)) continue;
+			//fet
+			collisions_ret.emplace_back(colliders[i], colliders[j]);
 		}
 	}
+	return collisions_ret;
+}
 
-	// collision info
-	crepe::CollisionSystem::CollisionInfo collision_info{
-		.this_collider = this_collider,
-		.this_transform = this_data.transform,
-		.this_rigidbody = this_data.rigidbody,
-		.this_metadata = this_metadata,
-		.other_collider = other_collider,
-		.other_transform = other_data.transform,
-		.other_rigidbody = other_data.rigidbody,
-		.other_metadata = other_metadata,
-		.resolution = resolution_data.first,
-		.resolution_direction = resolution_data.second,
-	};
+bool CollisionSystem::should_collide(const CollisionInternal & self,
+									 const CollisionInternal & other) const {
+
+	const Rigidbody::Data & self_rigidbody = self.info.rigidbody.data;
+	const Rigidbody::Data & other_rigidbody = other.info.rigidbody.data;
+	const Metadata & self_metadata = self.info.metadata;
+	const Metadata & other_metadata = other.info.metadata;
+
+	// Check collision layers
+	if (self_rigidbody.collision_layers.contains(other_rigidbody.collision_layer)) return true;
+	if (other_rigidbody.collision_layers.contains(self_rigidbody.collision_layer)) return true;
 
-	// Determine if static needs to be called
-	this->determine_collision_handler(collision_info);
+	// Check names
+	if (self_rigidbody.collision_names.contains(other_metadata.name)) return true;
+	if (other_rigidbody.collision_names.contains(self_metadata.name)) return true;
+
+	// Check tags
+	if (self_rigidbody.collision_tags.contains(other_metadata.tag)) return true;
+	if (other_rigidbody.collision_tags.contains(self_metadata.tag)) return true;
+
+	return false;
+}
+
+CollisionSystem::CollisionInternalType
+CollisionSystem::get_collider_type(const collider_variant & collider1,
+								   const collider_variant & collider2) const {
+	if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider1)) {
+		if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider2)) {
+			return CollisionInternalType::CIRCLE_CIRCLE;
+		} else {
+			return CollisionInternalType::CIRCLE_BOX;
+		}
+	} else {
+		if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider2)) {
+			return CollisionInternalType::BOX_CIRCLE;
+		} else {
+			return CollisionInternalType::BOX_BOX;
+		}
+	}
 }
 
-std::pair<vec2, CollisionSystem::Direction>
-CollisionSystem::collision_handler(CollisionInternal & data1, CollisionInternal & data2,
-								   CollisionInternalType type) {
+bool CollisionSystem::detect_collision(CollisionInternal & self, CollisionInternal & other,
+									   const CollisionInternalType & type) {
 	vec2 resolution;
 	switch (type) {
 		case CollisionInternalType::BOX_BOX: {
-			const BoxCollider & collider1
-				= std::get<std::reference_wrapper<BoxCollider>>(data1.collider);
-			const BoxCollider & collider2
-				= std::get<std::reference_wrapper<BoxCollider>>(data2.collider);
-			vec2 collider_pos1 = this->get_current_position(collider1.offset, data1.transform,
-															data1.rigidbody);
-			vec2 collider_pos2 = this->get_current_position(collider2.offset, data2.transform,
-															data2.rigidbody);
-			resolution = this->get_box_box_resolution(collider1, collider2, collider_pos1,
-													  collider_pos2);
+			// Box-Box collision detection
+			const BoxColliderInternal BOX1
+				= {.collider = std::get<std::reference_wrapper<BoxCollider>>(self.collider),
+				   .transform = self.info.transform,
+				   .rigidbody = self.info.rigidbody};
+			const BoxColliderInternal BOX2
+				= {.collider = std::get<std::reference_wrapper<BoxCollider>>(other.collider),
+				   .transform = other.info.transform,
+				   .rigidbody = other.info.rigidbody};
+			// Get resolution vector from box-box collision detection
+			resolution = this->get_box_box_detection(BOX1, BOX2);
+			// If no collision (NaN values), return false
+			if (resolution.is_nan()) return false;
 			break;
 		}
 		case CollisionInternalType::BOX_CIRCLE: {
-			const BoxCollider & collider1
-				= std::get<std::reference_wrapper<BoxCollider>>(data1.collider);
-			const CircleCollider & collider2
-				= std::get<std::reference_wrapper<CircleCollider>>(data2.collider);
-			vec2 collider_pos1 = this->get_current_position(collider1.offset, data1.transform,
-															data1.rigidbody);
-			vec2 collider_pos2 = this->get_current_position(collider2.offset, data2.transform,
-															data2.rigidbody);
-			resolution = -this->get_circle_box_resolution(collider2, collider1, collider_pos2,
-														  collider_pos1);
+			// Box-Circle collision detection
+			const BoxColliderInternal BOX1
+				= {.collider = std::get<std::reference_wrapper<BoxCollider>>(self.collider),
+				   .transform = self.info.transform,
+				   .rigidbody = self.info.rigidbody};
+			const CircleColliderInternal CIRCLE2 = {
+				.collider = std::get<std::reference_wrapper<CircleCollider>>(other.collider),
+				.transform = other.info.transform,
+				.rigidbody = other.info.rigidbody};
+			// Get resolution vector from box-circle collision detection
+			resolution = this->get_box_circle_detection(BOX1, CIRCLE2);
+			// If no collision (NaN values), return false
+			if (resolution.is_nan()) return false;
+			// Invert the resolution vector for proper collision response
+			resolution = -resolution;
 			break;
 		}
 		case CollisionInternalType::CIRCLE_CIRCLE: {
-			const CircleCollider & collider1
-				= std::get<std::reference_wrapper<CircleCollider>>(data1.collider);
-			const CircleCollider & collider2
-				= std::get<std::reference_wrapper<CircleCollider>>(data2.collider);
-			vec2 collider_pos1 = this->get_current_position(collider1.offset, data1.transform,
-															data1.rigidbody);
-			vec2 collider_pos2 = this->get_current_position(collider2.offset, data2.transform,
-															data2.rigidbody);
-			resolution = this->get_circle_circle_resolution(collider1, collider2,
-															collider_pos1, collider_pos2);
+			// Circle-Circle collision detection
+			const CircleColliderInternal CIRCLE1
+				= {.collider = std::get<std::reference_wrapper<CircleCollider>>(self.collider),
+				   .transform = self.info.transform,
+				   .rigidbody = self.info.rigidbody};
+			const CircleColliderInternal CIRCLE2 = {
+				.collider = std::get<std::reference_wrapper<CircleCollider>>(other.collider),
+				.transform = other.info.transform,
+				.rigidbody = other.info.rigidbody};
+			// Get resolution vector from circle-circle collision detection
+			resolution = this->get_circle_circle_detection(CIRCLE1, CIRCLE2);
+			// If no collision (NaN values), return false
+			if (resolution.is_nan()) return false;
 			break;
 		}
 		case CollisionInternalType::CIRCLE_BOX: {
-			const CircleCollider & collider1
-				= std::get<std::reference_wrapper<CircleCollider>>(data1.collider);
-			const BoxCollider & collider2
-				= std::get<std::reference_wrapper<BoxCollider>>(data2.collider);
-			vec2 collider_pos1 = this->get_current_position(collider1.offset, data1.transform,
-															data1.rigidbody);
-			vec2 collider_pos2 = this->get_current_position(collider2.offset, data2.transform,
-															data2.rigidbody);
-			resolution = this->get_circle_box_resolution(collider1, collider2, collider_pos1,
-														 collider_pos2);
+			// Circle-Box collision detection
+			const CircleColliderInternal CIRCLE1
+				= {.collider = std::get<std::reference_wrapper<CircleCollider>>(self.collider),
+				   .transform = self.info.transform,
+				   .rigidbody = self.info.rigidbody};
+			const BoxColliderInternal BOX2
+				= {.collider = std::get<std::reference_wrapper<BoxCollider>>(other.collider),
+				   .transform = other.info.transform,
+				   .rigidbody = other.info.rigidbody};
+			// Get resolution vector from box-circle collision detection (order swapped)
+			resolution = this->get_box_circle_detection(BOX2, CIRCLE1);
+			// If no collision (NaN values), return false
+			if (resolution.is_nan()) return false;
 			break;
 		}
+		case CollisionInternalType::NONE:
+			// No collision detection needed if the type is NONE
+			return false;
+			break;
 	}
+	// Store the calculated resolution vector for the 'self' collider
+	self.resolution = resolution;
+	// Calculate the resolution direction based on the rigidbody data
+	self.resolution_direction
+		= this->resolution_correction(self.resolution, self.info.rigidbody.data);
+	// For the 'other' collider, the resolution is the opposite direction of 'self'
+	other.resolution = -self.resolution;
+	other.resolution_direction = self.resolution_direction;
+
+	// Return true if a collision was detected and resolution was calculated
+	return true;
+}
 
-	Direction resolution_direction = Direction::NONE;
-	if (resolution.x != 0 && resolution.y != 0) {
-		resolution_direction = Direction::BOTH;
-	} else if (resolution.x != 0) {
-		resolution_direction = Direction::X_DIRECTION;
-		//checks if the other velocity has a value and if this object moved
-		if (data1.rigidbody.data.linear_velocity.x != 0
-			&& data1.rigidbody.data.linear_velocity.y != 0)
-			resolution.y = -data1.rigidbody.data.linear_velocity.y
-						   * (resolution.x / data1.rigidbody.data.linear_velocity.x);
-	} else if (resolution.y != 0) {
-		resolution_direction = Direction::Y_DIRECTION;
-		//checks if the other velocity has a value and if this object moved
-		if (data1.rigidbody.data.linear_velocity.x != 0
-			&& data1.rigidbody.data.linear_velocity.y != 0)
-			resolution.x = -data1.rigidbody.data.linear_velocity.x
-						   * (resolution.y / data1.rigidbody.data.linear_velocity.y);
-	}
+vec2 CollisionSystem::get_box_box_detection(const BoxColliderInternal & box1,
+											const BoxColliderInternal & box2) const {
+	vec2 resolution{NAN, NAN};
+	// Get current positions of colliders
+	vec2 pos1 = AbsolutePosition::get_position(box1.transform, box1.collider.offset);
+	vec2 pos2 = AbsolutePosition::get_position(box2.transform, box2.collider.offset);
 
-	return std::make_pair(resolution, resolution_direction);
-}
+	// Scale dimensions
+	vec2 scaled_box1 = box1.collider.dimensions * box1.transform.scale;
+	vec2 scaled_box2 = box2.collider.dimensions * box2.transform.scale;
+	vec2 delta = pos2 - pos1;
 
-vec2 CollisionSystem::get_box_box_resolution(const BoxCollider & box_collider1,
-											 const BoxCollider & box_collider2,
-											 const vec2 & final_position1,
-											 const vec2 & final_position2) const {
-	vec2 resolution; // Default resolution vector
-	vec2 delta = final_position2 - final_position1;
-
-	// Compute half-dimensions of the boxes
-	float half_width1 = box_collider1.dimensions.x / 2.0;
-	float half_height1 = box_collider1.dimensions.y / 2.0;
-	float half_width2 = box_collider2.dimensions.x / 2.0;
-	float half_height2 = box_collider2.dimensions.y / 2.0;
-
-	// Calculate overlaps along X and Y axes
-	float overlap_x = (half_width1 + half_width2) - std::abs(delta.x);
-	float overlap_y = (half_height1 + half_height2) - std::abs(delta.y);
-
-	// Check if there is a collision should always be true
-	if (overlap_x > 0 && overlap_y > 0) {
-		// Determine the direction of resolution
-		if (overlap_x < overlap_y) {
-			// Resolve along the X-axis (smallest overlap)
-			resolution.x = (delta.x > 0) ? -overlap_x : overlap_x;
-		} else if (overlap_y < overlap_x) {
-			// Resolve along the Y-axis (smallest overlap)
-			resolution.y = (delta.y > 0) ? -overlap_y : overlap_y;
-		} else {
-			// Equal overlap, resolve both directions with preference
-			resolution.x = (delta.x > 0) ? -overlap_x : overlap_x;
-			resolution.y = (delta.y > 0) ? -overlap_y : overlap_y;
+	// Calculate half-extents (half width and half height)
+	float half_width1 = scaled_box1.x / 2.0;
+	float half_height1 = scaled_box1.y / 2.0;
+	float half_width2 = scaled_box2.x / 2.0;
+	float half_height2 = scaled_box2.y / 2.0;
+
+	if (pos1.x + half_width1 > pos2.x - half_width2
+		&& pos1.x - half_width1 < pos2.x + half_width2
+		&& pos1.y + half_height1 > pos2.y - half_height2
+		&& pos1.y - half_height1 < pos2.y + half_height2) {
+		resolution = {0, 0};
+		float overlap_x = (half_width1 + half_width2) - std::abs(delta.x);
+		float overlap_y = (half_height1 + half_height2) - std::abs(delta.y);
+		if (overlap_x > 0 && overlap_y > 0) {
+			// Determine the direction of resolution
+			if (overlap_x < overlap_y) {
+				// Resolve along the X-axis (smallest overlap)
+				resolution.x = (delta.x > 0) ? -overlap_x : overlap_x;
+			} else if (overlap_y < overlap_x) {
+				// Resolve along the Y-axis (smallest overlap)
+				resolution.y = (delta.y > 0) ? -overlap_y : overlap_y;
+			} else {
+				// Equal overlap, resolve both directions with preference
+				resolution.x = (delta.x > 0) ? -overlap_x : overlap_x;
+				resolution.y = (delta.y > 0) ? -overlap_y : overlap_y;
+			}
 		}
 	}
-
 	return resolution;
 }
 
-vec2 CollisionSystem::get_circle_circle_resolution(const CircleCollider & circle_collider1,
-												   const CircleCollider & circle_collider2,
-												   const vec2 & final_position1,
-												   const vec2 & final_position2) const {
-	vec2 delta = final_position2 - final_position1;
+vec2 CollisionSystem::get_box_circle_detection(const BoxColliderInternal & box,
+											   const CircleColliderInternal & circle) const {
+	/// Get current positions of colliders
+	vec2 box_pos = AbsolutePosition::get_position(box.transform, box.collider.offset);
+	vec2 circle_pos = AbsolutePosition::get_position(circle.transform, circle.collider.offset);
 
-	// Compute the distance between the two circle centers
-	float distance = std::sqrt(delta.x * delta.x + delta.y * delta.y);
+	// Scale dimensions
+	vec2 scaled_box = box.collider.dimensions * box.transform.scale;
+	float scaled_circle_radius = circle.collider.radius * circle.transform.scale;
 
-	// Compute the combined radii of the two circles
-	float combined_radius = circle_collider1.radius + circle_collider2.radius;
+	// Calculate box half-extents
+	float half_width = scaled_box.x / 2.0f;
+	float half_height = scaled_box.y / 2.0f;
 
-	// Compute the penetration depth
-	float penetration_depth = combined_radius - distance;
+	// Find the closest point on the box to the circle's center
+	float closest_x
+		= std::max(box_pos.x - half_width, std::min(circle_pos.x, box_pos.x + half_width));
+	float closest_y
+		= std::max(box_pos.y - half_height, std::min(circle_pos.y, box_pos.y + half_height));
 
-	// Normalize the delta vector to get the collision direction
-	vec2 collision_normal = delta / distance;
+	float distance_x = circle_pos.x - closest_x;
+	float distance_y = circle_pos.y - closest_y;
+	float distance_squared = distance_x * distance_x + distance_y * distance_y;
+	if (distance_squared < scaled_circle_radius * scaled_circle_radius) {
+		vec2 delta = circle_pos - box_pos;
 
-	// Compute the resolution vector
-	vec2 resolution = -collision_normal * penetration_depth;
+		// Clamp circle center to the nearest point on the box
+		vec2 closest_point;
+		closest_point.x = std::clamp(delta.x, -half_width, half_width);
+		closest_point.y = std::clamp(delta.y, -half_height, half_height);
 
-	return resolution;
+		// Find the vector from the circle center to the closest point
+		vec2 closest_delta = delta - closest_point;
+
+		float distance
+			= std::sqrt(closest_delta.x * closest_delta.x + closest_delta.y * closest_delta.y);
+		vec2 collision_normal = closest_delta / distance;
+
+		// Compute penetration depth
+		float penetration_depth = scaled_circle_radius - distance;
+
+		// Compute the resolution vector
+		return vec2{collision_normal * penetration_depth};
+	}
+	// No collision
+	return vec2{NAN, NAN};
 }
 
-vec2 CollisionSystem::get_circle_box_resolution(const CircleCollider & circle_collider,
-												const BoxCollider & box_collider,
-												const vec2 & circle_position,
-												const vec2 & box_position) const {
-	vec2 delta = circle_position - box_position;
+vec2 CollisionSystem::get_circle_circle_detection(
+	const CircleColliderInternal & circle1, const CircleColliderInternal & circle2) const {
+	// Get current positions of colliders
+	vec2 final_position1
+		= AbsolutePosition::get_position(circle1.transform, circle1.collider.offset);
+	vec2 final_position2
+		= AbsolutePosition::get_position(circle2.transform, circle2.collider.offset);
 
-	// Compute half-dimensions of the box
-	float half_width = box_collider.dimensions.x / 2.0f;
-	float half_height = box_collider.dimensions.y / 2.0f;
+	// Scale dimensions
+	float scaled_circle1 = circle1.collider.radius * circle1.transform.scale;
+	float scaled_circle2 = circle2.collider.radius * circle2.transform.scale;
 
-	// Clamp circle center to the nearest point on the box
-	vec2 closest_point;
-	closest_point.x = std::clamp(delta.x, -half_width, half_width);
-	closest_point.y = std::clamp(delta.y, -half_height, half_height);
+	float distance_x = final_position1.x - final_position2.x;
+	float distance_y = final_position1.y - final_position2.y;
+	float distance_squared = distance_x * distance_x + distance_y * distance_y;
 
-	// Find the vector from the circle center to the closest point
-	vec2 closest_delta = delta - closest_point;
+	// Calculate the sum of the radii
+	float radius_sum = scaled_circle1 + scaled_circle2;
 
-	// Normalize the delta to get the collision direction
-	float distance
-		= std::sqrt(closest_delta.x * closest_delta.x + closest_delta.y * closest_delta.y);
-	vec2 collision_normal = closest_delta / distance;
+	// Check for collision (distance squared must be less than the square of the radius sum)
+	if (distance_squared < radius_sum * radius_sum) {
+		vec2 delta = final_position2 - final_position1;
 
-	// Compute penetration depth
-	float penetration_depth = circle_collider.radius - distance;
+		// Compute the distance between the two circle centers
+		float distance = std::sqrt(delta.x * delta.x + delta.y * delta.y);
 
-	// Compute the resolution vector
-	vec2 resolution = collision_normal * penetration_depth;
+		// Compute the combined radii of the two circles
+		float combined_radius = scaled_circle1 + scaled_circle2;
 
-	return resolution;
+		// Compute the penetration depth
+		float penetration_depth = combined_radius - distance;
+
+		// Normalize the delta vector to get the collision direction
+		vec2 collision_normal = delta / distance;
+
+		// Compute the resolution vector
+		vec2 resolution = -collision_normal * penetration_depth;
+
+		return resolution;
+	}
+	// No collision
+	return vec2{NAN, NAN};
+	;
 }
 
-void CollisionSystem::determine_collision_handler(CollisionInfo & info) {
-	// Check rigidbody type for static
-	if (info.this_rigidbody.data.body_type == Rigidbody::BodyType::STATIC) return;
-	// If second body is static perform the static collision handler in this system
-	if (info.other_rigidbody.data.body_type == Rigidbody::BodyType::STATIC) {
-		this->static_collision_handler(info);
+CollisionSystem::Direction
+CollisionSystem::resolution_correction(vec2 & resolution, const Rigidbody::Data & rigidbody) {
+
+	// Calculate the other value to move back correctly
+	// If only X or Y has a value determine what is should be to move back.
+	Direction resolution_direction = Direction::NONE;
+	// If both are not zero a perfect corner has been hit
+	if (resolution.x != 0 && resolution.y != 0) {
+		resolution_direction = Direction::BOTH;
+		// If x is not zero a horizontal action was latest action.
+	} else if (resolution.x != 0) {
+		resolution_direction = Direction::X_DIRECTION;
+		// If both are 0 resolution y should not be changed (y_velocity can be 0 by kinematic object movement)
+		if (rigidbody.linear_velocity.x != 0 && rigidbody.linear_velocity.y != 0)
+			resolution.y
+				= -rigidbody.linear_velocity.y * (resolution.x / rigidbody.linear_velocity.x);
+	} else if (resolution.y != 0) {
+		resolution_direction = Direction::Y_DIRECTION;
+		// If both are 0 resolution x should not be changed (x_velocity can be 0 by kinematic object movement)
+		if (rigidbody.linear_velocity.x != 0 && rigidbody.linear_velocity.y != 0)
+			resolution.x
+				= -rigidbody.linear_velocity.x * (resolution.y / rigidbody.linear_velocity.y);
+	}
+
+	return resolution_direction;
+}
+
+CollisionSystem::CollisionInfo
+CollisionSystem::get_collision_info(const CollisionInternal & in_self,
+									const CollisionInternal & in_other) const {
+
+	crepe::CollisionSystem::ColliderInfo self{
+		.transform = in_self.info.transform,
+		.rigidbody = in_self.info.rigidbody,
+		.metadata = in_self.info.metadata,
 	};
-	// Call collision event for user
-	CollisionEvent data(info);
-	EventManager & emgr = this->mediator.event_manager;
-	emgr.trigger_event<CollisionEvent>(data, info.this_collider.game_object_id);
+
+	crepe::CollisionSystem::ColliderInfo other{
+		.transform = in_other.info.transform,
+		.rigidbody = in_other.info.rigidbody,
+		.metadata = in_other.info.metadata,
+	};
+
+	struct CollisionInfo collision_info {
+		.self = self, .other = other, .resolution = in_self.resolution,
+		.resolution_direction = in_self.resolution_direction,
+	};
+	return collision_info;
 }
 
-void CollisionSystem::static_collision_handler(CollisionInfo & info) {
+void CollisionSystem::determine_collision_handler(const CollisionInfo & info) {
+	Rigidbody::BodyType self_type = info.self.rigidbody.data.body_type;
+	Rigidbody::BodyType other_type = info.other.rigidbody.data.body_type;
+	bool self_kinematic = info.self.rigidbody.data.kinematic_collision;
+	bool other_kinematic = info.other.rigidbody.data.kinematic_collision;
+	// Inverted collision info
+	CollisionInfo inverted = -info;
+	// If both objects are static skip handle call collision script
+	if (self_type == STATIC && other_type == STATIC) return;
+
+	//	First body is not dynamic
+	if (self_type != DYNAMIC) {
+		bool static_collision = self_type == STATIC && other_type == DYNAMIC;
+		bool kinematic_collision
+			= self_type == KINEMATIC && other_type == DYNAMIC && self_kinematic;
+
+		// Handle collision
+		if (static_collision || kinematic_collision) this->static_collision_handler(inverted);
+		// Call scripts
+		this->call_collision_events(inverted);
+		return;
+	}
+
+	// Second body is not dynamic
+	if (other_type != DYNAMIC) {
+		bool static_collision = other_type == STATIC;
+		bool kinematic_collision = other_type == KINEMATIC && other_kinematic;
+		// Handle collision
+		if (static_collision || kinematic_collision) this->static_collision_handler(info);
+		// Call scripts
+		this->call_collision_events(info);
+		return;
+	}
+
+	// Dynamic
+	// Handle collision
+	this->dynamic_collision_handler(info);
+	// Call scripts
+	this->call_collision_events(info);
+}
+
+void CollisionSystem::static_collision_handler(const CollisionInfo & info) {
+
+	vec2 & transform_pos = info.self.transform.position;
+	float elasticity = info.self.rigidbody.data.elasticity_coefficient;
+	vec2 & rigidbody_vel = info.self.rigidbody.data.linear_velocity;
+
 	// Move object back using calculate move back value
-	info.this_transform.position += info.resolution;
+	transform_pos += info.resolution;
 
 	switch (info.resolution_direction) {
 		case Direction::BOTH:
 			//bounce
-			if (info.this_rigidbody.data.elastisity_coefficient > 0) {
-				info.this_rigidbody.data.linear_velocity
-					= -info.this_rigidbody.data.linear_velocity
-					  * info.this_rigidbody.data.elastisity_coefficient;
+			if (elasticity > 0) {
+				rigidbody_vel = -rigidbody_vel * elasticity;
 			}
 			//stop movement
 			else {
-				info.this_rigidbody.data.linear_velocity = {0, 0};
+				rigidbody_vel = {0, 0};
 			}
 			break;
 		case Direction::Y_DIRECTION:
 			// Bounce
-			if (info.this_rigidbody.data.elastisity_coefficient > 0) {
-				info.this_rigidbody.data.linear_velocity.y
-					= -info.this_rigidbody.data.linear_velocity.y
-					  * info.this_rigidbody.data.elastisity_coefficient;
+			if (elasticity > 0) {
+				rigidbody_vel.y = -rigidbody_vel.y * elasticity;
 			}
 			// Stop movement
 			else {
-				info.this_rigidbody.data.linear_velocity.y = 0;
-				info.this_transform.position.x -= info.resolution.x;
+				rigidbody_vel.y = 0;
+				transform_pos.x -= info.resolution.x;
 			}
 			break;
 		case Direction::X_DIRECTION:
 			// Bounce
-			if (info.this_rigidbody.data.elastisity_coefficient > 0) {
-				info.this_rigidbody.data.linear_velocity.x
-					= -info.this_rigidbody.data.linear_velocity.x
-					  * info.this_rigidbody.data.elastisity_coefficient;
+			if (elasticity > 0) {
+				rigidbody_vel.x = -rigidbody_vel.x * elasticity;
 			}
 			// Stop movement
 			else {
-				info.this_rigidbody.data.linear_velocity.x = 0;
-				info.this_transform.position.y -= info.resolution.y;
+				rigidbody_vel.x = 0;
+				transform_pos.y -= info.resolution.y;
 			}
 			break;
 		case Direction::NONE:
@@ -363,213 +514,80 @@ void CollisionSystem::static_collision_handler(CollisionInfo & info) {
 	}
 }
 
-std::vector<std::pair<CollisionSystem::CollisionInternal, CollisionSystem::CollisionInternal>>
-CollisionSystem::gather_collisions(std::vector<CollisionInternal> & colliders) {
-
-	// TODO:
-	// If no colliders skip
-	// Check if colliders has rigidbody if not skip
-
-	// TODO:
-	// If amount is higer than lets say 16 for now use quadtree otwerwise skip
-	// Quadtree code
-	// Quadtree is placed over the input vector
+void CollisionSystem::dynamic_collision_handler(const CollisionInfo & info) {
 
-	// Return data of collided colliders which are variants
-	std::vector<std::pair<CollisionInternal, CollisionInternal>> collisions_ret;
-	//using visit to visit the variant to access the active and id.
-	for (size_t i = 0; i < colliders.size(); ++i) {
-		for (size_t j = i + 1; j < colliders.size(); ++j) {
-			if (colliders[i].id == colliders[j].id) continue;
-			if (!have_common_layer(colliders[i].rigidbody.data.collision_layers,
-								   colliders[j].rigidbody.data.collision_layers))
-				continue;
-			CollisionInternalType type
-				= get_collider_type(colliders[i].collider, colliders[j].collider);
-			if (!get_collision(
-					{
-						.collider = colliders[i].collider,
-						.transform = colliders[i].transform,
-						.rigidbody = colliders[i].rigidbody,
-					},
-					{
-						.collider = colliders[j].collider,
-						.transform = colliders[j].transform,
-						.rigidbody = colliders[j].rigidbody,
-					},
-					type))
-				continue;
-			collisions_ret.emplace_back(colliders[i], colliders[j]);
-		}
-	}
+	vec2 & self_transform_pos = info.self.transform.position;
+	vec2 & other_transform_pos = info.other.transform.position;
+	float self_elasticity = info.self.rigidbody.data.elasticity_coefficient;
+	float other_elasticity = info.other.rigidbody.data.elasticity_coefficient;
+	vec2 & self_rigidbody_vel = info.self.rigidbody.data.linear_velocity;
+	vec2 & other_rigidbody_vel = info.other.rigidbody.data.linear_velocity;
 
-	return collisions_ret;
-}
+	self_transform_pos += info.resolution / 2;
+	other_transform_pos += -(info.resolution / 2);
 
-bool CollisionSystem::have_common_layer(const std::set<int> & layers1,
-										const std::set<int> & layers2) {
+	switch (info.resolution_direction) {
+		case Direction::BOTH:
+			if (self_elasticity > 0) {
+				self_rigidbody_vel = -self_rigidbody_vel * self_elasticity;
+			} else {
+				self_rigidbody_vel = {0, 0};
+			}
 
-	// Check if any number is equal in the layers
-	for (int num : layers1) {
-		if (layers2.contains(num)) {
-			// Common layer found
-			return true;
+			if (other_elasticity > 0) {
+				other_rigidbody_vel = -other_rigidbody_vel * other_elasticity;
+			} else {
+				other_rigidbody_vel = {0, 0};
+			}
 			break;
-		}
-	}
-	// No common layer found
-	return false;
-}
+		case Direction::Y_DIRECTION:
+			if (self_elasticity > 0) {
+				self_rigidbody_vel.y = -self_rigidbody_vel.y * self_elasticity;
+			}
+			// Stop movement
+			else {
+				self_rigidbody_vel.y = 0;
+				self_transform_pos.x -= info.resolution.x;
+			}
 
-CollisionSystem::CollisionInternalType
-CollisionSystem::get_collider_type(const collider_variant & collider1,
-								   const collider_variant & collider2) const {
-	if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider1)) {
-		if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider2)) {
-			return CollisionInternalType::CIRCLE_CIRCLE;
-		} else {
-			return CollisionInternalType::CIRCLE_BOX;
-		}
-	} else {
-		if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider2)) {
-			return CollisionInternalType::BOX_CIRCLE;
-		} else {
-			return CollisionInternalType::BOX_BOX;
-		}
-	}
-}
+			if (other_elasticity > 0) {
+				other_rigidbody_vel.y = -other_rigidbody_vel.y * other_elasticity;
+			}
+			// Stop movement
+			else {
+				other_rigidbody_vel.y = 0;
+				other_transform_pos.x -= info.resolution.x;
+			}
+			break;
+		case Direction::X_DIRECTION:
+			if (self_elasticity > 0) {
+				self_rigidbody_vel.x = -self_rigidbody_vel.x * self_elasticity;
+			}
+			// Stop movement
+			else {
+				self_rigidbody_vel.x = 0;
+				self_transform_pos.y -= info.resolution.y;
+			}
 
-bool CollisionSystem::get_collision(const CollisionInternal & first_info,
-									const CollisionInternal & second_info,
-									CollisionInternalType type) const {
-	switch (type) {
-		case CollisionInternalType::BOX_BOX: {
-			const BoxCollider & box_collider1
-				= std::get<std::reference_wrapper<BoxCollider>>(first_info.collider);
-			const BoxCollider & box_collider2
-				= std::get<std::reference_wrapper<BoxCollider>>(second_info.collider);
-			return this->get_box_box_collision(box_collider1, box_collider2,
-											   first_info.transform, second_info.transform,
-											   second_info.rigidbody, second_info.rigidbody);
-		}
-		case CollisionInternalType::BOX_CIRCLE: {
-			const BoxCollider & box_collider
-				= std::get<std::reference_wrapper<BoxCollider>>(first_info.collider);
-			const CircleCollider & circle_collider
-				= std::get<std::reference_wrapper<CircleCollider>>(second_info.collider);
-			return this->get_box_circle_collision(
-				box_collider, circle_collider, first_info.transform, second_info.transform,
-				second_info.rigidbody, second_info.rigidbody);
-		}
-		case CollisionInternalType::CIRCLE_CIRCLE: {
-			const CircleCollider & circle_collider1
-				= std::get<std::reference_wrapper<CircleCollider>>(first_info.collider);
-			const CircleCollider & circle_collider2
-				= std::get<std::reference_wrapper<CircleCollider>>(second_info.collider);
-			return this->get_circle_circle_collision(
-				circle_collider1, circle_collider2, first_info.transform,
-				second_info.transform, second_info.rigidbody, second_info.rigidbody);
-		}
-		case CollisionInternalType::CIRCLE_BOX: {
-			const CircleCollider & circle_collider
-				= std::get<std::reference_wrapper<CircleCollider>>(first_info.collider);
-			const BoxCollider & box_collider
-				= std::get<std::reference_wrapper<BoxCollider>>(second_info.collider);
-			return this->get_box_circle_collision(
-				box_collider, circle_collider, first_info.transform, second_info.transform,
-				second_info.rigidbody, second_info.rigidbody);
-		}
+			if (other_elasticity > 0) {
+				other_rigidbody_vel.x = -other_rigidbody_vel.x * other_elasticity;
+			}
+			// Stop movement
+			else {
+				other_rigidbody_vel.x = 0;
+				other_transform_pos.y -= info.resolution.y;
+			}
+			break;
+		case Direction::NONE:
+			// Not possible
+			break;
 	}
-	return false;
 }
 
-bool CollisionSystem::get_box_box_collision(const BoxCollider & box1, const BoxCollider & box2,
-											const Transform & transform1,
-											const Transform & transform2,
-											const Rigidbody & rigidbody1,
-											const Rigidbody & rigidbody2) const {
-	// Get current positions of colliders
-	vec2 final_position1 = this->get_current_position(box1.offset, transform1, rigidbody1);
-	vec2 final_position2 = this->get_current_position(box2.offset, transform2, rigidbody2);
-
-	// Calculate half-extents (half width and half height)
-	float half_width1 = box1.dimensions.x / 2.0;
-	float half_height1 = box1.dimensions.y / 2.0;
-	float half_width2 = box2.dimensions.x / 2.0;
-	float half_height2 = box2.dimensions.y / 2.0;
-
-	// Check if the boxes overlap along the X and Y axes
-	return (final_position1.x + half_width1 > final_position2.x - half_width2
-			&& final_position1.x - half_width1 < final_position2.x + half_width2
-			&& final_position1.y + half_height1 > final_position2.y - half_height2
-			&& final_position1.y - half_height1 < final_position2.y + half_height2);
-}
-
-bool CollisionSystem::get_box_circle_collision(const BoxCollider & box1,
-											   const CircleCollider & circle2,
-											   const Transform & transform1,
-											   const Transform & transform2,
-											   const Rigidbody & rigidbody1,
-											   const Rigidbody & rigidbody2) const {
-	// Get current positions of colliders
-	vec2 final_position1 = this->get_current_position(box1.offset, transform1, rigidbody1);
-	vec2 final_position2 = this->get_current_position(circle2.offset, transform2, rigidbody2);
-
-	// Calculate box half-extents
-	float half_width = box1.dimensions.x / 2.0;
-	float half_height = box1.dimensions.y / 2.0;
-
-	// Find the closest point on the box to the circle's center
-	float closest_x = std::max(final_position1.x - half_width,
-							   std::min(final_position2.x, final_position1.x + half_width));
-	float closest_y = std::max(final_position1.y - half_height,
-							   std::min(final_position2.y, final_position1.y + half_height));
-
-	// Calculate the distance squared between the circle's center and the closest point on the box
-	float distance_x = final_position2.x - closest_x;
-	float distance_y = final_position2.y - closest_y;
-	float distance_squared = distance_x * distance_x + distance_y * distance_y;
-
-	// Compare distance squared with the square of the circle's radius
-	return distance_squared < circle2.radius * circle2.radius;
-}
-
-bool CollisionSystem::get_circle_circle_collision(const CircleCollider & circle1,
-												  const CircleCollider & circle2,
-												  const Transform & transform1,
-												  const Transform & transform2,
-												  const Rigidbody & rigidbody1,
-												  const Rigidbody & rigidbody2) const {
-	// Get current positions of colliders
-	vec2 final_position1 = this->get_current_position(circle1.offset, transform1, rigidbody1);
-	vec2 final_position2 = this->get_current_position(circle2.offset, transform2, rigidbody2);
-
-	float distance_x = final_position1.x - final_position2.x;
-	float distance_y = final_position1.y - final_position2.y;
-	float distance_squared = distance_x * distance_x + distance_y * distance_y;
-
-	// Calculate the sum of the radii
-	float radius_sum = circle1.radius + circle2.radius;
-
-	// Check if the distance between the centers is less than or equal to the sum of the radii
-	return distance_squared < radius_sum * radius_sum;
-}
-
-vec2 CollisionSystem::get_current_position(const vec2 & collider_offset,
-										   const Transform & transform,
-										   const Rigidbody & rigidbody) const {
-	// Get the rotation in radians
-	float radians1 = transform.rotation * (M_PI / 180.0);
-
-	// Calculate total offset with scale
-	vec2 total_offset = (rigidbody.data.offset + collider_offset) * transform.scale;
-
-	// Rotate
-	float rotated_total_offset_x1
-		= total_offset.x * cos(radians1) - total_offset.y * sin(radians1);
-	float rotated_total_offset_y1
-		= total_offset.x * sin(radians1) + total_offset.y * cos(radians1);
-
-	// Final positions considering scaling and rotation
-	return (transform.position + vec2(rotated_total_offset_x1, rotated_total_offset_y1));
+void CollisionSystem::call_collision_events(const CollisionInfo & info) {
+	CollisionEvent data(info);
+	CollisionEvent data_inverted(-info);
+	EventManager & emgr = this->mediator.event_manager;
+	emgr.trigger_event<CollisionEvent>(data, info.self.transform.game_object_id);
+	emgr.trigger_event<CollisionEvent>(data_inverted, info.other.transform.game_object_id);
 }