diff options
Diffstat (limited to 'src/crepe/system/CollisionSystem.cpp')
| -rw-r--r-- | src/crepe/system/CollisionSystem.cpp | 317 |
1 files changed, 167 insertions, 150 deletions
diff --git a/src/crepe/system/CollisionSystem.cpp b/src/crepe/system/CollisionSystem.cpp index 8d9b356..f61a1dd 100644 --- a/src/crepe/system/CollisionSystem.cpp +++ b/src/crepe/system/CollisionSystem.cpp @@ -1,8 +1,11 @@ #include <cmath> #include <algorithm> #include <cstddef> +#include <functional> #include <utility> #include <variant> +#include <optional> +#include <tuple> #include "api/Event.h" #include "api/EventManager.h" @@ -16,6 +19,7 @@ #include "CollisionSystem.h" #include "Collider.h" #include "types.h" +#include "util/OptionalRef.h" using namespace crepe; @@ -24,69 +28,88 @@ void CollisionSystem::update() { ComponentManager & mgr = this->component_manager; std::vector<std::reference_wrapper<BoxCollider>> boxcolliders = mgr.get_components_by_type<BoxCollider>(); std::vector<std::reference_wrapper<CircleCollider>> circlecolliders = mgr.get_components_by_type<CircleCollider>(); + + std::vector<collider_stor> all_colliders; + // Add BoxCollider references + for (auto& box : boxcolliders) { + all_colliders.push_back(collider_stor{box}); + } + + // Add CircleCollider references + for (auto& circle : circlecolliders) { + all_colliders.push_back(collider_stor{circle}); + } // Check between all colliders if there is a collision - std::vector<std::pair<CollidedInfoStor,CollidedInfoStor>> collided = check_collisions(boxcolliders,circlecolliders); + std::vector<std::pair<CollidedInfoStor,CollidedInfoStor>> collided = check_collisions(all_colliders); // For both objects call the collision handler for (auto& collision_pair : collided) { - collision_handler(collision_pair.first,collision_pair.second); - collision_handler(collision_pair.second,collision_pair.first); + collision_handler_request(collision_pair.first,collision_pair.second); + collision_handler_request(collision_pair.second,collision_pair.first); } } -void CollisionSystem::collision_handler(CollidedInfoStor& data1,CollidedInfoStor& data2){ +void CollisionSystem::collision_handler_request(CollidedInfoStor& data1,CollidedInfoStor& data2){ - // Data needed for collision handler info - const Collider* collider1 = nullptr; - const Collider* collider2 = nullptr; - vec2 move_back; + ColliderStorType type = check_collider_type(data1.collider,data2.collider); + std::pair<vec2,CollisionSystem::Direction> move_back_data = collision_handler(data1,data2,type); - // Check collision type and get values for handler - if (std::holds_alternative<std::reference_wrapper<BoxCollider>>(data1.collider)) { - if (std::holds_alternative<std::reference_wrapper<BoxCollider>>(data2.collider)) { - - // Get colliders from variant to be used to determine collision handler info - const BoxCollider& box_collider1 = std::get<std::reference_wrapper<BoxCollider>>(data1.collider).get(); - const BoxCollider& box_collider2 = std::get<std::reference_wrapper<BoxCollider>>(data2.collider).get(); - collider1 = &box_collider1; - collider2 = &box_collider2; - - // TODO: send with the collider info to this function because this is calculated previously - // Get the current position of the collider - vec2 final_position1 = current_position(box_collider1,data1.transform,data1.rigidbody); - vec2 final_position2 = current_position(box_collider2,data2.transform,data2.rigidbody); - - // Determine move_back value for smallest overlap (x or y) - move_back = box_box_collision_move_back(box_collider1,box_collider2,final_position1,final_position2); - + OptionalRef<Collider> collider1; + OptionalRef<Collider> collider2; + switch (type) { + case ColliderStorType::BOX_BOX:{ + collider1 = std::get<std::reference_wrapper<BoxCollider>>(data1.collider); + collider2 = std::get<std::reference_wrapper<BoxCollider>>(data2.collider); } - else { - // TODO: calcualte Box - Circle collision info - const BoxCollider& box_collider = std::get<std::reference_wrapper<BoxCollider>>(data1.collider).get(); - const CircleCollider& circle_collider = std::get<std::reference_wrapper<CircleCollider>>(data2.collider).get(); - collider1 = &box_collider; - collider2 = &circle_collider; + case ColliderStorType::BOX_CIRCLE:{ + collider1 = std::get<std::reference_wrapper<BoxCollider>>(data1.collider); + collider2 = std::get<std::reference_wrapper<CircleCollider>>(data2.collider); + } + case ColliderStorType::CIRCLE_BOX:{ + collider1 = std::get<std::reference_wrapper<CircleCollider>>(data1.collider); + collider2 = std::get<std::reference_wrapper<BoxCollider>>(data2.collider); + } + case ColliderStorType::CIRCLE_CIRCLE:{ + collider1 = std::get<std::reference_wrapper<CircleCollider>>(data1.collider); + collider2 = std::get<std::reference_wrapper<CircleCollider>>(data2.collider); } } - else { - if (std::holds_alternative<std::reference_wrapper<CircleCollider>>(data2.collider)) { - // TODO: calcualte Circle - Circle collision info - const CircleCollider& circle_collider1 = std::get<std::reference_wrapper<CircleCollider>>(data1.collider).get(); - const CircleCollider& circle_collider2 = std::get<std::reference_wrapper<CircleCollider>>(data2.collider).get(); - collider1 = &circle_collider1; - collider2 = &circle_collider2; + + // collision info + crepe::CollisionSystem::CollisionInfo collision_info{ + .first={ collider1, data1.transform, data1.rigidbody }, + .second={ collider2, data2.transform, data2.rigidbody }, + .move_back_value = move_back_data.first, + .move_back_direction = move_back_data.second, + }; + + // Determine if static needs to be called + determine_collision_handler(collision_info); +} + + +std::pair<vec2,CollisionSystem::Direction> CollisionSystem::collision_handler(CollidedInfoStor& data1,CollidedInfoStor& data2,ColliderStorType type) { + vec2 move_back; + switch (type) { + case ColliderStorType::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 = current_position(collider1.offset, data1.transform, data1.rigidbody); + vec2 collider_pos2 = current_position(collider2.offset, data2.transform, data2.rigidbody); + move_back = box_box_move_back(collider1,collider2,collider_pos1,collider_pos2); } - else { - // TODO: calcualte Circle - Box collision info - const CircleCollider& circle_collider = std::get<std::reference_wrapper<CircleCollider>>(data1.collider); - const BoxCollider& box_collider = std::get<std::reference_wrapper<BoxCollider>>(data2.collider); - collider1 = &circle_collider; - collider2 = &box_collider; + case ColliderStorType::BOX_CIRCLE: { + + } + case ColliderStorType::CIRCLE_CIRCLE: { + + } + case ColliderStorType::CIRCLE_BOX: { + } } - // One vaue is calculated for moving back. Calculate the other value (x or y) relateive to the move_back value. Direction move_back_direction = Direction::NONE; if(move_back.x != 0 && move_back.y > 0) { move_back_direction = Direction::BOTH; @@ -100,20 +123,10 @@ void CollisionSystem::collision_handler(CollidedInfoStor& data1,CollidedInfoStor move_back.x = data1.rigidbody.data.linear_velocity.x * (move_back.y/data1.rigidbody.data.linear_velocity.y); } - // collision info - crepe::CollisionSystem::CollisionInfo collision_info{ - .first={ *collider1, data1.transform, data1.rigidbody }, - .second={ *collider2, data2.transform, data2.rigidbody }, - .move_back_value = move_back, - .move_back_direction = move_back_direction, - }; - - // Determine if static needs to be called - determine_collision_handler(collision_info); + return {move_back,move_back_direction}; } - -vec2 CollisionSystem::box_box_collision_move_back(const BoxCollider& box_collider1,const BoxCollider& box_collider2,vec2 final_position1,vec2 final_position2) +vec2 CollisionSystem::box_box_move_back(const BoxCollider& box_collider1,const BoxCollider& box_collider2,vec2 final_position1,vec2 final_position2) { vec2 resolution; // Default resolution vector vec2 delta = final_position2 - final_position1; @@ -185,10 +198,9 @@ void CollisionSystem::static_collision_handler(CollisionInfo& info){ } } -std::vector<std::pair<CollisionSystem::CollidedInfoStor,CollisionSystem::CollidedInfoStor>> CollisionSystem::check_collisions(const std::vector<std::reference_wrapper<BoxCollider>>& boxcolliders, const std::vector<std::reference_wrapper<CircleCollider>>& circlecolliders) { - ComponentManager & mgr = this->component_manager; - std::vector<std::pair<CollidedInfoStor,CollidedInfoStor>> collisions_ret; - +std::vector<std::pair<CollisionSystem::CollidedInfoStor,CollisionSystem::CollidedInfoStor>> CollisionSystem::check_collisions(std::vector<collider_stor> & colliders) { + + // TODO: // If no colliders skip // Check if colliders has rigidbody if not skip @@ -198,99 +210,104 @@ std::vector<std::pair<CollisionSystem::CollidedInfoStor,CollisionSystem::Collide // Quadtree code // Quadtree is placed over the input vector - // Check collisions for each collider - for (size_t i = 0; i < boxcolliders.size(); ++i) { - // Fetch components for the first box collider - if(!boxcolliders[i].get().active) continue; - int game_object_id_1 = boxcolliders[i].get().game_object_id; - Transform& transform1 = mgr.get_components_by_id<Transform>(game_object_id_1).front().get(); - if(!transform1.active) continue; - Rigidbody& rigidbody1 = mgr.get_components_by_id<Rigidbody>(game_object_id_1).front().get(); - if(!rigidbody1.active) continue; - - // Check BoxCollider vs BoxCollider - for (size_t j = i + 1; j < boxcolliders.size(); ++j) { - if(!boxcolliders[j].get().active) continue; - // Skip self collision - int game_object_id_2 = boxcolliders[j].get().game_object_id; - if (game_object_id_1 == game_object_id_2) continue; - - // Fetch components for the second box collider - Transform & transform2 = mgr.get_components_by_id<Transform>(boxcolliders[j].get().game_object_id).front().get(); - if(!transform2.active) continue; - Rigidbody & rigidbody2 = mgr.get_components_by_id<Rigidbody>(boxcolliders[j].get().game_object_id).front().get(); - if(!rigidbody2.active) continue; - // Check collision - if (check_box_box_collision(boxcolliders[i], boxcolliders[j], transform1, transform2, rigidbody1, rigidbody2)) { - collisions_ret.emplace_back(std::make_pair( - CollidedInfoStor{boxcolliders[i].get(), transform1, rigidbody1}, - CollidedInfoStor{boxcolliders[j].get(), transform2, rigidbody2} - )); - } - } + // Function to retrieve active transform and rigidbody components for a given game_object_id + auto get_active_transform_and_rigidbody = [&](game_object_id_t game_object_id) + -> std::optional<std::pair<std::reference_wrapper<Transform>, std::reference_wrapper<Rigidbody>>> { + RefVector<Transform> transforms = this->component_manager.get_components_by_id<Transform>(game_object_id); + if (transforms.empty()) return std::nullopt; + + RefVector<Rigidbody> rigidbodies = this->component_manager.get_components_by_id<Rigidbody>(game_object_id); + if (rigidbodies.empty()) return std::nullopt; + + Transform& transform = transforms.front().get(); + if (!transform.active) return std::nullopt; + + Rigidbody& rigidbody = rigidbodies.front().get(); + if (!rigidbody.active) return std::nullopt; - // Check BoxCollider vs CircleCollider - for (size_t j = 0; j < circlecolliders.size(); ++j) { - if(!circlecolliders[j].get().active) continue; - // Skip self collision - int game_object_id_2 = circlecolliders[j].get().game_object_id; - if (game_object_id_1 == game_object_id_2) continue; - - // Fetch components for the second collider (circle) - Transform & transform2 = mgr.get_components_by_id<Transform>(circlecolliders[j].get().game_object_id).front().get(); - if(!transform2.active) continue; - Rigidbody & rigidbody2 = mgr.get_components_by_id<Rigidbody>(circlecolliders[j].get().game_object_id).front().get(); - if(!rigidbody2.active) continue; - - // Check collision - if (check_box_circle_collision(boxcolliders[i], circlecolliders[j], transform1, transform2, rigidbody1, rigidbody2)) { - - collisions_ret.emplace_back(std::make_pair( - CollidedInfoStor{boxcolliders[i].get(), transform1, rigidbody1}, - CollidedInfoStor{circlecolliders[j].get(), transform2, rigidbody2} - )); + // Return the active components + return std::make_pair(std::ref(transform), std::ref(rigidbody)); + }; + + + std::vector<std::pair<CollidedInfoStor,CollidedInfoStor>> collisions_ret; + for (size_t i = 0; i < colliders.size(); ++i) { + std::visit([&](auto& inner_collider_ref) { + if (inner_collider_ref.get().active) return; + auto inner_components = get_active_transform_and_rigidbody(inner_collider_ref.get().game_object_id); + if (inner_components) return; + for (size_t j = i + 1; j < colliders.size(); ++j) { + std::visit([&](auto& outer_collider_ref) { + if (outer_collider_ref.get().active) return; + if (inner_collider_ref.get().game_object_id == outer_collider_ref.get().game_object_id) return; + auto outer_components = get_active_transform_and_rigidbody(inner_collider_ref.get().game_object_id); + if (outer_components) return; + ColliderStorType type = check_collider_type(colliders[i],colliders[j]); + check_collision(colliders[i],*inner_components,colliders[j],*outer_components,type); + collisions_ret.emplace_back( + CollidedInfoStor{colliders[i], inner_components->first.get(), inner_components->second.get()}, + CollidedInfoStor{colliders[j], outer_components->first.get(), outer_components->second.get()} + ); + }, colliders[j]); } + }, colliders[i]); + } + + return collisions_ret; +} + +CollisionSystem::ColliderStorType CollisionSystem::check_collider_type(const collider_stor& collider1,const collider_stor& collider2){ + if(std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider1)){ + if(std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider2)) + { + return ColliderStorType::CIRCLE_CIRCLE; + } + else { + return ColliderStorType::CIRCLE_BOX; } } - // Check CircleCollider vs CircleCollider - for (size_t i = 0; i < circlecolliders.size(); ++i) { - if(!circlecolliders[i].get().active) continue; - // Fetch components for the first circle collider - int game_object_id_1 = circlecolliders[i].get().game_object_id; - Transform & transform1 = mgr.get_components_by_id<Transform>(circlecolliders[i].get().game_object_id).front().get(); - if(!transform1.active) continue; - Rigidbody & rigidbody1 = mgr.get_components_by_id<Rigidbody>(circlecolliders[i].get().game_object_id).front().get(); - if(!rigidbody1.active) continue; - - for (size_t j = i + 1; j < circlecolliders.size(); ++j) { - if(!circlecolliders[j].get().active) continue; - // Skip self collision - int game_object_id_2 = circlecolliders[j].get().game_object_id; - if (game_object_id_1 == game_object_id_2) continue; - - // Fetch components for the second circle collider - Transform & transform2 = mgr.get_components_by_id<Transform>(circlecolliders[j].get().game_object_id).front().get(); - if(!transform2.active) continue; - Rigidbody & rigidbody2 = mgr.get_components_by_id<Rigidbody>(circlecolliders[j].get().game_object_id).front().get(); - if(!rigidbody2.active) continue; - - // Check collision - if (check_circle_circle_collision(circlecolliders[i], circlecolliders[j], transform1, transform2, rigidbody1, rigidbody2)) { - collisions_ret.emplace_back(std::make_pair( - CollidedInfoStor{circlecolliders[i].get(), transform1, rigidbody1}, - CollidedInfoStor{circlecolliders[j].get(), transform2, rigidbody2} - )); - } + else { + if(std::holds_alternative<std::reference_wrapper<CircleCollider>>(collider2)) + { + return ColliderStorType::BOX_CIRCLE; + } + else { + return ColliderStorType::BOX_BOX; } } - return collisions_ret; } +bool CollisionSystem::check_collision(const collider_stor& collider1,std::pair<std::reference_wrapper<Transform>, std::reference_wrapper<Rigidbody>> components1,const collider_stor& collider2,std::pair<std::reference_wrapper<Transform>, std::reference_wrapper<Rigidbody>> components2, ColliderStorType type){ + switch (type) { + case ColliderStorType::BOX_BOX: { + const BoxCollider & box_collider1 = std::get<std::reference_wrapper<BoxCollider>>(collider1); + const BoxCollider & box_collider2 = std::get<std::reference_wrapper<BoxCollider>>(collider2); + return check_box_box_collision(box_collider1,box_collider2,components1.first.get(),components2.first.get(),components1.second.get(),components2.second.get()); + } + case ColliderStorType::BOX_CIRCLE: { + const BoxCollider & box_collider = std::get<std::reference_wrapper<BoxCollider>>(collider1); + const CircleCollider & circle_collider = std::get<std::reference_wrapper<CircleCollider>>(collider2); + return check_box_circle_collision(box_collider,circle_collider,components1.first.get(),components2.first.get(),components1.second.get(),components2.second.get()); + } + case ColliderStorType::CIRCLE_CIRCLE: { + const CircleCollider & circle_collider1 = std::get<std::reference_wrapper<CircleCollider>>(collider1); + const CircleCollider & circle_collider2 = std::get<std::reference_wrapper<CircleCollider>>(collider2); + return check_circle_circle_collision(circle_collider1,circle_collider2,components1.first.get(),components2.first.get(),components1.second.get(),components2.second.get()); + } + case ColliderStorType::CIRCLE_BOX: { + const BoxCollider & box_collider = std::get<std::reference_wrapper<BoxCollider>>(collider1); + const CircleCollider & circle_collider = std::get<std::reference_wrapper<CircleCollider>>(collider2); + return check_box_circle_collision(box_collider,circle_collider,components1.first.get(),components2.first.get(),components1.second.get(),components2.second.get()); + } + } +} + + bool CollisionSystem::check_box_box_collision(const BoxCollider& box1, const BoxCollider& box2, const Transform& transform1, const Transform& transform2, const Rigidbody& rigidbody1, const Rigidbody& rigidbody2) { // Get current positions of colliders - vec2 final_position1 = current_position(box1,transform1,rigidbody1); - vec2 final_position2 = current_position(box2,transform2,rigidbody2); + vec2 final_position1 = current_position(box1.offset,transform1,rigidbody1); + vec2 final_position2 = current_position(box2.offset,transform2,rigidbody2); // Calculate half-extents (half width and half height) float half_width1 = box1.width / 2.0; @@ -307,8 +324,8 @@ bool CollisionSystem::check_box_box_collision(const BoxCollider& box1, const Box bool CollisionSystem::check_box_circle_collision(const BoxCollider& box1, const CircleCollider& circle2, const Transform& transform1, const Transform& transform2, const Rigidbody& rigidbody1, const Rigidbody& rigidbody2) { // Get current positions of colliders - vec2 final_position1 = current_position(box1, transform1, rigidbody1); - vec2 final_position2 = current_position(circle2, transform2, rigidbody2); + vec2 final_position1 = current_position(box1.offset, transform1, rigidbody1); + vec2 final_position2 = current_position(circle2.offset, transform2, rigidbody2); // Calculate box half-extents float half_width = box1.width / 2.0; @@ -329,8 +346,8 @@ bool CollisionSystem::check_box_circle_collision(const BoxCollider& box1, const bool CollisionSystem::check_circle_circle_collision(const CircleCollider& circle1, const CircleCollider& circle2, const Transform& transform1, const Transform& transform2, const Rigidbody& rigidbody1, const Rigidbody& rigidbody2) { // Get current positions of colliders - vec2 final_position1 = current_position(circle1,transform1,rigidbody1); - vec2 final_position2 = current_position(circle2,transform2,rigidbody2); + vec2 final_position1 = current_position(circle1.offset,transform1,rigidbody1); + vec2 final_position2 = current_position(circle2.offset,transform2,rigidbody2); float distance_x = final_position1.x - final_position2.x; float distance_y = final_position1.y - final_position2.y; @@ -343,12 +360,12 @@ bool CollisionSystem::check_circle_circle_collision(const CircleCollider& circle return distance_squared <= radius_sum * radius_sum; } -vec2 CollisionSystem::current_position(const Collider& collider, const Transform& transform, const Rigidbody& rigidbody) { +vec2 CollisionSystem::current_position(vec2 collider_offset, const Transform& transform, const Rigidbody& rigidbody) { // 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; + 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); |