diff options
Diffstat (limited to 'src/crepe/system/CollisionSystem.cpp')
| -rw-r--r-- | src/crepe/system/CollisionSystem.cpp | 889 |
1 files changed, 459 insertions, 430 deletions
diff --git a/src/crepe/system/CollisionSystem.cpp b/src/crepe/system/CollisionSystem.cpp index af8adce..571ac70 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> @@ -15,15 +16,25 @@ #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::update() { +void CollisionSystem::fixed_update() { std::vector<CollisionInternal> all_colliders; game_object_id_t id = 0; ComponentManager & mgr = this->mediator.component_manager; @@ -33,15 +44,17 @@ void CollisionSystem::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) { if (boxcollider.game_object_id != id) continue; if (!boxcollider.active) continue; - all_colliders.push_back({.id = id, - .collider = collider_variant{boxcollider}, - .transform = transform, - .rigidbody = rigidbody}); + all_colliders.push_back( + {.id = id, + .collider = collider_variant {boxcollider}, + .info = {transform, rigidbody, metadata}} + ); } // Check if the circlecollider is active and has the same id as the rigidbody. RefVector<CircleCollider> circlecolliders @@ -49,312 +62,461 @@ void CollisionSystem::update() { for (CircleCollider & circlecollider : circlecolliders) { if (circlecollider.game_object_id != id) continue; if (!circlecollider.active) continue; - all_colliders.push_back({.id = id, - .collider = collider_variant{circlecollider}, - .transform = transform, - .rigidbody = rigidbody}); + all_colliders.push_back( + {.id = id, + .collider = collider_variant {circlecollider}, + .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; + + // 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; - // Determine if static needs to be called - this->determine_collision_handler(collision_info); + return false; } -std::pair<vec2, CollisionSystem::Direction> -CollisionSystem::collision_handler(CollisionInternal & data1, CollisionInternal & data2, - CollisionInternalType type) { +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; + } + } +} + +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; + + // Calculate the sum of the radii + float radius_sum = scaled_circle1 + scaled_circle2; - // Find the vector from the circle center to the closest point - vec2 closest_delta = delta - closest_point; + // 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; - // 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; + // Compute the distance between the two circle centers + float distance = std::sqrt(delta.x * delta.x + delta.y * delta.y); - // Compute penetration depth - float penetration_depth = circle_collider.radius - distance; + // Compute the combined radii of the two circles + float combined_radius = scaled_circle1 + scaled_circle2; - // Compute the resolution vector - vec2 resolution = collision_normal * penetration_depth; + // Compute the penetration depth + float penetration_depth = combined_radius - distance; - return resolution; + // 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}; + ; +} + +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; } -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::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 +525,80 @@ void CollisionSystem::static_collision_handler(CollisionInfo & info) { } } -std::vector<std::pair<CollisionSystem::CollisionInternal, CollisionSystem::CollisionInternal>> -CollisionSystem::gather_collisions(std::vector<CollisionInternal> & colliders) { +void CollisionSystem::dynamic_collision_handler(const CollisionInfo & info) { - // TODO: - // If no colliders skip - // Check if colliders has rigidbody if not skip + 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; - // TODO: - // If amount is higer than lets say 16 for now use quadtree otwerwise skip - // Quadtree code - // Quadtree is placed over the input vector + self_transform_pos += info.resolution / 2; + other_transform_pos += -(info.resolution / 2); - // 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]); - } - } - - return collisions_ret; -} - -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); } |