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Move Solver to RigidBody.

master
Vectozavr 2021-10-17 12:32:23 +07:00
parent 6856f48054
commit 06d0a63a75
5 changed files with 13 additions and 52 deletions
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2
engine/World.cpp
View File

@ -77,7 +77,7 @@ void World::checkCollision(const std::string& body) {
if (gjk.first) {
if (obj->isCollider()) {
CollisionPoint epa = _objects[body]->EPA(gjk.second, obj);
Solver::solveCollision(_objects[body], obj, epa);
_objects[body]->solveCollision(epa);
}
if (_objects[body]->collisionCallBack() != nullptr)
_objects[body]->collisionCallBack()(name, obj);

11
engine/physics/RigidBody.cpp
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@ -286,6 +286,17 @@ std::vector<std::pair<size_t, size_t>> RigidBody::_addIfUniqueEdge(const std::ve
return newEdges;
}
void RigidBody::solveCollision(const CollisionPoint& collision) {
Vec3D velocity_parallel = collision.normal * velocity().dot(collision.normal);
Vec3D velocity_perpendicular = velocity() - velocity_parallel;
if(velocity().dot(collision.normal) > 0)
setVelocity(velocity_perpendicular);
translate(-collision.normal * collision.depth);
}
void RigidBody::updatePhysicsState() {
translate(*_velocity * Time::deltaTime());
_velocity = std::make_unique<Vec3D>(*_velocity + *_acceleration * Time::deltaTime());

2
engine/physics/RigidBody.h
View File

@ -44,7 +44,6 @@ private:
static std::vector<std::pair<size_t, size_t>> _addIfUniqueEdge(const std::vector<std::pair<size_t, size_t>>& edges, const std::vector<size_t>& faces, size_t a, size_t b);
static void makeLogObjPolytope(const std::vector<Vec3D>& polytope, const std::vector<size_t>& faces);
protected:
std::unique_ptr<Vec3D> _velocity = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
std::unique_ptr<Vec3D> _acceleration = std::make_unique<Vec3D>(Vec3D{0, 0, 0});;
@ -61,6 +60,7 @@ public:
[[nodiscard]] std::pair<bool, Simplex> checkGJKCollision(std::shared_ptr<RigidBody> obj);
[[nodiscard]] CollisionPoint EPA(const Simplex& simplex, std::shared_ptr<RigidBody> obj);
void solveCollision(const CollisionPoint& collision);
[[nodiscard]] Vec3D collisionNormal() const { return *_collisionNormal; }

34
engine/physics/Solver.cpp
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@ -1,34 +0,0 @@
//
// Created by Иван Ильин on 10.03.2021.
//
#include "Solver.h"
#include "../utils/Log.h"
void Solver::solveCollision(std::shared_ptr<RigidBody> obj1, std::shared_ptr<RigidBody> obj2, const CollisionPoint& collision) {
Vec3D obj1_velocity_parallel = collision.normal * obj1->velocity().dot(collision.normal);
Vec3D obj1_velocity_perpendicular = obj1->velocity() - obj1_velocity_parallel;
Vec3D obj2_velocity_parallel = collision.normal * obj2->velocity().dot(collision.normal);
Vec3D obj2_velocity_perpendicular = obj2->velocity() - obj2_velocity_parallel;
if(obj1->isCollision()) {
if(obj1->velocity().dot(collision.normal) > 0) {
obj1->setVelocity(obj1_velocity_perpendicular);
}
}
if(obj2->isCollision()) {
obj2->setVelocity(obj2_velocity_perpendicular - obj2_velocity_parallel * 0.8);
}
if(obj1->isCollision() && obj2->isCollision()) {
obj1->translate(-collision.normal * collision.depth/2.0);
obj2->translate(collision.normal * collision.depth/2.0);
} else if(obj1->isCollision()) {
obj1->translate(-collision.normal * collision.depth);
}
else
obj2->translate(collision.normal * collision.depth);
}

16
engine/physics/Solver.h
View File

@ -1,16 +0,0 @@
//
// Created by Иван Ильин on 10.03.2021.
//
#ifndef ENGINE_SOLVER_H
#define ENGINE_SOLVER_H
#include "RigidBody.h"
class Solver final {
public:
static void solveCollision(std::shared_ptr<RigidBody> obj1, std::shared_ptr<RigidBody> obj2, const CollisionPoint& collision);
};
#endif //INC_3DZAVR_SOLVER_H