106 lines
3.7 KiB
C++
106 lines
3.7 KiB
C++
//
|
|
// Created by Иван Ильин on 13.01.2021.
|
|
//
|
|
|
|
#include "World.h"
|
|
#include "utils/Log.h"
|
|
#include "Plane.h"
|
|
|
|
using namespace std;
|
|
|
|
void World::addBody(std::shared_ptr<RigidBody> body, const ObjectNameTag& tag) {
|
|
_objects.emplace(tag, body);
|
|
Log::log("World::addBody(): inserted body '" + tag.str() + "' with " + std::to_string(_objects[tag]->triangles().size()) + " tris.");
|
|
}
|
|
|
|
void World::loadBody(const ObjectNameTag& tag, const string &filename, const Vec3D& scale) {
|
|
_objects.emplace(tag, std::make_shared<RigidBody>(Mesh(filename, scale)));
|
|
Log::log("World::loadBody(): inserted body from " + filename + " with title '" + tag.str() + "' with " + std::to_string(_objects[tag]->triangles().size()) + " tris.");
|
|
}
|
|
|
|
std::pair<Vec3D, ObjectNameTag> World::rayCast(const Vec3D& from, const Vec3D& to, const std::string& tag) {
|
|
|
|
std::pair<Vec3D, string> result;
|
|
std::unique_ptr<Vec3D> point = std::make_unique<Vec3D>();
|
|
std::string bodyName;
|
|
double minDistance = Consts::RAY_CAST_MAX_DISTANCE;
|
|
|
|
for(auto& [name, body] : _objects) {
|
|
if(!tag.empty() && name.str().find(tag) == std::string::npos)
|
|
continue;
|
|
|
|
for(auto& tri : body->triangles()) {
|
|
Triangle tri_translated(tri[0] + body->position().makePoint4D(), tri[1] + body->position().makePoint4D(), tri[2] + body->position().makePoint4D());
|
|
|
|
Plane plane(tri_translated);
|
|
auto intersection = plane.intersection(from, to);
|
|
double distance = (intersection.first - from).sqrAbs();
|
|
if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
|
|
minDistance = distance;
|
|
point = std::make_unique<Vec3D>(intersection.first);
|
|
bodyName = name.str();
|
|
}
|
|
}
|
|
}
|
|
return {*point, ObjectNameTag(bodyName)};
|
|
}
|
|
|
|
void World::loadMap(const std::string& filename, const Vec3D& scale) {
|
|
auto objs = Mesh::LoadObjects(filename, scale);
|
|
for(unsigned i = 0; i < objs.size(); i++) {
|
|
ObjectNameTag meshName = ObjectNameTag("map_" + to_string(i));
|
|
addBody(std::make_shared<RigidBody>(*objs[i]), meshName);
|
|
}
|
|
}
|
|
|
|
void World::removeBody(const ObjectNameTag& tag) {
|
|
if(_objects.erase(tag) > 0)
|
|
Log::log("World::removeBody(): removed body '" + tag.str() + "'");
|
|
else
|
|
Log::log("World::removeBody(): cannot remove body '" + tag.str() + "': body does not exist.");
|
|
}
|
|
|
|
void World::checkCollision(const ObjectNameTag& tag) {
|
|
if (_objects[tag]->isCollision()) {
|
|
|
|
_objects[tag]->setInCollision(false);
|
|
|
|
for (auto it = _objects.begin(); it != _objects.end();) {
|
|
|
|
auto obj = it->second;
|
|
ObjectNameTag name = it->first;
|
|
it++;
|
|
|
|
if(name != tag) {
|
|
std::pair<bool, Simplex> gjk = _objects[tag]->checkGJKCollision(obj);
|
|
if (gjk.first) {
|
|
if (obj->isCollider()) {
|
|
CollisionPoint epa = _objects[tag]->EPA(gjk.second, obj);
|
|
_objects[tag]->solveCollision(epa);
|
|
}
|
|
if (_objects[tag]->collisionCallBack() != nullptr)
|
|
_objects[tag]->collisionCallBack()(name, obj);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void World::update() {
|
|
for (auto &m : _objects) {
|
|
m.second->updatePhysicsState();
|
|
checkCollision(m.first);
|
|
}
|
|
}
|
|
|
|
void World::projectObjectsInCamera(std::shared_ptr<Camera> camera) {
|
|
for (auto &[name, body] : _objects)
|
|
camera->project(body);
|
|
}
|
|
|
|
std::shared_ptr<RigidBody> World::body(const ObjectNameTag& tag) {
|
|
if(_objects.count(tag) == 0)
|
|
return nullptr;
|
|
return _objects.find(tag)->second;
|
|
}
|