114 lines
4.1 KiB
C++
Executable File
114 lines
4.1 KiB
C++
Executable File
//
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// Created by Иван Ильин on 13.01.2021.
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//
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#include "World.h"
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#include "utils/Log.h"
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#include "Plane.h"
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#include "physics/Solver.h"
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using namespace std;
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void World::addBody(std::shared_ptr<RigidBody> body, const string &name) {
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_objects.emplace(name, body);
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Log::log("World::addBody(): inserted body '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " _tris.");
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}
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void World::loadBody(const string &name, const string &filename, const std::string &materials, const Point4D& scale) {
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_objects.emplace(name, std::make_shared<RigidBody>(Mesh(filename, materials, scale)));
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Log::log("World::loadBody(): inserted body from " + filename + " with name '" + name + "' with " + std::to_string(_objects[name]->triangles().size()) + " _tris.");
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}
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void World::removeBody(const string &name) {
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_objToRemove.push_back(name);
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}
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std::pair<Point4D, string> World::rayCast(const Point4D& from, const Point4D& to) {
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std::pair<Point4D, string> result{Point4D{0, 0,0, -1}, ""};
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double minDistance = 10000;
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for(auto& object : _objects) {
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if((object.first.find("im") != std::string::npos) || (object.first.find("point") != std::string::npos) || (object.first.find("nr") != std::string::npos))
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continue;
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for(auto& tri : object.second->triangles()) {
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Triangle tri_translated(tri[0] + object.second->position(), tri[1] + object.second->position(), tri[2] + object.second->position());
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Plane plane(tri_translated);
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auto intersection = plane.intersection(from, to);
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double distance = (intersection.first - from).sqrAbs();
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if(intersection.second > 0 && distance < minDistance && tri_translated.isPointInside(intersection.first)) {
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minDistance = distance;
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result = {intersection.first, object.first};
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}
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}
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}
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return result;
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}
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void World::loadMap(const string &filename, const string &name, const Point4D &scale, const string &materials) {
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auto objs = Mesh::LoadObjects(filename, materials, scale);
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for(int i = 0; i < objs.size(); i++) {
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string meshName = name + "_" + to_string(i);
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addBody(std::make_shared<RigidBody>(*objs[i]), meshName);
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}
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}
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void World::garbageCollector() {
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for(auto& obj : _objToRemove) {
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if(_objects.erase(obj) > 0)
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Log::log("World::garbageCollector(): removed body '" + obj + "'");
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else
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Log::log("World::garbageCollector(): cannot remove body '" + obj + "': body does not exist.");
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}
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_objToRemove.clear();
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}
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void World::removeBodyInstantly(const string &name) {
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if(_objects.erase(name) > 0)
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Log::log("World::removeBodyInstantly(): removed body '" + name + "'");
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else
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Log::log("World::removeBodyInstantly(): cannot remove body '" + name + "': body does not exist.");
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}
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void World::checkCollision(const std::string& body) {
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if (_objects[body]->isCollision()) {
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_objects[body]->setInCollision(false);
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for (auto &obj : _objects) {
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if(obj.first != body) {
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std::pair<bool, Simplex> gjk = _objects[body]->checkGJKCollision(obj.second);
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if (gjk.first) {
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if (obj.second->isCollider()) {
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CollisionPoint epa = _objects[body]->EPA(gjk.second, obj.second);
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Solver::solveCollision(_objects[body], obj.second, epa);
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}
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if (_objects[body]->collisionCallBack() != nullptr)
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_objects[body]->collisionCallBack()(obj.first, obj.second);
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}
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}
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}
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}
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}
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void World::update() {
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for (auto &m : _objects) {
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m.second->a_update();
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m.second->updatePhysicsState();
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checkCollision(m.first);
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}
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}
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void World::projectObjectsInCamera(std::shared_ptr<Camera> camera) {
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for (auto &m : _objects)
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camera->project(m.second);
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}
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std::shared_ptr<RigidBody> World::body(const string &name) {
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if(_objects.count(name) == 0)
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Log::log("World::body: mesh '" + name + "' does not exist.");
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return _objects.find(name)->second;
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}
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