TEST_F(LocalIds, using_entities)
{
if (get_parallel_size() == 1)
{
setup_mesh("generated:2x2x2", stk::mesh::BulkData::AUTO_AURA);
BulkDataHelper bulkDataHelper(get_bulk());
typedef stk::mesh::Field<double, stk::mesh::Cartesian3d> CoordFieldType;
CoordFieldType *coords = get_meta().get_field<CoordFieldType>(stk::topology::NODE_RANK, "coordinates");
unsigned elemIndex = 0;
const stk::mesh::BucketVector& elemBuckets = get_bulk().buckets(stk::topology::ELEM_RANK);
for(size_t i=0;i<elemBuckets.size();++i)
{
const stk::mesh::Bucket& bucket = *elemBuckets[i];
for(size_t j=0;j<bucket.size();++j)
{
Entities nodes = bulkDataHelper.get_nodes(bucket[j]);
for(unsigned k=0;k<nodes.size();++k)
{
double *node_data = stk::mesh::field_data(*coords, nodes[k]);
EXPECT_NEAR(gold_x_coordinates[elemIndex][k], node_data[0], 1.e-6);
}
++elemIndex;
}
}
}
}
void Collisionhandler::collisionBetweenEntities(Entities &entities){
for (Entities::size_type i = 0; i < entities.size(); i++){
Entity *e0 = entities[i];
for (Entities::size_type j = i + 1; j < entities.size(); j++){
Entity *e1 = entities[j];
if (e0->isOnScreen() && e1->isOnScreen()) {
if (hasCollided(e0, e1)) {
if (e0->getType() != e1->getType() && e0->getType() == Entity::PLAYER) {
checkCollisionDirection(e0, e1);
//checkCollisionDirection(e1, e0);
}
}
}
}
}
}
void Collisionhandler::collisionBetweenEntitiesAndTerrains(Entities &entities, Terrains &terrains){
for (Entities::size_type i = 0; i < entities.size(); i++){
Entity *e0 = entities[i];
for (Terrains::size_type j = 0; j < terrains.size(); j++){
Terrain *e1 = terrains[j];
if (e0->isOnScreen() && e1->isOnScreen()) {
if (hasCollided(e0, e1)) {
checkCollisionDirection(e0, e1);
}
}
}
}
}
void PhysicsSystem::update(GameComponents& components, Entities const& entities, float dt) {
std::vector<Contact> contacts;
std::vector<StaticContact> static_contacts;
std::vector<Collider*> colliders(entities.size());
int collider_index = 0;
float top = 600.0f;
float bottom = 40.0f;
// find contacts
for (Entities::const_iterator it0 = entities.begin(); it0 != entities.end(); ++it0) {
Entity entity0 = *it0;
Collider* collider0 = &components.get<ColliderComponent>(entity0);
collider0->touching.clear();
colliders[collider_index++] = collider0;
static_contacts.push_back({
top - collider0->position(1) - collider0->radius,
Mth::make_cvector(0.0f, 1.0f),
collider0,
entity0,
0.0f
});
static_contacts.push_back({
collider0->position(1) - bottom - collider0->radius,
Mth::make_cvector(0.0f, -1.0f),
collider0,
entity0,
0.0f
});
Entities::const_iterator it1 = it0; ++it1;
for (; it1 != entities.end(); ++it1) {
Entity entity1 = *it1;
Collider* collider1 = &components.get<ColliderComponent>(entity1);
if ((collider0->group == CG_PB && collider1->group == CG_PB) ||
(collider0->group == CG_EB && collider1->group == CG_EB) ||
(collider0->group == CG_PB && collider1->group == CG_EB) ||
(collider0->group == CG_EB && collider1->group == CG_PB) ||
(collider0->group == CG_P && collider1->group == CG_PB) ||
(collider0->group == CG_PB && collider1->group == CG_P) ||
(collider0->group == CG_E && collider1->group == CG_EB) ||
(collider0->group == CG_EB && collider1->group == CG_E)) {
continue;
}
Mth::CVector<float, 2> d = collider1->position - collider0->position;
Contact c {
Mth::length(d) - collider0->radius - collider1->radius,
Mth::normal(d),
collider0,
collider1,
entity0,
entity1,
0.0f
};
contacts.push_back(c);
}
}
// solve contacts
int iterations = 4;
for (int i = 0; i < iterations; ++i) {
for (auto& contact : static_contacts) {
float relative_velocity = Mth::dot(-contact.collider->velocity, contact.normal);
float remove_impuls = contact.distance / dt + relative_velocity;
float new_impuls = std::min(contact.impuls + remove_impuls, 0.0f);
float impuls_change = new_impuls - contact.impuls;
contact.impuls = new_impuls;
contact.collider->velocity += contact.normal * impuls_change;
}
for (auto& contact : contacts) {
float relative_velocity = Mth::dot(contact.collider1->velocity - contact.collider0->velocity, contact.normal);
float remove = contact.distance / dt + relative_velocity;
float remove_impuls = remove / 2.0f;
float new_impuls = std::min(contact.impuls + remove_impuls, 0.0f);
float impuls_change = new_impuls - contact.impuls;
contact.impuls = new_impuls;
contact.collider0->velocity += contact.normal * impuls_change;
contact.collider1->velocity -= contact.normal * impuls_change;
if (i == iterations-1) {
if (new_impuls < 0.0f) {
contact.collider0->touching.push_back(contact.entity1);
contact.collider1->touching.push_back(contact.entity0);
}
}
}
}
// evaluate simulation
for (Collider* collider : colliders) {
collider->position += collider->velocity * dt;
collider->velocity = Mth::make_cvector(0.0f, 0.0f);
}
}
boost::iterator_range<ElementIterator> make_range(Entities& entities)
{
ElementIterator begin(entities);
return boost::make_iterator_range(begin,begin+entities.size());
}
