void PhysicsSystem::SoftBodyCollision() {
CollisionData *newData = new CollisionData();
for(vector<PhysicsNode*>::iterator i = allNodes.begin(); i != allNodes.end(); ++i) {
PhysicsNode *n1 = (*i);
for(vector<PhysicsNode*>::iterator j = clothNodes.begin(); j != clothNodes.end(); ++j) {
PhysicsNode *n2 = (*j);
if(SphereSphereCollision(*n1->s1,*n2->s1,newData)){
//cout << "Collided!" <<endl;
//cout << clothNodes.size() << ":" << allNodes.size() <<endl;
//cout << newData->m_normal << ":" << newData->m_penetration <<":" << newData ->m_point <<endl;
AddCollisionImpulse(*n1,*n2,newData->m_point,newData->m_normal,newData->m_penetration);
n2->hit = true;
} else {
//cout << "--------"<<endl;
}
}
}
delete newData;
}
void PhysicsSystem::NarrowPhaseCollisions() {
CollisionData *newData = new CollisionData();
//cout << allNodes.size() <<endl;
int ccount = 0;
int icount = 0;
//cout << "Current System N^2 Calculations:" << allNodes.size() << " Total:" << allNodes.size() * allNodes.size() <<endl;
for(vector<PhysicsNode*>::iterator i = allNodes.begin(); i != allNodes.end(); ++i) {
for(vector<PhysicsNode*>::iterator j = i; j != allNodes.end(); ++j) {
if(i != j){
PhysicsNode *n1 = (*i);
PhysicsNode *n2 = (*j);
if(SphereSphereCollision(*n1->s1,*n2->s1,newData)){
AddCollisionImpulse(*n1,*n2,newData->m_point,newData->m_normal,newData->m_penetration);
ccount++;
} else {
}
icount++;
}
}
}
delete newData;
float ccountf = ccount/100;
//cout << fps <<endl;
Renderer::GetRenderer().DrawDebugLine(DEBUGDRAW_ORTHO, Vector3(0,30,0),Vector3(ccountf,30,0), Vector3(1,0,0), Vector3(1,0,0));
Renderer::GetRenderer().DrawDebugLine(DEBUGDRAW_ORTHO, Vector3(60,20,0),Vector3(60,40,0), Vector3(0,0,1), Vector3(1,1,0));
Renderer::GetRenderer().DrawDebugLine(DEBUGDRAW_ORTHO, Vector3(120,20,0),Vector3(120,40,0), Vector3(0,0,1), Vector3(1,1,0));
Renderer::GetRenderer().DrawDebugLine(DEBUGDRAW_ORTHO, Vector3(200,20,0),Vector3(200,40,0), Vector3(0,0,1), Vector3(1,1,0));
Renderer::GetRenderer().DrawDebugLine(DEBUGDRAW_ORTHO, Vector3(350,20,0),Vector3(350,40,0), Vector3(0,0,1), Vector3(1,1,0));
Renderer::GetRenderer().DrawDebugLine(DEBUGDRAW_ORTHO, Vector3(500,20,0),Vector3(500,40,0), Vector3(0,0,1), Vector3(1,1,0));
}
void PhysicsSystem::BroadPhaseCollisions() {
for(vector<PhysicsNode*>::iterator i = allNodes.begin() ; i != allNodes.end(); ++i) {
if((*i)->isPlane)
{
for(vector<PhysicsNode*>::iterator j = i; j != allNodes.end(); ++j)
{
if(*i != *j)
{
c_Sphere c2 = c_Sphere((*j)->GetPosition(), 50);
CollisionData cd = CollisionData();
if(SphereInPlane((*j)->GetPosition(), c2.m_radius, c2, &cd))
{
AddCollImpulse2(*j, cd);
//(*j)->SetLinearVelocity((*j)->GetLinearVelocity());
//Vector3 temp = (*j)->GetLinearVelocity();
//temp.y = -temp.y;
//(*j)->SetLinearVelocity(temp);
}
}
}
}
//Getting the position from and making the spaceship backfire.
if(((*i))->isShip && (*i)->isHit == false)
{
RandPos = (*i)->GetPosition();// + Vector3(100, 100, 100);
//hitCount++;
}
//Check if hit the player/camera.
if((*i)->isBackFire)
{
cubeAABB a = cubeAABB((*i)->GetPosition(), Vector3(100,100,100));
cubeAABB b = cubeAABB(CamPos, Vector3(300, 300, 300));
if(AABBCollision(a, b)){
lifes -= 1;
jitter = true;
}
}
for(vector<PhysicsNode*>::iterator j = i; j != allNodes.end(); ++j) {
if(*i != *j)
{
c_Sphere c1 = c_Sphere((*i)->GetPosition(), 50);
c_Sphere c2 = c_Sphere((*j)->GetPosition(), 50);
CollisionData cd = CollisionData();
if(SphereSphereCollision(c1, c2, &cd) == true){
AddCollisionImpulse(*i, *j, cd);
(*i)->m_HasHit = true;
if((*i)->isShip == true)
{
((*i))->isHit = true;
score += 100;
pos = ((*i))->GetPosition();
}
}
// AI
if (AI){
if((*i)->isShip && (*j)->isMissile)
{
if(*i != *j)
{
Vector3 a = (*i)->GetPosition();
Vector3 b = (*j)->GetPosition();
float diffX = abs(a.x-b.x);
float diffY = abs(a.y-b.y);
float diffZ = abs(a.z-b.z);
Vector3 diff = Vector3(diffX, diffY, diffZ);
float sep;
sep = (AIlevel == 0) ? 100.0 : 150.0f;
if(diff.x <= 100)
{
if(diff.y <= 100)
{
if(diff.z <= 100)
{
(*i)->SetPosition((*i)->GetPosition() + Vector3(100, 100, 100));
RandPos = (*i)->GetPosition() + Vector3(100, 100, 100);
}
// add force or velo or acce
}
}
}
}
}
}
}
}
}
void PhysicsSystem::BroadPhaseCollisions(vector<PhysicsNode*> &nn) {
//Split it up into squares????
for(vector<PhysicsNode*>::iterator i = allNodes.begin(); i != allNodes.end()-1; ++i) {
for(vector<PhysicsNode*>::iterator i2 = i; i2 != allNodes.end(); ++i2) {
//if(!( ( (*i)->sleep||!(*i)->dynamic) &&((*i2)->sleep||!(*i2)->dynamic) ) )
if((*i)!=(*i2) && (*i)->getCV() != NULL && (*i2)->getCV() != NULL ) {
if((*i)->getCV()->GetType() ==COLLISION_SPHERE && (*i2)->getCV()->GetType() ==COLLISION_SPHERE)
{
CollisionData d;
if (SphereSphereCollision(*( (CollisionSphere*) (*i)->getCV()),*( (CollisionSphere*) (*i2)->getCV()),&d)){
collisionStruct cs;
cs.p1 = (*i);
cs.p2 = (*i2);
cs.d = d;
(*i)->sleep = false;
(*i2)->sleep = false;
//c.push_back(cs);
PhysicsNode * pNode0 = (*i);
PhysicsNode * pNode1 = (*i2);
if((*i)->springy== false|| (*i2)->springy== false)
AddCollisionImpulse(*cs.p1, *cs.p2,cs.d);
nn.push_back(*i);
break;
}
}
else if((*i)->getCV()->GetType() ==COLLISION_SPHERE && (*i2)->getCV()->GetType() ==COLLISION_PLANE)
{
CollisionData d;
if(( (CollisionPlane*) (*i2)->getCV())->SphereInPlane(((CollisionSphere*)(*i)->getCV())->m_pos,((CollisionSphere*)(*i)->getCV())->m_radius,&d))
{
collisionStruct cs;
cs.p1 = (*i);
cs.p2 = (*i2);
cs.d = d;
//c.push_back(cs);
PhysicsNode * pNode0 = (*i);
PhysicsNode * pNode1 = (*i2);
pNode0->sleep = false;
pNode1->sleep = false;
AddCollisionImpulse(*cs.p1, *cs.p2,cs.d);
nn.push_back(*i);
break;
}
}
else if((*i)->getCV()->GetType() ==COLLISION_SPHERE && (*i2)->getCV()->GetType() ==COLLISION_HEIGHTMAP)
{
CollisionData d;
if (SphereHeightMapCollision(*(CollisionSphere*)(*i)->getCV(),(*(PhysMap*)(*i2)),&d)){
//(*i)->Stop();
AddCollisionImpulse(*(*i),*(*i2),d);
//(*i)->SetY(((PhysMap*)(*i2))->getHeight((*i)->GetPosition().x,(*i)->GetPosition().z) + 25.0f);
break;
}
}
}
}
}
}
