// temporary one-point version
static void CollideWithTerrain(Body *body)
{
if (!body->IsType(Object::DYNAMICBODY)) return;
DynamicBody *dynBody = static_cast<DynamicBody*>(body);
if (!dynBody->IsMoving()) return;
Frame *f = body->GetFrame();
if (!f || !f->GetBody() || f != f->GetBody()->GetFrame()) return;
if (!f->GetBody()->IsType(Object::TERRAINBODY)) return;
TerrainBody *terrain = static_cast<TerrainBody*>(f->GetBody());
const Aabb &aabb = dynBody->GetAabb();
double altitude = body->GetPosition().Length() + aabb.min.y;
if (altitude >= terrain->GetMaxFeatureRadius()) return;
double terrHeight = terrain->GetTerrainHeight(body->GetPosition().Normalized());
if (altitude >= terrHeight) return;
CollisionContact c;
c.pos = body->GetPosition();
c.normal = c.pos.Normalized();
c.depth = terrHeight - altitude;
c.userData1 = static_cast<void*>(body);
c.userData2 = static_cast<void*>(f->GetBody());
hitCallback(&c);
}
void Space::CollideFrame(Frame *f)
{
if (f->m_astroBody && (f->m_astroBody->IsType(Object::TERRAINBODY))) {
// this is pretty retarded
for (BodyIterator i = m_bodies.begin(); i!=m_bodies.end(); ++i) {
if ((*i)->GetFrame() != f) continue;
if (!(*i)->IsType(Object::DYNAMICBODY)) continue;
DynamicBody *dynBody = static_cast<DynamicBody*>(*i);
Aabb aabb;
dynBody->GetAabb(aabb);
const matrix4x4d &trans = dynBody->GetGeom()->GetTransform();
const vector3d aabbCorners[8] = {
vector3d(aabb.min.x, aabb.min.y, aabb.min.z),
vector3d(aabb.min.x, aabb.min.y, aabb.max.z),
vector3d(aabb.min.x, aabb.max.y, aabb.min.z),
vector3d(aabb.min.x, aabb.max.y, aabb.max.z),
vector3d(aabb.max.x, aabb.min.y, aabb.min.z),
vector3d(aabb.max.x, aabb.min.y, aabb.max.z),
vector3d(aabb.max.x, aabb.max.y, aabb.min.z),
vector3d(aabb.max.x, aabb.max.y, aabb.max.z)
};
CollisionContact c;
for (int j=0; j<8; j++) {
const vector3d &s = aabbCorners[j];
vector3d pos = trans * s;
double terrain_height = static_cast<Planet*>(f->m_astroBody)->GetTerrainHeight(pos.Normalized());
double altitude = pos.Length();
double hitDepth = terrain_height - altitude;
if (altitude < terrain_height) {
c.pos = pos;
c.normal = pos.Normalized();
c.depth = hitDepth;
c.userData1 = static_cast<void*>(dynBody);
c.userData2 = static_cast<void*>(f->m_astroBody);
hitCallback(&c);
}
}
}
}
f->GetCollisionSpace()->Collide(&hitCallback);
for (std::list<Frame*>::iterator i = f->m_children.begin(); i != f->m_children.end(); ++i) {
CollideFrame(*i);
}
}