void PhysicsWorld::FindAllCollisions() {
contactManager.numOldContacts = contactManager.numContacts;
assert(contactManager.numOldContacts < MaxNumContacts );
memcpy(contactManager.oldContacts, contactManager.contacts, contactManager.numOldContacts * sizeof(Contact));
contactManager.numContacts = 0;
/*
O(n^2) collsion detection ( or worse LOL )
Check all fixtures vs all fixtures for collisions,
We dont collide fixtures that are from the same body
*/
for ( size_t i = 0; i < numBodies; i++ ) {
for ( size_t j = i + 1; j < numBodies; j++ ) {
if ( (bodies[i]->type != eDynamic && bodies[j]->type != eDynamic) ) {
continue;
}
if ( contactManager.contactFilter && !contactManager.contactFilter->ShouldCollide(bodies[i], bodies[j]) ) {
continue;
}
Fixture *fi = bodies[i]->GetFixtureList();
while ( fi ) {
Fixture *fj = bodies[j]->GetFixtureList();
while ( fj ) {
if ( fi->IsSensor( ) || fj->IsSensor( ) ) {
if ( CheckOverlap(fi->GetShape(), bodies[i]->GetPosition(), fj->GetShape(), bodies[j]->GetPosition()) ) {
contactManager.contactListener->OnSensor(fi, fj);
}
} else {
// check collision and add to the contact list if they intersect
contactManager.AddPair(fi, fj);
}
fj = fj->GetNext();
}
fi = fi->GetNext();
}
}
}
contactManager.MergeContacts();
}
Fixture * World::QueryPoint(const Vector2 &point) const
{
for(int i = 0; i < entities.size(); i++)
{
for(Fixture *f = entities[i]->body.GetFixtureList(); f != 0; f = f->GetNext())
{
if(f->GetShape()->TestPoint(point, entities[i]->body.GetPosition()))
{
return f;
}
}
}
return 0;
}
void Graphics::Draw(Renderer *renderer)
{
Fixture *fixture = owner->body.GetFixtureList();
while ( fixture )
{
if(visible)
{
if ( fixture->GetType() == eCircle )
{
renderer->DrawTexturedQuad(
texture,
owner->body.GetPosition() + static_cast<Circle*>(fixture->GetShape())->localPos,
static_cast<Circle*>(fixture->GetShape())->radius * 2.0f,
static_cast<Circle*>(fixture->GetShape())->radius * 2.0f,
angle,
Vector2(0.0f, 0.0f), //owner->body.GetPosition() + static_cast<Circle*>(fixture->GetShape())->localPos,
flipX,
flipY,
color
);
}
else if ( fixture->GetType() == eAABox )
{
Vector2 minExt = static_cast<AABox*>(fixture->GetShape())->minExt;
Vector2 maxExt = static_cast<AABox*>(fixture->GetShape())->maxExt;
Vector2 boxSize = maxExt - minExt;
renderer->DrawTexturedQuad(
texture,
owner->body.GetPosition() + boxSize/2.0f,
boxSize.x,
boxSize.y,
0.0f,
owner->body.GetPosition() + boxSize/2.0f,
flipX,
flipY,
color
);
}
else if ( fixture->GetType() == eCapsule )
{
Vector2 pos0 = static_cast<Capsule*>(fixture->GetShape())->localPos0 + owner->body.GetPosition();
Vector2 pos1 = static_cast<Capsule*>(fixture->GetShape())->localPos1 + owner->body.GetPosition();
float radius = static_cast<Capsule*>(fixture->GetShape())->radius;
Vector2 normal = normalize(pos1-pos0);
Vector2 tangent = Vector2(-normal.y, normal.x);
Vector2 verts[4];
verts[0] = pos0 - normal * radius - tangent * radius;
verts[1] = pos1 + normal * radius - tangent * radius;
verts[2] = pos1 + normal * radius + tangent * radius;
verts[3] = pos0 - normal * radius + tangent * radius;
Vector2 texCoords[4];
if ( !flipX )
{
texCoords[0] = Vector2(0.0f, 0.0f);
texCoords[1] = Vector2(1.0f, 0.0f);
texCoords[2] = Vector2(1.0f, 1.0f);
texCoords[3] = Vector2(0.0f, 1.0f);
}
else
{
texCoords[2] = Vector2(0.0f, 0.0f);
texCoords[0] = Vector2(1.0f, 0.0f);
texCoords[1] = Vector2(1.0f, 1.0f);
texCoords[3] = Vector2(0.0f, 1.0f);
}
glColor4f(color.r, color.g, color.b, color.a);
renderer->DrawTexturedQuad(texture, verts, texCoords);
}
}
if ( drawShape )
{
fixture->GetShape()->Draw(*renderer, owner->body.GetPosition());
}
fixture = fixture->GetNext();
}
}
void BoxScreen::drawBody (const BodyP &b) {
for (Fixture *f = b->GetFixtureList(); f; f = f->GetNext()) {
drawShape (b,f->GetShape());
}
}
