void Renderer::draw(const Vect2D& pt, float radius)
{
glPointSize(radius);
glBegin(GL_POINTS);
glColor3ub(255,0,0);
glVertex2f(pt.getX(),pt.getY());
glEnd();
}
Vect2D Message::pullVect2D(void)
{
Vect2D v;
v.x() = pull<Vect2D::Type>();
v.y() = pull<Vect2D::Type>();
return v;
}
void Renderer::draw(const Vect2D& pt, const Color& col, float radius)
{
glPointSize(radius);
glBegin(GL_POINTS);
glColor4ub(col.getR(),col.getG(),col.getB(),col.getA());
glVertex2f(pt.getX(),pt.getY());
std::cout << "Color : " << col << std::endl;
std::cout << static_cast<int>(col.getR()) << ' ' << static_cast<int>(col.getG()) << ' ' << static_cast<int>(col.getB()) << ' ' << static_cast<int>(col.getA()) << std::endl;
glEnd();
}
void Renderer::draw(const Segment& s)
{
glBegin(GL_LINES);
glColor3ub(255,255,0);
glVertex2f(s.getX1(), s.getY1());
glColor3ub(255,0,255);
glVertex2f(s.getX2(), s.getY2());
glEnd();
Vect2D mid = s.getCenter(),
e = mid + s.getNormalVector()/5.0;
glBegin(GL_LINES);
glColor3ub(0,0,255);
glVertex2f(mid.getX(), mid.getY());
glColor3ub(255,255,255);
glVertex2f(e.getX(), e.getY());
glEnd();
}
Collision::Collision(PObject* obj1, PObject* obj2)
{
trueCollision = false;
objects = new PObject*[2];
objects[0] = obj1;
objects[1] = obj2;
/*
* the following was written before the Vect2D class was written
* (and that's why it's so messy)
*/
Vect2D norm;
Point p1,p2;
const Point* obj1vertices = objects[0]->getVertices();
const Point* obj2vertices = objects[1]->getVertices();
int numPoints=0;
float sumx=0;
float sumy=0;
float parametric;
float parametric2;
float denominator;
float vec1x;
float vec1y;
float vec1deltax;//between this point and the next one in the shape (going counterclockwise)
float vec1deltay;
float vec2x;
float vec2y;
float vec2deltax;
float vec2deltay;
float deltax, deltay; //between the two points on different shapes
/*
* x1+k*t = x2+c*k
* y1+b*t = y2+d*k
*/
for (int i = 0; i < objects[0]->getNumVertices(); i++)
{
vec1x = obj1vertices[i].x;//x1
vec1y = obj1vertices[i].y;//y1
vec1deltax = obj1vertices[(i + 1) % objects[0]->getNumVertices()].x - vec1x;//a
vec1deltay = obj1vertices[(i + 1) % objects[0]->getNumVertices()].y - vec1y;//b
for (int j = 0; j < objects[1]->getNumVertices(); j++)
{
vec2x = obj2vertices[j].x;//x2
vec2y = obj2vertices[j].y;//y2
vec2deltax = obj2vertices[(j + 1) % objects[1]->getNumVertices()].x - vec2x;//c
vec2deltay = obj2vertices[(j + 1) % objects[1]->getNumVertices()].y - vec2y;//d
denominator = (vec1deltax * vec2deltay) - (vec2deltax * vec1deltay);//ad-bc
if (denominator != 0)
{
deltax = vec1x-vec2x;//x1-x2
deltay = vec1y-vec2y;//y1-y2
parametric = ((vec2deltax * (deltay)) - vec2deltay * (deltax)) / (denominator);//t
parametric2 = ((vec1deltax * (deltay)) - vec1deltay * (deltax)) / (denominator);//k
if (parametric <= 1 && parametric >= 0 && parametric2 <= 1 && parametric2 >= 0)
{
numPoints++;
sumx += vec1x + (parametric * vec1deltax);//x = x1+a*t
sumy += vec1y + (parametric * vec1deltay);//y = y1+b*t
//uses the normal vector of the first collision
if (!trueCollision){
/* old way of finding
//figure out which one collided on the corner
if (abs(parametric2-.5) < abs(parametric-.5)){
//vector1's point of collision was closer to the corner
norm.set(vec2deltay,-vec2deltax);
}
else
{
norm.set(vec2deltax,-vec2deltay);
}*/
//VERY crude approximation for normal vector at collision point
norm.set(objects[1]->get_centerx()-objects[0]->get_centerx(), objects[1]->get_centery()-objects[0]->get_centery());
norm.normalize();
}
trueCollision = true;
}
}
}
}
if (trueCollision)
{
intersection.x = sumx/numPoints;
intersection.y = sumy/numPoints;
//calculate impulse here
float e = objects[0]->get_elasticity()*objects[1]->get_elasticity();
Vect2D r1(intersection.x-objects[0]->get_centerx(), intersection.y-objects[0]->get_centery());
Vect2D r2(intersection.x-objects[1]->get_centerx(), intersection.y-objects[1]->get_centery());
//vap = vcenter + w x r1 where w is angular velocity vector that points into screen
//vap = velocity of point of collision on each object
Vect2D vap(objects[0]->get_vx()-objects[0]->get_dtheta()*r1.y, objects[0]->get_vy()+objects[0]->get_dtheta()*r1.x);
Vect2D vbp(objects[1]->get_vx()-objects[1]->get_dtheta()*r2.y, objects[1]->get_vy()+objects[1]->get_dtheta()*r2.x);
Vect2D& vabp = vap-vbp;
float ran = r1.cross(norm);
float rbn = r2.cross(norm);
//source: http://www.myphysicslab.com/collision.html
float j= (-(1+e)*vabp.dot(norm))/(1/objects[0]->get_mass() + 1/objects[1]->get_mass() + ran*ran/objects[0]->get_momentInertia() + rbn*rbn/objects[1]->get_momentInertia());
impulse.set(norm);
impulse.scale(j);
}
}
void StressTest( void )
{
volatile float v1 = 2.0f;
volatile float v2 = 3.0f;
volatile float v3 = 7.0f;
volatile float v4 = -5.0f;
volatile float v5 = 9.0f;
volatile float v6 = 4.0f;
volatile float v7 = 22.23f;
volatile float v8 = 0.234f;
Vect2D A;
Vect2D B;
B.setX(v1);
B.setY(v2);
Vect2D C;
C.set(v3,v4);
Vect2D D;
D.set(v5, v6);
Vect2D sum;
sum = A + B + C + D;
Vect2D ScaledA = B * v7;
Vect2D ScaledB = C / v8;
Vect2D DiffVect = ScaledB - ScaledA;
sum.setX( v1 );
ScaledA.setX( v3 );
DiffVect.setX( v7 );
A = sum + ScaledA;
B = DiffVect - C;
D = DiffVect / ScaledA.getY();
A = B + C;
A = A - B - C;
A = A * v4;
A = A / v5;
volatile Vect2D F = A;
}
void Message::push(Vect2D& v)
{
push(v.getX());
push(v.getY());
}
void Renderer::draw(const SpriteSet& set, unsigned int sprite, const Vect2D& center, const Vect2D& diag, const Vect2D& loop)
{
const SpriteRect& rect = set.getSpriteRect(sprite);
set.bind();
glBegin(GL_QUADS);
glColor3ub(255,255,255); //reset filter to white
glTexCoord2f(rect.getULC().getX()+loop.getX(),rect.getULC().getY()+loop.getY());
glVertex2f(center.getX()-diag.getX()/2.0f, center.getY()+diag.getY()/2.0f);
glTexCoord2f(rect.getLRC().getX()+loop.getX(),rect.getULC().getY()+loop.getY());
glVertex2f(center.getX()+diag.getX()/2.0f, center.getY()+diag.getY()/2.0f);
glTexCoord2f(rect.getLRC().getX()+loop.getX(),rect.getLRC().getY()+loop.getY());
glVertex2f(center.getX()+diag.getX()/2.0f, center.getY()-diag.getY()/2.0f);
glTexCoord2f(rect.getULC().getX()+loop.getX(),rect.getLRC().getY()+loop.getY());
glVertex2f(center.getX()-diag.getX()/2.0f, center.getY()-diag.getY()/2.0f);
glEnd();
}
