// Callback from the spatial hash.
static void
queryFunc(cpShape *a, cpShape *b, cpSpace *space)
{
// Reject any of the simple cases
if(queryReject(a,b)) return;
cpCollisionHandler *handler = lookupCollisionHandler(space, a->collision_type, b->collision_type);
cpBool sensor = a->sensor || b->sensor;
if(sensor && handler == &cpSpaceDefaultHandler) return;
// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
if(a->klass->type > b->klass->type){
cpShape *temp = a;
a = b;
b = temp;
}
// Narrow-phase collision detection.
cpContact *contacts = cpContactBufferGetArray(space);
int numContacts = cpCollideShapes(a, b, contacts);
if(!numContacts) return; // Shapes are not colliding.
cpSpacePushContacts(space, numContacts);
// Get an arbiter from space->contactSet for the two shapes.
// This is where the persistant contact magic comes from.
cpShape *shape_pair[] = {a, b};
cpHashValue arbHashID = CP_HASH_PAIR((size_t)a, (size_t)b);
cpArbiter *arb = (cpArbiter *)cpHashSetInsert(space->contactSet, arbHashID, shape_pair, space);
cpArbiterUpdate(arb, contacts, numContacts, handler, a, b);
// Call the begin function first if it's the first step
if(arb->state == cpArbiterStateFirstColl && !handler->begin(arb, space, handler->data)){
cpArbiterIgnore(arb); // permanently ignore the collision until separation
}
if(
// Ignore the arbiter if it has been flagged
(arb->state != cpArbiterStateIgnore) &&
// Call preSolve
handler->preSolve(arb, space, handler->data) &&
// Process, but don't add collisions for sensors.
!sensor
){
cpArrayPush(space->arbiters, arb);
} else {
cpSpacePopContacts(space, numContacts);
arb->contacts = NULL;
arb->numContacts = 0;
// Normally arbiters are set as used after calling the post-step callback.
// However, post-step callbacks are not called for sensors or arbiters rejected from pre-solve.
if(arb->state != cpArbiterStateIgnore) arb->state = cpArbiterStateNormal;
}
// Time stamp the arbiter so we know it was used recently.
arb->stamp = space->stamp;
}
static void
draw(cpSpace *space)
{
ChipmunkDemoDefaultDrawImpl(space);
struct cpContact arr[CP_MAX_CONTACTS_PER_ARBITER];
// cpCollideShapes(shape1, shape2, (cpCollisionID[]){0}, arr);
cpCollisionInfo info = cpCollideShapes(shape2, shape1, 0x00000000, arr);
}
// Callback from the spatial hash.
static cpCollisionID
ShapeQuery(cpShape *a, cpShape *b, cpCollisionID id, struct ShapeQueryContext *context)
{
// Reject any of the simple cases
if(
(a->group && a->group == b->group) ||
!(a->layers & b->layers) ||
a == b
) return id;
cpContact contacts[CP_MAX_CONTACTS_PER_ARBITER];
int numContacts = 0;
// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
if(a->klass->type <= b->klass->type){
numContacts = cpCollideShapes(a, b, &id, contacts);
} else {
numContacts = cpCollideShapes(b, a, &id, contacts);
for(int i=0; i<numContacts; i++) contacts[i].n = cpvneg(contacts[i].n);
}
if(numContacts){
context->anyCollision = !(a->sensor || b->sensor);
if(context->func){
cpContactPointSet set;
set.count = numContacts;
for(int i=0; i<set.count; i++){
set.points[i].point = contacts[i].p;
set.points[i].normal = contacts[i].n;
set.points[i].dist = contacts[i].dist;
}
context->func(b, &set, context->data);
}
}
return id;
}
// Callback from the spatial hash.
static void
queryFunc(cpShape *a, cpShape *b, cpSpace *space)
{
// Reject any of the simple cases
if(queryReject(a,b)) return;
// Find the collision pair function for the shapes.
struct{cpCollisionType a, b;} ids = {a->collision_type, b->collision_type};
cpHashValue collHashID = CP_HASH_PAIR(a->collision_type, b->collision_type);
cpCollisionHandler *handler = (cpCollisionHandler *)cpHashSetFind(space->collFuncSet, collHashID, &ids);
int sensor = a->sensor || b->sensor;
if(sensor && handler == &space->defaultHandler) return;
// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
if(a->klass->type > b->klass->type){
cpShape *temp = a;
a = b;
b = temp;
}
// Narrow-phase collision detection.
cpContact *contacts = NULL;
int numContacts = cpCollideShapes(a, b, &contacts);
if(!numContacts) return; // Shapes are not colliding.
// Get an arbiter from space->contactSet for the two shapes.
// This is where the persistant contact magic comes from.
cpShape *shape_pair[] = {a, b};
cpHashValue arbHashID = CP_HASH_PAIR(a, b);
cpArbiter *arb = (cpArbiter *)cpHashSetInsert(space->contactSet, arbHashID, shape_pair, NULL);
cpArbiterUpdate(arb, contacts, numContacts, handler, a, b); // retains the contacts array
// Call the begin function first if we need to
int beginPass = (arb->stamp >= 0) || (handler->begin(arb, space, handler->data));
if(beginPass && handler->preSolve(arb, space, handler->data) && !sensor){
cpArrayPush(space->arbiters, arb);
} else {
cpfree(arb->contacts);
arb->contacts = NULL;
}
// Time stamp the arbiter so we know it was used recently.
arb->stamp = space->stamp;
}
// Callback from the spatial hash.
static void
queryFunc(cpShape *a, cpShape *b, cpSpace *space)
{
// Reject any of the simple cases
if(queryReject(a,b)) return;
// Find the collision pair function for the shapes.
struct{cpCollisionType a, b;} ids = {a->collision_type, b->collision_type};
cpHashValue collHashID = CP_HASH_PAIR(a->collision_type, b->collision_type);
cpCollisionHandler *handler = (cpCollisionHandler *)cpHashSetFind(space->collFuncSet, collHashID, &ids);
int sensor = a->sensor || b->sensor;
if(sensor && handler == &space->defaultHandler) return;
// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
if(a->klass->type > b->klass->type){
cpShape *temp = a;
a = b;
b = temp;
}
if(space->contactBuffersHead->numContacts + CP_MAX_CONTACTS_PER_ARBITER > CP_CONTACTS_BUFFER_SIZE){
// contact buffer could overflow on the next collision, push a fresh one.
cpSpacePushNewContactBuffer(space);
}
// Narrow-phase collision detection.
cpContact *contacts = ((cpContactBuffer *)(space->contactBuffersHead))->contacts + space->contactBuffersHead->numContacts;
int numContacts = cpCollideShapes(a, b, contacts);
if(!numContacts) return; // Shapes are not colliding.
space->contactBuffersHead->numContacts += numContacts;
// Get an arbiter from space->contactSet for the two shapes.
// This is where the persistant contact magic comes from.
cpShape *shape_pair[] = {a, b};
cpHashValue arbHashID = CP_HASH_PAIR((size_t)a, (size_t)b);
cpArbiter *arb = (cpArbiter *)cpHashSetInsert(space->contactSet, arbHashID, shape_pair, space);
cpArbiterUpdate(arb, contacts, numContacts, handler, a, b); // retains the contacts array
// Call the begin function first if it's the first step
if(arb->stamp == -1 && !handler->begin(arb, space, handler->data)){
cpArbiterIgnore(arb); // permanently ignore the collision until separation
}
if(
// Ignore the arbiter if it has been flagged
(arb->state != cpArbiterStateIgnore) &&
// Call preSolve
handler->preSolve(arb, space, handler->data) &&
// Process, but don't add collisions for sensors.
!sensor
){
cpArrayPush(space->arbiters, arb);
} else {
// cpfree(arb->contacts);
space->contactBuffersHead->numContacts -= numContacts;
arb->contacts = NULL;
arb->numContacts = 0;
}
// Time stamp the arbiter so we know it was used recently.
arb->stamp = space->stamp;
}
// Callback from the spatial hash.
// TODO: Refactor this into separate functions?
static int
queryFunc(void *p1, void *p2, void *data)
{
// Cast the generic pointers from the spatial hash back to usefull types
cpShape *a = (cpShape *)p1;
cpShape *b = (cpShape *)p2;
cpSpace *space = (cpSpace *)data;
// Reject any of the simple cases
if(queryReject(a,b)) return 0;
// Shape 'a' should have the lower shape type. (required by cpCollideShapes() )
if(a->klass->type > b->klass->type){
cpShape *temp = a;
a = b;
b = temp;
}
// Find the collision pair function for the shapes.
unsigned int ids[] = {a->collision_type, b->collision_type};
unsigned int hash = CP_HASH_PAIR(a->collision_type, b->collision_type);
cpCollPairFunc *pairFunc = (cpCollPairFunc *)cpHashSetFind(space->collFuncSet, hash, ids);
if(!pairFunc->func) return 0; // A NULL pair function means don't collide at all.
// Narrow-phase collision detection.
cpContact *contacts = NULL;
int numContacts = cpCollideShapes(a, b, &contacts);
if(!numContacts) return 0; // Shapes are not colliding.
// The collision pair function requires objects to be ordered by their collision types.
cpShape *pair_a = a;
cpShape *pair_b = b;
cpFloat normal_coef = 1.0f;
// Swap them if necessary.
if(pair_a->collision_type != pairFunc->a){
cpShape *temp = pair_a;
pair_a = pair_b;
pair_b = temp;
normal_coef = -1.0f;
}
if(pairFunc->func(pair_a, pair_b, contacts, numContacts, normal_coef, pairFunc->data)){
// The collision pair function OKed the collision. Record the contact information.
// Get an arbiter from space->contactSet for the two shapes.
// This is where the persistant contact magic comes from.
cpShape *shape_pair[] = {a, b};
cpArbiter *arb = (cpArbiter *)cpHashSetInsert(space->contactSet, CP_HASH_PAIR(a, b), shape_pair, space);
// Timestamp the arbiter.
arb->stamp = space->stamp;
arb->a = a; arb->b = b; // TODO: Investigate why this is still necessary?
// Inject the new contact points into the arbiter.
cpArbiterInject(arb, contacts, numContacts);
// Add the arbiter to the list of active arbiters.
cpArrayPush(space->arbiters, arb);
return numContacts;
} else {
// The collision pair function rejected the collision.
free(contacts);
return 0;
}
}
