src/jelly/World.h

   1 #ifndef _WORLD_H
   2 #define _WORLD_H
   3
   4 #include "JellyPrerequisites.h"
   5 #include "Body.h"
   6 #include "Vector2.h"
   7
   8
   9 namespace JellyPhysics {
  10
  11 class CollisionCallback {
  12 public:
  13   virtual bool collisionFilter (Body *bA, int bodyApm, Body *bodyB, int bodyBpm1, int bodyBpm2, Vector2 hitPt, float normalVel) { return true; }
  14 };
  15
  16
  17 class World {
  18 public:
  19   struct MaterialPair {
  20     MaterialPair () : Collide(true), Elasticity(0.7f), Friction(0.3f), Callback(0) {}
  21
  22     bool Collide;
  23     float Elasticity;
  24     float Friction;
  25     CollisionCallback *Callback;
  26   };
  27
  28 public:
  29   World ();
  30   ~World ();
  31
  32   void killing ();
  33
  34   void setWorldLimits (const Vector2 &min, const Vector2 &max);
  35
  36   int addMaterial ();
  37
  38   void setMaterialPairCollide (int a, int b, bool collide);
  39   void setMaterialPairData (int a, int b, float friction, float elasticity);
  40   void setMaterialPairFilterCallback (int a, int b, CollisionCallback *c);
  41
  42   int bodyCount (void) const { return (int)mBodies.size(); }
  43   void addBody (Body *b);
  44   void removeBody (Body *b);
  45   Body *getBody (int index);
  46
  47   void getClosestPointMass (const Vector2 &pt, int &bodyID, int &pmID);
  48   Body *getBodyContaining (const Vector2 &pt);
  49
  50   void update (float elapsed);
  51
  52   int materialCount () const { return mMaterialCount; }
  53
  54   float getPenetrationThreshold () const { return mPenetrationThreshold; }
  55   void setPenetrationThreshold (float val) { mPenetrationThreshold = val; }
  56
  57   int penetrationCount () const { return mPenetrationCount; }
  58
  59 private:
  60   struct BodyCollisionInfo {
  61     void Clear () { bodyA = bodyB = 0; bodyApm = bodyBpmA = bodyBpmB = -1; hitPt = norm = Vector2::Zero; edgeD = penetration = 0.0f; }
  62     void Log () const {
  63       //printf("BCI bodyA:%d bodyB:%d bApm:%d bBpmA:%d, bBpmB:%d\n", bodyA, bodyB, bodyApm, bodyBpmA, bodyBpmB);
  64       //printf("  hitPt[%f][%f] edgeD:%f norm[%f][%f] penetration:%f\n",
  65       //     hitPt.X, hitPt.Y, edgeD, norm.X, norm.Y, penetration);
  66     }
  67
  68     Body *bodyA;
  69     Body *bodyB;
  70
  71     int bodyApm;
  72     int bodyBpmA;
  73     int bodyBpmB;
  74
  75     Vector2 hitPt;
  76     float edgeD;
  77     Vector2 norm;
  78     float penetration;
  79   };
  80
  81 private:
  82   void updateBodyBitmask (Body *b);
  83   void sortBodyBoundaries ();
  84
  85   void _goNarrowCheck (Body *bI, Body *bJ);
  86   void bodyCollide (Body *bA, Body *bB, std::vector<BodyCollisionInfo> &infoList);
  87   void _handleCollisions ();
  88
  89   void _checkAndMoveBoundary (Body::BodyBoundary *bb);
  90   void _removeBoundary (Body::BodyBoundary *me);
  91   void _addBoundaryAfter (Body::BodyBoundary *me, Body::BodyBoundary *toAfterMe);
  92   void _addBoundaryBefore (Body::BodyBoundary *me, Body::BodyBoundary *toBeforeMe);
  93
  94   void _logMaterialCollide () const;
  95   void _logBoundaries () const;
  96
  97 private:
  98   typedef std::vector<Body *> BodyList;
  99
 100   BodyList mBodies;
 101   AABB mWorldLimits;
 102   Vector2 mWorldSize;
 103   Vector2 mWorldGridStep;
 104
 105   float mPenetrationThreshold;
 106   int mPenetrationCount;
 107
 108   MaterialPair *mMaterialPairs;
 109   MaterialPair mDefaultMatPair;
 110   int mMaterialCount;
 111
 112   std::vector<BodyCollisionInfo> mCollisionList;
 113 };
 114
 115 }
 116
 117
 118 #endif