X-Git-Url: http://git.localhorst.tv/?a=blobdiff_plain;f=src%2Fphysics%2Fsim.cpp;h=68cc3e04ebd3719b8097ef394c64a4156a65c619;hb=f00a3e9078ef12a01c371d9d3df2ea7b3d9b2525;hp=568d28cdefb6fc1b18c037bc6efbe1135e4f3bd8;hpb=48d34439f3d5bc8bebabe9f0ee35970359e61bfa;p=gong.git

diff --git a/src/physics/sim.cpp b/src/physics/sim.cpp
index 568d28c..68cc3e0 100644
--- a/src/physics/sim.cpp
+++ b/src/physics/sim.cpp
@@ -1,8 +1,11 @@
+#include "Contact.hpp"
 #include "Derivative.hpp"
 #include "Object.hpp"
 #include "Simulation.hpp"
 #include "State.hpp"
 
+#include "../geometry/primitive.hpp"
+
 
 namespace gong {
 namespace physics {
@@ -29,12 +32,33 @@ Derivative::Derivative(
 }
 
 
+void Object::TestCollision(Object &other, std::vector<Contact> &contacts) {
+	if (!Intersection(bounds, other.bounds)) {
+		return;
+	}
+	// TODO: actual object shape intersection test
+	ReverseCollisionTest(other, contacts);
+}
+
+
 void Simulation::Update(float dt) {
 	// integrate state
 	for (Object *o : objects) {
 		Integrate(o->state, dt);
 	}
-	// TODO: detect collisions
+
+	// detect collisions
+	contacts.clear();
+	if (objects.size() < 2) {
+		// we don't handle self-collision, so nothing to do
+		return;
+	}
+	for (std::size_t i = 0; i < objects.size() - 1; ++i) {
+		for (std::size_t j = i + 1; j < objects.size(); ++j) {
+			objects[i]->TestCollision(*objects[j], contacts);
+		}
+	}
+
 	// TODO: resolve collisions
 }