From: Daniel Karbach <daniel.karbach@localhorst.tv>
Date: Fri, 2 Dec 2016 15:45:56 +0000 (+0100)
Subject: half-{complete,assed} sphere collision detection
X-Git-Url: https://git.localhorst.tv/?a=commitdiff_plain;p=gong.git

half-{complete,assed} sphere collision detection
---

diff --git a/src/physics/Contact.hpp b/src/physics/Contact.hpp
new file mode 100644
index 0000000..b7109b1
--- /dev/null
+++ b/src/physics/Contact.hpp
@@ -0,0 +1,27 @@
+#ifndef GONG_PHYSICS_CONTACT_HPP_
+#define GONG_PHYSICS_CONTACT_HPP_
+
+#include "../graphics/glm.hpp"
+
+
+namespace gong {
+namespace physics {
+
+class Object;
+
+struct Contact {
+
+	glm::vec3 point;
+	glm::vec3 normal;
+	Object *a;
+	Object *b;
+
+	Contact(const glm::vec3 &p, const glm::vec3 &n, Object *a, Object *b)
+	: point(p), normal(n), a(a), b(b) { }
+
+};
+
+}
+}
+
+#endif
diff --git a/src/physics/Object.hpp b/src/physics/Object.hpp
index 576317c..f4f7f4a 100644
--- a/src/physics/Object.hpp
+++ b/src/physics/Object.hpp
@@ -4,15 +4,25 @@
 #include "State.hpp"
 #include "../geometry/primitive.hpp"
 
+#include <vector>
+
 
 namespace gong {
 namespace physics {
 
+struct Contact;
+class Sphere;
+
 struct Object {
 
 	State state;
 	geometry::AABB bounds;
 
+	void TestCollision(Object &, std::vector<Contact> &);
+
+	virtual void ReverseCollisionTest(Object &, std::vector<Contact> &) = 0;
+	virtual void ActualCollisionTest(Sphere &, std::vector<Contact> &) = 0;
+
 };
 
 }
diff --git a/src/physics/Simulation.hpp b/src/physics/Simulation.hpp
index 9d41877..889c455 100644
--- a/src/physics/Simulation.hpp
+++ b/src/physics/Simulation.hpp
@@ -9,6 +9,7 @@
 namespace gong {
 namespace physics {
 
+struct Contact;
 struct Derivative;
 struct Object;
 struct State;
@@ -24,6 +25,7 @@ private:
 
 private:
 	std::vector<Object *> objects;
+	std::vector<Contact> contacts;
 	glm::vec3 gravity;
 
 };
diff --git a/src/physics/Sphere.hpp b/src/physics/Sphere.hpp
new file mode 100644
index 0000000..0acbc0b
--- /dev/null
+++ b/src/physics/Sphere.hpp
@@ -0,0 +1,34 @@
+#ifndef GONG_PHYSICS_SPHERE_HPP_
+#define GONG_PHYSICS_SPHERE_HPP_
+
+#include "Object.hpp"
+#include "../geometry/primitive.hpp"
+
+
+namespace gong {
+namespace physics {
+
+class Sphere
+: public Object {
+
+public:
+	explicit Sphere(float radius);
+
+	/// Get geometric description of shape in world coordinates
+	geometry::Sphere Shape() {
+		return geometry::Sphere{ state.pos, radius };
+	}
+
+private:
+	void ReverseCollisionTest(Object &, std::vector<Contact> &) override;
+	void ActualCollisionTest(Sphere &, std::vector<Contact> &) override;
+
+private:
+	float radius;
+
+};
+
+}
+}
+
+#endif
diff --git a/src/physics/State.hpp b/src/physics/State.hpp
index 76ff16c..1a64310 100644
--- a/src/physics/State.hpp
+++ b/src/physics/State.hpp
@@ -29,6 +29,12 @@ struct State {
 	float inertia;
 	/// 1/inertia
 	float inverse_inertia;
+
+	/// calculate velocity at given point
+	/// (same coordinate system as used by pos)
+	glm::vec3 VelAt(const glm::vec3 &p) const noexcept {
+		return (lin * inverse_mass) + glm::cross((ang * inverse_inertia), p - pos);
+	}
 };
 
 }
diff --git a/src/physics/objects.cpp b/src/physics/objects.cpp
new file mode 100644
index 0000000..e4075b3
--- /dev/null
+++ b/src/physics/objects.cpp
@@ -0,0 +1,28 @@
+#include "Contact.hpp"
+#include "Sphere.hpp"
+
+
+namespace gong {
+namespace physics {
+
+Sphere::Sphere(float r)
+: radius(r) {
+	bounds.min = glm::vec3(-r);
+	bounds.max = glm::vec3(r);
+}
+
+void Sphere::ReverseCollisionTest(Object &other, std::vector<Contact> &contacts) {
+	other.ActualCollisionTest(*this, contacts);
+}
+
+void Sphere::ActualCollisionTest(Sphere &other, std::vector<Contact> &contacts) {
+	float dist;
+	glm::vec3 norm;
+	if (Intersection(Shape(), other.Shape(), dist, norm)) {
+		glm::vec3 point(state.pos + ((dist - radius) * norm));
+		contacts.emplace_back(point, norm, this, &other);
+	}
+}
+
+}
+}
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
 }