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-rw-r--r--Client/Source/Phy2D/Dynamic/Collide.cpp326
1 files changed, 0 insertions, 326 deletions
diff --git a/Client/Source/Phy2D/Dynamic/Collide.cpp b/Client/Source/Phy2D/Dynamic/Collide.cpp
deleted file mode 100644
index 6849c0e..0000000
--- a/Client/Source/Phy2D/Dynamic/Collide.cpp
+++ /dev/null
@@ -1,326 +0,0 @@
-#include "Arbiter.h"
-#include "Body.h"
-#include "World.h"
-#include "Joint.h"
-
-using namespace Phy2D;
-
-// Box vertex and edge numbering:
-//
-// ^ y
-// |
-// e1
-// v2 ------ v1
-// | |
-// e2 | | e4 --> x
-// | |
-// v3 ------ v4
-// e3
-
-enum Axis
-{
- FACE_A_X,
- FACE_A_Y,
- FACE_B_X,
- FACE_B_Y
-};
-
-enum EdgeNumbers
-{
- NO_EDGE = 0,
- EDGE1,
- EDGE2,
- EDGE3,
- EDGE4
-};
-
-struct ClipVertex
-{
- ClipVertex() { fp.value = 0; }
- Vec2 v;
- FeaturePair fp;
-};
-
-void Flip(FeaturePair& fp)
-{
- Swap(fp.e.inEdge1, fp.e.inEdge2);
- Swap(fp.e.outEdge1, fp.e.outEdge2);
-}
-
-int ClipSegmentToLine(ClipVertex vOut[2], ClipVertex vIn[2],
- const Vec2& normal, number offset, char clipEdge)
-{
- // Start with no output points
- int numOut = 0;
-
- // Calculate the distance of end points to the line
- number distance0 = Dot(normal, vIn[0].v) - offset;
- number distance1 = Dot(normal, vIn[1].v) - offset;
-
- // If the points are behind the plane
- if (distance0 <= 0.0f) vOut[numOut++] = vIn[0];
- if (distance1 <= 0.0f) vOut[numOut++] = vIn[1];
-
- // If the points are on different sides of the plane
- if (distance0 * distance1 < 0.0f)
- {
- // Find intersection point of edge and plane
- number interp = distance0 / (distance0 - distance1);
- vOut[numOut].v = vIn[0].v + interp * (vIn[1].v - vIn[0].v);
- if (distance0 > 0.0f)
- {
- vOut[numOut].fp = vIn[0].fp;
- vOut[numOut].fp.e.inEdge1 = clipEdge;
- vOut[numOut].fp.e.inEdge2 = NO_EDGE;
- }
- else
- {
- vOut[numOut].fp = vIn[1].fp;
- vOut[numOut].fp.e.outEdge1 = clipEdge;
- vOut[numOut].fp.e.outEdge2 = NO_EDGE;
- }
- ++numOut;
- }
-
- return numOut;
-}
-
-static void ComputeIncidentEdge(ClipVertex c[2], const Vec2& h, const Vec2& pos,
- const Mat22& Rot, const Vec2& normal)
-{
- // The normal is from the reference box. Convert it
- // to the incident boxe's frame and flip sign.
- Mat22 RotT = Rot.Transpose();
- Vec2 n = -(RotT * normal);
- Vec2 nAbs = Abs(n);
-
- if (nAbs.x > nAbs.y)
- {
- if (Sign(n.x) > 0.0f)
- {
- c[0].v.Set(h.x, -h.y);
- c[0].fp.e.inEdge2 = EDGE3;
- c[0].fp.e.outEdge2 = EDGE4;
-
- c[1].v.Set(h.x, h.y);
- c[1].fp.e.inEdge2 = EDGE4;
- c[1].fp.e.outEdge2 = EDGE1;
- }
- else
- {
- c[0].v.Set(-h.x, h.y);
- c[0].fp.e.inEdge2 = EDGE1;
- c[0].fp.e.outEdge2 = EDGE2;
-
- c[1].v.Set(-h.x, -h.y);
- c[1].fp.e.inEdge2 = EDGE2;
- c[1].fp.e.outEdge2 = EDGE3;
- }
- }
- else
- {
- if (Sign(n.y) > 0.0f)
- {
- c[0].v.Set(h.x, h.y);
- c[0].fp.e.inEdge2 = EDGE4;
- c[0].fp.e.outEdge2 = EDGE1;
-
- c[1].v.Set(-h.x, h.y);
- c[1].fp.e.inEdge2 = EDGE1;
- c[1].fp.e.outEdge2 = EDGE2;
- }
- else
- {
- c[0].v.Set(-h.x, -h.y);
- c[0].fp.e.inEdge2 = EDGE2;
- c[0].fp.e.outEdge2 = EDGE3;
-
- c[1].v.Set(h.x, -h.y);
- c[1].fp.e.inEdge2 = EDGE3;
- c[1].fp.e.outEdge2 = EDGE4;
- }
- }
-
- c[0].v = pos + Rot * c[0].v;
- c[1].v = pos + Rot * c[1].v;
-}
-
-namespace Phy2D
-{
-
- // The normal points from A to B
- int Collide(Contact* contacts, Body* bodyA, Body* bodyB)
- {
- // Setup
- Vec2 hA = 0.5f * bodyA->width;
- Vec2 hB = 0.5f * bodyB->width;
-
- Vec2 posA = bodyA->position;
- Vec2 posB = bodyB->position;
-
- Mat22 RotA(bodyA->rotation), RotB(bodyB->rotation);
-
- Mat22 RotAT = RotA.Transpose();
- Mat22 RotBT = RotB.Transpose();
-
- Vec2 dp = posB - posA;
- Vec2 dA = RotAT * dp;
- Vec2 dB = RotBT * dp;
-
- Mat22 C = RotAT * RotB;
- Mat22 absC = Abs(C);
- Mat22 absCT = absC.Transpose();
-
- // Box A faces
- Vec2 faceA = Abs(dA) - hA - absC * hB;
- if (faceA.x > 0.0f || faceA.y > 0.0f)
- return 0;
-
- // Box B faces
- Vec2 faceB = Abs(dB) - absCT * hA - hB;
- if (faceB.x > 0.0f || faceB.y > 0.0f)
- return 0;
-
- // Find best axis
- Axis axis;
- number separation;
- Vec2 normal;
-
- // Box A faces
- axis = FACE_A_X;
- separation = faceA.x;
- normal = dA.x > 0.0f ? RotA.col1 : -RotA.col1;
-
- const number relativeTol = 0.95f;
- const number absoluteTol = 0.01f;
-
- if (faceA.y > relativeTol * separation + absoluteTol * hA.y)
- {
- axis = FACE_A_Y;
- separation = faceA.y;
- normal = dA.y > 0.0f ? RotA.col2 : -RotA.col2;
- }
-
- // Box B faces
- if (faceB.x > relativeTol * separation + absoluteTol * hB.x)
- {
- axis = FACE_B_X;
- separation = faceB.x;
- normal = dB.x > 0.0f ? RotB.col1 : -RotB.col1;
- }
-
- if (faceB.y > relativeTol * separation + absoluteTol * hB.y)
- {
- axis = FACE_B_Y;
- separation = faceB.y;
- normal = dB.y > 0.0f ? RotB.col2 : -RotB.col2;
- }
-
- // Setup clipping plane data based on the separating axis
- Vec2 frontNormal, sideNormal;
- ClipVertex incidentEdge[2];
- number front, negSide, posSide;
- char negEdge, posEdge;
-
- // Compute the clipping lines and the line segment to be clipped.
- switch (axis)
- {
- case FACE_A_X:
- {
- frontNormal = normal;
- front = Dot(posA, frontNormal) + hA.x;
- sideNormal = RotA.col2;
- number side = Dot(posA, sideNormal);
- negSide = -side + hA.y;
- posSide = side + hA.y;
- negEdge = EDGE3;
- posEdge = EDGE1;
- ComputeIncidentEdge(incidentEdge, hB, posB, RotB, frontNormal);
- }
- break;
-
- case FACE_A_Y:
- {
- frontNormal = normal;
- front = Dot(posA, frontNormal) + hA.y;
- sideNormal = RotA.col1;
- number side = Dot(posA, sideNormal);
- negSide = -side + hA.x;
- posSide = side + hA.x;
- negEdge = EDGE2;
- posEdge = EDGE4;
- ComputeIncidentEdge(incidentEdge, hB, posB, RotB, frontNormal);
- }
- break;
-
- case FACE_B_X:
- {
- frontNormal = -normal;
- front = Dot(posB, frontNormal) + hB.x;
- sideNormal = RotB.col2;
- number side = Dot(posB, sideNormal);
- negSide = -side + hB.y;
- posSide = side + hB.y;
- negEdge = EDGE3;
- posEdge = EDGE1;
- ComputeIncidentEdge(incidentEdge, hA, posA, RotA, frontNormal);
- }
- break;
-
- case FACE_B_Y:
- {
- frontNormal = -normal;
- front = Dot(posB, frontNormal) + hB.y;
- sideNormal = RotB.col1;
- number side = Dot(posB, sideNormal);
- negSide = -side + hB.x;
- posSide = side + hB.x;
- negEdge = EDGE2;
- posEdge = EDGE4;
- ComputeIncidentEdge(incidentEdge, hA, posA, RotA, frontNormal);
- }
- break;
- }
-
- // clip other face with 5 box planes (1 face plane, 4 edge planes)
-
- ClipVertex clipPoints1[2];
- ClipVertex clipPoints2[2];
- int np;
-
- // Clip to box side 1
- np = ClipSegmentToLine(clipPoints1, incidentEdge, -sideNormal, negSide, negEdge);
-
- if (np < 2)
- return 0;
-
- // Clip to negative box side 1
- np = ClipSegmentToLine(clipPoints2, clipPoints1, sideNormal, posSide, posEdge);
-
- if (np < 2)
- return 0;
-
- // Now clipPoints2 contains the clipping points.
- // Due to roundoff, it is possible that clipping removes all points.
-
- int numContacts = 0;
- for (int i = 0; i < 2; ++i)
- {
- number separation = Dot(frontNormal, clipPoints2[i].v) - front;
-
- if (separation <= 0)
- {
- contacts[numContacts].separation = separation;
- contacts[numContacts].normal = normal;
- // slide contact point onto reference face (easy to cull)
- contacts[numContacts].position = clipPoints2[i].v - separation * frontNormal;
- contacts[numContacts].feature = clipPoints2[i].fp;
- if (axis == FACE_B_X || axis == FACE_B_Y)
- Flip(contacts[numContacts].feature);
- ++numContacts;
- }
- }
-
- return numContacts;
- }
-} \ No newline at end of file
generated by cgit v1.1-26-g67d0 at 2025-05-18 23:38:49 +0000