Implementing basic physics

2022-11-29 16:34:42 +01:00
parent 3d3e264867
commit 1e04da963d
39 changed files with 1999 additions and 145 deletions
@@ -0,0 +1,48 @@
+#pragma once
+#include <entt/entt.hpp>
+#include "BVH.h"
+#include "Containers/Map.h"
+#include "Containers/Array.h"
+#include "Component/Collider.h"
+#include "Component/Transform.h"
+
+namespace Seele
+{
+struct Collision
+{
+    entt::entity a, b;
+};
+class CollisionSystem
+{
+public:
+    CollisionSystem();
+    virtual ~CollisionSystem();
+    void detectCollisions(const entt::registry& registry, Array<Collision>& collisions);
+private:
+    struct Witness
+    {
+        Math::Vector p;
+        Math::Vector n;
+        // for finding p
+        uint32_t point1Index;
+        // and the face where the plane lies on
+        uint32_t point2Index;
+        uint32_t point3Index;
+        uint32_t point4Index = UINT32_MAX;
+        entt::entity source;
+        entt::entity other;
+    };
+    BVH bvh;
+    Map<Pair<entt::entity, entt::entity>, Witness> cachedWitness;
+
+    bool checkCollision(const entt::registry& registry, Pair<entt::entity, entt::entity> pair);
+
+    void updateWitness(Witness& witness, const Math::Vector& point, const Math::Vector& v1, const Math::Vector& v2);
+
+    // returns true if a collision was found
+    bool createWitness(Witness& witness, const Component::ShapeBase& source, const Component::ShapeBase& other);
+
+    // returns true if a collision was found
+    bool witnessValid(const Witness& witness, const Component::ShapeBase& shape1, const Component::ShapeBase& shape2);
+};
+} // namespace Seele