pituicat/src/Classes/Physics/Collidible.hs

{-# LANGUAGE AllowAmbiguousTypes #-}
module Classes.Physics.Collidible where

import Linear

-- internal imports

import Classes.Physics.Mass

-- | Typeclass for implementing collision results on objects.
class (Show c, Mass c) => Collidible c where

  -- | returns the bottom left and top right corners relative to the objects
  -- positional vector of the axis aligned bounding box (AABB) serving here
  -- as collision boundaries.
  boundary
    :: c            -- ^ Object
    -> ( V2 Double  -- ^ Bottom left corner of AABB relative to position
       , V2 Double  -- ^ Top right corner of AABB relative to position
       )

  collisionCheck
    :: (Collidible other)
    => Double -- ^ Time step length
    -> c      -- ^ First object
    -> other  -- ^ second object
    -> Bool   -- ^ Do the objects collide?
  collisionCheck dt m1 m2 =
    let d1@(V2 d1x d1y) = (dt *) <$> velocity m1
        d2@(V2 d2x d2y) = (dt *) <$> velocity m2
        p1 = position m1
        p2 = position m2
        (m1b1@(V2 m1b1x m1b1y), m1b2@(V2 m1b2x m1b2y)) = boundary m1
        (m2b1@(V2 m2b1x m2b1y), m2b2@(V2 m2b2x m2b2y)) = boundary m2
        m1p1 = m1b1
        m1p2 = V2 m1b1x m1b2y
        m1p3 = m1b2
        m1p4 = V2 m1b2x m1b1y
        m2p1 = m2b1
        m2p2 = V2 m2b1x m2b2y
        m2p3 = m2b2
        m2p4 = V2 m2b2x m2b1y
        quad1 = map (p1 + d1 +) [m1p1, m1p2, m1p3, m1p4]
        g1 = (m2p1, m2p2)
        g2 = (m2p2, m2p3)
        g3 = (m2p3, m2p4)
        g4 = (m2p4, m2p1)
        gs = map (\(s1, s2) -> (p2 + s1, p2 + s2)) [g1, g2, g3, g4]
        t (V2 mqpx mqpy) (ps@(V2 mspx mspy), pt@(V2 mtpx mtpy)) =
          if d1x == 0 && d1y == 0
          then dt
          else
            ((mtpx - mqpx) * (-(mtpy - mspy)) - (-(mtpx - mspx)) * (mspy - mqpy)) /
            (d1x * (-(mtpy - mspy)) - (-(mtpx - mspx)) * d1y)
        s (V2 mqpx mqpy) (ps@(V2 mspx mspy), pt@(V2 mtpx mtpy)) =
          (d1x * (mtpy - mqpy) - (mtpx - mqpx) * d1y) /
          (d1x * (-(mtpy - mspy)) - (-(mtpx - mspx)) * d1y)
        inside m =
          let am = m - (p2 + m2p1)
              ab = (p2 + m2p2) - (p2 + m2p1)
              ad = (p2 + m2p4) - (p2 + m2p1)
          in
            (0 < am `dot` ab && am `dot` ab < ab `dot` ab) &&
            (0 < am `dot` ad && am `dot` ad < ad `dot` ad)
    in
      any inside quad1 ||
      any
        (\gx ->
          any
            (\q ->
              let qs = s q gx
                  qt = t q gx
              in
                  (qs > 0 && qs < 1) && (qt > 0 && qt < dt)
              )
            quad1
          )
        gs

  -- | This Function is called for every collision on both colliding objects.
  collide
    :: (Collidible other)
    => c     -- ^ Original object
    -> other -- ^ Collision partner
    -> c     -- ^ Updated original object
  collide = elasticCollision 1

-- | Implementation of a dampened elastic collision used as default collision
-- implementation of the collision reaction
elasticCollision
  :: (Collidible c1, Collidible c2)
  => Double
  -> c1
  -> c2
  -> c1
elasticCollision damping mo1 mo2 =
  let (V2 v1x v1y) = velocity mo1
      (V2 v2x v2y) = velocity mo2
      p1@(V2 p1x p1y) = position mo1
      p2 = position mo2
      (V2 m1x1 m1y1, V2 m1x2 m1y2) = boundary mo1
      (V2 m2x1 m2y1, V2 m2x2 m2y2) = boundary mo2
      m1 = mass mo1
      m2 = mass mo2
      v1x' = 2 * (m1 * v1x + m2 * v2x) / (m1 + m2) - v1x
      v1y' = 2 * (m1 * v1y + m2 * v2y) / (m1 + m2) - v1y
      (V2 dx dy) = p2 - p1
      nvel@(V2 nvx nvy) = if m1 == recip 0
        then V2 0 0
        else (damping *) <$>
          if m2 == recip 0
          then
            if abs dy < abs dx
            then (V2 (-v1x) v1y)
            else (V2 v1x (-v1y))
          else (V2 v1x' v1y')
  in
    (velocityUpdater mo1) nvel