starting rewrite of collision detection to force based model
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1 changed files with 27 additions and 169 deletions
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@ -28,6 +28,30 @@ data CollisionResult time direction
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-- | Typeclass for implementing collision results on objects.
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class (Show c, Mass c) => Collidible c where
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-- | Final position of the object in the previous timestep
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prevPosition :: c -> V2 Double
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-- | Aggregated impact forces in a simulation step
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impactForces :: c -> V2 Double
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-- | Overwrite the impact forces of the mass object
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impactForcesUpdater :: c -> (V2 Double -> c)
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-- | reset impact forces vector at the beginning of a simulation step
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resetImpactForces :: c -> c
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resetImpactForces c = impactForcesUpdater c (V2 0 0)
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-- | Add a impact force to the impact forces acting on the mass object
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addImpactForce
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:: c
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-> V2 Double
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-> c
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addImpactForce c force =
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impactForcesUpdater c (impactForces c + force)
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-- | Flag indicating a collision during the current time step
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collisionOccured :: c -> Bool
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-- | returns the bottom left and top right corners relative to the objects
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-- positional vector of the axis aligned bounding box (AABB) serving here
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-- as collision boundaries.
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@ -39,177 +63,11 @@ class (Show c, Mass c) => Collidible c where
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collisionCheck
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:: (Collidible other)
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=> Double -- ^ Time step length
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-> c -- ^ First object
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=> c -- ^ First object
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-> other -- ^ second object
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-> CollisionResult Double (V2 Int) -- ^ Do the objects collide?
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collisionCheck dt m1 m2 =
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let d1@(V2 d1x d1y) = velocity m1
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d2@(V2 d2x d2y) = velocity m2
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p1@(V2 p1x p1y) = position m1
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p2@(V2 p2x p2y) = position m2
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(m1b1@(V2 m1b1x m1b1y), m1b2@(V2 m1b2x m1b2y)) = boundary m1
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(m2b1@(V2 m2b1x m2b1y), m2b2@(V2 m2b2x m2b2y)) = boundary m2
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(V2 pm1b1x pm1b1y, V2 pm1b2x pm1b2y) = (p1 +) <$> boundary m1
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(V2 pm2b1x pm2b1y, V2 pm2b2x pm2b2y) = (p2 +) <$> boundary m2
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m1p1@(V2 m1p1x m1p1y) = p1 + m1b1
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m1p2 = p1 + V2 m1b1x m1b2y
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m1p3@(V2 m1p3x m1p3y) = p1 + m1b2
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m1p4@(V2 m1p4x _) = p1 + V2 m1b2x m1b1y
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m2p1@(V2 m2p1x m2p1y) = p2 + m2b1
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m2p2 = p2 + V2 m2b1x m2b2y
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m2p3@(V2 m2p3x m2p3y) = p2 + m2b2
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m2p4 = p2 + V2 m2b2x m2b1y
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(V2 b1minx b1miny, V2 b1maxx b1maxy) =
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( V2
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((\(V2 x _) -> x) (if d1x < 0 then m1p1 + ((dt *) <$> d1) else m1p1))
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((\(V2 _ y) -> y) (if d1y < 0 then m1p1 + ((dt *) <$> d1) else m1p1))
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, V2
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((\(V2 x _) -> x) (if d1x < 0 then m1p3 else m1p3 + ((dt *) <$> d1)))
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((\(V2 _ y) -> y) (if d1y < 0 then m1p3 else m1p3 + ((dt *) <$> d1)))
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)
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(V2 b2minx b2miny, V2 b2maxx b2maxy) =
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( V2
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((\(V2 x _) -> x) (if d2x < 0 then m2p1 + ((dt *) <$> d2) else m2p1))
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((\(V2 _ y) -> y) (if d2y < 0 then m2p1 + ((dt *) <$> d2) else m2p1))
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, V2
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((\(V2 x _) -> x) (if d2x < 0 then m2p3 else m2p3 + ((dt *) <$> d2)))
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((\(V2 _ y) -> y) (if d2y < 0 then m2p3 else m2p3 + ((dt *) <$> d2)))
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)
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broadphaseOverlap =
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let in2 =
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(b1minx > b2minx && b1minx < b2maxx &&
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b1miny > b2miny && b1miny < b2maxy) ||
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(b1maxx > b2minx && b1maxx < b2maxx &&
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b1miny > b2miny && b1miny < b2maxy) ||
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(b1minx > b2minx && b1minx < b2maxx &&
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b1maxy > b2miny && b1maxy < b2maxy) ||
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(b1maxx > b2minx && b1maxx < b2maxx &&
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b1maxy > b2miny && b1maxy < b2maxy)
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in1 =
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(b2minx > b1minx && b2minx < b1maxx &&
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b2miny > b1miny && b2miny < b1maxy) ||
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(b2maxx > b1minx && b2maxx < b1maxx &&
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b2miny > b1miny && b2miny < b1maxy) ||
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(b2minx > b1minx && b2minx < b1maxx &&
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b2maxy > b1miny && b2maxy < b1maxy) ||
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(b2maxx > b1minx && b2maxx < b1maxx &&
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b2maxy > b1miny && b2maxy < b1maxy)
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in
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in2 || in1
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overlap =
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let in1 =
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(pm1b1x > pm2b1x && pm1b1x < pm2b2x &&
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pm1b1y > pm2b1y && pm1b1y < pm2b2y) ||
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(pm1b2x > pm2b1x && pm1b2x < pm2b2x &&
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pm1b1y > pm2b1y && pm1b1y < pm2b2y) ||
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(pm1b1x > pm2b1x && pm1b2x < pm2b2x &&
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pm1b2y > pm2b1y && pm1b2y < pm2b2y) ||
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(pm1b2x > pm2b1x && pm1b2x < pm2b2x &&
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pm1b2y > pm2b1y && pm1b2y < pm2b2y)
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in2 =
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(pm2b1x > pm1b1x && pm2b1x < pm1b2x &&
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pm2b1y > pm1b1y && pm2b1y < pm1b2y) ||
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(pm2b2x > pm1b1x && pm2b2x < pm1b2x &&
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pm2b1y > pm1b1y && pm2b1y < pm1b2y) ||
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(pm2b1x > pm1b1x && pm2b2x < pm1b2x &&
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pm2b2y > pm1b1y && pm2b2y < pm1b2y) ||
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(pm2b2x > pm1b1x && pm2b2x < pm1b2x &&
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pm2b2y > pm1b1y && pm2b2y < pm1b2y)
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in
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in2 || in1
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tx =
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let p1x = (\(V2 x _) -> x) (if d1x < 0 then m1p1 else m1p4)
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p2x = (\(V2 x _) -> x) (if d1x < 0 then m2p4 else m2p1)
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in
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if d2x - d1x == 0 then dt else (p1x - p2x) / (d2x - d1x)
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ty =
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let p1y = (\(V2 _ y) -> y) (if d1y < 0 then m1p1 else m1p2)
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p2y = (\(V2 _ y) -> y) (if d1y < 0 then m2p2 else m2p1)
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in
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if d2y - d1y == 0 then dt else (p1y - p2y) / (d2y - d1y)
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in
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if broadphaseOverlap
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then
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let coll xdir =
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let (p11, p12, p21, p22)
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| xdir =
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if d1x < 0
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then
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(m1p1, m1p2, m2p4, m2p3)
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else
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(m1p4, m1p3, m2p1, m2p2)
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| otherwise =
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if d1y < 0
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then
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(m1p1, m1p4, m2p2, m2p3)
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else
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(m1p2, m1p3, m2p1, m2p4)
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vselector (V2 x y) = if xdir then y else x
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tick = if xdir then tx else ty
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g1s = vselector $ p11 + ((tick *) <$> d1)
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g1e = vselector $ p12 + ((tick *) <$> d1)
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g2s = vselector $ p21 + ((tick *) <$> d2)
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g2e = vselector $ p22 + ((tick *) <$> d2)
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s11 = (g1s - g2s) / (g2e - g2s)
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s12 = (g1e - g2s) / (g2e - g2s)
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s21 = (g2s - g1s) / (g1e - g1s)
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s22 = (g2e - g1s) / (g1e - g1s)
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in
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any (\x -> x > 0 && x < 1) [s11, s12, s21 ,s22]
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res = case (tx < dt, ty < dt, tx < ty, coll True, coll False) of
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(True, _, True, True, _) ->
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CollisionImminent tx (V2 (floor $ signum d1x) 0)
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(_, True, False, _, True) ->
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CollisionImminent ty (V2 0 (floor $ signum d1y))
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(True, _, False, True, False) ->
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CollisionImminent tx (V2 (floor $ signum d1x) 0)
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(_, True, True, False, True) ->
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CollisionImminent ty (V2 0 (floor $ signum d1y))
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(_, _, _, False, False) ->
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NoCollision
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(_, _, True, _, _) ->
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A.log A.Debug "CORNER CASE!" NoCollision
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(False, False, _, _, _) ->
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NoCollision
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x -> error $
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"Unhandled combination of collision check results: "
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<> fromString (show x)
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in
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case res of
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CollisionImminent _ _ ->
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res
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NoCollision ->
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if overlap
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then
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let xoverlap = floor (maximum (filter (0 >)
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[ pm2b2x - pm2b1x
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, pm2b1x - pm1b2x
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]))
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yoverlap = floor (maximum (filter (0 >)
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[ pm2b1y - pm1b2y
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, pm2b2y - pm1b1y
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]))
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in
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if xoverlap < yoverlap
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then
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if xoverlap < 0
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then OverlapCollision
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(V2 xoverlap 0)
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else
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NoCollision
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else
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if yoverlap < 0
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then OverlapCollision
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(V2 0 yoverlap)
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else NoCollision
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else NoCollision
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_ -> A.log
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A.Error
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"Premature overlap collision detection"
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NoCollision
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else
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NoCollision
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collisionCheck m1 m2 =
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error "collisionCheck: not yet implemented!"
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-- | This Function is called for every collision on both colliding objects.
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collide
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