X-Git-Url: http://git.tdb.fi/?a=blobdiff_plain;f=examples%2Fbassteroids%2Fsource%2Fphysics.cpp;h=73d858295db7df316f55a7e8396c9312e09c5c81;hb=338031de484ee117762d80449d9ca472a6918c92;hp=612a3ece9bde82edb6cdf23fbef3b2b7fc0a248b;hpb=c462430faa39c68edfc28446260c86ec100e3424;p=libs%2Fgame.git

diff --git a/examples/bassteroids/source/physics.cpp b/examples/bassteroids/source/physics.cpp
index 612a3ec..73d8582 100644
--- a/examples/bassteroids/source/physics.cpp
+++ b/examples/bassteroids/source/physics.cpp
@@ -1,5 +1,5 @@
 #include "physics.h"
-#include <algorithm>
+#include <msp/core/algorithm.h>
 #include <msp/game/transform.h>
 #include "physicalentity.h"
 
@@ -8,9 +8,11 @@ using namespace Msp;
 
 Physics::Physics(Game::Stage &s):
 	System(s),
+	event_source(stage.get_event_bus()),
 	observer(stage.get_event_bus())
 {
 	observer.observe<Game::Events::EntityCreated>([this](auto &e){ entity_added(e); });
+	observer.observe<Game::Events::EntityDestroyed>([this](auto &e){ entity_removed(e); });
 
 	stage.synthesize_initial_events(observer);
 }
@@ -35,6 +37,27 @@ void Physics::entity_added(const Game::Events::EntityCreated &e)
 	}
 }
 
+void Physics::entity_removed(const Game::Events::EntityDestroyed &e)
+{
+	if(Game::Handle<PhysicalEntity> physical = dynamic_handle_cast<PhysicalEntity>(e.entity))
+	{
+		auto i = find_member(entities, physical, &SimulatedEntity::entity);
+		if(i!=entities.end())
+		{
+			size_t index = distance(entities.begin(), i);
+			if(index<fixture_count)
+			{
+				if(index+1!=fixture_count)
+					*i = std::move(entities[fixture_count-1]);
+				entities[fixture_count-1] = std::move(entities.back());
+			}
+			else
+				*i = std::move(entities.back());
+			entities.pop_back();
+		}
+	}
+}
+
 void Physics::tick(Time::TimeDelta dt)
 {
 	float dt_secs = dt/Time::sec;
@@ -59,6 +82,9 @@ void Physics::tick(Time::TimeDelta dt)
 		copy_out<true>(entities[i]);
 	for(unsigned i=fixture_count; i<entities.size(); ++i)
 		copy_out<false>(entities[i]);
+
+	for(const Collision &c: collisions)
+		event_source.emit<Events::Collision>(entities[c.body1].entity->get_collider(), entities[c.body2].entity->get_collider());
 }
 
 template<bool is_fixture>
@@ -186,7 +212,9 @@ void Physics::apply_impulses()
 		LinAl::Vector<float, 2> v_p1 = entity1.velocity+LinAl::Vector<float, 2>(-r1.y, r1.x)*entity1.angular_velocity.radians();
 		LinAl::Vector<float, 2> v_p2 = entity2.velocity+LinAl::Vector<float, 2>(-r2.y, r2.x)*entity2.angular_velocity.radians();
 		LinAl::Vector<float, 2> v_rel = v_p2-v_p1;
-		LinAl::Vector<float, 2> tangent = normalize(v_rel-c.normal*inner_product(v_rel, c.normal));
+		LinAl::Vector<float, 2> tangent = v_rel-c.normal*inner_product(v_rel, c.normal);
+		float v_tan = tangent.norm();
+		tangent = (v_tan>1e-5 ? normalize(tangent) : LinAl::Vector<float, 2>(-c.normal.y, c.normal.x));
 		float restitution = 1.0f;
 		float friction_coeff = 0.1f;
 		float inv_mass_sum = entity1.inverse_mass+entity2.inverse_mass;
@@ -249,11 +277,29 @@ void Physics::collide_circle_box(unsigned i, unsigned j)
 	LinAl::Vector<float, 2> local_closest(clamp(local_delta.x, -half_size.x, half_size.x), clamp(local_delta.y, -half_size.y, half_size.y));
 	LinAl::Vector<float, 2> local_cdelta = local_delta-local_closest;
 	float d_sq = inner_product(local_cdelta, local_cdelta);
+
 	if(d_sq<radius*radius)
 	{
 		Collision &collision = get_collision(i, j);
-		collision.normal = normalize(LinAl::Vector<float, 2>(c*local_cdelta.x-s*local_cdelta.y, c*local_cdelta.y+s*local_cdelta.x));
-		collision.depth = radius-sqrt(d_sq);
+		if(d_sq>1e-10)
+		{
+			collision.normal = normalize(LinAl::Vector<float, 2>(c*local_cdelta.x-s*local_cdelta.y, c*local_cdelta.y+s*local_cdelta.x));
+			collision.depth = radius-sqrt(d_sq);
+		}
+		else
+		{
+			LinAl::Vector<float, 2> inside_dist(half_size.x-abs(local_delta.x), half_size.y-abs(local_delta.y));
+			if(inside_dist.x<inside_dist.y)
+			{
+				collision.normal = LinAl::Vector<float, 2>(c, s) * (local_delta.x<0 ? -1.0f : 1.0f);
+				collision.depth = radius+inside_dist.x;
+			}
+			else
+			{
+				collision.normal = LinAl::Vector<float, 2>(-s, c) * (local_delta.y<0 ? -1.0f : 1.0f);
+				collision.depth = radius+inside_dist.y;
+			}
+		}
 		collision.point = pos1-collision.normal*(radius-collision.depth/2);
 		if(collision.body1!=i)
 			collision.normal = -collision.normal;