Contains different types of collision detection and resolve functions. More...

#include "tileMap.hpp"

Classes
class	CollisionManifold
	Defines the relevant collision information generated by detectNarrowColllision() to both resolve the collision through its normals and impulse. More...

struct	debug::CollideInfo

class	TileBodyCollisionCache< TileData >
	Used to speed up the collision detection between two tile bodies. More...

class	ImpulseMethod
	Resolves the collision between two bodies using the impulse method. More...

struct	ImpulseMethod::Impulse

Functions
template<class BoxVertexContainer , class NormalContainer >
bool	satBoxTest (const BoxVertexContainer &vertices1, const BoxVertexContainer &vertices2, const NormalContainer &normals, CollisionManifold &manifold)
	Returns the normal and depth of two polygons defined by the vertices `vertices1` and `vertices2` by using `normals` inside of the `manifold`.

template<typename Container , typename Integer >
void	findClosestPoint (vec2 &cp1, vec2 &cp2, Integer &count, Float &distance1, const Container &points1, const Container &points2)
	Finds the closest point between points1 and the faces defined by points2.

template<typename Container >
void	computeBoxManifold (const Container &points1, const Container &points2, CollisionManifold &manifold)
	Finds the closest point between points1 and the faces defined by points2.

template<class TileData >
bool	detectNarrowCollision (const TileBody< TileData > &body1, const glm::i32vec2 &tilePos1, const vec2 &body1Offset, const TileBody< TileData > &body2, const glm::i32vec2 &tilePos2, const vec2 &body2Offset, CollisionManifold &manifold)
	Detects the collision between the tile in `tilePos1` of `body1` and the tile `tilePos2` of body2.

template<class TileData >
void	detectTileBodyCollision (const TileBody< TileData > &body1, const TileBody< TileData > &body2, TileBodyCollisionCache< TileData > &cache, std::vector< CollisionManifold > &manifolds, vec2 &body1Offset, vec2 &body2Offset)
	Detects the collision between the tiles bodies, body1 and body2.

Variables
std::vector< CollideInfo >	debug::collideInfos

Detailed Description

Contains different types of collision detection and resolve functions.

Function Documentation

◆ computeBoxManifold()

template<typename Container >

void computeBoxManifold	(	const Container &	points1,
		const Container &	points2,
		CollisionManifold &	manifold )

inline

Finds the closest point between points1 and the faces defined by points2.

The size of vertices1 and vertices2 must be 4. The size of normals must be 2.

Parameters

[in]	points1	The set of points used to find the closest point in the faces defined by points2
[in]	points2	The set of points that define faces that points1 will check against
[in,out]	manifold	The normal and depth must be already calculated within manifold. The contact points betweeen the shapes defined by points1 and points2 will be written inside of manifold

◆ detectNarrowCollision()

template<class TileData >

bool detectNarrowCollision	(	const TileBody< TileData > &	body1,
		const glm::i32vec2 &	tilePos1,
		const vec2 &	body1Offset,
		const TileBody< TileData > &	body2,
		const glm::i32vec2 &	tilePos2,
		const vec2 &	body2Offset,
		CollisionManifold &	manifold )

Detects the collision between the tile in tilePos1 of body1 and the tile tilePos2 of body2.

In order to not modify body1 and body2, detectTileBodyCollision() uses offsets that are applied to body1 and body2 that would correctly resolve the collision between the two bodies. The offsets after each call to detectNarrowCollision() will have "normal * depth" added to them.

Parameters

[in]	body1	The first body to grab the tile data defined by `tilePos1`
[in]	tilePos1	The tile position of `body1` to check against `tilePos2`
[in]	body1Offset	A world offset to apply to the OBB of the tile defined by `tilePos1` of `body1`
[in]	body2	The second body to grab the tile data defined by `tilePos2`
[in]	tilePos2	The tile position of `body2` to check against `tilePos1`
[in]	body2Offset	A world offset to apply to the OBB of the tile defined by `tilePos2` of `body2`
[out]	manifold	If detectNarrowCollision() returns true, Will contain a set of contact points and the normal and depth that may be applied to body1 and body2 to resolve the collision of the tiles defined by tilePos1 and tilePos2

Returns: If true, the collision between the tile of tilePos1 of body1 and the tile of tilePos2 of body2 is occuring.

◆ detectTileBodyCollision()

template<class TileData >

void detectTileBodyCollision	(	const TileBody< TileData > &	body1,
		const TileBody< TileData > &	body2,
		TileBodyCollisionCache< TileData > &	cache,
		std::vector< CollisionManifold > &	manifolds,
		vec2 &	body1Offset,
		vec2 &	body2Offset )

Detects the collision between the tiles bodies, body1 and body2.

Uses chunking as a broad phase to speed up the collision of extremely large tile bodies

Parameters

[in]	body1	The first tile body
[in]	body2	The second tile body
[in,out]	cache	In order to speed up collisions, a cache is used to lessen calls to malloc() and free()
[out]	manifolds	the contact manifolds between the tiles of body1 and body2
[out]	body1Offset	A world offset to apply to body1 to resolve the collision
[out]	body2Offset	A world offset to apply to body2 to resolve the collision

◆ findClosestPoint()

template<typename Container , typename Integer >

void findClosestPoint	(	vec2 &	cp1,
		vec2 &	cp2,
		Integer &	count,
		Float &	distance1,
		const Container &	points1,
		const Container &	points2 )

inline

Finds the closest point between points1 and the faces defined by points2.

The size of vertices1 and vertices2 must be 4. The size of normals must be 2.

Parameters

[in,out]	cp1	The first closest point between points1 and points2
[in,out]	cp2	The second closest point between points1 and points2, may not exist
[in,out]	count	The count of closest points between points1 and points2
[in,out]	distance1	Contains the minimum distance between points1 and faces defined by points2
[in]	points1	The set of points used to find the closest point in the faces defined by points2
[in]	points2	The set of points that define faces that points1 will check against

◆ satBoxTest()

template<class BoxVertexContainer , class NormalContainer >

bool satBoxTest	(	const BoxVertexContainer &	vertices1,
		const BoxVertexContainer &	vertices2,
		const NormalContainer &	normals,
		CollisionManifold &	manifold )

Returns the normal and depth of two polygons defined by the vertices vertices1 and vertices2 by using normals inside of the manifold.

The size of vertices1 and vertices2 must be 4. The size of normals must be 2.

Parameters

[in]	vertices1	The first set of vertices that define a convex polygon
[in]	vertices2	The second set of vertices that define a convex polygon
[out]	manifold	If satBoxTest() returns true, it will contain the normal and depth of penetration between vertices1 and vertices2 inside of its members, 'normal' and 'depth'

Returns: Will return true if there was a collision detected, false otherwise

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ computeBoxManifold()

◆ detectNarrowCollision()

◆ detectTileBodyCollision()

◆ findClosestPoint()

◆ satBoxTest()