author | alfadur |
Fri, 02 Nov 2018 19:37:47 +0300 | |
changeset 14109 | f483f844da98 |
parent 14080 | c6745a1c827a |
child 14165 | 165e43c3ed59 |
permissions | -rw-r--r-- |
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use fpnum::*; |
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use integral_geometry::{ |
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Point, Size, GridIndex |
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}; |
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|
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type Index = u16; |
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#[derive(PartialEq, Eq, Clone, Copy, Debug)] |
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struct PhysicsData { |
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position: FPPoint, |
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velocity: FPPoint, |
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} |
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#[derive(PartialEq, Eq, Clone, Copy, Debug)] |
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struct CollisionData { |
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bounds: CircleBounds |
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} |
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#[derive(PartialEq, Eq, Clone, Copy, Debug)] |
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struct ContactData { |
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elasticity: FPNum, |
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friction: FPNum |
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} |
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pub struct PhysicsCollection { |
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positions: Vec<FPPoint>, |
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velocities: Vec<FPPoint> |
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} |
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impl PhysicsCollection { |
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fn push(&mut self, data: PhysicsData) { |
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self.positions.push(data.position); |
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self.velocities.push(data.velocity); |
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} |
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fn iter_mut_pos(&mut self) -> impl Iterator<Item = (&mut FPPoint, &FPPoint)> { |
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self.positions.iter_mut().zip(self.velocities.iter()) |
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} |
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} |
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pub struct JoinedData { |
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physics: PhysicsData, |
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collision: CollisionData, |
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contact: ContactData |
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} |
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pub struct World { |
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enabled_physics: PhysicsCollection, |
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disabled_physics: Vec<PhysicsData>, |
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collision: Vec<CollisionData>, |
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grid: Grid, |
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physics_cleanup: Vec<PhysicsData>, |
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collision_output: Vec<(Index, Index)> |
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} |
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#[derive(PartialEq, Eq, Clone, Copy, Debug)] |
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struct CircleBounds { |
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center: FPPoint, |
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radius: FPNum |
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} |
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impl CircleBounds { |
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fn intersects(&self, other: &CircleBounds) -> bool { |
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(other.center - self.center).is_in_range(self.radius + other.radius) |
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} |
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} |
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fn fppoint_round(point: &FPPoint) -> Point { |
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Point::new(point.x().round() as i32, point.y().round() as i32) |
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} |
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struct GridBin { |
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refs: Vec<Index>, |
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static_entries: Vec<CircleBounds>, |
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dynamic_entries: Vec<CircleBounds> |
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} |
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impl GridBin { |
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fn new() -> Self { |
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Self { |
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refs: vec![], |
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static_entries: vec![], |
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dynamic_entries: vec![] |
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} |
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} |
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} |
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const GRID_BIN_SIZE: usize = 256; |
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struct Grid { |
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bins: Vec<GridBin>, |
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space_size: Size, |
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bins_count: Size, |
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index: GridIndex |
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} |
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impl Grid { |
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fn new(size: Size) -> Self { |
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assert!(size.is_power_of_two()); |
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let bins_count = |
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Size::new(size.width / GRID_BIN_SIZE, |
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size.height / GRID_BIN_SIZE); |
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Self { |
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bins: (0..bins_count.area()).map(|_| GridBin::new()).collect(), |
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space_size: size, |
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bins_count, |
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index: Size::square(GRID_BIN_SIZE).to_grid_index() |
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} |
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} |
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fn bin_index(&self, position: &FPPoint) -> Point { |
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self.index.map(fppoint_round(position)) |
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} |
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fn lookup_bin(&mut self, position: &FPPoint) -> &mut GridBin { |
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let index = self.bin_index(position); |
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&mut self.bins[index.x as usize * self.bins_count.width + index.y as usize] |
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} |
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fn insert_static(&mut self, index: Index, position: &FPPoint, bounds: &CircleBounds) { |
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self.lookup_bin(position).static_entries.push(*bounds) |
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} |
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fn insert_dynamic(&mut self, index: Index, position: &FPPoint, bounds: &CircleBounds) { |
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self.lookup_bin(position).dynamic_entries.push(*bounds) |
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} |
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fn check_collisions(&self, collisions: &mut Vec<(Index, Index)>) { |
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for bin in &self.bins { |
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for bounds in &bin.dynamic_entries { |
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for other in &bin.dynamic_entries { |
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if bounds.intersects(other) && bounds != other { |
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collisions.push((0, 0)) |
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} |
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} |
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for other in &bin.static_entries { |
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if bounds.intersects(other) { |
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collisions.push((0, 0)) |
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} |
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} |
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} |
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} |
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} |
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} |
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impl World { |
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pub fn step(&mut self, time_step: FPNum) { |
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for (pos, vel) in self.enabled_physics.iter_mut_pos() { |
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*pos += *vel |
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} |
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self.grid.check_collisions(&mut self.collision_output); |
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} |
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pub fn add_gear(&mut self, data: JoinedData) { |
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if data.physics.velocity == FPPoint::zero() { |
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self.disabled_physics.push(data.physics); |
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self.grid.insert_static(0, &data.physics.position, &data.collision.bounds); |
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} else { |
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self.enabled_physics.push(data.physics); |
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self.grid.insert_dynamic(0, &data.physics.position, &data.collision.bounds); |
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} |
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} |
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} |
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#[cfg(test)] |
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mod tests { |
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} |