[Fix] Made the linear component of collisions with static bodies work.

src/collider/Makefile.am

@@ -1,5 +1,5 @@
 noinst_LIBRARIES = libcollider.a
 libcollider_a_SOURCES = geom_tree.cpp geom.cpp collision_space.cpp
 
-include_HEADERS = geom_tree.h geom.h collision_space.h collider.h
+include_HEADERS = geom_tree.h geom.h collision_space.h collider.h collision_contact.h
 

src/collider/collider.h

@@ -4,14 +4,5 @@
 #include "collision_space.h"
 #include "geom.h"
 
-class Geom;
+#include "collision_contact.h"
-
-struct CollisionContact {
-  vector3d pos;
-  vector3d normal;
-  double depth;
-  int triIdx;
-  void* userData1, *userData2;
-  int geomFlag;
-};
 

src/collider/collision_contact.h

@@ -0,0 +1,14 @@
+#pragma once
+
+struct CollisionContact {
+  vector3d pos;
+  vector3d normal;
+  double depth;
+  int triIdx;
+  void* userData1, *userData2;
+  int geomFlag;
+  CollisionContact(void) {
+    depth = 0; triIdx = -1; userData1 = userData2 = 0;
+  }
+};
+

src/collider/collision_space.cpp

@@ -58,7 +58,7 @@ void CollisionSpace::TraceRay(const vector3d& start, const vector3d& dir, isect_
   CollideRaySphere(start, dir, isect);
 }
 
-void CollisionSpace::CollideGeoms(Geom* a, void (*callback)(CollisionContact*)) {
+void CollisionSpace::CollideGeoms(Geom* a) {
   /* Our big Aabb. */
   vector3d pos = a->GetPosition();
   Aabb bigAabb;
@@ -68,7 +68,7 @@ void CollisionSpace::CollideGeoms(Geom* a, void (*callback)(CollisionContact*))
 
   /* First test this reested sh*t against the planet sphere thing. */
   if(sphere.radius != 0) {
-    a->CollideSphere(sphere, callback);
+    a->CollideSphere(sphere);
   }
 
   for(std::list<Geom*>::iterator i = m_geoms.begin(); i != m_geoms.end(); ++i) {
@@ -79,17 +79,24 @@ void CollisionSpace::CollideGeoms(Geom* a, void (*callback)(CollisionContact*))
       bigAabb2.min += pos2;
       bigAabb2.max += pos2;
       if(bigAabb.Intersects(bigAabb2)) {
-        a->Collide(*i, callback);
+        a->Collide(*i);
-        if(!(*i)->HasMoved()) (*i)->Collide(a, callback);
+        if(!(*i)->HasMoved()) (*i)->Collide(a);
       }
     }
   }
 }
 
 void CollisionSpace::Collide(void (*callback)(CollisionContact*)) {
-  /* For now, do a totally stupid intersection of every body on every other. */
   for(std::list<Geom*>::iterator i = m_geoms.begin(); i != m_geoms.end(); ++i) {
-    if((*i)->HasMoved()) CollideGeoms(*i, callback);
+    (*i)->contact = CollisionContact();
+    if((*i)->HasMoved()) {
+      CollideGeoms(*i);
+      if((*i)->HasMoved()) {
+        CollideGeoms(*i);
+        if((*i)->contact.triIdx != -1)
+          (*callback)(&(*i)->contact);
+      }
+    }
   }
 }
 

src/collider/collision_space.h

@@ -26,7 +26,7 @@ public:
   }
 
 private:
-  void CollideGeoms(Geom* a, void (*callback)(CollisionContact*));
+  void CollideGeoms(Geom* a);
   void CollideRaySphere(const vector3d& start, const vector3d& dir, isect_t* isect);
   std::list<Geom*> m_geoms;
 

src/collider/geom.cpp

@@ -42,7 +42,7 @@ vector3d Geom::GetPosition(void) const {
       m_orient[m_orientIdx][14]);
 }
 
-void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
+void Geom::CollideSphere(Sphere& sphere) {
   /*
    * If the geom is actually within the sphere, create a contact so
    * that we can't fall into spheres forever and ever and ever..
@@ -50,15 +50,13 @@ void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
   vector3d v = GetPosition() - sphere.pos;
   const double len = v.Length();
   if(len < sphere.radius) {
-    CollisionContact c;
+    contact.pos       = GetPosition();
-    c.pos = GetPosition();
+    contact.normal    = (1.0/len)*v;
-    c.normal = (1.0/len)*v;
+    contact.depth     = sphere.radius - len;
-    c.depth = sphere.radius - len;
+    contact.triIdx    = 0;
-    c.triIdx = 0;
+    contact.userData1 = this->m_data;
-    c.userData1 = this->m_data;
+    contact.userData2 = sphere.userData;
-    c.userData2 = sphere.userData;
+    contact.geomFlag  = 0;
-    c.geomFlag = 0;
-    (*callback)(&c);
     return;
   }
   for(int i = 0; i < m_geomtree->m_numVertices; i++) {
@@ -80,15 +78,13 @@ void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
       if(i2 > 0) {
         if(i1 > 0) {
           if(i1 < len) {
-            CollisionContact c;
+            contact.pos = from + dir*i1;
-            c.pos = from + dir*i1;
+            contact.normal    = vector3d::Normalize(v);
-            c.normal = vector3d::Normalize(v);
+            contact.depth     = len - i1;
-            c.depth = len - i1;
+            contact.triIdx    = 0;
-            c.triIdx = 0;
+            contact.userData1 = this->m_data;
-            c.userData1 = this->m_data;
+            contact.userData2 = sphere.userData;
-            c.userData2 = sphere.userData;
+            contact.geomFlag  = 0;
-            c.geomFlag = 0;
-            (*callback)(&c);
           }
         }
       }
@@ -96,7 +92,7 @@ void Geom::CollideSphere(Sphere& sphere, void(*callback)(CollisionContact*)) {
   }
 }
 
-void Geom::Collide(Geom* b, void(*callback)(CollisionContact*)) {
+void Geom::Collide(Geom* b) {
   m_moved = false;
   for(int i = 0; i < m_geomtree->m_numVertices; i++) {
     vector3d v(&m_geomtree->m_vertices[3*i]);
@@ -116,19 +112,20 @@ void Geom::Collide(Geom* b, void(*callback)(CollisionContact*)) {
     isect.triIdx = -1;
     b->m_geomtree->TraceRay(_from, _dir, &isect);
     if(isect.triIdx != -1) {
-      CollisionContact c;
+      const double depth = len - isect.dist;
-      /* In world coords. */
+      if(depth > contact.depth) {
-      c.pos = b->GetTransform() * (from + dir*isect.dist);
+        /* In world coords. */
-      vector3f n = b->m_geomtree->GetTriNormal(isect.triIdx);
+        contact.pos = b->GetTransform() * (from + dir*isect.dist);
-      c.normal = vector3d(n.x, n.y, n.z);
+        vector3f n = b->m_geomtree->GetTriNormal(isect.triIdx);
-      c.normal = b->GetTransform().ApplyRotationOnly(c.normal);
+        contact.normal = vector3d(n.x, n.y, n.z);
+        contact.normal = b->GetTransform().ApplyRotationOnly(contact.normal);
 
-      c.depth = len - isect.dist;
+        contact.depth = len - isect.dist;
-      c.triIdx = isect.triIdx;
+        contact.triIdx = isect.triIdx;
-      c.userData1 = m_data;
+        contact.userData1 = m_data;
-      c.userData2 = b->m_data;
+        contact.userData2 = b->m_data;
-      c.geomFlag = b->m_geomtree->GetTriFlag(isect.triIdx);
+        contact.geomFlag = b->m_geomtree->GetTriFlag(isect.triIdx);
-      (*callback)(&c);
+      }
     }
   }
 }

src/collider/geom.h

@@ -1,10 +1,10 @@
 #pragma once
 #include "../matrix4x4.h"
 #include "../vector3.h"
+#include "collision_contact.h"
 
 class GeomTree;
 class isect_t;
-class CollisionContact;
 class Sphere;
 
 class Geom {
@@ -21,10 +21,12 @@ public:
   bool IsEnabled(void) { return m_active; }
   bool HasMoved(void)  { return m_moved; }
   GeomTree* GetGeomTree(void) { return m_geomtree; }
-  void Collide(Geom* b, void(*callback)(CollisionContact*));
+  void Collide(Geom* b);
-  void CollideSphere(Sphere& sphere, void (*callback)(CollisionContact*));
+  void CollideSphere(Sphere& sphere);
   void SetUserData(void* d) { m_data = d; }
   void* GetUserData(void) { return m_data; }
+
+  CollisionContact contact;
 private:
   /* double-buffer position so we can keep previous position. */
   matrix4x4d m_orient[2], m_invOrient;

src/dynamic_body.cpp

@@ -93,6 +93,10 @@ vector3d DynamicBody::GetPosition(void) const {
 }
 
 void DynamicBody::TimeStepUpdate(const float timeStep) {
+  /*
+   * XXX Remember this is used to step back also in the collision code.
+   * very silly btw.
+   */
   if(m_enabled) {
     m_vel += timeStep * m_force * (1.0/m_mass);
     m_angVel += timeStep * m_torque * (1.0 / m_angInertia);

src/space.cpp

@@ -271,6 +271,7 @@ void Space::UpdateFramesOfReference(void) {
   }
 }
 
+#if 0
 static bool _OnCollision(dGeomID g1, dGeomID g2, Object* o1, Object* o2,
                          int numContacts, dContact contacts[]) {
   if((o1->IsType(Object::LASER)) || (o2->IsType(Object::LASER))) {
@@ -305,14 +306,7 @@ static bool _OnCollision(dGeomID g1, dGeomID g2, Object* o1, Object* o2,
   }
   return true;
 }
-
+#endif
-static void dump_contact(const dContact* c) {
-  printf("pos %f,%f,%f\n", c->geom.pos[0], c->geom.pos[1], c->geom.pos[2]);
-  printf("normal %f,%f,%f\n", c->geom.normal[0], c->geom.normal[1], c->geom.normal[2]);
-  printf("depth %f\n", c->geom.depth);
-  printf("side1:side2 %d:%d\n", c->geom.side1, c->geom.side2);
-  printf("fdir1 %f,%f,%f\n", c->fdir1[0], c->fdir1[1], c->fdir1[2]);
-}
 
 static bool _OnCollision2(Object* o1, Object* o2, CollisionContact* c) {
   Body* pb1, *pb2;
@@ -332,50 +326,42 @@ static bool _OnCollision2(Object* o1, Object* o2, CollisionContact* c) {
   return true;
 }
 
-#define MAX_CONTACTS 1
-/* XXX SO REESTED!! 1 CONTACT PER PHYSICS TICK?! WTH?! */
-static int contact_num;
 static void hitCallback(CollisionContact* c) {
-  if(contact_num++ >= MAX_CONTACTS) return;
   printf("AUCH!! %x (depth %f)\n", SDL_GetTicks(), c->depth);
-#if 0
-  dContact contact;
-
-  contact.surface.mode = dContactBounce;
-  contact.surface.mu = 0.8;
-  contact.surface.mu2 = 0;
-  contact.surface.bounce = 0.1;
-  contact.surface.bounce_vel = 0.1;
-
-  contact.geom.pos[0] = c->pos.x;
-  contact.geom.pos[1] = c->pos.y;
-  contact.geom.pos[2] = c->pos.z;
-  contact.geom.pos[3] = 1;
-  contact.geom.normal[0] = c->normal.x;
-  contact.geom.normal[1] = c->normal.y;
-  contact.geom.normal[2] = c->normal.z;
-  contact.geom.normal[3] = 1;
-  contact.geom.depth = c->depth;
-  contact.geom.g1 = 0;
-  contact.geom.g2 = 0;
-  contact.fdir1[0] = 0;
-  contact.fdir1[1] = 0;
-  contact.fdir1[2] = 0;
 
   Object* po1 = static_cast<Object*>(c->userData1);
   Object* po2 = static_cast<Object*>(c->userData2);
 
   if(!_OnCollision2(po1, po2, c)) return;
 
-  dBodyID b1 = 0;
+  const bool po1_isDynBody = po1->IsType(Object::DYNAMICBODY);
-  dBodyID b2 = 0;
+  const bool po2_isDynBody = po2->IsType(Object::DYNAMICBODY);
-  /* Get the dynamics body for each geom. */
+  /* Collision response. */
-  if(po1->IsType(Object::DYNAMICBODY)) b1 = static_cast<DynamicBody*>(po1)->m_body;
+  assert(po1_isDynBody || po2_isDynBody);
-  if(po2->IsType(Object::DYNAMICBODY)) b2 = static_cast<DynamicBody*>(po2)->m_body;
 
-  dJointID j = dJointCreateContact(Space::world, _contactgroup, &contact);
+  if(po1_isDynBody && po2_isDynBody) {
-  dJointAttach(j, b1, b2);
+
-#endif
+  } else {
+    /* One body is static. */
+    vector3d hitNormal;
+    if(po2_isDynBody) hitNormal = -c->normal;
+    else hitNormal = c->normal;
+    printf("Hi! %f,%f,%f\n", hitNormal.x, hitNormal.y, hitNormal.z);
+
+    DynamicBody* mover;
+    if(po1_isDynBody) mover = static_cast<DynamicBody*>(po1);
+    else  mover = static_cast<DynamicBody*>(po2);
+
+    const vector3d vel = mover->GetVelocity();
+    vector3d reflect = vel - (hitNormal * vector3d::Dot(vel, hitNormal) * 2.0f);
+    /* Dampen a little. */
+    reflect = reflect * 0.5;
+
+    /* Step back. */
+    mover->TimeStepUpdate(-L3D::GetTimeStep());
+    /* and set altered velocity. */
+    mover->SetVelocity(reflect);
+  }
 }
 
 #if 0
@@ -464,7 +450,6 @@ void Space::ApplyGravity(void) {
 void Space::TimeStep(float step) {
   ApplyGravity();
 
-  contact_num = 0;
   CollideFrame(rootFrame);
 
   /* TODO: Does not need to be done this often. */