public Vector2 checkCollisions(CollisionObjectInterface obj, Vector2 newPosition)
{
if(checkObjectCollisions(obj, newPosition))
{
return obj.getPosition();
}
return checkBoundsCollisions(obj, newPosition);
}
protected Vector2 checkTranslationalCollisionsSingleHeight(CollisionObjectInterface obj, Vector2 velocity, HeightEnum height)
{
float radius = obj.getRadius() + velocity.Length();
Vector2 position = obj.getPosition();
ConvexPolygonInterface movingObjectPolygon = obj.getBounds(height);
Height objectHeight = obj.getHeight();
Vector2 translate, tempVelocity = velocity;
float dist;
List<Vector2> collisions = new List<Vector2>();
foreach (CollisionObjectInterface cObj in objects_)
{
dist = distanceBetweenPoints(position, cObj.getPosition());
if (cObj != obj && objectHeight.collides(cObj.getHeight()) && dist < radius + cObj.getRadius())
{
dist = radius + cObj.getRadius() - dist;
//translate = checkCollision(movingObjectPolygon, cObj.getBounds(tileHeight), dist, velocity);
translate = cObj.checkCollisionWith(obj, this, height, dist, tempVelocity);
if (translate != Vector2.Zero)
{
obj.collidedInto(cObj);
cObj.collidedWith(obj);
//velocity += translate;
//movingObjectPolygon.rotate(direction, newPosition);
position = movingObjectPolygon.getCenter();
translate = obj.checkCollisionInto(cObj, this, Height.getHeight(height), dist, translate);
if (translate != Vector2.Zero)
{
collisions.Add(translate);
tempVelocity += translate;
}
}
}
}
if (collisions.Count == 0)
{
movingObjectPolygon.translate(velocity);
return velocity;
}
if (collisions.Count == 1)
{
movingObjectPolygon.translate(velocity + collisions[0]);
return (velocity + collisions[0]);
}
velocity += correctMultipleCollisions(velocity, collisions);
movingObjectPolygon.translate(velocity);
return velocity;
}
protected Vector2 checkTranslationalCollisionsMultiHeight(CollisionObjectInterface obj, Vector2 velocity)
{
float radius = obj.getRadius() + velocity.Length();
Vector2 position = obj.getPosition();
ConvexPolygonInterface movingObjectPolygonLow = obj.getBounds(HeightEnum.LOW);
ConvexPolygonInterface movingObjectPolygonHigh = obj.getBounds(HeightEnum.HIGH);
Height objectHeight = obj.getHeight(), otherObjectHeight;
Height translationHeight;
Vector2 tempVelocity = velocity;
Vector2 translate = Vector2.Zero, translateHigh = Vector2.Zero, translateLow = Vector2.Zero;
float dist;
List<Vector2> collisions = new List<Vector2>();
foreach (CollisionObjectInterface cObj in objects_)
{
dist = distanceBetweenPoints(position, cObj.getPosition());
otherObjectHeight = cObj.getHeight();
if (cObj != obj && objectHeight.collides(otherObjectHeight) && dist < radius + cObj.getRadius())
{
dist = radius + cObj.getRadius() - dist;
//translate = checkCollision(movingObjectPolygon, cObj.getBounds(tileHeight), dist, velocity);
//translate = cObj.checkCollisionWith(obj, this, tileHeight, dist, velocity);
translateHigh = Vector2.Zero;
translateLow = Vector2.Zero;
translationHeight = new Height(false, false);
if (otherObjectHeight.blocksLow_)
{
translateLow = cObj.checkCollisionWith(obj, this, HeightEnum.LOW, dist, tempVelocity);
}
if (otherObjectHeight.blocksHigh_)
{
translateHigh = cObj.checkCollisionWith(obj, this, HeightEnum.HIGH, dist, tempVelocity);
}
if (translateLow.LengthSquared() > translateHigh.LengthSquared())
{
translate = translateLow;
translationHeight.blocksLow_ = true;
}
else
{
translate = translateHigh;
translationHeight.blocksHigh_ = true;
}
if (translate != Vector2.Zero)
{
obj.collidedInto(cObj);
cObj.collidedWith(obj);
//velocity += translate;
//movingObjectPolygon.rotate(direction, newPosition);
position = movingObjectPolygonHigh.getCenter();
translate = obj.checkCollisionInto(cObj, this, translationHeight, dist, translate);
if (translate != Vector2.Zero)
{
bool isInCollisions = false;
for (int i = 0; i < collisions.Count; i++ )
{
if (translate.Equals(collisions[i]))
{
isInCollisions = true;
break;
}
/*
float cos = ConvexPolygon.dotProduct(translate, collisions[i]) / (translate.Length() * collisions[i].Length());
if (cos >= 0.99f && cos <= 1.01f)
{
if (collisions[i].LengthSquared() < translate.LengthSquared())
{
collisions[i] = translate;
}
isInCollisions = true;
break;
}
*/
}
if (!isInCollisions)
{
collisions.Add(translate);
//movingObjectPolygonHigh.translate(translate);
//movingObjectPolygonLow.translate(translate);
tempVelocity += translate;
}
}
}
}
}
if (collisions.Count == 0)
{
movingObjectPolygonHigh.translate(velocity);
movingObjectPolygonLow.translate(velocity);
return velocity;
}
if (collisions.Count == 1)
{
movingObjectPolygonHigh.translate(velocity + collisions[0]);
movingObjectPolygonLow.translate(velocity + collisions[0]);
return (velocity + collisions[0]);
}
velocity += correctMultipleCollisions(velocity, collisions);
movingObjectPolygonHigh.translate(velocity);
movingObjectPolygonLow.translate(velocity);
return velocity;
}
protected Vector2 checkRotationalCollisionsSingleHeight(CollisionObjectInterface obj, ref Vector2 newDirection, HeightEnum height)
{
float radius = obj.getRadius();
Vector2 position = obj.getPosition();
ConvexPolygonInterface movingObjectPolygon = obj.getBounds(height);
Vector2 oldDirection = obj.getDirection();
movingObjectPolygon.rotate(newDirection, position);
Height objectHeight = obj.getHeight();
Vector2 translate = Vector2.Zero;
float dist;
List<Vector2> collisions = new List<Vector2>();
foreach (CollisionObjectInterface cObj in objects_)
{
dist = distanceBetweenPoints(position, cObj.getPosition());
if (cObj != obj && objectHeight.collides(cObj.getHeight()) && dist < radius + cObj.getRadius())
{
dist = radius + cObj.getRadius() - dist;
//translate = checkCollision(movingObjectPolygon, cObj.getBounds(tileHeight), dist, Vector2.Zero);
translate = cObj.checkCollisionWith(obj, this, height, dist, Vector2.Zero);
if (translate != Vector2.Zero)
{
obj.collidedInto(cObj);
cObj.collidedWith(obj);
//velocity += translate;
//movingObjectPolygon.rotate(direction, newPosition);
translate = obj.checkCollisionInto(cObj, this, Height.getHeight(height), dist, translate);
if (translate != Vector2.Zero)
{
collisions.Add(translate);
}
}
}
}
if (collisions.Count == 1)
{
return collisions[0];
}
if (collisions.Count > 1)
{
translate = Vector2.Zero;
for (int i = 0; i < collisions.Count; i++)
{
Vector2 colVector = collisions[i];
for (int j = i; j < collisions.Count; j++)
{
if (ConvexPolygon.dotProduct(colVector, collisions[j]) / (colVector.Length() * collisions[j].Length()) < 0)
{
newDirection = oldDirection;
movingObjectPolygon.rotate(oldDirection, position);
return Vector2.Zero;
}
}
translate += colVector;
}
return translate;
}
return Vector2.Zero;
}
protected Vector2 checkRotationalCollisionsMultiHeight(CollisionObjectInterface obj, ref Vector2 newDirection)
{
float radius = obj.getRadius();
Vector2 position = obj.getPosition();
ConvexPolygonInterface movingObjectPolygonHigh = obj.getBounds(HeightEnum.HIGH);
ConvexPolygonInterface movingObjectPolygonLow = obj.getBounds(HeightEnum.LOW);
Vector2 oldDirection = obj.getDirection();
movingObjectPolygonHigh.rotate(newDirection, position);
movingObjectPolygonLow.rotate(newDirection, position);
Height objectHeight = obj.getHeight(), otherObjectHeight;
Height translationHeight;
Vector2 translate = Vector2.Zero, translateHigh = Vector2.Zero, translateLow = Vector2.Zero;
Vector2 translateTot = Vector2.Zero;
float dist;
List<Vector2> collisions = new List<Vector2>();
foreach (CollisionObjectInterface cObj in objects_)
{
dist = distanceBetweenPoints(position, cObj.getPosition());
otherObjectHeight = cObj.getHeight();
if (cObj != obj && objectHeight.collides(otherObjectHeight) && dist < radius + cObj.getRadius())
{
dist = radius + cObj.getRadius() - dist;
//translate = checkCollision(movingObjectPolygon, cObj.getBounds(tileHeight), dist, Vector2.Zero);
translateHigh = Vector2.Zero;
translateLow = Vector2.Zero;
translationHeight = new Height(false, false);
if (otherObjectHeight.blocksLow_)
{
translateLow = cObj.checkCollisionWith(obj, this, HeightEnum.LOW, dist, Vector2.Zero);
}
if (otherObjectHeight.blocksHigh_)
{
translateHigh = cObj.checkCollisionWith(obj, this, HeightEnum.HIGH, dist, Vector2.Zero);
}
if (translateLow.LengthSquared() > translateHigh.LengthSquared())
{
translate = translateLow;
translationHeight.blocksLow_ = true;
}
else
{
translate = translateHigh;
translationHeight.blocksHigh_ = true;
}
if (translate != Vector2.Zero)
{
obj.collidedInto(cObj);
cObj.collidedWith(obj);
//velocity += translate;
//movingObjectPolygon.rotate(direction, newPosition);
translate = obj.checkCollisionInto(cObj, this, translationHeight, dist, translate);
if (translate != Vector2.Zero)
{
translateTot += translate;
movingObjectPolygonLow.rotate(newDirection, position + translateTot);
movingObjectPolygonHigh.rotate(newDirection, position + translateTot);
collisions.Add(translate);
}
}
}
}
if (collisions.Count == 1)
{
return collisions[0];
}
if (collisions.Count > 1)
{
translate = Vector2.Zero;
for (int i = 0; i < collisions.Count; i++)
{
Vector2 colVector = collisions[i];
for (int j = i + 1; j < collisions.Count; j++)
{
if (ConvexPolygon.dotProduct(colVector, collisions[j]) / (colVector.Length() * collisions[j].Length()) < 0)
{
Console.Out.Write("double:");
Console.Out.Write(colVector);
Console.Out.Write(collisions[j]);
Console.Out.WriteLine(ConvexPolygon.dotProduct(colVector, collisions[j]) / (colVector.Length() * collisions[j].Length()));
newDirection = oldDirection;
movingObjectPolygonLow.rotate(oldDirection, position);
movingObjectPolygonHigh.rotate(oldDirection, position);
return Vector2.Zero;
}
Console.Out.Write(colVector);
Console.Out.Write(collisions[j]);
Console.Out.WriteLine(ConvexPolygon.dotProduct(colVector, collisions[j]) / (colVector.Length() * collisions[j].Length()));
}
translate += colVector;
}
return translateTot;
}
return Vector2.Zero;
}
public Vector2 checkCollisions(CollisionObjectInterface obj, Vector2 newPosition)
{
Vector2 oldPosition = obj.getPosition();
float radius = obj.getRadius();
Vector2 velocity = newPosition - oldPosition;
ConvexPolygonInterface movingObjectPolygon= obj.getBounds(HeightEnum.LOW);
ConvexPolygonInterface movingObjectPolygonHigh = obj.getBounds(HeightEnum.HIGH);
Vector2 direction = obj.getDirection();
Vector2 position = movingObjectPolygon.getCenter();
movingObjectPolygon.rotate(direction, position);
movingObjectPolygonHigh.rotate(direction, position);
//TODO: Check collisions on rotations
Vector2 translate;
float dist;
List<CollisionObjectInterface> collisions = new List<CollisionObjectInterface>();
foreach (CollisionObjectInterface cObj in objects_)
{
dist = distanceBetweenPoints(position, cObj.getPosition());
//Console.Out.WriteLine(dist);
if (cObj != obj && dist < radius + cObj.getRadius())
{
dist = radius + cObj.getRadius() - dist;
translate = checkCollision(movingObjectPolygon, cObj.getBounds(HeightEnum.LOW), dist);
//Console.Out.WriteLine(translate);
if (translate != Vector2.Zero)
{
obj.collidedInto(cObj);
cObj.collidedWith(obj);
newPosition += translate;
//movingObjectPolygon.translate(translate);
movingObjectPolygon.rotate(direction, newPosition);
position = movingObjectPolygon.getCenter();
collisions.Add(cObj);
}
}
}
bool noMoreCollisions = true;
/* foreach (CollisionObjectInterface cObj in collisions)
{
dist = distanceBetweenPoints(position, cObj.getPosition());
//Console.Out.WriteLine(dist);
if (cObj != obj && dist < radius + cObj.getRadius())
{
dist = radius + cObj.getRadius() - dist;
translate = checkCollision(movingObjectPolygon, cObj.getBounds(), dist);
//Console.Out.WriteLine(translate);
if (translate != Vector2.Zero)
{
noMoreCollisions = false;
break;
}
}
}*/
if (noMoreCollisions)
{
return newPosition;
}
movingObjectPolygon.rotate(direction, oldPosition);
return oldPosition;
}
