/*
* Phys2D - a 2D physics engine based on the work of Erin Catto.
*
* This source is provided under the terms of the BSD License.
*
* Copyright (c) 2006, Phys2D
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
*
* * Redistributions of source code must retain the above
* copyright notice, this list of conditions and the
* following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Phys2D/New Dawn Software nor the names of
* its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
* OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR
* TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
* OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
*/
package net.phys2d.raw.collide;
import net.phys2d.math.Vector2f;
import net.phys2d.raw.Body;
import net.phys2d.raw.Contact;
import net.phys2d.raw.shapes.Box;
import net.phys2d.raw.shapes.Polygon;
/**
* Collide a Convex Polygon with a Box.
*
* @author Gideon Smeding
*
*/
public class PolygonBoxCollider extends PolygonPolygonCollider {
/**
* @see net.phys2d.raw.collide.Collider#collide(net.phys2d.raw.Contact[], net.phys2d.raw.Body, net.phys2d.raw.Body)
*/
public int collide(Contact[] contacts, Body bodyA, Body bodyB) {
Polygon poly = (Polygon) bodyA.getShape();
Box box = (Box) bodyB.getShape();
// TODO: this can be optimized using matrix multiplications and moving only one shape
// specifically the box, because it has fewer vertices.
Vector2f[] vertsA = poly.getVertices(bodyA.getPosition(), bodyA.getRotation());
Vector2f[] vertsB = box.getPoints(bodyB.getPosition(), bodyB.getRotation());
// TODO: use a sweepline that has the smallest projection of the box
// now we use just an arbitrary one
Vector2f sweepline = new Vector2f(vertsB[1]);
sweepline.sub(vertsB[2]);
EdgeSweep sweep = new EdgeSweep(sweepline);
sweep.addVerticesToSweep(true, vertsA);
sweep.addVerticesToSweep(false, vertsB);
int[][] collEdgeCands = sweep.getOverlappingEdges();
// FeaturePair[] featurePairs = getFeaturePairs(contacts.length, vertsA, vertsB, collEdgeCands);
// return populateContacts(contacts, vertsA, vertsB, featurePairs);
Intersection[][] intersections = getIntersectionPairs(vertsA, vertsB, collEdgeCands);
return populateContacts(contacts, vertsA, vertsB, intersections);
}
}