contact.hpp

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#pragma once

#include "body.hpp"
#include "spherical_joint.hpp"
#include "hinge_joint.hpp"
#include "mouse_joint.hpp"
#include "collision.hpp"

enum ContactType { FACE=0, EDGE=1};

class Contact {
public:
    vec3 normal = vec3(0,0,0);
    vec3 tangent = vec3(0,0,0);
    vec3 bitangent = vec3(0,0,0);
    vec3 collision_point;
    float penetration = 0;
    float bias = 0;
    float effective_mass_bitangent = 0.0f;
    float effective_mass_tangent = 0.0f;
    float effective_mass_normal = 0.0f;
    float Pn = 0;
    float Pt = 0;
    float Pbt = 0;
    RigidBody *body_a;
    RigidBody *body_b;

    CollisionBody *col_body_a;
    CollisionBody *col_body_b;

    ContactType type;
    vector<int> id;
    int warmStartNo = 0;
    Contact(CollisionBody &hullA, CollisionBody &hullB);
    int applyImpulse();
    int preStep(float dt);

    static vector<Contact> allContacts;
    static unsigned int iterations;

};

vector<Contact> getContacts(CollisionBody &body);
vector<Face> getMostParallelFace(const CollisionBody &hull, vec3 normal);
vector<Face> getMostAntiparallelFace(const CollisionBody &hull, vec3 normal);
vector<Face> getOrthogonalFaces(const CollisionBody &hull, vec3 normal);
vector<Contact> sphereSphereContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> sphereTriContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> sphereBoxContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> hullHullContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> boxCylinderContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> sphereCylinderContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> cylinderCylinderContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> createContacts(CollisionBody &body_a,  CollisionBody &body_b);
vector<Contact> createMinimalContacts(vector<Contact> &contacts);
vec3 closestPointOnTri(vec3 sphereCentre, vec3 p0, vec3 p1, vec3 p2);
vector<vec3> collisionPoints(CollisionBody &body_a, CollisionBody &body_b);
int simulate(float deltaTime);

vector<Contact> GJKEPAContacts(CollisionBody &body_a, CollisionBody &body_b);


vector<Contact> sphereTriContacts(CollisionBody &body_a, CollisionBody &body_b);