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/*
* Simple Mechanics Simulator (SiMS)
* copyright (c) 2009 Jakob Odersky
* made available under the MIT License
*/
package sims.collision
import sims.geometry._
import sims.dynamics._
import scala.collection.mutable.Map
import scala.collection.mutable._
/**Kollision zwischen zwei konvexen Polygonen.*/
case class PolyCollision(p1: ConvexPolygon, p2: ConvexPolygon) extends Collision {
require(p1.isInstanceOf[Shape])
require(p2.isInstanceOf[Shape])
def overlap(axis: Vector2D) = {
// println((p1.project(axis) overlap p2.project(axis)).toString + " to " + (p2.project(axis) overlap p1.project(axis)))
p1.project(axis) overlap p2.project(axis)
}
lazy val overlaps = (for (i <- 0 until p2.sides.length) yield Overlap(p2, i, overlap(p2.sides(i).n0))) ++
(for (i <- 0 until p1.sides.length) yield Overlap(p1, i, overlap(p1.sides(i).n0)))
private var potMinOverlap = overlaps.find(_.overlap > 0.0)
require(potMinOverlap != None)
private var _minOverlap: Overlap = potMinOverlap.get
var minOverlap: Overlap = {
for (o <- overlaps) if ((o.overlap < _minOverlap.overlap) && (o.overlap > 0.0)) _minOverlap = o
_minOverlap
}
private lazy val refPoly = minOverlap.poly
private lazy val incPoly = if (minOverlap.poly eq p1) p2 else p1
lazy val shape1 = refPoly.asInstanceOf[Shape]
lazy val shape2 = incPoly.asInstanceOf[Shape]
lazy val normal = refPoly.sides(minOverlap.sideNum).n0
lazy val points = (for (v <- incPoly.vertices; if refPoly.contains(v)) yield v)++
(for (v <- refPoly.vertices; if incPoly.contains(v)) yield v)
/* ++
(for (s <- incPoly.sides;
val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum + 1)) % refPoly.sides.length));
if (clip != None)) yield clip.get) ++
(for (s <- incPoly.sides;
val clip = s.clipToSegment(refPoly.sides((refPoly.sides.length - (minOverlap.sideNum - 1)) % refPoly.sides.length));
if (clip != None)) yield clip.get)
*/
}
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