262 lines
8.2 KiB
Haskell
262 lines
8.2 KiB
Haskell
{-# LANGUAGE TupleSections #-}
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{- | Basic collision detection for a moving point.
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- Conventions: input is typically a stream of walls.
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- Collide returns an endpoint and maybe a collided with
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- object (wall).
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- Reflect maybe gives a slightly pushed out point from a collision and a
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- relection velocity.
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- Overlap returns a stream of walls.
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- A point will typically be moving.
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- A ball refers to a moving circle, i.e. a point with a radius.
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-
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-}
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module Dodge.Base.Collide (
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collidePoint,
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collidePointWallsFilter,
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collidePointTestFilter,
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collideCircWalls,
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overlapSegWalls,
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overlapSegCrs,
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-- bounceBall,
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bouncePoint,
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circOnSomeWall,
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circOnAnyCr,
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overlapCircWalls,
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overlapCircWallsClosest,
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crsNearPoint,
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allVisibleWalls,
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hasLOS,
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hasLOSIndirect,
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hasButtonLOS,
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canSee,
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canSeeIndirect,
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isWalkable,
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anythingHitCirc,
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) where
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--import qualified Data.IntMap.Strict as IM
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import Dodge.Creature.Radius
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import Control.Lens
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import qualified Data.IntSet as IS
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import Data.List (sortOn)
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import Data.Maybe
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import Dodge.Base.Wall
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import Dodge.Data.World
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import Dodge.Zoning
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import FoldableHelp
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import Geometry
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collidePoint ::
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Point2 ->
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Point2 ->
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[Wall] ->
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(Point2, Maybe Wall)
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{-# INLINE collidePoint #-}
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collidePoint sp ep = foldl' findPoint (ep, Nothing)
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where
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findPoint (p, mwl) wl = maybe (p, mwl) (,Just wl) . uncurry (intersectSegSeg sp p) . _wlLine $ wl
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overlapSegCrs ::
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Point2 ->
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Point2 ->
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[Creature] ->
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[(Point2, Creature)]
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{-# INLINE overlapSegCrs #-}
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overlapSegCrs sp ep =
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mapMaybe
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(\cr -> (,cr) <$> listToMaybe (intersectCircSeg (_crPos cr) (crRad $ cr ^. crType) sp ep))
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doBounce :: Float -> Point2 -> Point2 -> (Point2, Maybe Wall) -> Maybe (Point2, Point2)
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{-# INLINE doBounce #-}
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doBounce x sp ep (p, mwl) =
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mwl <&> \wl ->
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( p +.+ normalizeV (vNormal (uncurry (-.-) (_wlLine wl)))
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, reflVelWallDamp x wl (ep -.- sp)
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)
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--bounceBall ::
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-- Float ->
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-- Point2 ->
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-- Point2 ->
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-- Float ->
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-- [Wall] ->
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-- Maybe (Point2, Point2)
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--{-# INLINE bounceBall #-}
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--bounceBall x sp ep r = doBounce x sp ep . collideCircWalls sp ep r
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bouncePoint :: (Wall -> Bool) -> Float -> Point2 -> Point2 -> World -> Maybe (Point2, Point2)
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{-# INLINE bouncePoint #-}
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bouncePoint t x sp ep = doBounce x sp ep . collidePointWallsFilter t sp ep
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-- this COULD be written in terms of collidePointWallsFilterStream, TODO test
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-- whether this is actually faster
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collidePointTestFilter :: (Wall -> Bool) -> Point2 -> Point2 -> [Wall] -> Bool
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{-# INLINE collidePointTestFilter #-}
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collidePointTestFilter t sp ep =
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any (isJust . uncurry (intersectSegSeg sp ep) . _wlLine)
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. filter t
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---- this COULD be written in terms of collidePointWallsFilterStream, TODO test
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---- whether this is actually faster
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--collidePointTestFilter :: (Wall -> Bool) -> Point2 -> Point2 -> StreamOf Wall -> Bool
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--{-# INLINE collidePointTestFilter #-}
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--collidePointTestFilter t sp ep = runIdentity
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-- . S.any_ (isJust . uncurry (intersectSegSeg sp ep) . _wlLine)
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-- . S.filter t
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collidePointWallsFilter :: (Wall -> Bool) -> Point2 -> Point2 -> World -> (Point2, Maybe Wall)
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{-# INLINE collidePointWallsFilter #-}
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collidePointWallsFilter t sp ep =
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collidePoint sp ep
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. filter t
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. wlsNearSeg sp ep
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--overlapSegWalls :: Point2 -> Point2 -> StreamOf Wall
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-- -> StreamOf (Point2,Wall)
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--{-# INLINE overlapSegWalls #-}
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--overlapSegWalls sp ep = S.mapMaybe $ \wl -> uncurry (intersectSegSeg sp ep) (_wlLine wl) <&> (,wl)
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overlapSegWalls :: Point2 -> Point2 -> [Wall] -> [(Point2, Wall)]
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{-# INLINE overlapSegWalls #-}
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overlapSegWalls sp ep = mapMaybe $ \wl -> uncurry (intersectSegSeg sp ep) (_wlLine wl) <&> (,wl)
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visibleWalls :: Point2 -> Point2 -> World -> [(Point2, Wall)]
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{-# INLINE visibleWalls #-}
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visibleWalls sp ep =
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takeUntil (wlIsOpaque . snd)
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. sortOn (dist sp . fst)
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. overlapSegWalls sp ep
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. wlsNearSeg sp ep
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allVisibleWalls :: World -> [(Point2, Wall)]
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{-# INLINE allVisibleWalls #-}
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allVisibleWalls w = concatMap (flip (visibleWalls vPos) w . (+.+ vPos)) $ nRays 15
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where
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vPos = w ^. wCam . camViewFrom
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overlapCircWalls ::
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Point2 ->
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Float ->
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[Wall] ->
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[(Point2, Wall)]
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{-# INLINE overlapCircWalls #-}
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overlapCircWalls p r = mapMaybe dointersect
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where
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dointersect wl = f (_wlLine wl) <&> (,wl)
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f (a, b) = intersectSegSeg p (p +.+ r *.* normalizeV ((0.5 *.* (a +.+ b)) -.- p)) a b
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circHitWall :: Point2 -> Point2 -> Float -> World -> Bool
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circHitWall sp ep r w = any (uncurry (intersectSegSegTest xsp xep) . _wlLine)
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(wlsNearSeg xsp xep w)
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|| circOnSomeWall ep r w
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where
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x = r *.* normalizeV (ep - sp)
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xsp = sp - x
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xep = ep + x
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-- | note that this does not push the circle away from the wall at all
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collideCircWalls :: Point2 -> Point2 -> Float -> [Wall] -> (Point2, Maybe Wall)
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{-# INLINE collideCircWalls #-}
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collideCircWalls sp ep rad = foldl' findPoint (ep, Nothing)
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where
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findPoint (p, mwl) wl =
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maybe (p, mwl) (,Just wl) . uncurry (intersectSegSeg sp p)
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. shiftbyrad . _wlLine $ wl
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-- shiftbyrad (a, b) =
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-- ( a +.+ rad *.* normalizeV (a -.- b)
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-- , b +.+ rad *.* normalizeV (b -.- a)
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-- )
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shiftbyrad (a, b) = bimap f f
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( a +.+ rad *.* normalizeV (a -.- b)
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, b +.+ rad *.* normalizeV (b -.- a)
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)
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where
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f = (+.+) (rad *.* normalizeV (vNormal $ a -.- b))
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overlapCircWallsClosest :: Point2 -> Float -> [Wall] -> Maybe (Point2, Wall)
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{-# INLINE overlapCircWallsClosest #-}
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overlapCircWallsClosest p r =
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safeMinimumOn (dist p . fst)
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. overlapCircWalls p r
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--overlapCircWallsClosest :: Point2 -> Float -> StreamOf Wall -> Maybe (Point2,Wall)
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--{-# INLINE overlapCircWallsClosest #-}
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--overlapCircWallsClosest p r = minStreamOn (dist p . fst)
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-- . overlapCircWalls p r
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{- | Test if a circle collides with any wall.
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- Note no check on whether the wall is walkable.
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-}
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circOnSomeWall :: Point2 -> Float -> World -> Bool
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{-# INLINE circOnSomeWall #-}
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circOnSomeWall p rad =
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any (uncurry (circOnSeg p rad) . _wlLine)
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. wlsNearPoint p
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circOnAnyCr :: Point2 -> Float -> World -> Bool
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{-# INLINE circOnAnyCr #-}
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circOnAnyCr p r w = IS.foldr f False $ crIXsNearPoint p w
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where
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f cid bl = maybe False (\cr -> dist p (_crPos cr) < r + crRad (cr ^. crType)) (w ^? cWorld . lWorld . creatures . ix cid) || bl
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-- | More general collision tests follow
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hasLOS :: Point2 -> Point2 -> World -> Bool
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{-# INLINE hasLOS #-}
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hasLOS p1 p2 =
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not
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. collidePointTestFilter (const True) p1 p2
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. wlsNearSeg p1 p2
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hasButtonLOS :: Point2 -> Point2 -> World -> Bool
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{-# INLINE hasButtonLOS #-}
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hasButtonLOS _ _ = const True
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--hasButtonLOS p1 p2 =
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-- not
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-- . collidePointTestFilter (not . _wlTouchThrough) p1 p2
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-- . wlsNearSeg p1 p2
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hasLOSIndirect :: Point2 -> Point2 -> World -> Bool
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{-# INLINE hasLOSIndirect #-}
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hasLOSIndirect p1 p2 =
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not
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. collidePointTestFilter wlIsOpaque p1 p2
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. wlsNearSeg p1 p2
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isWalkable :: Point2 -> Point2 -> World -> Bool
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{-# INLINE isWalkable #-}
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isWalkable p1 p2 =
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not
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. collidePointTestFilter (not . (^?! wlPathable)) p1 p2
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. wlsNearSeg p1 p2
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canSee :: Int -> Int -> World -> Bool
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{-# INLINE canSee #-}
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canSee i j w = hasLOS p1 p2 w
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where
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p1 = w ^?! cWorld . lWorld . creatures . ix i . crPos -- _crPos (_creatures (_cWorld w) IM.! i)
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p2 = w ^?! cWorld . lWorld . creatures . ix j . crPos -- _crPos (_creatures (_cWorld w) IM.! j) -- unsafe
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canSeeIndirect :: Int -> Int -> World -> Bool
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{-# INLINE canSeeIndirect #-}
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canSeeIndirect i j w = hasLOSIndirect ipos jpos w
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where
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ipos = w ^?! cWorld . lWorld . creatures . ix i . crPos
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jpos = w ^?! cWorld . lWorld . creatures . ix j . crPos
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anythingHitCirc :: Float -> Point2 -> Point2 -> World -> Bool
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anythingHitCirc rad sp ep w = hitCr || circHitWall sp ep rad w
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where
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x = rad *.* normalizeV (ep - sp)
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xsp = sp - x
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xep = ep + x
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hitCr = IS.foldr f False $ crixsNearSeg xsp xep w
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f cid bl =
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maybe
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False
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(\cr -> intersectCircSegTest (_crPos cr) (rad + crRad (cr ^. crType)) sp ep)
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(w ^? cWorld . lWorld . creatures . ix cid)
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|| bl
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-- this should probably be wallsOnLine or something
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