CollisionWorld.hpp

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#pragma once
 
#include <vector>
 
#include "BroadPhaseGrid.hpp"
#include "CollisionBody.hpp"
 
#include "dynamics/Solver.hpp"
 
namespace stw
{
class CollisionWorld
{
public:
    CollisionWorld();
    CollisionWorld(std::unordered_map<std::uint64_t, CollisionBody*> bodies, std::vector<Solver*> solvers);
 
    bool useSpacePartitioning = true;
 
    void AddCollisionBody(CollisionBody* body);
 
    void RemoveCollisionBody(const CollisionBody* body);
 
    void AddSolver(Solver* solver);
 
    void RemoveSolver(Solver* solver);
 
    void SetCollisionCallback(const std::function<void(Collision&, float)>& callback);
 
    void SolveCollisions(const std::vector<Collision>& collisions, float deltaTime) const;
 
    void SendCollisionCallbacks(std::vector<Collision>& collisions, float deltaTime) const;
 
    void ResolveCollisions(float deltaTime);
 
    void FindCollisions(std::uint64_t firstId, std::uint64_t secondId, std::vector<Collision>& collisions, std::vector<Collision>& triggers);
 
protected:
    std::unordered_map<std::uint64_t, CollisionBody*> _bodies;
    std::vector<Solver*> _solvers;
    BroadPhaseGrid _grid;
 
    std::function<void(Collision&, float)> _onCollision;
};
}