Removed unused collision table and fixed bug with kinematic bodies exploding
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19bffc9124
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@ -42,31 +42,10 @@ namespace SHADE
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, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
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, { SHCollision::CapsuleVsSphere, SHCollision::CapsuleVsConvex, SHCollision::CapsuleVsCapsule } // Capsule
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};
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};
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const bool SHCollisionDispatcher::collisionTable[NUM_TYPES][NUM_TYPES]
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{
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/* S ST K KT D DT */
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/* S */ { false, false, false, true, true, true }
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, /* ST */ { false, false, true, true, true, true }
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, /* K */ { false, true, false, true, true, true }
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, /* KT */ { true, true, true, true, true, true }
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, /* D */ { true, true, true, true, true, true }
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, /* DT */ { true, true, true, true, true, true }
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};
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/*-----------------------------------------------------------------------------------*/
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/*-----------------------------------------------------------------------------------*/
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/* Public Member Functions Definitions */
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/* Public Member Functions Definitions */
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/*-----------------------------------------------------------------------------------*/
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/*-----------------------------------------------------------------------------------*/
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bool SHCollisionDispatcher::ShouldCollide(const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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// Filter through collision table
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const int TYPE_A = SHUtilities::ConvertEnum(A.GetType()) + A.IsTrigger() ? TYPE_OFFSET : 0;
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const int TYPE_B = SHUtilities::ConvertEnum(B.GetType()) + B.IsTrigger() ? TYPE_OFFSET : 0;
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if (!collisionTable[TYPE_A][TYPE_B])
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return false;
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}
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bool SHCollisionDispatcher::Collide(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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bool SHCollisionDispatcher::Collide(SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept
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{
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{
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const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());
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const int TYPE_A = SHUtilities::ConvertEnum(A.GetType());
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@ -31,18 +31,6 @@ namespace SHADE
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/* Member Functions */
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/* Member Functions */
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/*---------------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------------*/
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/**
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* @brief
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* Filters the collision through the collision table and layer matching.
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* @param A
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* A Collision Shape.
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* @param B
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* A Collision Shape.
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* @return
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* True if both shapes should be tested for collision.
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*/
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static bool ShouldCollide (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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static bool Collide (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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static bool Collide (SHManifold& manifold, const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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static bool Collide (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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static bool Collide (const SHCollisionShape& A, const SHCollisionShape& B) noexcept;
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@ -54,33 +42,14 @@ namespace SHADE
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using ManifoldCollide = bool(*)(SHManifold&, const SHCollisionShape& A, const SHCollisionShape& B);
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using ManifoldCollide = bool(*)(SHManifold&, const SHCollisionShape& A, const SHCollisionShape& B);
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using TriggerCollide = bool(*)(const SHCollisionShape& A, const SHCollisionShape& B);
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using TriggerCollide = bool(*)(const SHCollisionShape& A, const SHCollisionShape& B);
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enum class Types
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{
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STATIC
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, KINEMATIC
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, DYNAMIC
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, STATIC_TRIGGER
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, KINEMATIC_TRIGGER
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, DYNAMIC_TRIGGER
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, COUNT
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};
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/*---------------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------------*/
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/* Data Members */
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/* Data Members */
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/*---------------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------------*/
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// Read the Types enum class, then see where it's used and it'll make sense
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static constexpr int TYPE_OFFSET = 3;
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static constexpr int NUM_SHAPES = static_cast<int>(SHCollisionShape::Type::COUNT);
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static constexpr int NUM_SHAPES = static_cast<int>(SHCollisionShape::Type::COUNT);
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static constexpr int NUM_TYPES = static_cast<int>(Types::COUNT);
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static const ManifoldCollide manifoldCollide [NUM_SHAPES][NUM_SHAPES];
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static const ManifoldCollide manifoldCollide [NUM_SHAPES][NUM_SHAPES];
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static const TriggerCollide triggerCollide [NUM_SHAPES][NUM_SHAPES];
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static const TriggerCollide triggerCollide [NUM_SHAPES][NUM_SHAPES];
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static const bool collisionTable [NUM_TYPES][NUM_TYPES];
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};
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};
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@ -643,7 +643,7 @@ namespace SHADE
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// Compute world centroid
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// Compute world centroid
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worldCentroid = (R * localCentroid) + motionState.position;
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worldCentroid = (R * localCentroid) + motionState.position;
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if (bodyType == Type::STATIC)
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if (bodyType != Type::DYNAMIC)
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return;
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return;
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// Compute world inertia
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// Compute world inertia
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