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use std::ops::RangeInclusive;
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use crate::{
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common::{GearData, GearDataProcessor, GearId},
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grid::Grid,
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physics::PhysicsData,
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};
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use fpnum::*;
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use integral_geometry::{GridIndex, Point, Size};
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use land2d::Land2D;
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pub fn fppoint_round(point: &FPPoint) -> Point {
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Point::new(point.x().round() as i32, point.y().round() as i32)
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}
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#[derive(PartialEq, Eq, Clone, Copy, Debug)]
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pub struct CircleBounds {
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pub center: FPPoint,
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pub radius: FPNum,
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}
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impl CircleBounds {
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pub fn intersects(&self, other: &CircleBounds) -> bool {
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(other.center - self.center).is_in_range(self.radius + other.radius)
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}
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pub fn rows(&self) -> impl Iterator<Item = (usize, RangeInclusive<usize>)> {
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let radius = self.radius.abs_round() as usize;
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let center = Point::from_fppoint(&self.center);
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(center.y as usize - radius..=center.y as usize + radius)
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.map(move |row| (row, center.x as usize - radius..=center.x as usize + radius))
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}
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}
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#[derive(PartialEq, Eq, Clone, Copy, Debug)]
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pub struct CollisionData {
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pub bounds: CircleBounds,
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}
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impl GearData for CollisionData {}
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#[derive(PartialEq, Eq, Clone, Copy, Debug)]
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pub struct ContactData {
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pub elasticity: FPNum,
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pub friction: FPNum,
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}
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impl GearData for ContactData {}
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struct EnabledCollisionsCollection {
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gear_ids: Vec<GearId>,
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collisions: Vec<CollisionData>,
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}
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impl EnabledCollisionsCollection {
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fn new() -> Self {
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Self {
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gear_ids: Vec::new(),
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collisions: Vec::new(),
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}
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}
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fn push(&mut self, gear_id: GearId, collision: CollisionData) {
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self.gear_ids.push(gear_id);
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self.collisions.push(collision);
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}
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fn iter(&self) -> impl Iterator<Item = (GearId, &CollisionData)> {
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self.gear_ids.iter().cloned().zip(self.collisions.iter())
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}
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}
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pub struct CollisionProcessor {
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grid: Grid,
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enabled_collisions: EnabledCollisionsCollection,
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detected_collisions: DetectedCollisions,
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}
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pub struct DetectedCollisions {
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pub pairs: Vec<(GearId, GearId)>,
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pub positions: Vec<Point>,
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}
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impl DetectedCollisions {
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pub fn new(capacity: usize) -> Self {
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Self {
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pairs: Vec::with_capacity(capacity),
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positions: Vec::with_capacity(capacity),
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}
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}
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pub fn push(&mut self, contact_gear_id1: GearId, contact_gear_id2: GearId, position: &FPPoint) {
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self.pairs.push((contact_gear_id1, contact_gear_id2));
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self.positions.push(fppoint_round(&position));
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}
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}
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impl CollisionProcessor {
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pub fn new(size: Size) -> Self {
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Self {
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grid: Grid::new(size),
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enabled_collisions: EnabledCollisionsCollection::new(),
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detected_collisions: DetectedCollisions::new(0),
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}
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}
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pub fn process(&mut self, land: &Land2D<u32>, updates: &crate::physics::PositionUpdates) {
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self.grid.check_collisions(&mut self.detected_collisions);
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for (gear_id, collision) in self.enabled_collisions.iter() {
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if collision
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.bounds
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.rows()
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.any(|(y, r)| (&land[y][r]).iter().any(|v| *v != 0))
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{
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self.detected_collisions
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.push(gear_id, 0, &collision.bounds.center)
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}
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}
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}
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}
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impl GearDataProcessor<CollisionData> for CollisionProcessor {
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fn add(&mut self, gear_id: GearId, gear_data: CollisionData) {
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self.grid.insert_static(gear_id, &gear_data.bounds);
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}
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}
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