videos/OneLoneCoder_Balls2.cpp

/*
OneLoneCoder.com - Programming Balls! #2 Circle Vs Edge Collisions
"...totally overkill for pong..." - @Javidx9

Disclaimer
~~~~~~~~~~
I don't care what you use this for. It's intended to be educational, and perhaps
to the oddly minded - a little bit of fun. Please hack this, change it and use it
in any way you see fit. BUT, you acknowledge that I am not responsible for anything
bad that happens as a result of your actions. However, if good stuff happens, I
would appreciate a shout out, or at least give the blog some publicity for me.
Cheers!

Background
~~~~~~~~~~
Collision detection engines can get quite complicated. This program shows the interactions
between circular objects of different sizes and masses. Use Left mouse button to select
and drag a ball to examin static collisions, and use Right mouse button to apply velocity
to the balls as if using a pool/snooker/billiards cue.

Author
~~~~~~
Twitter:	@javidx9
Blog:		www.onelonecoder.com
Twitch:		https://www.twitch.tv/javidx9
Discord:	https://discord.gg/WhwHUMV

Video:
~~~~~~
Part #1 https://youtu.be/LPzyNOHY3A4
Part #2 https://youtu.be/ebq7L2Wtbl4

Last Updated: 18/02/2017
*/

#include <iostream>
#include <string>
using namespace std;

#include "olcConsoleGameEngine.h"

struct sBall
{
	float px, py;
	float vx, vy;
	float ax, ay;
	float ox, oy;
	float radius;
	float mass;
	float friction;
	int score;
	int id;
	float fSimTimeRemaining;
};

struct sLineSegment
{
	float sx, sy;
	float ex, ey;
	float radius;
};



class CirclePhysics : public olcConsoleGameEngine
{
public:
	CirclePhysics()
	{
		m_sAppName = L"Circles V Edges";
	}

private:
	vector<sBall> vecBalls;
	vector<sLineSegment> vecLines;
	vector<pair<float, float>> modelCircle;
	sBall* pSelectedBall = nullptr;
	olcSprite *spriteBalls = nullptr;
	sLineSegment* pSelectedLine = nullptr;
	bool bSelectedLineStart = false;

	void AddBall(float x, float y, float r = 5.0f, int s = 0)
	{
		sBall b;
		b.px = x; b.py = y;
		b.vx = 0; b.vy = 0;
		b.ax = 0; b.ay = 0;
		b.ox = 0; b.oy = 0;
		b.radius = r;
		b.mass = r * 10.0f;
		b.friction = 0.0f;
		b.score = s;
		b.fSimTimeRemaining = 0.0f;
		b.id = vecBalls.size();
		vecBalls.emplace_back(b);
	}

public:
	bool OnUserCreate()
	{
		float fBallRadius = 4.0f;
		for (int i = 0; i <100; i++)
			AddBall(((float)rand()/(float)RAND_MAX) * ScreenWidth(), ((float)rand() / (float)RAND_MAX) * ScreenHeight(), fBallRadius);

		AddBall(28.0f, 33.0, fBallRadius * 3);
		AddBall(28.0f, 35.0, fBallRadius * 2); 
		
		float fLineRadius = 4.0f;
		vecLines.push_back({ 12.0f, 4.0f, 64.0f, 4.0f, fLineRadius });
		vecLines.push_back({ 76.0f, 4.0f, 132.0f, 4.0f, fLineRadius });
		vecLines.push_back({ 12.0f, 68.0f, 64.0f, 68.0f, fLineRadius });
		vecLines.push_back({ 76.0f, 68.0f, 132.0f, 68.0f, fLineRadius });
		vecLines.push_back({ 4.0f, 12.0f, 4.0f, 60.0f, fLineRadius });
		vecLines.push_back({ 140.0f, 12.0f, 140.0f, 60.0f, fLineRadius });
		return true;
	}

	bool OnUserUpdate(float fElapsedTime)
	{
		auto DoCirclesOverlap = [](float x1, float y1, float r1, float x2, float y2, float r2)
		{
			return fabs((x1 - x2)*(x1 - x2) + (y1 - y2)*(y1 - y2)) <= ((r1 + r2) * (r1 + r2));
		};

		auto IsPointInCircle = [](float x1, float y1, float r1, float px, float py)
		{
			return fabs((x1 - px)*(x1 - px) + (y1 - py)*(y1 - py)) < (r1 * r1);
		};

		if (m_mouse[0].bPressed)
		{
			// Check for selected ball
			pSelectedBall = nullptr;
			for (auto &ball : vecBalls)
			{
				if (IsPointInCircle(ball.px, ball.py, ball.radius, m_mousePosX, m_mousePosY))
				{
					pSelectedBall = &ball;
					break;
				}
			}

			// Check for selected line segment end
			pSelectedLine = nullptr;
			for (auto &line : vecLines)
			{
				if (IsPointInCircle(line.sx, line.sy, line.radius, m_mousePosX, m_mousePosY))
				{
					pSelectedLine = &line;
					bSelectedLineStart = true;
					break;
				}

				if (IsPointInCircle(line.ex, line.ey, line.radius, m_mousePosX, m_mousePosY))
				{
					pSelectedLine = &line;
					bSelectedLineStart = false;
					break;
				}
			}
		}

		if (m_mouse[0].bHeld)
		{
			if (pSelectedLine != nullptr)
			{			
				if (bSelectedLineStart)
				{					
					pSelectedLine->sx = GetMouseX();
					pSelectedLine->sy = GetMouseY();
				}
				else
				{
					pSelectedLine->ex = GetMouseX();
					pSelectedLine->ey = GetMouseY();
				}
			}
		}

		if (m_mouse[0].bReleased)
		{
			if (pSelectedBall != nullptr)
			{
				// Apply velocity
				pSelectedBall->vx = 5.0f * ((pSelectedBall->px) - m_mousePosX);
				pSelectedBall->vy = 5.0f * ((pSelectedBall->py) - m_mousePosY);
			}

			pSelectedBall = nullptr;
			pSelectedLine = nullptr;
		}

		if (m_mouse[1].bHeld)
		{
			for (auto &ball : vecBalls)
			{
				ball.vx += (m_mousePosX - ball.px) * 0.01f;
				ball.vy += (m_mousePosY - ball.py) * 0.01f;
			}
		}

		

		vector<pair<sBall*, sBall*>> vecCollidingPairs;
		vector<sBall*> vecFakeBalls;

		// Threshold indicating stability of object
		float fStable = 0.05f;
		
		// Multiple simulation updates with small time steps permit more accurate physics
		// and realistic results at the expense of CPU time of course
		int nSimulationUpdates = 4;

		// Multiple collision trees require more steps to resolve. Normally we would
		// continue simulation until the object has no simulation time left for this
		// epoch, however this is risky as the system may never find stability, so we
		// can clamp it here
		int nMaxSimulationSteps = 15;

		// Break up the frame elapsed time into smaller deltas for each simulation update
		float fSimElapsedTime = fElapsedTime / (float)nSimulationUpdates;

		// Main simulation loop
		for (int i = 0; i < nSimulationUpdates; i++)
		{
			// Set all balls time to maximum for this epoch
			for (auto &ball : vecBalls)
				ball.fSimTimeRemaining = fSimElapsedTime;

			// Erode simulation time on a per objec tbasis, depending upon what happens
			// to it during its journey through this epoch
			for (int j = 0; j < nMaxSimulationSteps; j++)
			{
				// Update Ball Positions
				for (auto &ball : vecBalls)
				{
					if (ball.fSimTimeRemaining > 0.0f)
					{
						ball.ox = ball.px;								// Store original position this epoch
						ball.oy = ball.py;

						ball.ax = -ball.vx * 0.8f;						// Apply drag and gravity
						ball.ay = -ball.vy * 0.8f + 100.0f;

						ball.vx += ball.ax * ball.fSimTimeRemaining;	// Update Velocity
						ball.vy += ball.ay * ball.fSimTimeRemaining;

						ball.px += ball.vx * ball.fSimTimeRemaining;	// Update position
						ball.py += ball.vy * ball.fSimTimeRemaining;

						// Crudely wrap balls to screen - note this cause issues when collisions occur on screen boundaries
						if (ball.px < 0) ball.px += (float)ScreenWidth();
						if (ball.px >= ScreenWidth()) ball.px -= (float)ScreenWidth();
						if (ball.py < 0) ball.py += (float)ScreenHeight();
						if (ball.py >= ScreenHeight()) ball.py -= (float)ScreenHeight();

						// Stop ball when velocity is neglible
						if (fabs(ball.vx*ball.vx + ball.vy*ball.vy) < fStable)
						{
							ball.vx = 0;
							ball.vy = 0;
						}
					}
				}


				// Work out static collisions with walls and displace balls so no overlaps
				for (auto &ball : vecBalls)
				{
					float fDeltaTime = ball.fSimTimeRemaining;

					// Against Edges
					for (auto &edge : vecLines)
					{
						// Check that line formed by velocity vector, intersects with line segment
						float fLineX1 = edge.ex - edge.sx;
						float fLineY1 = edge.ey - edge.sy;

						float fLineX2 = ball.px - edge.sx;
						float fLineY2 = ball.py - edge.sy;

						float fEdgeLength = fLineX1 * fLineX1 + fLineY1 * fLineY1;

						// This is nifty - It uses the DP of the line segment vs the line to the object, to work out
						// how much of the segment is in the "shadow" of the object vector. The min and max clamp
						// this to lie between 0 and the line segment length, which is then normalised. We can
						// use this to calculate the closest point on the line segment
						float t = max(0, min(fEdgeLength, (fLineX1 * fLineX2 + fLineY1 * fLineY2))) / fEdgeLength;

						// Which we do here
						float fClosestPointX = edge.sx + t * fLineX1;
						float fClosestPointY = edge.sy + t * fLineY1;

						// And once we know the closest point, we can check if the ball has collided with the segment in the
						// same way we check if two balls have collided
						float fDistance = sqrtf((ball.px - fClosestPointX)*(ball.px - fClosestPointX) + (ball.py - fClosestPointY)*(ball.py - fClosestPointY));

						if (fDistance <= (ball.radius + edge.radius))
						{
							// Collision has occurred - treat collision point as a ball that cannot move. To make this
							// compatible with the dynamic resolution code below, we add a fake ball with an infinite mass
							// so it behaves like a solid object when the momentum calculations are performed
							sBall *fakeball = new sBall();
							fakeball->radius = edge.radius;
							fakeball->mass = ball.mass * 0.8f;
							fakeball->px = fClosestPointX;
							fakeball->py = fClosestPointY;
							fakeball->vx = -ball.vx;	// We will use these later to allow the lines to impart energy into ball
							fakeball->vy = -ball.vy;	// if the lines are moving, i.e. like pinball flippers
							
							// Store Fake Ball
							vecFakeBalls.push_back(fakeball);
							
							// Add collision to vector of collisions for dynamic resolution
							vecCollidingPairs.push_back({ &ball, fakeball });

							// Calculate displacement required
							float fOverlap = 1.0f * (fDistance - ball.radius - fakeball->radius);

							// Displace Current Ball away from collision
							ball.px -= fOverlap * (ball.px - fakeball->px) / fDistance;
							ball.py -= fOverlap * (ball.py - fakeball->py) / fDistance;
						}
					}

					// Against other balls
					for (auto &target : vecBalls)
					{
						if (ball.id != target.id) // Do not check against self
						{
							if (DoCirclesOverlap(ball.px, ball.py, ball.radius, target.px, target.py, target.radius))
							{
								// Collision has occured
								vecCollidingPairs.push_back({ &ball, &target });

								// Distance between ball centers
								float fDistance = sqrtf((ball.px - target.px)*(ball.px - target.px) + (ball.py - target.py)*(ball.py - target.py));

								// Calculate displacement required
								float fOverlap = 0.5f * (fDistance - ball.radius - target.radius);

								// Displace Current Ball away from collision
								ball.px -= fOverlap * (ball.px - target.px) / fDistance;
								ball.py -= fOverlap * (ball.py - target.py) / fDistance;

								// Displace Target Ball away from collision - Note, this should affect the timing of the target ball
								// and it does, but this is absorbed by the target ball calculating its own time delta later on
								target.px += fOverlap * (ball.px - target.px) / fDistance;
								target.py += fOverlap * (ball.py - target.py) / fDistance;
							}
						}
					}

					// Time displacement - we knew the velocity of the ball, so we can estimate the distance it should have covered
					// however due to collisions it could not do the full distance, so we look at the actual distance to the collision
					// point and calculate how much time that journey would have taken using the speed of the object. Therefore
					// we can now work out how much time remains in that timestep.
					float fIntendedSpeed	= sqrtf(ball.vx * ball.vx + ball.vy * ball.vy);
					float fIntendedDistance = fIntendedSpeed * ball.fSimTimeRemaining;
					float fActualDistance	= sqrtf((ball.px - ball.ox)*(ball.px - ball.ox) + (ball.py - ball.oy)*(ball.py - ball.oy));
					float fActualTime = fActualDistance / fIntendedSpeed;

					// After static resolution, there may be some time still left for this epoch, so allow simulation to continue
					ball.fSimTimeRemaining = ball.fSimTimeRemaining - fActualTime;
				}

				// Now work out dynamic collisions
				float fEfficiency = 1.00f;
				for (auto c : vecCollidingPairs)
				{
					sBall *b1 = c.first, *b2 = c.second;

					// Distance between balls
					float fDistance = sqrtf((b1->px - b2->px)*(b1->px - b2->px) + (b1->py - b2->py)*(b1->py - b2->py));

					// Normal
					float nx = (b2->px - b1->px) / fDistance;
					float ny = (b2->py - b1->py) / fDistance;

					// Tangent
					float tx = -ny;
					float ty = nx;

					// Dot Product Tangent
					float dpTan1 = b1->vx * tx + b1->vy * ty;
					float dpTan2 = b2->vx * tx + b2->vy * ty;

					// Dot Product Normal
					float dpNorm1 = b1->vx * nx + b1->vy * ny;
					float dpNorm2 = b2->vx * nx + b2->vy * ny;

					// Conservation of momentum in 1D
					float m1 = fEfficiency * (dpNorm1 * (b1->mass - b2->mass) + 2.0f * b2->mass * dpNorm2) / (b1->mass + b2->mass);
					float m2 = fEfficiency * (dpNorm2 * (b2->mass - b1->mass) + 2.0f * b1->mass * dpNorm1) / (b1->mass + b2->mass);

					// Update ball velocities
					b1->vx = tx * dpTan1 + nx * m1;
					b1->vy = ty * dpTan1 + ny * m1;
					b2->vx = tx * dpTan2 + nx * m2;
					b2->vy = ty * dpTan2 + ny * m2;
				}

				// Remove collisions
				vecCollidingPairs.clear();

				// Remove fake balls
				for (auto &b : vecFakeBalls) delete b;
				vecFakeBalls.clear();
			}
		}

		// Clear Screen
		Fill(0, 0, ScreenWidth(), ScreenHeight(), ' ');

		// Draw Lines
		for (auto line : vecLines)
		{
			FillCircle(line.sx, line.sy, line.radius, PIXEL_HALF, FG_WHITE);
			FillCircle(line.ex, line.ey, line.radius, PIXEL_HALF, FG_WHITE);

			float nx = -(line.ey - line.sy);
			float ny = (line.ex - line.sx);
			float d = sqrt(nx*nx + ny * ny);
			nx /= d;
			ny /= d;

			DrawLine((line.sx + nx * line.radius), (line.sy + ny * line.radius), (line.ex + nx * line.radius), (line.ey + ny * line.radius));
			DrawLine((line.sx - nx * line.radius), (line.sy - ny * line.radius), (line.ex - nx * line.radius), (line.ey - ny * line.radius));
		}

		// Draw Balls
		for (auto ball : vecBalls)
			FillCircle(ball.px, ball.py, ball.radius, PIXEL_SOLID, FG_RED);

		// Draw Cue
		if (pSelectedBall != nullptr)
			DrawLine(pSelectedBall->px, pSelectedBall->py, m_mousePosX, m_mousePosY, PIXEL_SOLID, FG_BLUE);

		return true;
	}

};


int main()
{
	CirclePhysics game;
	if (game.ConstructConsole(320, 240, 4, 4))
		game.Start();
	else
		wcout << L"Could not construct console" << endl;

	return 0;
};