Circle collision improvements.

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "doxygen-awesome-css"]
+	path = doxygen-awesome-css
+	url = https://github.com/jothepro/doxygen-awesome-css.git

Doxyfile

@@ -1283,7 +1283,8 @@ HTML_STYLESHEET        =
 # list). For an example see the documentation.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-HTML_EXTRA_STYLESHEET  =
+HTML_EXTRA_STYLESHEET  =doxygen-awesome-css/doxygen-awesome.css \
+                        doxygen-awesome-css/doxygen-awesome-sidebar-only.css
 
 # The HTML_EXTRA_FILES tag can be used to specify one or more extra images or
 # other source files which should be copied to the HTML output directory. Note
@@ -1582,7 +1583,7 @@ DISABLE_INDEX          = NO
 # The default value is: NO.
 # This tag requires that the tag GENERATE_HTML is set to YES.
 
-GENERATE_TREEVIEW      = NO
+GENERATE_TREEVIEW      = YES
 
 # The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that
 # doxygen will group on one line in the generated HTML documentation.

QuarkPhysics/extensions/qspatialhashing.cpp

@@ -104,7 +104,6 @@ void QSpatialHashing::Update() {
 void QSpatialHashing::GetAllPairs(std::unordered_set<std::pair<QBody*, QBody*>,QBody::BodyPairHash,QBody::BodyPairEqual> &pairs) {
 
 
-    int aabbTestCount=0;
     for (auto& cell : cells) {
         std::vector<QBody*>& cellBodies = cell.second;
         size_t numBodies = cellBodies.size();
@@ -129,7 +128,7 @@ void QSpatialHashing::GetAllPairs(std::unordered_set<std::pair<QBody*, QBody*>,Q
                 if (!BodiesCanCollide(bodyA, bodyB))
                     continue;
 
-                aabbTestCount+=1;
+
                 if(bodyA->GetAABB().GetMax().x >= bodyB->GetAABB().GetMin().x){
                     if( bodyA->GetAABB().GetMin().y <= bodyB->GetAABB().GetMax().y &&
                         bodyA->GetAABB().GetMax().y >= bodyB->GetAABB().GetMin().y) {

QuarkPhysics/qbody.cpp

@@ -84,14 +84,16 @@ bool QBody::CanCollide(QBody *bodyA, QBody *bodyB,bool checkBodiesAreEnabled)
 		if (bodyA->GetEnabled()==false || bodyB->GetEnabled()==false)
 			return false;
 
-	QWorld *world=bodyA->world;
+
 	//Check Static and Sleeping Modes
 	if((bodyA->isSleeping || bodyA->mode==QBody::Modes::STATIC) && (bodyB->isSleeping || bodyB->mode==QBody::Modes::STATIC ))
 		return false;
 	//Check Layers Bits
 	if( ( ((bodyA->layersBit & bodyB->collidableLayersBit)==0 ) && (bodyB->layersBit & bodyA->collidableLayersBit)==0 ) )
 		return false;
 
+	QWorld *world=bodyA->world;
+
 	if( world->CheckCollisionException(bodyA,bodyB)==true ){
 		return false;
 	}
@@ -191,8 +193,13 @@ void QBody::UpdateMeshTransforms(){
 			float nx=originVec.x*rotVecUnit.x-originVec.y*rotVecUnit.y;
 			float ny=originVec.y*rotVecUnit.x+originVec.x*rotVecUnit.y;
 			QVector newPos=mesh->globalPosition+QVector(nx,ny);
+			if (bodyType==QBody::BodyTypes::RIGID){
+				particle->SetPreviousGlobalPosition(particle->GetGlobalPosition());
+			}else{
+				particle->SetPreviousGlobalPosition(newPos);
+			}
 			particle->SetGlobalPosition(newPos);
-			particle->SetPreviousGlobalPosition(newPos);
+
 		}
 	}
 

QuarkPhysics/qcollision.cpp

@@ -514,8 +514,11 @@ void QCollision::CircleAndCircle(vector<QParticle*> &particlesA,vector<QParticle
 		bboxSizeA=QVector(specifiedRadius,specifiedRadius);
 	}
 
+	size_t particlesASize=particlesA.size();
+	size_t particlesBSize=particlesB.size();
+
 	//A. Start the loop for all points of circleparticlesA
-	for(size_t i=0;i<particlesA.size();i++){
+	for(size_t i=0;i<particlesASize;i++){
 		QParticle *pA=particlesA[i];
 
 		//Optimization phase: aabb test 
@@ -538,7 +541,7 @@ void QCollision::CircleAndCircle(vector<QParticle*> &particlesA,vector<QParticle
 
 
 		//B. Start the loop for all points of circleparticlesB
-		for(;n<particlesB.size();n++){
+		for(;n<particlesBSize;n++){
 			QParticle *pB=particlesB[n];
 			if(pA==pB) continue;
 
@@ -564,7 +567,9 @@ void QCollision::CircleAndCircle(vector<QParticle*> &particlesA,vector<QParticle
 			if(positionalPenetrationSq<totalRadiusPow){
 				//The penetration is the difference between the existing penetration and the total radius of the objA and the objB.
 				positionalPenetration=sqrt(positionalPenetrationSq);
-				normal=distVec.Normalized();
+				//normal=distVec.Normalized();
+				//The normal with previous positions gives us more realistic collision normals in the simulation.
+				normal=(pB->GetPreviousGlobalPosition()-pA->GetPreviousGlobalPosition()).Normalized();
 
 				penetration=totalRadius-positionalPenetration;
 

documentation/annotated_dup.js

@@ -0,0 +1,28 @@
+var annotated_dup =
+[
+    [ "Building Examples", "index.html#autotoc_md0", null ],
+    [ "Using", "index.html#autotoc_md1", null ],
+    [ "Third Party", "index.html#autotoc_md2", null ],
+    [ "License", "index.html#autotoc_md3", null ],
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+    [ "QAreaBody", "classQAreaBody.html", "classQAreaBody" ],
+    [ "QBody", "classQBody.html", "classQBody" ],
+    [ "QBroadPhase", "classQBroadPhase.html", "classQBroadPhase" ],
+    [ "QCollision", "classQCollision.html", "classQCollision" ],
+    [ "QGizmo", "classQGizmo.html", "classQGizmo" ],
+    [ "QGizmoCircle", "classQGizmoCircle.html", "classQGizmoCircle" ],
+    [ "QGizmoLine", "classQGizmoLine.html", "classQGizmoLine" ],
+    [ "QGizmoRect", "classQGizmoRect.html", "classQGizmoRect" ],
+    [ "QJoint", "classQJoint.html", "classQJoint" ],
+    [ "QManifold", "classQManifold.html", "classQManifold" ],
+    [ "QManifoldKey", "structQManifoldKey.html", "structQManifoldKey" ],
+    [ "QMesh", "structQMesh.html", "structQMesh" ],
+    [ "QObjectPool", "classQObjectPool.html", "classQObjectPool" ],
+    [ "QParticle", "classQParticle.html", "classQParticle" ],
+    [ "QRaycast", "classQRaycast.html", "classQRaycast" ],
+    [ "QRigidBody", "classQRigidBody.html", "classQRigidBody" ],
+    [ "QSoftBody", "classQSoftBody.html", "classQSoftBody" ],
+    [ "QSpring", "classQSpring.html", "classQSpring" ],
+    [ "QVector", "structQVector.html", "structQVector" ],
+    [ "QWorld", "classQWorld.html", "classQWorld" ]
+];

documentation/classQAABB-members.html

@@ -9,10 +9,16 @@
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="doxygen-awesome-sidebar-only.css" rel="stylesheet" type="text/css"/>
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@@ -46,6 +52,23 @@
 });
 /* @license-end */</script>
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+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classQAABB.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
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      onmouseover="return searchBox.OnSearchSelectShow()"
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 </iframe>
 </div>
 
-</div><!-- top -->
 <div class="header">
   <div class="headertitle">
 <div class="title">QAABB Member List</div>  </div>
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 <p>This is the complete list of members for <a class="el" href="classQAABB.html">QAABB</a>, including all inherited members.</p>
 <table class="directory">
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Combine</b>(QAABB &amp;b1, QAABB &amp;b2) (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">static</span></td></tr>
-  <tr bgcolor="#f0f0f0"><td class="entry"><b>Fatted</b>(float amount) const (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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+  <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>Fattened</b>(float amount) const (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
+  <tr bgcolor="#f0f0f0"><td class="entry"><b>FattenedWithRate</b>(float rate) const (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>GetArea</b>() const (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>GetCenterPosition</b>() const (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>GetMax</b>() (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
@@ -86,9 +108,12 @@
   <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>QAABB</b>(QVector minPosition, QVector maxPosition) (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
   <tr bgcolor="#f0f0f0"><td class="entry"><b>SetMinMax</b>(QVector minPosition, QVector maxPosition) (defined in <a class="el" href="classQAABB.html">QAABB</a>)</td><td class="entry"><a class="el" href="classQAABB.html">QAABB</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
 </table></div><!-- contents -->
+</div><!-- doc-content -->
 <!-- start footer part -->
-<hr class="footer"/><address class="footer"><small>
-Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1
-</small></address>
+<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
+  <ul>
+    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.1 </li>
+  </ul>
+</div>
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documentation/classQAABB.html

@@ -9,10 +9,16 @@
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
+<script type="text/javascript" src="resize.js"></script>
+<script type="text/javascript" src="navtreedata.js"></script>
+<script type="text/javascript" src="navtree.js"></script>
 <link href="search/search.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="doxygen-awesome-sidebar-only.css" rel="stylesheet" type="text/css"/>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
@@ -46,6 +52,23 @@
 });
 /* @license-end */</script>
 <div id="main-nav"></div>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
+  </div>
+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:cf05388f2679ee054f2beb29a391d25f4e673ac3&amp;dn=gpl-2.0.txt GPL-v2 */
+$(document).ready(function(){initNavTree('classQAABB.html',''); initResizable(); });
+/* @license-end */
+</script>
+<div id="doc-content">
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      onmouseover="return searchBox.OnSearchSelectShow()"
@@ -60,7 +83,6 @@
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-</div><!-- top -->
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   <div class="summary">
 <a href="#pub-methods">Public Member Functions</a> &#124;
@@ -106,12 +128,12 @@
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+<a class="el" href="classQAABB.html">QAABB</a>&#160;</td><td class="memItemRight" valign="bottom"><b>Fattened</b> (float amount) const</td></tr>
+<tr class="separator:a2b7c7ed20ea724ab4ec05fc055829154"><td class="memSeparator" colspan="2">&#160;</td></tr>
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+<a class="el" href="classQAABB.html">QAABB</a>&#160;</td><td class="memItemRight" valign="bottom"><b>FattenedWithRate</b> (float rate) const</td></tr>
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@@ -126,9 +148,13 @@
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+</div><!-- doc-content -->
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+    [ "GetSize", "classQAABB.html#aec22976af0d609ddc8150ed50e50a368", null ],
+    [ "GetVolume", "classQAABB.html#a46b9d3092df51d1b41beed8ff348d562", null ],
+    [ "isCollidingWith", "classQAABB.html#a070693c56004ad082994f2167ef92288", null ],
+    [ "isContain", "classQAABB.html#a14892c3614b435353840aa973be0214a", null ],
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