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c:/home/kevn/src/animaniac/gator/CollisionResponseOperator.h

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#ifndef COLLIDE_OPERATOR
#define COLLIDE_OPERATOR
#include <vector>
#include <ani/Dynamics/Operator.h>
#include <ani/Dynamics/DynamicSystem.h>
#include <gator/Collision.h>
#include <gator/PlaneCollisionDetector.h>

namespace gator
{
   class CollisionResponseOperator : public ani::Operator<ani::Body>
   {
   public:
      typedef boost::shared_ptr<ani::Body> EntityTypePtr;

   public:
      //: default constructor
      CollisionResponseOperator() : ani::Operator<ani::Body>(),
         mFrictionCoef( 0.0f ), mElasticCoef( 1.0f )
      {
      }

      //: destructor
      virtual ~CollisionResponseOperator()
      {
      }

      void setElastic( float e )
      {
         mElasticCoef = e;
      }

      void setFriction( float f )
      {
         mFrictionCoef = f;
      }

      virtual void exec( ani::DynamicSystem<ani::Body>& ps, float timeDelta )
      {
         std::vector<EntityTypePtr>& entities = ps.entities();
         std::vector<EntityTypePtr>::iterator it;

         for (it = entities.begin(); it != entities.end(); ++it)
         {
            ani::Body& p = *(*it);
            gmtl::Vec3f incomingVector = p.linearVelocity();

            // replace this with a more generic polygon intersection
            gmtl::Vec3f polygonNormal;
            float dist;
            bool collision_happened = mCollisionDetector->exec( p, dist, polygonNormal );

            // handle collision
            if (collision_happened)
            {
               gmtl::Vec3f frictionForce, normalForce;
               computeCollisionForces( polygonNormal, incomingVector, mElasticCoef, mFrictionCoef, p.mass(), timeDelta, frictionForce, normalForce );

               // apply the two resulting forces.
               p.applyForce( normalForce );
               p.applyForce( frictionForce );

               // correct position to prevent sinking...
               p.setPosition( p.position() + polygonNormal * (-dist) );
            }
         }
      }

      virtual void setCollisionDetector( CollisionDetectorPtr detect )
      {
         mCollisionDetector = detect;
      }
      
   private:
      float mFrictionCoef; // 0.0 == no friction
      float mElasticCoef;  // 1.0 == fully elastic   
      CollisionDetectorPtr mCollisionDetector;
   };
} // end namespace gator

#endif

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