ignore speculative bias during relaxation for stabililty

src/collider.c

@@ -85,7 +85,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
     (UNUSED)radius1;
 
     /* TODO: Parameterize */
-    const f32 tolerance = 0.005f;
+    const f32 tolerance = 0.001f;
     const f32 min_unique_pt_dist_sq = 0.001f * 0.001f;
 
     b32 colliding = false;
@@ -130,6 +130,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
                 m = menkowski_point(shape0, shape1, xf0, xf1, dir);
                 /* Check that new point is far enough away from existing point */
                 if (v2_len_sq(v2_sub(m, s.a)) < min_unique_pt_dist_sq) {
+                    simplex_is_closest_edge = true;
                     done = true;
                     break;
                 }
@@ -172,7 +173,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
             struct v2 rab_dir = v2_perp_towards_dir(vab, v2_neg(vac));
             struct v2 rac_dir = v2_perp_towards_dir(vac, v2_neg(vab));
             struct v2 rbc_dir = v2_perp_towards_dir(vbc, vab);
-#if 0
+#if 1
             voronoi_mask |= (v2_dot(rab_dir, v2_neg(s.a)) > 0) << 0;  /* Regions ab, a, and b*/
             voronoi_mask |= (v2_dot(rac_dir, v2_neg(s.a)) > 0) << 1;  /* Regions ac, a, and c */
             voronoi_mask |= (v2_dot(rbc_dir, v2_neg(s.b)) > 0) << 2;  /* Regions bc, b, and c */
@@ -344,7 +345,15 @@ struct collider_collision_points_result collider_collision_points(struct collide
             }
             proto[pen_pe_index] = m;
         }
-    } else if (simplex_is_closest_edge && s.len > 1) {
+    } else if (simplex_is_closest_edge) {
+        if (s.len == 1) {
+            struct v2 p = v2_neg(s.a);
+            if (v2_len_sq(p) <= (tolerance * tolerance)) {
+                res.path = 2;
+                normal = v2_norm(dir);
+                colliding = true;
+            }
+        } else {
             /* Shapes are not overlapping (origin is outside of simplex). Project
              * origin to determine if distance is within tolerance. */
             ASSERT(s.len == 2);
@@ -358,6 +367,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
                 colliding = true;
             }
         }
+    }
 
     if (colliding) {
         /* ========================== *

src/game.c

@@ -166,15 +166,15 @@ INTERNAL void spawn_test_entities(f32 offset)
 
         entity_enable_prop(e, ENTITY_PROP_PLAYER_CONTROLLED);
         //e->control_force = 4500;
-        e->control_force = 1200;
+        //e->control_force = 1200;
-        //e->control_force = 250;
+        e->control_force = 250;
         e->control_torque = 10;
         e->control.focus = V2(0, -1);
 
         entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
         e->mass_unscaled = 100;
-        //e->inertia_unscaled = F32_INFINITY;
+        e->inertia_unscaled = F32_INFINITY;
-        e->inertia_unscaled = 25;
+        //e->inertia_unscaled = 25;
         e->linear_ground_friction = 1000;
         e->angular_ground_friction = 100;
 
@@ -212,8 +212,8 @@ INTERNAL void spawn_test_entities(f32 offset)
         //struct v2 pos = V2(0.5, 29);
         //struct v2 pos = V2(0.5, 24);
         //struct v2 pos = V2(1, -1);
-        struct v2 size = V2(1, 1);
+        //struct v2 size = V2(1, 1);
-        //struct v2 size = V2(500, 50);
+        struct v2 size = V2(500, 1);
         //f32 rot = PI / 4;
         f32 rot = 0;
         struct entity *e = entity_alloc(root);
@@ -523,7 +523,7 @@ INTERNAL void warm_start_contacts(void)
                 struct v2 vcp1 = v2_sub(p1, e1_xf.og);
 
                 struct v2 impulse = v2_add(v2_mul(normal, contact->normal_impulse), v2_mul(tangent, contact->tangent_impulse));
-                impulse = v2_mul(impulse, 0.5f);
+                //impulse = v2_mul(impulse, 0.5f);
 
                 v0 = v2_sub(v0, v2_mul(impulse, contact->inv_m0));
                 v1 = v2_add(v1, v2_mul(impulse, contact->inv_m1));
@@ -611,9 +611,10 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
                 f32 mass_scale = 1.0f;
                 f32 impulse_scale = 0.0f;
 
+                if (apply_bias) {
                     if (separation > 0.0f) {
                         velocity_bias = separation / dt;
-                } else if (apply_bias) {
+                    } else {
                         /* Soft constraint */
 
                         f32 contact_damping_ratio = 10.0f;
@@ -627,6 +628,7 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
                         mass_scale = softness.mass_scale;
                         impulse_scale = softness.impulse_scale;
                     }
+                }
 
                 struct v2 vel0 = v2_add(v0, v2_perp_mul(vcp0, w0));
                 struct v2 vel1 = v2_add(v1, v2_perp_mul(vcp1, w1));
@@ -954,7 +956,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
         {
             struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, STR("shape"), ent->animation_frame);
             ent->local_collider = collider_from_quad(xform_mul_quad(ent->sprite_local_xform, quad_from_rect(slice.rect)));
-            ent->local_collider.radius = 0.1;
 
             if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
 #if 0
@@ -1357,7 +1358,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
      * Create ground friction force (gravity)
      * ========================== */
 
-#if 1
+#if 0
      /* TODO: Do this globally rather than creating entities for constant forces */
     for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
         struct entity *ent = &store->entities[entity_index];

src/user.c

@@ -146,6 +146,8 @@ struct user_startup_receipt user_startup(struct work_startup_receipt *work_sr,
     G.window = window;
     sys_window_register_event_callback(G.window, &window_event_callback);
 
+    G.debug_draw = true;
+
     G.user_thread = sys_thread_alloc(&user_thread_entry_point, NULL, STR("[P1] User thread"));
     app_register_exit_callback(&user_shutdown);
 
@@ -994,9 +996,9 @@ INTERNAL void user_update(void)
             if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
                 struct collider_shape collider = ent->local_collider;
                 u32 color = ent->colliding ? RGBA_32_F(1, 1, 1, 0.5) : RGBA_32_F(1, 1, 0, 0.25);
-                f32 thickness = 1;
+                f32 thickness = 2;
                 //u32 detail = 32;
-                u32 detail = 256;
+                u32 detail = 512;
                 //draw_solid_collider_line(G.viewport_canvas, collider, xform_mul(G.world_view, xf), thickness, color, detail);
                 draw_solid_collider_line(G.viewport_canvas, G.world_view, collider, xf, thickness, color, detail);
             }