calculate contact ponits outside of substeps by storing local positions
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@ -29,7 +29,7 @@
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#define PIXELS_PER_UNIT 256.0
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#define GAME_FPS 300.0
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#define GAME_FPS 50.0
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#define GAME_TIMESCALE 1.0
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#define GAME_PHYSICS_SUBSTEPS 4
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@ -38,7 +38,7 @@
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* E.g: At 1.5, the user thread will render 75ms back in time (if game thread runs at 50FPS)
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*/
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#define USER_INTERP_OFFSET_TICK_RATIO 1.1
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#define USER_INTERP_ENABLED 0
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#define USER_INTERP_ENABLED 1
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/* ========================== *
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* Settings
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@ -64,10 +64,12 @@ struct entity_store {
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struct contact {
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struct v2 point;
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/* Contact point in local space of each entity */
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struct v2 point_local_e0;
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struct v2 point_local_e1;
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u32 id; /* ID generated during clipping */
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f32 separation; /* How far is p0 from p1 along normal */
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f32 starting_separation; /* How far are original points along normal */
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f32 accumulated_impulse; /* Accumulated impulse along normal */
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b32 persisted;
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48
src/game.c
48
src/game.c
@ -126,7 +126,7 @@ INTERNAL void spawn_test_entities(void)
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/* Player */
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struct entity *player_ent;
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{
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struct v2 pos = V2(0.25, -3);
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struct v2 pos = V2(0.25, -10);
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//struct v2 pos = V2(0.25, -2);
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//struct v2 pos = V2(1.1230469346046448864129274625156, -1); /* Touching right side of box */
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//struct v2 pos = V2(1.1230469346046448864129274625156 - 0.0001, -1); /* Touching right side of box */
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@ -255,6 +255,7 @@ INTERNAL void pre_step(void)
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{
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struct entity_store *store = G.tick.entity_store;
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/* TODO: Just do this during create contact manifolds call if both are outside of substep */
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for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
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struct entity *manifold = &store->entities[entity_index];
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if (!(manifold->valid && entity_has_prop(manifold, ENTITY_PROP_ACTIVE))) continue;
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@ -444,8 +445,9 @@ INTERNAL void create_contact_manifolds(void)
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contact->id = id;
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}
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}
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contact->point = point;
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contact->separation = sep;
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contact->point_local_e0 = xform_invert_mul_v2(e0_xf, point);
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contact->point_local_e1 = xform_invert_mul_v2(e1_xf, point);
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contact->starting_separation = sep;
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}
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@ -501,7 +503,7 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
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f32 inv_i1 = 1.f / i1;
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struct queued_impulse {
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struct v2 point;
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struct v2 p0, p1;
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f32 impulse;
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};
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struct queued_impulse queued_impulses[ARRAY_COUNT(manifold->contacts)];
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@ -510,23 +512,25 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
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for (u32 contact_index = 0; contact_index < num_contacts; ++contact_index) {
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struct contact *contact = &manifold->contacts[contact_index];
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struct v2 p = contact->point;
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struct v2 p0 = xform_mul_v2(e0_xf, contact->point_local_e0);
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struct v2 p1 = xform_mul_v2(e1_xf, contact->point_local_e1);
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f32 separation = v2_dot(v2_sub(p1, p0), normal) + contact->starting_separation;
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f32 bias = 0;
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if (apply_bias) {
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//f32 bias_factor = 0.2f;
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f32 bias_factor = 0.2f;
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//f32 bias_factor = 0.025f;
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//f32 bias_slop = 0.0005f;
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f32 bias_slop = 0.01f;
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f32 bias_slop = 0.001f;
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//f32 bias_slop = 0.00f;
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bias = (bias_factor / dt) * max_f32((contact->separation - bias_slop), 0);
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bias = (bias_factor / dt) * max_f32((separation - bias_slop), 0);
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}
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struct v2 vcp0 = v2_sub(p, e0_xf.og);
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struct v2 vcp1 = v2_sub(p, e1_xf.og);
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struct v2 vcp0 = v2_sub(p0, e0_xf.og);
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struct v2 vcp1 = v2_sub(p1, e1_xf.og);
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struct v2 vel0 = v2_add(e0->linear_velocity, v2_perp_right_mul(vcp0, e0->angular_velocity));
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struct v2 vel1 = v2_add(e1->linear_velocity, v2_perp_right_mul(vcp1, e1->angular_velocity));
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@ -534,7 +538,6 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
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struct v2 vrel = v2_sub(vel1, vel0);
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f32 vn = v2_dot(vrel, normal);
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vn = max_f32(vn, 0);
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struct v2 idk0 = v2_perp_right_mul(vcp0, v2_wedge(vcp0, normal) * inv_i0);
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struct v2 idk1 = v2_perp_right_mul(vcp1, v2_wedge(vcp1, normal) * inv_i1);
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@ -552,7 +555,8 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
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contact->accumulated_impulse = new_accumulated_impulse;
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queued_impulses[contact_index] = (struct queued_impulse) {
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.point = p,
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.p0 = p0,
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.p1 = p1,
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.impulse = delta_impulse
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};
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}
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@ -560,8 +564,8 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
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for (u32 i = 0; i < num_contacts; ++i) {
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struct queued_impulse qi = queued_impulses[i];
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struct v2 impulse = v2_mul(normal, qi.impulse);
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entity_apply_linear_impulse(e0, impulse, qi.point);
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entity_apply_linear_impulse(e1, v2_neg(impulse), qi.point);
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entity_apply_linear_impulse(e0, impulse, qi.p0);
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entity_apply_linear_impulse(e1, v2_neg(impulse), qi.p1);
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}
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}
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}
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@ -1260,22 +1264,20 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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* ========================== */
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{
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create_contact_manifolds();
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pre_step();
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(UNUSED)create_contact_manifolds;
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(UNUSED)solve_collisions;
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(UNUSED)integrate_positions;
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f32 substep_dt = dt / GAME_PHYSICS_SUBSTEPS;
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for (u32 i = 0; i < GAME_PHYSICS_SUBSTEPS; ++i) {
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#if 0
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create_contact_manifolds();
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#if 1
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solve_collisions(substep_dt, true);
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integrate_positions(substep_dt);
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solve_collisions(substep_dt, false);
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solve_collisions(substep_dt, false); /* Relaxation */
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#else
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(UNUSED)create_contact_manifolds;
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(UNUSED)solve_collisions;
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(UNUSED)integrate_positions;
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create_contact_manifolds();
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solve_collisions(substep_dt, true);
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integrate_positions(substep_dt);
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#endif
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17
src/gjk.c
17
src/gjk.c
@ -171,9 +171,6 @@ struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, stru
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/* TODO: Set all epsilons used in this function to 0.005 */
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/* TODO: Verify epsilon */
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/* FIXME: Infinite loop when epsilon too low and a shape is too far from 0 (precision issue) */
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const f32 epsilon = 0.0000100f;
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struct gjk_simplex s = ZI;
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b32 colliding = false;
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struct v2 *proto = NULL;
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@ -322,25 +319,15 @@ struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, stru
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/* Check unique */
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/* TODO: Better */
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{
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const f32 min_new_pt_dist_sq = 0.001f;
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b32 unique = true;
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#if 0
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for (u32 i = 0; i < proto_count; ++i) {
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struct v2 edge_start = proto[i];
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struct v2 edge_end = i < proto_count - 1 ? proto[i + 1] : proto[0];
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if (math_fabs(v2_wedge(v2_sub(edge_end, edge_start), v2_sub(m, edge_start))) < epsilon) {
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unique = false;
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break;
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}
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}
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#else
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for (u32 i = 0; i < proto_count; ++i) {
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struct v2 p = proto[i];
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if (v2_len_sq(v2_sub(p, m)) < epsilon) {
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if (v2_len_sq(v2_sub(p, m)) < min_new_pt_dist_sq) {
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unique = false;
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break;
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}
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}
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#endif
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if (!unique) {
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normal = v2_norm(normal);
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break;
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23
src/user.c
23
src/user.c
@ -446,6 +446,7 @@ INTERNAL void user_update(void)
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__profscope(produce_interpolated_tick);
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#if USER_INTERP_ENABLED
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/* TODO: Use actual fps of game thread (will differ from GAME_FPS if game thread is lagging) to hide lag with slow-motion? */
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f64 blend_time_offset = (1.0 / GAME_FPS) * USER_INTERP_OFFSET_TICK_RATIO;
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f64 blend_time = G.time > blend_time_offset ? G.time - blend_time_offset : 0;
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@ -1121,14 +1122,15 @@ INTERNAL void user_update(void)
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f32 radius = 5;
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for (u32 i = 0; i < ent->num_contacts; ++i) {
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struct contact contact = ent->contacts[i];
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struct v2 p0 = xform_mul_v2(e0_xf, contact.point_local_e0);
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struct v2 p1 = xform_mul_v2(e1_xf, contact.point_local_e1);
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struct v2 point = v2_add(p0, v2_mul(v2_sub(p1, p0), 0.5f));
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/* Draw point */
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{
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u32 color = contact.persisted ? RGBA_32_F(1, 1, 0, 0.50) : RGBA_32_F(1, 0, 0, 0.50);
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//struct v2 point = xform_mul_v2(e0_xf, contact.p0_local);
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//struct v2 point = contact.p0_initial_world;
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struct v2 point = contact.point;
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point = xform_mul_v2(G.world_view, point);
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draw_solid_circle(G.viewport_canvas, point, radius, color, 10);
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draw_solid_circle(G.viewport_canvas, xform_mul_v2(G.world_view, point), radius, color, 10);
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}
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/* Draw normal */
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{
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@ -1136,8 +1138,8 @@ INTERNAL void user_update(void)
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f32 len = 0.1;
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f32 arrow_thickness = 2;
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f32 arrow_height = 5;
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struct v2 start = xform_mul_v2(G.world_view, contact.point);
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struct v2 end = xform_mul_v2(G.world_view, v2_add(contact.point, v2_mul(v2_norm(ent->manifold_normal), len)));
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struct v2 start = xform_mul_v2(G.world_view, point);
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struct v2 end = xform_mul_v2(G.world_view, v2_add(point, v2_mul(v2_norm(ent->manifold_normal), len)));
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draw_solid_arrow_line(G.viewport_canvas, start, end, arrow_thickness, arrow_height, color);
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}
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/* Draw id */
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@ -1148,14 +1150,16 @@ INTERNAL void user_update(void)
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struct string fmt = STR(
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"id: 0x%F\n"
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"impulse: %F"
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"impulse: %F\n"
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"separation: %F"
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);
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struct string text = string_format(temp.arena, fmt,
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FMT_HEX(contact.id),
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FMT_FLOAT(contact.accumulated_impulse));
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FMT_FLOAT(contact.accumulated_impulse),
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FMT_FLOAT(contact.starting_separation));
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draw_text(G.viewport_canvas, disp_font, v2_add(v2_round(xform_mul_v2(G.world_view, contact.point)), V2(0, offset_px)), text);
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draw_text(G.viewport_canvas, disp_font, v2_add(v2_round(xform_mul_v2(G.world_view, point)), V2(0, offset_px)), text);
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}
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}
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}
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@ -1263,7 +1267,8 @@ INTERNAL void user_update(void)
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input_move_dir = v2_mul(v2_norm(input_move_dir), move_speed);
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}
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struct v2 input_aim_pos = G.world_cursor;
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if (!G.debug_camera) {
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//if (!G.debug_camera) {
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{
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queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
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.kind = GAME_CMD_KIND_PLAYER_MOVE,
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.move_dir = input_move_dir,
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