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fix manifold swap issue

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This commit is contained in:
jacob 2024-09-19 20:42:31 -05:00
parent dbdd653ae8
commit 4b88b282df
2 changed files with 56 additions and 40 deletions
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86
src/game.c
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@ -19,6 +19,9 @@ GLOBAL struct {
b32 paused;
struct sprite_scope *sprite_frame_scope;
/* TODO: Remove this (testing) */
b32 box_spawned;
/* Game thread input */
struct sys_mutex game_cmds_mutex;
struct arena game_cmds_arena;
@ -129,10 +132,10 @@ INTERNAL void spawn_test_entities(void)
//struct v2 pos = V2(0.374142020941, -0.246118023992); /* Touching glitch spot */
//struct v2 size = V2(1, 1);
struct v2 size = V2(0.5, 0.5);
f32 r = PI / 4;
//f32 r = PI / 4;
//f32 r = PI / 3;
//f32 r = PI / 2;
//f32 r = 0;
f32 r = 0;
f32 skew = 0;
struct entity *e = entity_alloc(root);
@ -149,14 +152,15 @@ INTERNAL void spawn_test_entities(void)
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_torque = 10;
e->control.focus = V2(0, -1);
entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
e->mass_unscaled = 100;
//e->inertia_unscaled = 1;
e->inertia_unscaled = F32_INFINITY;
e->inertia_unscaled = 25;
//e->inertia_unscaled = F32_INFINITY;
e->linear_ground_friction = 1000;
e->angular_ground_friction = 100;
@ -188,7 +192,9 @@ INTERNAL void spawn_test_entities(void)
}
/* Box */
{
if (!G.box_spawned) {
G.box_spawned = true;
//struct v2 pos = V2(0.5, -0.5);
struct v2 pos = V2(0.5, -1);
struct v2 size = V2(1, 1);
@ -281,6 +287,11 @@ INTERNAL void create_contact_manifolds(void)
if (!(e1->valid && entity_has_prop(e1, ENTITY_PROP_ACTIVE))) continue;
if (!entity_has_prop(e1, ENTITY_PROP_PHYSICAL)) continue;
/* TODO: Remove this (temporary stop to prevent double-manifold creation) */
if (e0_index >= e1_index) {
continue;
}
/* TODO: Remove this */
static struct arena dict_arena = ZI;
static struct fixed_dict dict = ZI;
@ -295,10 +306,6 @@ INTERNAL void create_contact_manifolds(void)
{
struct entity_handle h0 = e0->handle;
struct entity_handle h1 = e1->handle;
if (h0.idx > h1.idx) {
h0 = e1->handle;
h1 = e0->handle;
}
manifold_hash = hash_fnv64(HASH_FNV64_BASIS, BUFFER_FROM_STRUCT(&h0));
manifold_hash = hash_fnv64(manifold_hash, BUFFER_FROM_STRUCT(&h1));
manifold_key = STRING_FROM_BUFFER(BUFFER_FROM_STRUCT(&manifold_hash));
@ -335,11 +342,14 @@ INTERNAL void create_contact_manifolds(void)
}
#if 1
const f32 remove_contact_threshold_global_dist_sq = 0.005f * 0.005f;
const f32 insert_contact_threshold_global_dist_sq = 0.005f * 0.005f;
#else
const f32 remove_contact_threshold_global_dist_sq = 0.025f * 0.025f;
const f32 insert_contact_threshold_global_dist_sq = 0.025f * 0.025f;
#elif 0
const f32 remove_contact_threshold_global_dist_sq = 0;
const f32 insert_contact_threshold_global_dist_sq = 0;
#else
const f32 remove_contact_threshold_global_dist_sq = F32_INFINITY;
const f32 insert_contact_threshold_global_dist_sq = F32_INFINITY;
#endif
struct gjk_contact_points_result res = gjk_contact_points(e0_poly, e1_poly);
@ -502,8 +512,12 @@ INTERNAL void create_contact_manifolds(void)
/* Copy */
/* TODO: Optimize */
CT_ASSERT(ARRAY_COUNT(manifold->contacts) == 2); /* Logic assumes 2 contact points */
manifold->contacts[0] = *deepest;
manifold->contacts[1] = *furthest;
{
struct contact deepest_cpy = *deepest;
struct contact furthest_cpy = *furthest;
manifold->contacts[0] = deepest_cpy;
manifold->contacts[1] = furthest_cpy;
}
}
@ -527,17 +541,11 @@ INTERNAL void create_contact_manifolds(void)
#endif
} else if (manifold->valid) {
/* No longer colliding, delete manifold */
#if 0
#if 1
manifold->num_contacts = 0;
//fixed_dict_set(&dict_arena, &dict, manifold_key, NULL);
//entity_enable_prop(manifold, ENTITY_PROP_RELEASE);
entity_enable_prop(manifold, ENTITY_PROP_RELEASE);
#else
if (res.solved) {
manifold->prototype.len = 0;
@ -599,10 +607,10 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
f32 bias = 0;
if (apply_bias) {
//f32 bias_factor = 0.2f;
f32 bias_factor = 0.1f;
f32 bias_factor = 0.025f;
//f32 bias_slop = 0.0005f;
f32 bias_slop = 0.001f;
f32 bias_slop = 0.005f;
//f32 bias_slop = 0.00f;
bias = (bias_factor / dt) * max_f32((contact->depth - bias_slop), 0);
@ -745,8 +753,8 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
* Spawn test entities
* ========================== */
/* TODO: remove this (testing) */
/* Initialize entities */
/* TODO: remove this (testing) */
/* Initialize entities */
{
static b32 run = 0;
if (!run) {
@ -764,13 +772,16 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
switch (cmd.kind) {
/* Clear level */
case GAME_CMD_KIND_CLEAR_ALL: {
case GAME_CMD_KIND_CLEAR_ALL:
{
logf_info("Clearing level");
entity_store_reset(store);
G.box_spawned = false;
} break;
/* Spawn test */
case GAME_CMD_KIND_SPAWN_TEST: {
case GAME_CMD_KIND_SPAWN_TEST:
{
logf_info("Spawning (test)");
spawn_test_entities();
} break;
@ -1250,7 +1261,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
* ========================== */
#if 0
/* TODO: Do this globally rather than creating entities for constant forces */
/* 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];
if (!(ent->valid && entity_has_prop(ent, ENTITY_PROP_ACTIVE))) continue;
@ -1295,14 +1306,14 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
f32 impulse = -angular_velocity * inertia;
entity_apply_angular_impulse(ent, impulse);
}
}
}
}
}
#else
/* TODO: Remove this (gravity test) */
struct xform xf = entity_get_xform(ent);
f32 mass = ent->mass_unscaled * math_fabs(xform_get_determinant(xf));
entity_apply_force_to_center(ent, V2(0, 9.81 * mass));
/* TODO: Remove this (gravity test) */
struct xform xf = entity_get_xform(ent);
f32 mass = ent->mass_unscaled * math_fabs(xform_get_determinant(xf));
entity_apply_force_to_center(ent, V2(0, 9.81 * mass));
#endif
}
#endif
@ -1339,9 +1350,8 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
* ========================== */
{
u32 substeps = 4;
f32 substep_dt = dt / substeps;
for (u32 i = 0; i < substeps; ++i) {
f32 substep_dt = dt / GAME_PHYSICS_SUBSTEPS;
for (u32 i = 0; i < GAME_PHYSICS_SUBSTEPS; ++i) {
#if 0
create_contact_manifolds();

10
src/user.c
View File

@ -987,7 +987,6 @@ INTERNAL void user_update(void)
}
}
#if 1
/* Draw collision */
if (entity_has_prop(ent, ENTITY_PROP_MANIFOLD)) {
struct entity *e0 = entity_from_handle(store, ent->manifold_e0);
@ -1025,7 +1024,12 @@ INTERNAL void user_update(void)
};
}
}
(UNUSED)e0_quad;
(UNUSED)e0_poly;
(UNUSED)e1_quad;
(UNUSED)e1_poly;
#if 0
#if 0
/* Draw collision shapes */
{
@ -1119,7 +1123,9 @@ INTERNAL void user_update(void)
draw_solid_poly_line(G.viewport_canvas, simplex_array, simplex.len > 2, thickness, line_color);
}
}
#endif
#if 1
/* Draw contacts */
{
f32 radius = 5;
@ -1141,8 +1147,8 @@ INTERNAL void user_update(void)
}
}
}
}
#endif
}
/* Draw hierarchy */
if (entity_has_prop(parent, ENTITY_PROP_ACTIVE) && !parent->is_root) {