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fix aim angle diff check

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jacob 2024-10-23 15:19:18 -05:00
parent 7708b8e5b8
commit 59b48694e8
3 changed files with 58 additions and 39 deletions
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11
src/entity.h
View File

@ -75,12 +75,6 @@ struct contact {
f32 inv_normal_mass;
f32 inv_tangent_mass;
f32 inv_m0;
f32 inv_m1;
f32 inv_i0;
f32 inv_i1;
b32 persisted;
/* Debugging */
struct v2 dbg_pt;
@ -139,6 +133,11 @@ struct entity {
struct contact contacts[2];
u32 num_contacts;
f32 manifold_inv_m0;
f32 manifold_inv_m1;
f32 manifold_inv_i0;
f32 manifold_inv_i1;
/* TODO: Remove this (debugging) */
struct collider_collision_points_result res;
struct xform dbg_xf0;

75
src/game.c
View File

@ -154,12 +154,12 @@ INTERNAL void spawn_test_entities(f32 offset)
//struct v2 size = V2(1.0, 1.0);
//struct v2 size = V2(1.5, 1.5);
//f32 r = PI;
//f32 r = PI / 4;
f32 r = PI / 4;
//f32 r = PI / 3;
//f32 r = 0.05;
//f32 r = PI / 2;
//f32 r = PI;
f32 r = 0;
//f32 r = 0;
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
//xf.bx.y = -1.f;
@ -473,6 +473,25 @@ INTERNAL void generate_contacts(void)
struct v2 normal = res.normal;
struct v2 tangent = v2_perp(normal);
/* TODO: Cache this */
/* Prepare manifold masses */
f32 inv_m0;
f32 inv_m1;
f32 inv_i0;
f32 inv_i1;
{
f32 scale0 = math_fabs(xform_get_determinant(e0_xf));
f32 scale1 = math_fabs(xform_get_determinant(e1_xf));
inv_m0 = 1.f / (e0->mass_unscaled * scale0);
inv_m1 = 1.f / (e1->mass_unscaled * scale1);
inv_i0 = 1.f / (e0->inertia_unscaled * scale0);
inv_i1 = 1.f / (e1->inertia_unscaled * scale1);
manifold->manifold_inv_m0 = inv_m0;
manifold->manifold_inv_m1 = inv_m1;
manifold->manifold_inv_i0 = inv_i0;
manifold->manifold_inv_i1 = inv_i1;
}
/* Delete old contacts that are no longer present */
for (u32 i = 0; i < manifold->num_contacts; ++i) {
struct contact *old = &manifold->contacts[i];
@ -530,17 +549,6 @@ INTERNAL void generate_contacts(void)
#endif
{
f32 scale0 = math_fabs(xform_get_determinant(e0_xf));
f32 scale1 = math_fabs(xform_get_determinant(e1_xf));
f32 m0 = e0->mass_unscaled * scale0;
f32 m1 = e1->mass_unscaled * scale1;
f32 i0 = e0->inertia_unscaled * scale0;
f32 i1 = e1->inertia_unscaled * scale1;
f32 inv_m0 = 1.f / m0;
f32 inv_m1 = 1.f / m1;
f32 inv_i0 = 1.f / i0;
f32 inv_i1 = 1.f / i1;
struct v2 vcp0 = v2_sub(point, e0_xf.og);
struct v2 vcp1 = v2_sub(point, e1_xf.og);
@ -559,11 +567,6 @@ INTERNAL void generate_contacts(void)
f32 k = (inv_m0 + inv_m1) + (inv_i0 * vcp0_wedge * vcp0_wedge) + (inv_i1 * vcp1_wedge * vcp1_wedge);
contact->inv_tangent_mass = k > 0.0f ? 1.0f / k : 0.0f;
}
contact->inv_m0 = inv_m0;
contact->inv_m1 = inv_m1;
contact->inv_i0 = inv_i0;
contact->inv_i1 = inv_i1;
}
@ -601,6 +604,11 @@ INTERNAL void warm_start_contacts(void)
struct xform e0_xf = entity_get_xform(e0);
struct xform e1_xf = entity_get_xform(e1);
f32 inv_m0 = manifold->manifold_inv_m0;
f32 inv_m1 = manifold->manifold_inv_m1;
f32 inv_i0 = manifold->manifold_inv_i0;
f32 inv_i1 = manifold->manifold_inv_i1;
struct v2 v0 = e0->linear_velocity;
struct v2 v1 = e1->linear_velocity;
f32 w0 = e0->angular_velocity;
@ -620,10 +628,10 @@ INTERNAL void warm_start_contacts(void)
struct v2 impulse = v2_add(v2_mul(normal, contact->normal_impulse), v2_mul(tangent, contact->tangent_impulse));
impulse = v2_mul(impulse, inv_num_contacts);
v0 = v2_sub(v0, v2_mul(impulse, contact->inv_m0));
v1 = v2_add(v1, v2_mul(impulse, contact->inv_m1));
w0 -= v2_wedge(vcp0, impulse) * contact->inv_i0;
w1 += v2_wedge(vcp1, impulse) * contact->inv_i1;
v0 = v2_sub(v0, v2_mul(impulse, inv_m0));
v1 = v2_add(v1, v2_mul(impulse, inv_m1));
w0 -= v2_wedge(vcp0, impulse) * inv_i0;
w1 += v2_wedge(vcp1, impulse) * inv_i1;
}
e0->linear_velocity = v0;
@ -679,6 +687,11 @@ INTERNAL void solve_contacts(f32 dt, b32 apply_bias)
struct xform e0_xf = entity_get_xform(e0);
struct xform e1_xf = entity_get_xform(e1);
f32 inv_m0 = manifold->manifold_inv_m0;
f32 inv_m1 = manifold->manifold_inv_m1;
f32 inv_i0 = manifold->manifold_inv_i0;
f32 inv_i1 = manifold->manifold_inv_i1;
/* Normal impulse */
struct v2 normal = manifold->manifold_normal;
for (u32 contact_index = 0; contact_index < num_contacts; ++contact_index) {
@ -728,10 +741,10 @@ INTERNAL void solve_contacts(f32 dt, b32 apply_bias)
contact->normal_impulse = new_impulse;
struct v2 impulse = v2_mul(normal, delta);
v0 = v2_sub(v0, v2_mul(impulse, contact->inv_m0));
v1 = v2_add(v1, v2_mul(impulse, contact->inv_m1));
w0 -= v2_wedge(vcp0, impulse) * contact->inv_i0;
w1 += v2_wedge(vcp1, impulse) * contact->inv_i1;
v0 = v2_sub(v0, v2_mul(impulse, inv_m0));
v1 = v2_add(v1, v2_mul(impulse, inv_m1));
w0 -= v2_wedge(vcp0, impulse) * inv_i0;
w1 += v2_wedge(vcp1, impulse) * inv_i1;
}
/* Tangent impulse */
@ -763,10 +776,10 @@ INTERNAL void solve_contacts(f32 dt, b32 apply_bias)
contact->tangent_impulse = new_impulse;
struct v2 impulse = v2_mul(tangent, delta);
v0 = v2_sub(v0, v2_mul(impulse, contact->inv_m0));
v1 = v2_add(v1, v2_mul(impulse, contact->inv_m1));
w0 -= v2_wedge(vcp0, impulse) * contact->inv_i0;
w1 += v2_wedge(vcp1, impulse) * contact->inv_i1;
v0 = v2_sub(v0, v2_mul(impulse, inv_m0));
v1 = v2_add(v1, v2_mul(impulse, inv_m1));
w0 -= v2_wedge(vcp0, impulse) * inv_i0;
w1 += v2_wedge(vcp1, impulse) * inv_i1;
}
e0->linear_velocity = v0;
@ -1364,7 +1377,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
if (!F32_IS_NAN(final_xf_angle)) {
const f32 angle_error_allowed = 0.001;
f32 diff = final_xf_angle - old_angle;
f32 diff = math_diff_angle(final_xf_angle, old_angle);
if (math_fabs(diff) > angle_error_allowed) {
xf = xform_basis_rotated_world(xf, diff);
}

11
src/math.h
View File

@ -579,6 +579,14 @@ INLINE f32 math_acos(f32 x)
return (PI / 2.0f) - math_atan2(x, math_sqrt(1.0f - (x * x)));
}
/* Returns wrapped difference between angles.
* E.G. diff(PI, -PI) = 0 */
INLINE f32 math_diff_angle(f32 a, f32 b)
{
f32 diff = math_fmod(a - b, TAU);
return math_fmod(2.0f * diff, TAU) - diff;
}
/* ========================== *
* Lerp
* ========================== */
@ -594,8 +602,7 @@ INLINE f64 math_lerp64(f64 val0, f64 val1, f64 t)
}
INLINE f32 math_lerp_angle(f32 a, f32 b, f32 t) {
f32 diff = math_fmod(b - a, TAU);
diff = math_fmod(2.0f * diff, TAU) - diff;
f32 diff = math_diff_angle(b, a);
return a + diff * t;
}