rename module gjk -> collider. remove unused gjk functions.

src/collider.c

@@ -0,0 +1,596 @@
+#include "collider.h"
+#include "math.h"
+#include "arena.h"
+#include "scratch.h"
+
+#if COLLIDER_DEBUG
+u32 collider_debug_steps = U32_MAX;
+#endif
+
+#define DBGSTEP if (dbg_step++ >= collider_debug_steps) goto abort
+
+INTERNAL struct v2 poly_support_point(struct v2_array a, struct v2 dir)
+{
+    /* TODO: Could probably binary search for largest dot since shape is convex */
+    struct v2 furthest = a.points[0];
+    f32 furthest_dot = v2_dot(dir, furthest);
+    for (u32 i = 1; i < a.count; ++i) {
+        struct v2 p = a.points[i];
+        f32 dot = v2_dot(dir, p);
+        if (dot > furthest_dot) {
+            furthest = p;
+            furthest_dot = dot;
+        }
+    }
+    return furthest;
+}
+
+INTERNAL u32 poly_support_point_index(struct v2_array a, struct v2 dir)
+{
+    u32 furthest = 0;
+    f32 furthest_dot = v2_dot(dir, a.points[0]);
+    for (u32 i = 1; i < a.count; ++i) {
+        struct v2 p = a.points[i];
+        f32 dot = v2_dot(dir, p);
+        if (dot > furthest_dot) {
+            furthest = i;
+            furthest_dot = dot;
+        }
+    }
+    return furthest;
+}
+
+INTERNAL struct v2 menkowski_point(struct v2_array poly0, struct v2_array shape1, struct v2 dir)
+{
+    return v2_sub(poly_support_point(poly0, dir), poly_support_point(shape1, v2_neg(dir)));
+}
+
+b32 collider_collision_boolean(struct v2_array shape0, struct v2_array shape1)
+{
+    struct { struct v2 a, b, c; } s = ZI;
+
+    /* FIXME: Infinite loop when shapes exactly overlap same space? */
+
+    struct v2 dir, p;
+
+    /* First point is support point in shape's general directions to eachother */
+    dir = v2_sub(shape1.points[0], shape0.points[0]);
+    if (v2_is_zero(dir)) dir = V2(1, 0);
+    s.a = menkowski_point(shape0, shape1, dir);
+
+    /* Second point is support point towards origin */
+    dir = v2_neg(s.a);
+    p = menkowski_point(shape0, shape1, dir);
+    if (v2_dot(dir, p) >= 0) {
+        s.b = s.a;
+        s.a = p;
+        while (true) {
+            /* Third point is support point in direction of line normal towards origin */
+            dir = v2_perp_towards_dir(v2_sub(s.b, s.a), v2_neg(s.a));
+            p = menkowski_point(shape0, shape1, dir);
+            if (v2_dot(dir, p) < 0) {
+                /* New point did not cross origin, collision impossible */
+                break;
+            }
+
+            s.c = s.b;
+            s.b = s.a;
+            s.a = p;
+
+            struct v2 vab = v2_sub(s.b, s.a);
+            struct v2 vac = v2_sub(s.c, s.a);
+            struct v2 a_to_origin = v2_neg(s.a);
+
+            dir = v2_perp_towards_dir(vab, v2_neg(vac));  /* Normal of ab pointing away from c */
+            if (v2_dot(dir, a_to_origin) >= 0) {
+                /* Point is in region ab, remove c from simplex (will happen automatically next iteration) */
+            } else {
+                /* Point is not in region ab */
+                dir = v2_perp_towards_dir(vac, v2_neg(vab));  /* Normal of ac pointing away from b */
+                if (v2_dot(dir, a_to_origin) >= 0) {
+                    /* Point is in region ac, remove b from simplex */
+                    s.b = s.c;
+                } else {
+                    /* Point is in simplex */
+                    return true;
+                }
+            }
+        }
+    }
+
+    return false;
+}
+
+struct collider_collision_points_result collider_collision_points(struct v2_array shape0, struct v2_array shape1)
+{
+    struct temp_arena scratch = scratch_begin_no_conflict();  /* TODO: Only begin scratch for EPA */
+    struct collider_collision_points_result res = ZI;
+
+    /* TODO: Parameterize */
+    const f32 tolerance = 0.0025f;
+    const f32 min_unique_pt_dist_sq = 0.001f * 0.001f;
+
+    b32 colliding = false;
+    b32 simplex_is_closest_edge = false;
+
+    struct collider_simplex s = ZI;
+    struct v2 *proto = NULL;
+    u32 proto_count = 0;
+
+    struct v2 normal = ZI;
+    struct collider_collision_point points[2] = ZI;
+    u32 num_points = 0;
+
+    struct v2 dir = ZI;
+    struct v2 m = ZI;
+
+#if COLLIDER_DEBUG
+    u32 dbg_step = 0;
+#endif
+
+    /* ========================== *
+     * GJK
+     *
+     * Determine encapsulating simplex if colliding, or closest edge / point to
+     * origin on simplex (for check if shape distances are within tolerance)
+     * ========================== */
+    {
+        /* First point is support point in shape's general directions to eachother */
+        s.a = menkowski_point(shape0, shape1, v2_sub(shape1.points[0], shape0.points[0]));
+        s.len = 1;
+
+        struct v2 removed_a = ZI;
+        struct v2 removed_b = ZI;
+        u32 num_removed = 0;
+        b32 done = false;
+        while (!done) {
+            if (s.len == 1) {
+                /* Second point is support point towards origin */
+                dir = v2_neg(s.a);
+
+                DBGSTEP;
+                m = menkowski_point(shape0, shape1, 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) {
+                    done = true;
+                    break;
+                }
+                s.b = s.a;
+                s.a = m;
+                s.len = 2;
+
+                /* Third point is support point in direction of line normal towards origin */
+                dir = v2_perp_towards_dir(v2_sub(s.b, s.a), v2_neg(s.a));
+            }
+
+            {
+                DBGSTEP;
+                m = menkowski_point(shape0, shape1, dir);
+                /* Check that new point is far enough away from existing points */
+                if (v2_len_sq(v2_sub(m, s.a)) < min_unique_pt_dist_sq ||
+                    v2_len_sq(v2_sub(m, s.b)) < min_unique_pt_dist_sq ||
+                    ((num_removed >= 1) && (
+                        (v2_len_sq(v2_sub(m, removed_a)) < min_unique_pt_dist_sq) ||
+                        (num_removed >= 2 && v2_len_sq(v2_sub(m, removed_b)) < min_unique_pt_dist_sq)
+                    )) ||
+                    math_fabs(v2_wedge(v2_sub(s.b, s.a), v2_sub(m, s.a))) < min_unique_pt_dist_sq
+                ) {
+                    simplex_is_closest_edge = true;
+                    done = true;
+                    break;
+                }
+                s.c = s.b;
+                s.b = s.a;
+                s.a = m;
+                s.len = 3;
+            }
+
+            /* Determine voronoi region of the simplex in which the origin lies */
+            i32 voronoi_mask = 0;
+            struct v2 vab = v2_sub(s.b, s.a);
+            struct v2 vac = v2_sub(s.c, s.a);
+            struct v2 vbc = v2_sub(s.c, s.b);
+            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);
+            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 */
+            /* Remove point or edge and determine next direction based on voronoi region */
+            switch (voronoi_mask) {
+                case 0:
+                {  /* No region, must be in simplex */
+                    colliding = true;
+                    done = true;
+                } break;
+                case 1:
+                {  /* Region ab, remove c */
+                    num_removed = 1;
+                    removed_a = s.c;
+                    s.len = 2;
+                    dir = rab_dir;  /* Next third point is in direction of region ab */
+                } break;
+                case 2:
+                {  /* Region ac, remove b */
+                    num_removed = 1;
+                    removed_a = s.b;
+                    s.len = 2;
+                    s.b = s.c;
+                    dir = rac_dir;  /* Next third point is in direction of region ac */
+                } break;
+                case 4:
+                {  /* Region bc, remove a */
+                    num_removed = 1;
+                    removed_a = s.a;
+                    s.len = 2;
+                    s.a = s.b;
+                    s.b = s.c;
+                    dir = rbc_dir;  /* Next third point is in direction of region bc */
+                } break;
+                case 3:
+                {  /* Region a, remove bc */
+                    num_removed = 2;
+                    removed_a = s.b;
+                    removed_b = s.c;
+                    s.len = 1;
+                } break;
+                case 5:
+                {  /* Region b, remove ac */
+                    num_removed = 2;
+                    removed_a = s.a;
+                    removed_b = s.c;
+                    s.len = 1;
+                    s.a = s.b;
+                } break;
+                case 6:
+                {  /* Region c, remove ab */
+                    num_removed = 2;
+                    removed_a = s.a;
+                    removed_b = s.b;
+                    s.len = 1;
+                    s.a = s.c;
+                } break;
+                default:
+                {
+                    /* Unknown region (should be impossible) */
+                    ASSERT(false);
+                    res.path = -1;
+                    done = true;
+                } break;
+            }
+        }
+    }
+
+    if (colliding) {
+        /* ========================== *
+         * Epa (to find collision normal from inside shape)
+         * ========================== */
+
+        proto = arena_dry_push(scratch.arena, struct v2);
+        proto_count = 0;
+        {
+            ASSERT(s.len == 3);
+            struct v2 *tmp = arena_push_array(scratch.arena, struct v2, 3);
+            tmp[0] = s.a;
+            tmp[1] = s.b;
+            tmp[2] = s.c;
+            proto_count = 3;
+        }
+
+        while (colliding) {
+            f32 pen_len_sq = F32_INFINITY;
+
+            /* Find dir from origin to closest edge */
+            /* FIXME: Winding order of ps & pe index */
+            u32 pen_ps_index = 0;
+            u32 pen_pe_index = 0;
+            for (u32 i = 0; i < proto_count; ++i) {
+                u32 ps_index = i;
+                u32 pe_index = (i < proto_count - 1) ? (i + 1) : 0;
+                struct v2 ps = proto[ps_index];
+                struct v2 pe = proto[pe_index];
+
+                struct v2 vse = v2_sub(pe, ps);
+                struct v2 vso = v2_neg(ps);
+
+                struct v2 vsd = v2_mul(vse, (v2_dot(vso, vse) / v2_len_sq(vse)));
+                struct v2 pd = v2_add(ps, vsd);
+
+                f32 pd_len_sq = v2_len_sq(pd);
+                if (pd_len_sq < pen_len_sq) {
+                    pen_ps_index = ps_index;
+                    pen_pe_index = pe_index;
+                    pen_len_sq = pd_len_sq;
+                }
+            }
+
+            /* TODO: Remove this (debugging) */
+            s.a = proto[pen_ps_index];
+            s.b = proto[pen_pe_index];
+            s.len = 2;
+
+            /* Find new point in dir */
+            DBGSTEP;
+            {
+                /* Next point is in direction of line normal pointing outwards from simplex */
+                /* TODO: If winding order is guaranteed then this can become v2_perp_left/right? */
+                struct v2 a = proto[pen_ps_index];
+                struct v2 b = proto[pen_pe_index];
+                struct v2 n = proto[(pen_pe_index < proto_count - 1) ? (pen_pe_index + 1) : 0];  /* Next point along prototype after edge */
+                struct v2 vab = v2_sub(b, a);
+                struct v2 vna = v2_sub(a, n);
+                dir = v2_perp_towards_dir(vab, vna);
+            }
+            m = menkowski_point(shape0, shape1, dir);
+
+            /* Check unique */
+            /* TODO: Better */
+            {
+                b32 unique = true;
+                for (u32 i = 0; i < proto_count; ++i) {
+                    struct v2 edge_start = proto[i];
+                    struct v2 edge_end = i < proto_count - 1 ? proto[i + 1] : proto[0];
+                    struct v2 vsm = v2_sub(m, edge_start);
+                    if (v2_len_sq(vsm) < min_unique_pt_dist_sq ||
+                        math_fabs(v2_wedge(v2_sub(edge_end, edge_start), vsm)) < min_unique_pt_dist_sq) {
+                        unique = false;
+                        break;
+                    }
+                }
+                if (!unique) {
+                    res.path = 1;
+                    normal = v2_norm(dir);
+                    break;
+                }
+            }
+
+            /* Insert point into prototype */
+            /* FIXME: Preserve winding order */
+            arena_push(scratch.arena, struct collider_menkowski_point);
+            ++proto_count;
+            for (u32 i = proto_count - 1; i > pen_pe_index; --i) {
+                u32 shift_from = (i > 0) ? i - 1 : proto_count - 1;
+                u32 shift_to = i;
+                proto[shift_to] = proto[shift_from];
+            }
+            proto[pen_pe_index] = m;
+        }
+    } else if (simplex_is_closest_edge && s.len > 1) {
+        /* Shapes are not overlapping (origin is outside of simplex). Project
+         * origin to determine if distance is within tolerance. */
+        ASSERT(s.len == 2);
+        struct v2 vab = v2_sub(s.b, s.a);
+        struct v2 vao = v2_neg(s.a);
+        f32 ratio = clamp_f32(v2_dot(vab, vao) / v2_dot(vab, vab), 0, 1);
+        struct v2 p = v2_add(s.a, v2_mul(vab, ratio));
+        if (v2_len_sq(p) <= (tolerance * tolerance)) {
+            res.path = 2;
+            normal = v2_norm(dir);
+            colliding = true;
+        }
+    }
+
+    if (colliding) {
+        /* ========================== *
+         * Clipping
+         * ========================== */
+
+         /* FIXME: Limit max vertices in shape structure to at least < 16 for id generation to be correct */
+        ASSERT(shape0.count <= 16);
+        ASSERT(shape1.count <= 16);
+
+        DBGSTEP;
+        {
+            const f32 wedge_epsilon = 0.001f;
+
+            /* shape0 a -> b winding = clockwise */
+            u32 id_a0;
+            u32 id_b0;
+            struct v2 a0;
+            struct v2 b0;
+            struct v2 vab0;
+
+            /* shape1 a -> b winding = counterclockwise */
+            u32 id_a1;
+            u32 id_b1;
+            struct v2 a1;
+            struct v2 b1;
+            struct v2 vab1;
+            {
+                u32 p_i = poly_support_point_index(shape0, normal);
+                u32 a_i = (p_i > 0) ? (p_i - 1) : (shape0.count - 1);
+                u32 b_i = ((p_i + 1) < shape0.count) ? (p_i + 1) : 0;
+
+                struct v2 p = shape0.points[p_i];
+                struct v2 a = shape0.points[a_i];
+                struct v2 b = shape0.points[b_i];
+
+                struct v2 vap = v2_sub(p, a);
+                struct v2 vpb = v2_sub(b, p);
+
+                /* FIXME: Make winding order independent */
+                if (v2_wedge(vap, normal) < (v2_wedge(vpb, normal) + wedge_epsilon)) {
+                    id_a0 = a_i;
+                    id_b0 = p_i;
+                    a0 = a;
+                    b0 = p;
+                    vab0 = vap;
+                } else {
+                    id_a0 = p_i;
+                    id_b0 = b_i;
+                    a0 = p;
+                    b0 = b;
+                    vab0 = vpb;
+                }
+            }
+            {
+                struct v2 neg_normal = v2_neg(normal);
+
+                u32 p_i = poly_support_point_index(shape1, neg_normal);
+                u32 a_i = ((p_i + 1) < shape1.count) ? (p_i + 1) : 0;
+                u32 b_i = (p_i > 0) ? (p_i - 1) : (shape1.count - 1);
+
+                struct v2 p = shape1.points[p_i];
+                struct v2 a = shape1.points[a_i];
+                struct v2 b = shape1.points[b_i];
+
+                struct v2 vap = v2_sub(p, a);
+                struct v2 vpb = v2_sub(b, p);
+
+                /* FIXME: Make winding order independent */
+                if (v2_wedge(vap, normal) < (v2_wedge(vpb, normal) + wedge_epsilon)) {
+                    id_a1 = a_i;
+                    id_b1 = p_i;
+                    a1 = a;
+                    b1 = p;
+                    vab1 = vap;
+                } else {
+                    id_a1 = p_i;
+                    id_b1 = b_i;
+                    a1 = p;
+                    b1 = b;
+                    vab1 = vpb;
+                }
+            }
+
+            f32 a0t = 0;
+            f32 a1t = 0;
+            f32 b0t = 0;
+            f32 b1t = 0;
+
+            struct v2 vba0 = v2_neg(vab0);
+            struct v2 vba1 = v2_neg(vab1);
+            {
+                {
+                    struct v2 va0a1 = v2_sub(a1, a0);
+                    struct v2 va1a0 = v2_neg(va0a1);
+                    {
+                        f32 w = v2_wedge(vab0, normal);
+                        if (w != 0) {
+                            w = 1 / w;
+                            a0t = v2_wedge(va0a1, normal) * w;
+                        }
+                    }
+                    {
+                        f32 w = v2_wedge(vab1, normal);
+                        if (w != 0) {
+                            w = 1 / w;
+                            a1t = v2_wedge(va1a0, normal) * w;
+                        }
+                    }
+                }
+                {
+                    struct v2 vb0b1 = v2_sub(b1, b0);
+                    struct v2 vb1b0 = v2_neg(vb0b1);
+                    {
+                        f32 w = v2_wedge(vba0, normal);
+                        if (w != 0) {
+                            w = 1 / w;
+                            b0t = v2_wedge(vb0b1, normal) * w;
+                        }
+                    }
+                    {
+                        f32 w = v2_wedge(vba1, normal);
+                        if (w != 0) {
+                            w = 1 / w;
+                            b1t = v2_wedge(vb1b0, normal) * w;
+                        }
+                    }
+                }
+            }
+
+            a0t = clamp_f32(a0t, 0, 1);
+            a1t = clamp_f32(a1t, 0, 1);
+            b0t = clamp_f32(b0t, 0, 1);
+            b1t = clamp_f32(b1t, 0, 1);
+
+            struct v2 a0_clipped = v2_add(a0, v2_mul(vab0, a0t));
+            struct v2 a1_clipped = v2_add(a1, v2_mul(vab1, a1t));
+            struct v2 b0_clipped = v2_add(b0, v2_mul(vba0, b0t));
+            struct v2 b1_clipped = v2_add(b1, v2_mul(vba1, b1t));
+
+            struct v2 va0a1_clipped = v2_sub(a1_clipped, a0_clipped);
+            struct v2 vb0b1_clipped = v2_sub(b1_clipped, b0_clipped);
+
+            f32 a_sep = v2_dot(va0a1_clipped, normal);
+            f32 b_sep = v2_dot(vb0b1_clipped, normal);
+            if (a_sep < tolerance) {
+                struct collider_collision_point *point = &points[num_points++];
+                point->id = id_a0 | (id_a1 << 4);
+                point->separation = a_sep;
+                point->point = v2_add(a0_clipped, v2_mul(va0a1_clipped, 0.5f));
+            }
+            if (b_sep < tolerance) {
+                struct collider_collision_point *point = &points[num_points++];
+                point->id = id_b0 | (id_b1 << 4);
+                point->separation = b_sep;
+                point->point = v2_add(b0_clipped, v2_mul(vb0b1_clipped, 0.5f));
+            }
+        }
+    }
+
+    res.solved = true;
+abort:
+    if (proto_count > 0) {
+        for (u32 i = 0; i < min_u32(proto_count, ARRAY_COUNT(res.prototype.points)); ++i) {
+            res.prototype.points[i] = proto[i];
+        }
+        res.prototype.len = proto_count;
+    } else {
+        if (s.len >= 1) {
+            res.prototype.points[0] = s.a;
+            if (s.len >= 2) {
+                res.prototype.points[1] = s.b;
+                if (s.len >= 3) {
+                    res.prototype.points[2] = s.c;
+                }
+            }
+        }
+        res.prototype.len = s.len;
+    }
+    res.normal = normal;
+    res.points[0] = points[0];
+    res.points[1] = points[1];
+    res.num_points = num_points;
+    res.simplex = s;
+    scratch_end(scratch);
+    return res;
+}
+
+/* ========================== *
+ * Debug functions
+ * TODO: Remove these
+ * ========================== */
+
+ /* TODO: Remove this (debugging) */
+struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1)
+{
+    struct v2_array res = { .points = arena_dry_push(arena, struct v2) };
+    u64 rays = 500;
+    for (u64 i = 0; i < rays; ++i) {
+        f32 angle = ((f32)i / rays) * (2 * PI);
+        struct v2 dir = v2_from_angle(angle);
+        struct v2 p = menkowski_point(poly0, poly1, dir);
+        if (res.count == 0 || !v2_eq(p, res.points[res.count - 1])) {
+            *arena_push(arena, struct v2) = p;
+            ++res.count;
+        }
+    }
+    return res;
+}
+
+/* TODO: Remove this (debugging) */
+struct v2_array cloud(struct arena *arena, struct v2_array poly0, struct v2_array poly1)
+{
+    struct v2_array res = { .points = arena_dry_push(arena, struct v2) };
+    for (u64 i = 0; i < poly0.count; ++i) {
+        struct v2 p0 = poly0.points[i];
+        for (u64 j = 0; j < poly1.count; ++j) {
+            struct v2 p1 = poly1.points[j];
+            *arena_push(arena, struct v2) = v2_sub(p0, p1);
+            ++res.count;
+        }
+    }
+
+    return res;
+}

src/collider.h

@@ -0,0 +1,49 @@
+#ifndef COLLIDER_H
+#define COLLIDER_H
+
+#define COLLIDER_DEBUG RTC
+
+#if COLLIDER_DEBUG
+extern u32 collider_debug_steps;
+#endif
+
+struct collider_menkowski_point {
+    struct v2 p0;  /* Support point of first shape in dir */
+    struct v2 p1;  /* Support point of second shape in -dir */
+    struct v2 p;   /* Menkowski difference point */
+};
+
+/* Returns simple true or false indicating shape collision */
+b32 collider_collision_boolean(struct v2_array shape0, struct v2_array shape1);
+
+struct collider_simplex {
+    u32 len;
+    struct v2 a, b, c;
+};
+
+struct collider_collision_point {
+    struct v2 point;
+    f32 separation;
+    u32 id;  /* Based on polygon edge-to-edge */
+};
+
+struct collider_prototype { struct v2 points[256]; u32 len; };
+struct collider_collision_points_result {
+
+    struct v2 normal;
+    struct collider_collision_point points[2];
+    u32 num_points;
+
+    /* For debugging */
+    b32 solved;
+    i32 path;
+    struct collider_simplex simplex;
+    struct collider_prototype prototype;
+};
+
+struct collider_collision_points_result collider_collision_points(struct v2_array shape0, struct v2_array shape1);
+
+struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
+struct v2_array cloud(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
+
+#endif

src/entity.h

@@ -56,7 +56,7 @@ struct entity_store {
 
 
 /* TODO: Remove this */
-#include "gjk.h"
+#include "collider.h"
 
 
 
@@ -116,8 +116,8 @@ struct entity {
 
     /* TODO: Remove this (testing) */
     struct entity_handle colliding_with;
-    struct gjk_simplex simplex;
+    struct collider_simplex simplex;
-    struct gjk_prototype prototype;
+    struct collider_prototype prototype;
     struct v2 pendir;
     b32 solved;
     i32 path;

src/game.c

@@ -10,7 +10,7 @@
 #include "atomic.h"
 #include "app.h"
 #include "log.h"
-#include "gjk.h"
+#include "collider.h"
 
 GLOBAL struct {
     struct atomic_i32 game_thread_shutdown;
@@ -364,7 +364,7 @@ INTERNAL void create_contact_manifolds(void)
                 };
             }
 
-            struct gjk_contact_points_result res = gjk_contact_points(e0_poly, e1_poly);
+            struct collider_collision_points_result res = collider_collision_points(e0_poly, e1_poly);
 
             /* Parts of algorithm are hard-coded to support 2 contact points */
             CT_ASSERT(ARRAY_COUNT(manifold->contacts) == 2);
@@ -427,7 +427,7 @@ INTERNAL void create_contact_manifolds(void)
 
                 /* Update / insert returned contacts */
                 for (u32 i = 0; i < res.num_points; ++i) {
-                    struct gjk_contact_point *res_point = &res.points[i];
+                    struct collider_collision_point *res_point = &res.points[i];
                     struct v2 point = res_point->point;
                     f32 sep = res_point->separation;
                     u32 id = res_point->id;

src/game.h

@@ -36,7 +36,7 @@ struct game_cmd {
     struct v2 aim_pos;
 
 #if RTC
-    u32 gjk_steps;
+    u32 collider_gjk_steps;
 #endif
 };
 

src/gjk.h

@@ -1,106 +0,0 @@
-#ifndef GJK_H
-#define GJK_H
-
-#define GJK_DEBUG RTC
-
-#if GJK_DEBUG
-extern u32 gjk_debug_steps;
-#endif
-
-struct gjk_menkowski_point {
-    struct v2 p0;  /* Support point of first shape in dir */
-    struct v2 p1;  /* Support point of second shape in -dir */
-    struct v2 p;   /* Menkowski difference point */
-};
-
-/* Returns simple true or false indicating shape collision */
-b32 gjk_boolean(struct v2_array shape0, struct v2_array shape1);
-
-struct gjk_simplex {
-    u32 len;
-    struct v2 a, b, c;
-};
-
-struct gjk_contact_point {
-    struct v2 point;
-    f32 separation;
-    u32 id;  /* Based on polygon edge-to-edge */
-};
-
-struct gjk_prototype { struct v2 points[64]; u32 len; };
-struct gjk_contact_points_result {
-
-    struct v2 normal;
-    struct gjk_contact_point points[2];
-    u32 num_points;
-
-    /* For debugging */
-    b32 solved;
-    i32 path;
-    struct gjk_simplex simplex;
-    struct gjk_prototype prototype;
-};
-
-struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, struct v2_array shape1);
-
-#if 0
-struct gjk_simplex {
-    u32 len;
-    struct gjk_menkowski_point a, b, c;
-};
-
-struct gjk_contact_points_result {
-
-    struct gjk_contact_pair pairs[2];
-    u32 num_pairs;
-
-    /* For debugging */
-    b32 solved;
-    struct gjk_simplex simplex;
-    struct gjk_prototype prototype;
-};
-
-struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, struct v2_array shape1);
-#endif
-
-struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
-
-struct v2_array cloud(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
-
-#if 0
-struct gjk_extended_result {
-    b32 colliding;
-    struct v2 p0, p1;  /* Closest points (or penetrating points if colliding) on each shape */
-
-    /* For debugging */
-    b32 solved;
-    struct gjk_simplex simplex;
-    struct gjk_prototype prototype;
-};
-
-/* Returns whether shapes are colliding well as closest / penetrating points on each shape.  */
-struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array shape1);
-#endif
-
-#if 0
-
-struct gjk_extended_result {
-    b32 colliding;
-    struct v2 p0, p1;  /* Closest points on each shape */
-
-    /* For debugging */
-    struct gjk_simplex simplex;
-    b32 velocity_intersects;
-    b32 solved;
-    struct gjk_prototype prototype;
-};
-
-struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array shape1, struct v2 linear_velocity);
-
-struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1, struct v2 linear_velocity);
-
-struct v2_array cloud(struct arena *arena, struct v2_array poly0, struct v2_array poly1, struct v2 linear_velocity);
-
-#endif
-
-#endif

src/user.c

@@ -16,7 +16,7 @@
 #include "entity.h"
 #include "mixer.h"
 #include "atomic.h"
-#include "gjk.h"
+#include "collider.h"
 
 struct bind_state {
     b32 is_held;                    /* Is this bind held down this frame */
@@ -102,9 +102,9 @@ GLOBAL READONLY enum user_bind_kind g_binds[SYS_BTN_COUNT] = {
 #if RTC
     /* Debug */
 
-    [SYS_BTN_FORWARD_SLASH]     = USER_BIND_KIND_RESET_GJK_STEPS,
+    [SYS_BTN_FORWARD_SLASH]     = USER_BIND_KIND_RESET_COLLIDER_GJK_STEPS,
-    [SYS_BTN_COMMA]             = USER_BIND_KIND_DECR_GJK_STEPS,
+    [SYS_BTN_COMMA]             = USER_BIND_KIND_DECR_COLLIDER_GJK_STEPS,
-    [SYS_BTN_PERIOD]            = USER_BIND_KIND_INCR_GJK_STEPS
+    [SYS_BTN_PERIOD]            = USER_BIND_KIND_INCR_COLLIDER_GJK_STEPS
 #endif
 };
 
@@ -1095,7 +1095,7 @@ INTERNAL void user_update(void)
                     u32 color_second = RGBA_32_F(0, 1, 0, 0.75);
                     u32 color_third = RGBA_32_F(0, 0, 1, 0.75);
 
-                    struct gjk_simplex simplex = ent->simplex;
+                    struct collider_simplex simplex = ent->simplex;
                     struct v2 simplex_points[] = { simplex.a, simplex.b, simplex.c };
                     for (u64 i = 0; i < ARRAY_COUNT(simplex_points); ++i) simplex_points[i] = xform_mul_v2(G.world_view, simplex_points[i]);
                     struct v2_array simplex_array = { .count = simplex.len, .points = simplex_points };
@@ -1295,11 +1295,11 @@ INTERNAL void user_update(void)
 #if RTC
         /* Gjk steps */
         {
-            i64 new_steps = gjk_debug_steps;
+            i64 new_steps = collider_debug_steps;
-            new_steps += G.bind_states[USER_BIND_KIND_INCR_GJK_STEPS].num_presses_and_repeats;
+            new_steps += G.bind_states[USER_BIND_KIND_INCR_COLLIDER_GJK_STEPS].num_presses_and_repeats;
-            new_steps -= G.bind_states[USER_BIND_KIND_DECR_GJK_STEPS].num_presses_and_repeats;
+            new_steps -= G.bind_states[USER_BIND_KIND_DECR_COLLIDER_GJK_STEPS].num_presses_and_repeats;
-            if (G.bind_states[USER_BIND_KIND_RESET_GJK_STEPS].num_presses_and_repeats > 0) new_steps = 0;
+            if (G.bind_states[USER_BIND_KIND_RESET_COLLIDER_GJK_STEPS].num_presses_and_repeats > 0) new_steps = 0;
-            gjk_debug_steps = (u32)clamp_i64(new_steps, 0, U32_MAX);
+            collider_debug_steps = (u32)clamp_i64(new_steps, 0, U32_MAX);
         }
 #endif
     }
@@ -1374,7 +1374,7 @@ INTERNAL void user_update(void)
             pos.y += spacing;
 
 #if RTC
-            draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("gjk steps: %F"), FMT_UINT(gjk_debug_steps)));
+            draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("collider gjk steps: %F"), FMT_UINT(collider_debug_steps)));
             pos.y += spacing;
 #endif
 

src/user.h

@@ -38,9 +38,9 @@ enum user_bind_kind {
 #if RTC
     /* Debug */
 
-    USER_BIND_KIND_RESET_GJK_STEPS,
+    USER_BIND_KIND_RESET_COLLIDER_GJK_STEPS,
-    USER_BIND_KIND_INCR_GJK_STEPS,
+    USER_BIND_KIND_INCR_COLLIDER_GJK_STEPS,
-    USER_BIND_KIND_DECR_GJK_STEPS,
+    USER_BIND_KIND_DECR_COLLIDER_GJK_STEPS,
 #endif
 
     USER_BIND_KIND_COUNT