more fixed up capsule collision. remove transform matrix skewing
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6951fa62e3
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73b7fef768
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res/graphics/box_rounded.ase
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BIN
res/graphics/box_rounded.ase
(Stored with Git LFS)
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153
src/collider.c
153
src/collider.c
@ -24,58 +24,6 @@ INTERNAL void _dbgbreakable(void)
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struct v2 collider_support_point(struct collider_shape *a, struct xform xf, struct v2 dir)
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{
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#if 0
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struct v2 *points = a->points;
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u32 count = a->count;
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f32 radius = a->radius;
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/* TODO: Could probably binary search for largest dot since shape is convex */
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struct v2 furthest = ZI;
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f32 furthest_dot = -F32_INFINITY;
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for (u32 i = 0; i < count; ++i) {
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struct v2 p = xform_mul_v2(xf, points[i]);
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f32 dot = v2_dot(dir, p);
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if (dot > furthest_dot) {
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furthest = p;
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furthest_dot = dot;
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}
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}
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if (radius > 0.0) {
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dir = v2_mul_v2(v2_with_len(dir, radius), xform_get_scale(xf));
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furthest = v2_add(furthest, dir);
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}
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return furthest;
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#elif 0
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struct v2 *points = a->points;
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u32 count = a->count;
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f32 radius = a->radius;
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/* TODO: Could probably binary search for largest dot since shape is convex */
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struct xform inv = xform_invert(xf);
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dir = xform_basis_mul_v2(inv, dir);
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struct v2 furthest = ZI;
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f32 furthest_dot = -F32_INFINITY;
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for (u32 i = 0; i < count; ++i) {
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struct v2 p = points[i];
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f32 dot = v2_dot(dir, p);
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if (dot > furthest_dot) {
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furthest = p;
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furthest_dot = dot;
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}
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}
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if (radius > 0.0) {
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dir = v2_with_len(dir, radius);
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furthest = v2_add(furthest, dir);
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}
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furthest = xform_mul_v2(xf, furthest);
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return furthest;
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#else
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struct v2 *points = a->points;
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u32 count = a->count;
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f32 radius = a->radius;
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@ -102,7 +50,6 @@ struct v2 collider_support_point(struct collider_shape *a, struct xform xf, stru
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furthest = xform_mul_v2(xf, furthest);
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return furthest;
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#endif
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}
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INTERNAL u32 collider_support_point_index(struct collider_shape *a, struct xform xf, struct v2 dir)
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@ -149,8 +96,8 @@ struct collider_collision_points_result collider_collision_points(struct collide
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/* TODO: Parameterize */
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/* How close can non-overlapping shapes be before collision is considered */
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//const f32 tolerance = 0.f;
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const f32 tolerance = 0.05f;
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//const f32 tolerance = 0.05f;
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const f32 tolerance = 0.005f;
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/* NOTE: Should always be less than tolerance, since colliding=true if origin is within this distance. */
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const f32 min_unique_pt_dist_sq = 0.0001f * 0.0001f;
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@ -468,7 +415,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
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DBGSTEP;
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{
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const f32 wedge_epsilon = 0.001f;
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const f32 wedge_epsilon = 0.05f;
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//const f32 wedge_epsilon = 0.1f;
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/* shape0 a -> b winding = clockwise */
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@ -610,20 +557,87 @@ struct collider_collision_points_result collider_collision_points(struct collide
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struct v2 vab1 = v2_sub(b1, a1);
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{
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struct v2 va0a1 = v2_sub(a1, a0);
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struct v2 vb0b1 = v2_sub(b1, b0);
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f32 vab0_wedge_normal = v2_wedge(vab0, normal);
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f32 vab1_wedge_normal = v2_wedge(vab1, normal);
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b32 collapse0 = math_fabs(vab0_wedge_normal) < wedge_epsilon;
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b32 collapse1 = math_fabs(vab1_wedge_normal) < wedge_epsilon;
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if (collapse0) {
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if (v2_dot(b0, normal) >= v2_dot(a0, normal)) {
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a0 = b0;
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a0t = 1;
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b0t = 0;
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} else {
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b0 = a0;
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a0t = 0;
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b0t = 1;
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}
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vab0 = V2(0, 0);
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}
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if (collapse1) {
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if (v2_dot(b1, normal) < v2_dot(a1, normal)) {
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a1 = b1;
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a1t = 1;
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b1t = 0;
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} else {
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b1 = a1;
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a1t = 0;
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b1t = 1;
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}
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vab1 = V2(0, 0);
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}
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struct v2 va0a1 = v2_sub(a1, a0);
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struct v2 vb0b1 = v2_sub(b1, b0);
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f32 va0a1_wedge_normal = v2_wedge(va0a1, normal);
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f32 vb0b1_wedge_normal = v2_wedge(vb0b1, normal);
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if (math_fabs(vab0_wedge_normal) > 0.01f) {
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#if 0
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if (math_fabs(vab0_wedge_normal) > 0.1f) {
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f32 w = 1 / vab0_wedge_normal;
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a0t = clamp_f32(va0a1_wedge_normal * w, 0, 1);
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b0t = clamp_f32(vb0b1_wedge_normal * -w, 0, 1);
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} else {
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DEBUGBREAKABLE;
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if (v2_dot(b0, normal) >= v2_dot(a0, normal)) {
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a0t = 1;
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b0t = 0;
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} else {
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a0t = 0;
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b0t = 1;
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}
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}
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if (math_fabs(vab1_wedge_normal) > 0.1f) {
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f32 w = 1 / vab1_wedge_normal;
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a1t = clamp_f32(-va0a1_wedge_normal * w, 0, 1);
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b1t = clamp_f32(-vb0b1_wedge_normal * -w, 0, 1);
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} else {
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if (v2_dot(b1, normal) < v2_dot(a1, normal)) {
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a1t = 1;
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b1t = 0;
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} else {
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a1t = 0;
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b1t = 1;
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}
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}
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#elif 0
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if (math_fabs(vab0_wedge_normal) > 0.01f) {
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f32 w = 1 / vab0_wedge_normal;
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a0t = clamp_f32(va0a1_wedge_normal * w, 0, 1);
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b0t = clamp_f32(vb0b1_wedge_normal * -w, 0, 1);
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} else {
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if (v2_dot(b0, normal) >= v2_dot(a0, normal)) {
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a0t = 1;
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b0t = 0;
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} else {
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a0t = 0;
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b0t = 1;
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}
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}
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if (math_fabs(vab1_wedge_normal) > 0.01f) {
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@ -631,8 +645,27 @@ struct collider_collision_points_result collider_collision_points(struct collide
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a1t = clamp_f32(-va0a1_wedge_normal * w, 0, 1);
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b1t = clamp_f32(-vb0b1_wedge_normal * -w, 0, 1);
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} else {
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DEBUGBREAKABLE;
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if (v2_dot(b1, normal) < v2_dot(a1, normal)) {
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a1t = 1;
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b1t = 0;
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} else {
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a1t = 0;
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b1t = 1;
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}
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}
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#else
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if (!collapse0) {
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f32 w = 1 / vab0_wedge_normal;
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a0t = clamp_f32(va0a1_wedge_normal * w, 0, 1);
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b0t = clamp_f32(vb0b1_wedge_normal * -w, 0, 1);
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}
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if (!collapse1) {
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f32 w = 1 / vab1_wedge_normal;
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a1t = clamp_f32(-va0a1_wedge_normal * w, 0, 1);
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b1t = clamp_f32(-vb0b1_wedge_normal * -w, 0, 1);
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}
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#endif
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}
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struct v2 a0_clipped = v2_add(a0, v2_mul(vab0, a0t));
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@ -675,7 +708,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
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point->point = contact_b;
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}
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#if 0
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#if 1
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res.a0 = a0_clipped;
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res.a1 = a1_clipped;
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res.b0 = b0_clipped;
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56
src/game.c
56
src/game.c
@ -136,19 +136,20 @@ INTERNAL void spawn_test_entities(f32 offset)
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struct entity *e = entity_alloc(root);
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#if 1
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//struct v2 pos = V2(0.25, -10);
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//struct v2 pos = V2(0.25, -7);
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//struct v2 pos = V2(0.25, -5.27);
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struct v2 pos = V2(0.5, -1);
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struct v2 pos = V2(0.5, -2);
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//struct v2 pos = V2(1.0295, -1);
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pos = v2_add(pos, V2(0, offset));
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pos = v2_add(pos, V2(0, offset_all));
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//struct v2 size = V2(1, 1);
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//struct v2 size = V2(0.5, 0.5);
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struct v2 size = V2(1.0, 0.5);
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struct v2 size = V2(0.5, 0.5);
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//struct v2 size = V2(3.0, 0.5);
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//struct v2 size = V2(1.0, 1.0);
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//struct v2 size = V2(1.5, 1.5);
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//f32 r = PI;
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//f32 r = PI / 4;
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//f32 r = PI / 3;
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@ -156,22 +157,17 @@ INTERNAL void spawn_test_entities(f32 offset)
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//f32 r = PI / 2;
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//f32 r = PI;
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f32 r = 0;
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//f32 skew = PI / 4;
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//f32 skew = 0.9f;
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f32 skew = 0;
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struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
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xf = xform_skewed_to(xf, skew);
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#else
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struct xform xf = { .bx = {0.282509595, -0.412540406}, .by = {0.412528992, 0.282521814}, .og = {3.34883189, -1.35877287} };
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#endif
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entity_set_xform(e, xf);
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//e->sprite = sprite_tag_from_path(STR("res/graphics/tim.ase"));
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e->sprite = sprite_tag_from_path(STR("res/graphics/box.ase"));
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e->sprite = sprite_tag_from_path(STR("res/graphics/box_rounded.ase"));
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//e->sprite_span_name = STR("idle.unarmed");
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//e->sprite_span_name = STR("idle.one_handed");
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e->sprite_span_name = STR("idle.two_handed");
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e->sprite_tint = RGBA_32_F(1, 1, 1, 0.25);
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entity_enable_prop(e, ENTITY_PROP_PLAYER_CONTROLLED);
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#if GAME_PHYSICS_ENABLE_GROUND_FRICTION
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@ -200,7 +196,6 @@ INTERNAL void spawn_test_entities(f32 offset)
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{
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struct entity *e = entity_alloc(root);
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#if 1
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//struct v2 pos = V2(0.25, -10);
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//struct v2 pos = V2(0.25, -7);
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//struct v2 pos = V2(0.25, -5.27);
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@ -217,15 +212,9 @@ INTERNAL void spawn_test_entities(f32 offset)
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//f32 r = PI / 3;
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//f32 r = 0.05;
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//f32 r = PI / 2;
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//f32 r = 0;
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//f32 skew = PI / 4;
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f32 skew = 0;
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f32 r = 0;
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struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
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xf = xform_skewed_to(xf, skew);
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#else
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struct xform xf = { .bx = {0.256749988, 0.429049402}, .by = {-0.429063231, 0.256720454}, .og = {2.91935277, -0.965838134} };
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#endif
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entity_set_xform(e, xf);
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@ -255,6 +244,7 @@ INTERNAL void spawn_test_entities(f32 offset)
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#endif
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/* Weapon */
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#if 1
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if (player_ent->valid) {
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#if 0
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struct v2 pos = V2(1, 0);
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@ -275,6 +265,7 @@ INTERNAL void spawn_test_entities(f32 offset)
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player_ent->equipped = e->handle;
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}
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#endif
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/* Box */
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#if GAME_SPAWN_BOX
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@ -288,6 +279,7 @@ INTERNAL void spawn_test_entities(f32 offset)
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#else
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//struct v2 size = V2(5000, 1);
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struct v2 size = V2(50, 1);
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//struct v2 size = V2(1, 1);
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#endif
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//f32 rot = PI / 4;
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f32 rot = 0;
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@ -1077,21 +1069,29 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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/* Update collider */
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{
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struct xform cxf = ent->sprite_local_xform;
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if (entity_has_prop(ent, ENTITY_PROP_TEST)) {
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f32 scale = 0.5;
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cxf = xform_scaled(cxf, V2(scale, scale));
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}
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struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, STR("shape"), ent->animation_frame);
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ent->local_collider = collider_from_quad(xform_mul_quad(ent->sprite_local_xform, quad_from_rect(slice.rect)));
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ent->local_collider = collider_from_quad(xform_mul_quad(cxf, quad_from_rect(slice.rect)));
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#if 1
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if (entity_has_prop(ent, ENTITY_PROP_TEST)) {
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//if ((true)) {
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#if 0
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ent->local_collider.points[0] = V2(0, 0);
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ent->local_collider.count = 1;
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ent->local_collider.radius = 0.5;
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#elif 0
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#elif 1
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ent->local_collider.points[0] = V2(0, 0.5);
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ent->local_collider.points[1] = V2(0, -0.5);
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ent->local_collider.count = 2;
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ent->local_collider.radius = 0.25;
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#elif 1
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#elif 0
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#if 1
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/* "Bad" winding order */
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ent->local_collider.points[0] = V2(-0.5, 0.5);
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@ -1106,7 +1106,9 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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ent->local_collider.radius = 0.25;
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//ent->local_collider.radius = math_fabs(math_sin(G.tick.time) / 3);
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#else
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ent->local_collider.radius = 0.5;
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//ent->local_collider.radius = 0.5;
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ent->local_collider.radius = 0.25;
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//ent->local_collider.radius = 0.;
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#endif
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}
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#endif
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@ -1220,7 +1222,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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struct v2 og = v2_mul(V2(math_cos(t), math_sin(t)), 3);
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f32 r = t * 3;
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struct v2 s = V2(1 + (math_fabs(math_sin(t * 5)) * 3), 1);
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f32 skew = t * PI / 10;
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(UNUSED)og;
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(UNUSED)r;
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(UNUSED)s;
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@ -1228,29 +1229,24 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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og = v2_add(og, ent->test_start_local_xform.og);
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r += xform_get_rotation(ent->test_start_local_xform);
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s = v2_add(s, xform_get_scale(ent->test_start_local_xform));
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skew += xform_get_skew(ent->test_start_local_xform);
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struct xform xf = entity_get_local_xform(ent);
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xf.og = og;
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xf = xform_rotated_to(xf, r);
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xf = xform_scaled_to(xf, s);
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xf = xform_skewed_to(xf, skew);
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entity_set_local_xform(ent, xf);
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#else
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f32 t = (f32)time;
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struct v2 og = v2_mul(V2(math_cos(t), math_sin(t)), 3);
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f32 rot = t * PI / 3;
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struct v2 scale = V2(1 + (math_fabs(math_sin(t * 5)) * 3), 1);
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f32 skew = t * PI / 10;
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(UNUSED)og;
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(UNUSED)rot;
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(UNUSED)scale;
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(UNUSED)skew;
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struct xform xf = entity_get_local_xform(ent);
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//xf = xform_rotated_to(xf, rot);
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//xf = xform_scaled_to(xf, scale);
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xf = xform_skewed_to(xf, skew);
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entity_set_local_xform(ent, xf);
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#endif
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}
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19
src/math.h
19
src/math.h
@ -874,8 +874,6 @@ INLINE struct v2 xform_mul_v2(struct xform xf, struct v2 v);
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INLINE struct xform xform_scaled_to(struct xform xf, struct v2 s);
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INLINE f32 xform_get_determinant(struct xform xf);
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INLINE struct v2 xform_get_scale(struct xform xf);
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INLINE f32 xform_get_skew(struct xform xf);
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INLINE struct xform xform_skewed_to(struct xform xf, f32 s);
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INLINE f32 xform_get_rotation(struct xform xf);
|
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|
||||
INLINE b32 xform_eq(struct xform xf1, struct xform xf2)
|
||||
@ -930,14 +928,13 @@ INLINE struct xform xform_scaled(struct xform xf, struct v2 v)
|
||||
|
||||
INLINE struct xform xform_rotated_to(struct xform xf, f32 r)
|
||||
{
|
||||
/* TODO: Maintain skew/shear? */
|
||||
struct v2 scale = xform_get_scale(xf);
|
||||
f32 skew = xform_get_skew(xf);
|
||||
f32 c = math_cos(r);
|
||||
f32 s = math_sin(r);
|
||||
xf.bx = V2(c, s);
|
||||
xf.by = V2(-s, c);
|
||||
xf = xform_scaled_to(xf, scale);
|
||||
xf = xform_skewed_to(xf, skew);
|
||||
return xf;
|
||||
}
|
||||
|
||||
@ -979,12 +976,10 @@ INLINE struct xform xform_lerp(struct xform a, struct xform b, f32 t)
|
||||
struct v2 og = v2_lerp(a.og, b.og, t);
|
||||
f32 rot = math_lerp_angle(xform_get_rotation(a), xform_get_rotation(b), t);
|
||||
struct v2 scale = v2_lerp(xform_get_scale(a), xform_get_scale(b), t);
|
||||
f32 skew = math_lerp_angle(xform_get_skew(a), xform_get_skew(b), t);
|
||||
|
||||
struct xform res = xform_from_pos(og);
|
||||
res = xform_rotated(res, rot);
|
||||
res = xform_scaled(res, scale);
|
||||
res = xform_skewed_to(res, skew);
|
||||
|
||||
return res;
|
||||
}
|
||||
@ -1061,18 +1056,6 @@ INLINE f32 xform_get_determinant(struct xform xf)
|
||||
return v2_wedge(xf.bx, xf.by);
|
||||
}
|
||||
|
||||
INLINE f32 xform_get_skew(struct xform xf)
|
||||
{
|
||||
return v2_angle_from_dirs(v2_norm(xf.bx), v2_norm(xf.by)) - PI / 2;
|
||||
}
|
||||
|
||||
INLINE struct xform xform_skewed_to(struct xform xf, f32 s)
|
||||
{
|
||||
f32 angle = v2_angle(xf.bx) + s + (PI / 2);
|
||||
xf.by = v2_mul(v2_from_angle(angle), v2_len(xf.by));
|
||||
return xf;
|
||||
}
|
||||
|
||||
INLINE struct v2 xform_get_right(struct xform xf)
|
||||
{
|
||||
return xf.bx;
|
||||
|
||||
25
src/user.c
25
src/user.c
@ -362,13 +362,10 @@ INTERNAL void pubilsh_game_cmds(struct game_cmd_list *list)
|
||||
* ========================== */
|
||||
|
||||
/* TODO: remove this (testing) */
|
||||
INTERNAL void debug_draw_xform(struct xform xf)
|
||||
INTERNAL void debug_draw_xform(struct xform xf, u32 color_x, u32 color_y)
|
||||
{
|
||||
f32 thickness = 2.f;
|
||||
f32 arrowhead_len = 15.f;
|
||||
u32 color = RGBA_32_F(0, 1, 1, 0.3);
|
||||
u32 color_x = RGBA_32_F(1, 0, 0, 0.3);
|
||||
u32 color_y = RGBA_32_F(0, 1, 0, 0.3);
|
||||
|
||||
struct v2 pos = xform_mul_v2(G.world_view, xf.og);
|
||||
struct v2 x_ray = xform_basis_mul_v2(G.world_view, xform_get_right(xf));
|
||||
@ -378,12 +375,13 @@ INTERNAL void debug_draw_xform(struct xform xf)
|
||||
x_ray = v2_mul(x_ray, ray_scale);
|
||||
y_ray = v2_mul(y_ray, ray_scale);
|
||||
|
||||
struct quad quad = quad_from_rect(RECT(0, 0, 1, -1));
|
||||
quad = xform_mul_quad(xf, quad_scale(quad, 0.075f));
|
||||
|
||||
draw_solid_arrow_ray(G.viewport_canvas, pos, x_ray, thickness, arrowhead_len, color_x);
|
||||
draw_solid_arrow_ray(G.viewport_canvas, pos, y_ray, thickness, arrowhead_len, color_y);
|
||||
draw_solid_quad(G.viewport_canvas, quad, color);
|
||||
|
||||
//u32 color_quad = RGBA_32_F(0, 1, 1, 0.3);
|
||||
//struct quad quad = quad_from_rect(RECT(0, 0, 1, -1));
|
||||
//quad = xform_mul_quad(xf, quad_scale(quad, 0.075f));
|
||||
//draw_solid_quad(G.viewport_canvas, quad, color);
|
||||
}
|
||||
|
||||
/* TODO: remove this (testing) */
|
||||
@ -835,8 +833,8 @@ INTERNAL void user_update(void)
|
||||
struct xform parent_xf = entity_get_xform(parent);
|
||||
|
||||
b32 skip_debug_draw = !G.debug_camera && ent == active_camera;
|
||||
//b32 skip_debug_draw_transform = entity_has_prop(ent, ENTITY_PROP_CAMERA);
|
||||
b32 skip_debug_draw_transform = true;
|
||||
b32 skip_debug_draw_transform = entity_has_prop(ent, ENTITY_PROP_CAMERA);
|
||||
//b32 skip_debug_draw_transform = true;
|
||||
|
||||
struct xform sprite_xform = xf;
|
||||
|
||||
@ -870,7 +868,8 @@ INTERNAL void user_update(void)
|
||||
#endif
|
||||
|
||||
/* Draw sprite */
|
||||
if (!sprite_tag_is_nil(sprite) && ((false))) {
|
||||
if ((false)) {
|
||||
//if (!sprite_tag_is_nil(sprite)) {
|
||||
/* Calculate sprite xform */
|
||||
sprite_xform = xform_mul(xf, ent->sprite_local_xform);
|
||||
|
||||
@ -934,7 +933,9 @@ INTERNAL void user_update(void)
|
||||
}
|
||||
|
||||
if (!skip_debug_draw_transform) {
|
||||
debug_draw_xform(xf);
|
||||
u32 color_x = RGBA_32_F(1, 0, 0, 0.3);
|
||||
u32 color_y = RGBA_32_F(0, 1, 0, 0.3);
|
||||
debug_draw_xform(xf, color_x, color_y);
|
||||
}
|
||||
|
||||
#if 0
|
||||
|
||||
Loading…
Reference in New Issue
Block a user