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collision resolution testing (janky bc angular velocity not taken into account)

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jacob 2024-09-03 17:00:40 -05:00
parent 9cb34ea1cd
commit 8c36552659
2 changed files with 30 additions and 10 deletions
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32
src/game.c
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@ -133,7 +133,7 @@ INTERNAL void spawn_test_entities(void)
{ {
struct v2 pos = V2(-1, -1); struct v2 pos = V2(-1, -1);
struct v2 size = V2(1, 1); struct v2 size = V2(1, 1);
f32 r = 0; f32 r = PI / 4;
f32 skew = 0; f32 skew = 0;
struct entity *e = entity_alloc(root); struct entity *e = entity_alloc(root);
@ -613,7 +613,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
/* Ground friction */ /* Ground friction */
if (!v2_eq(velocity, V2(0, 0))) { if (!v2_eq(velocity, V2(0, 0))) {
/* FIXME: Incorrect behavior at low FPS & low entity density */ /* FIXME: Incorrect behavior at low FPS & low entity density */
const f32 clamp_epsilon = 0.001; const f32 clamp_epsilon = 0.01;
f32 velocity_len = v2_len(velocity); f32 velocity_len = v2_len(velocity);
if (velocity_len >= clamp_epsilon) { if (velocity_len >= clamp_epsilon) {
f32 force_len = -velocity_len * ent->ground_friction; f32 force_len = -velocity_len * ent->ground_friction;
@ -799,8 +799,15 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
}; };
} }
#if 1
struct v2 e0_velocity = v2_div(v2_sub(e0_xf.og, e0->verlet_xform.og), dt);
struct v2 e1_velocity = v2_div(v2_sub(e1_xf.og, e1->verlet_xform.og), dt);
struct v2 pendir = v2_sub(e0_velocity, e1_velocity); /* What if both point in opposite directions? */
pendir = v2_norm(pendir);
#else
struct v2 pendir = V2(0, 0); struct v2 pendir = V2(0, 0);
//struct v2 pendir = V2(0, 99999); //struct v2 pendir = V2(0, 99999);
#endif
struct gjk_extended_result res = gjk_extended(e0_poly, e1_poly, pendir); struct gjk_extended_result res = gjk_extended(e0_poly, e1_poly, pendir);
@ -811,16 +818,29 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
//final_simplex = res.simplex; //final_simplex = res.simplex;
if (colliding) { if (colliding) {
struct v2 pen = v2_sub(point1, point0);
//pen = epa_colliding_pen(e0_poly, e1_poly, simplex);
#if 0 #if 0
/* Pen movement test */ /* Pen movement test */
f32 e0_ratio = v2_dot(pendir, e0_velocity);
//f32 e1_ratio = v2_dot(pendir, e1_velocity);
f32 e1_ratio = v2_dot(pendir, e1_velocity);
{ {
struct xform xf = e1_xf; struct v2 pen = v2_mul(e0_velocity, e0_ratio);
struct xform xf = e0_xf;
xf.og = v2_add(xf.og, pen); xf.og = v2_add(xf.og, pen);
entity_set_xform(e1, xf); entity_set_xform(e0, xf);
//e1->verlet_xform.og = v2_add(e1->verlet_xform.og, pen);
//e0->verlet_xform.og = v2_add(e0->verlet_xform.og, pen);
} }
#else f32 epsilon = 0.0001; pen = v2_add(pen, v2_mul(v2_norm(pen), epsilon));
struct xform xf = e0_xf;
xf.og = v2_add(xf.og, pen);
entity_set_xform(e0, xf);
e0->verlet_xform.og = v2_add(e0->verlet_xform.og, pen);
//e0->verlet_xform.og = xf.og;
#endif #endif
} }
} }

6
src/gjk.c
View File

@ -123,7 +123,7 @@ struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array
/* Third point is support point in direction of line normal towards origin */ /* Third point is support point in direction of line normal towards origin */
dir = v2_perp_towards_dir(v2_sub(s.b.p, s.a.p), v2_neg(s.a.p)); dir = v2_perp_towards_dir(v2_sub(s.b.p, s.a.p), v2_neg(s.a.p));
m = menkowski_point_extended(shape0, shape1, dir); m = menkowski_point_extended(shape0, shape1, dir);
if (v2_dot(dir, m.p) < 0) { if (v2_dot(dir, m.p) <= 0) {
/* New point did not cross origin, collision impossible */ /* New point did not cross origin, collision impossible */
break; break;
} }
@ -310,7 +310,7 @@ struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array
/* Second point is support point towards origin */ /* Second point is support point towards origin */
if (s.len == 1) { if (s.len == 1) {
m = menkowski_point_extended(shape0, shape1, v2_neg(s.a.p)); m = menkowski_point_extended(shape0, shape1, v2_neg(s.a.p));
if (v2_eq(m.p, s.a.p)) { if (v2_eq(m.p, s.a.p) || v2_eq(m.p, V2(0, 0))) {
break; break;
} }
@ -324,7 +324,7 @@ struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array
if (s.len == 2) { if (s.len == 2) {
m = menkowski_point_extended(shape0, shape1, dir); m = menkowski_point_extended(shape0, shape1, dir);
if (math_fabs(v2_wedge(v2_sub(s.b.p, s.a.p), v2_sub(m.p, s.a.p))) < unique_epsilon) { if (math_fabs(v2_wedge(v2_sub(s.b.p, s.a.p), v2_sub(m.p, s.a.p))) < unique_epsilon || v2_eq(m.p, V2(0, 0))) {
/* New point is already on the current line */ /* New point is already on the current line */
break; break;
} }