jacob/power_play
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
jacob 2024-09-03 17:00:40 -05:00
parent 9cb34ea1cd
commit 8c36552659
2 changed files with 30 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
src/game.c
View File

@ -133,7 +133,7 @@ INTERNAL void spawn_test_entities(void)
{
struct v2 pos = V2(-1, -1);
struct v2 size = V2(1, 1);
f32 r = 0;
f32 r = PI / 4;
f32 skew = 0;
struct entity *e = entity_alloc(root);
@ -613,7 +613,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
/* Ground friction */
if (!v2_eq(velocity, V2(0, 0))) {
/* 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);
if (velocity_len >= clamp_epsilon) {
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, 99999);
#endif
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;
if (colliding) {
struct v2 pen = v2_sub(point1, point0);
//pen = epa_colliding_pen(e0_poly, e1_poly, simplex);
#if 0
/* 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);
entity_set_xform(e1, xf);
//e1->verlet_xform.og = v2_add(e1->verlet_xform.og, pen);
entity_set_xform(e0, xf);
//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
}
}

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 */
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);
if (v2_dot(dir, m.p) < 0) {
if (v2_dot(dir, m.p) <= 0) {
/* New point did not cross origin, collision impossible */
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 */
if (s.len == 1) {
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;
}
@ -324,7 +324,7 @@ struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array
if (s.len == 2) {
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 */
break;
}