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gjk step tweaking in debug mode

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jacob 2024-08-29 18:46:08 -05:00
parent 7e125e864e
commit 8de566cad5
8 changed files with 305 additions and 51 deletions
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2
src/common.h
View File

@ -278,6 +278,8 @@ void __asan_unpoison_memory_region(void const volatile *add, size_t);
#define COLOR_GREEN RGB_32(0 , 0xFF, 0 ) #define COLOR_GREEN RGB_32(0 , 0xFF, 0 )
#define COLOR_BLUE RGB_32(0 , 0 , 0xFF) #define COLOR_BLUE RGB_32(0 , 0 , 0xFF)
#define COLOR_YELLOW RGB_32(0xFF, 0xFF, 0 ) #define COLOR_YELLOW RGB_32(0xFF, 0xFF, 0 )
#define COLOR_TURQOISE RGB_32(0, 0xFF, 0XFF)
#define COLOR_PURPLE RGB_32(0xFF, 0, 0XFF)
/* Barrier */ /* Barrier */
#if COMPILER_MSVC #if COMPILER_MSVC

1
src/entity.h
View File

@ -96,6 +96,7 @@ struct entity {
struct entity_handle colliding_with; struct entity_handle colliding_with;
struct simplex simplex; struct simplex simplex;
struct v2 pen; struct v2 pen;
struct v2 spot;

24
src/game.c
View File

@ -26,6 +26,11 @@ GLOBAL struct {
struct atomic_u64 prev_tick_id; struct atomic_u64 prev_tick_id;
struct world prev_tick; struct world prev_tick;
struct world tick; struct world tick;
#if RTC
u32 gjk_steps;
#endif
} G = { 0 }, DEBUG_ALIAS(G, G_game); } G = { 0 }, DEBUG_ALIAS(G, G_game);
/* ========================== * /* ========================== *
@ -43,6 +48,10 @@ struct game_startup_receipt game_startup(struct mixer_startup_receipt *mixer_sr,
(UNUSED)sheet_sr; (UNUSED)sheet_sr;
(UNUSED)sound_sr; (UNUSED)sound_sr;
#if RTC
G.gjk_steps = U32_MAX;
#endif
/* Initialize game cmd storage */ /* Initialize game cmd storage */
G.game_cmds_mutex = sys_mutex_alloc(); G.game_cmds_mutex = sys_mutex_alloc();
G.game_cmds_arena = arena_alloc(GIGABYTE(64)); G.game_cmds_arena = arena_alloc(GIGABYTE(64));
@ -277,6 +286,13 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
spawn_test_entities(); spawn_test_entities();
} break; } break;
#if RTC
/* Debug */
case GAME_CMD_KIND_SET_GJK_STEPS: {
G.gjk_steps = cmd.gjk_steps;
} break;
#endif
default: break; default: break;
}; };
} }
@ -729,6 +745,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
b32 colliding = false; b32 colliding = false;
struct simplex simplex = { 0 }; struct simplex simplex = { 0 };
struct v2 pen = V2(0, 0); struct v2 pen = V2(0, 0);
struct v2 spot = V2(0, 0);
struct entity_handle colliding_with = { 0 }; struct entity_handle colliding_with = { 0 };
for (u64 e1_index = 0; e1_index < store->reserved; ++e1_index) { for (u64 e1_index = 0; e1_index < store->reserved; ++e1_index) {
struct entity *e1 = &store->entities[e1_index]; struct entity *e1 = &store->entities[e1_index];
@ -750,13 +767,13 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
}; };
} }
struct gjk_result res = gjk(e0_poly, e1_poly); struct gjk_result res = gjk(e0_poly, e1_poly, G.gjk_steps);
colliding = res.colliding; colliding = res.colliding;
colliding_with = e1->handle; colliding_with = e1->handle;
simplex = res.final_simplex; simplex = res.final_simplex;
pen = epa(e0_poly, e1_poly, simplex);
if (colliding) { if (colliding) {
pen = epa(e0_poly, e1_poly, simplex);
#if 0 #if 0
/* Pen movement test */ /* Pen movement test */
{ {
@ -766,6 +783,8 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
//e1->verlet_xform.og = v2_add(e1->verlet_xform.og, pen); //e1->verlet_xform.og = v2_add(e1->verlet_xform.og, pen);
} }
#endif #endif
} else {
spot = e0->spot;
} }
} }
@ -773,6 +792,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
e0->colliding_with = colliding_with; e0->colliding_with = colliding_with;
e0->simplex = simplex; e0->simplex = simplex;
e0->pen = pen; e0->pen = pen;
e0->spot = spot;
} }
#endif #endif

9
src/game.h
View File

@ -24,6 +24,11 @@ enum game_cmd_kind {
GAME_CMD_KIND_PAUSE, GAME_CMD_KIND_PAUSE,
GAME_CMD_KIND_STEP, GAME_CMD_KIND_STEP,
#if RTC
/* Debug */
GAME_CMD_KIND_SET_GJK_STEPS,
#endif
GAME_CMD_KIND_COUNT GAME_CMD_KIND_COUNT
}; };
@ -34,6 +39,10 @@ struct game_cmd {
/* GAME_CMD_KIND_PLAYER_MOVE */ /* GAME_CMD_KIND_PLAYER_MOVE */
struct v2 move_dir; struct v2 move_dir;
struct v2 aim_pos; struct v2 aim_pos;
#if RTC
u32 gjk_steps;
#endif
}; };
struct game_cmd_array { struct game_cmd_array {

99
src/user.c
View File

@ -68,6 +68,10 @@ GLOBAL struct {
struct v2 viewport_center; struct v2 viewport_center;
struct v2 viewport_cursor; struct v2 viewport_cursor;
struct v2 world_cursor; struct v2 world_cursor;
#if RTC
u32 gjk_steps;
#endif
} G = { 0 }, DEBUG_ALIAS(G, G_user); } G = { 0 }, DEBUG_ALIAS(G, G_user);
/* ========================== * /* ========================== *
@ -77,25 +81,33 @@ GLOBAL struct {
/* TODO: Remove this */ /* TODO: Remove this */
GLOBAL READONLY enum user_bind_kind g_binds[SYS_BTN_COUNT] = { GLOBAL READONLY enum user_bind_kind g_binds[SYS_BTN_COUNT] = {
[SYS_BTN_W] = USER_BIND_KIND_MOVE_UP, [SYS_BTN_W] = USER_BIND_KIND_MOVE_UP,
[SYS_BTN_S] = USER_BIND_KIND_MOVE_DOWN, [SYS_BTN_S] = USER_BIND_KIND_MOVE_DOWN,
[SYS_BTN_A] = USER_BIND_KIND_MOVE_LEFT, [SYS_BTN_A] = USER_BIND_KIND_MOVE_LEFT,
[SYS_BTN_D] = USER_BIND_KIND_MOVE_RIGHT, [SYS_BTN_D] = USER_BIND_KIND_MOVE_RIGHT,
[SYS_BTN_M1] = USER_BIND_KIND_FIRE, [SYS_BTN_M1] = USER_BIND_KIND_FIRE,
/* Testing */ /* Testing */
[SYS_BTN_C] = USER_BIND_KIND_DEBUG_CLEAR, [SYS_BTN_C] = USER_BIND_KIND_DEBUG_CLEAR,
[SYS_BTN_V] = USER_BIND_KIND_DEBUG_SPAWN, [SYS_BTN_V] = USER_BIND_KIND_DEBUG_SPAWN,
[SYS_BTN_N] = USER_BIND_KIND_DEBUG_STEP, [SYS_BTN_N] = USER_BIND_KIND_DEBUG_STEP,
[SYS_BTN_F1] = USER_BIND_KIND_DEBUG_PAUSE, [SYS_BTN_F1] = USER_BIND_KIND_DEBUG_PAUSE,
[SYS_BTN_F2] = USER_BIND_KIND_DEBUG_CAMERA, [SYS_BTN_F2] = USER_BIND_KIND_DEBUG_CAMERA,
[SYS_BTN_F3] = USER_BIND_KIND_DEBUG_DRAW, [SYS_BTN_F3] = USER_BIND_KIND_DEBUG_DRAW,
[SYS_BTN_F11] = USER_BIND_KIND_FULLSCREEN, [SYS_BTN_F11] = USER_BIND_KIND_FULLSCREEN,
[SYS_BTN_MWHEELUP] = USER_BIND_KIND_ZOOM_IN, [SYS_BTN_MWHEELUP] = USER_BIND_KIND_ZOOM_IN,
[SYS_BTN_MWHEELDOWN] = USER_BIND_KIND_ZOOM_OUT, [SYS_BTN_MWHEELDOWN] = USER_BIND_KIND_ZOOM_OUT,
[SYS_BTN_M3] = USER_BIND_KIND_PAN, [SYS_BTN_M3] = USER_BIND_KIND_PAN,
[SYS_BTN_CTRL] = USER_BIND_KIND_CTRL_TEST [SYS_BTN_CTRL] = USER_BIND_KIND_CTRL_TEST,
#if RTC
/* Debug */
[SYS_BTN_FORWARD_SLASH] = USER_BIND_KIND_RESET_GJK_STEPS,
[SYS_BTN_COMMA] = USER_BIND_KIND_DECR_GJK_STEPS,
[SYS_BTN_PERIOD] = USER_BIND_KIND_INCR_GJK_STEPS
#endif
}; };
/* ========================== * /* ========================== *
@ -134,6 +146,9 @@ struct user_startup_receipt user_startup(struct work_startup_receipt *work_sr,
G.viewport_bg_canvas = renderer_canvas_alloc(); G.viewport_bg_canvas = renderer_canvas_alloc();
G.viewport_canvas = renderer_canvas_alloc(); G.viewport_canvas = renderer_canvas_alloc();
G.window = window; G.window = window;
#if RTC
G.gjk_steps = U32_MAX;
#endif
sys_window_register_event_callback(G.window, &window_event_callback); sys_window_register_event_callback(G.window, &window_event_callback);
G.user_thread = sys_thread_alloc(&user_thread_entry_point, NULL, STR("[P1] User thread")); G.user_thread = sys_thread_alloc(&user_thread_entry_point, NULL, STR("[P1] User thread"));
@ -1007,7 +1022,7 @@ INTERNAL void user_update(void)
} }
} }
u32 color = RGBA_32_F(0, 0, 0.75, 1); u32 color = RGBA_32_F(0, 0, 0.25, 1);
f32 thickness = 2; f32 thickness = 2;
(UNUSED)thickness; (UNUSED)thickness;
@ -1018,14 +1033,31 @@ INTERNAL void user_update(void)
} }
/* Draw simplex */ /* Draw simplex */
if (colliding) { {
f32 thickness = 2; f32 thickness = 2;
u32 color = colliding ? COLOR_WHITE: COLOR_YELLOW; u32 line_color = colliding ? COLOR_WHITE: COLOR_YELLOW;
u32 color_first = COLOR_RED;
u32 color_second = COLOR_GREEN;
u32 color_third = COLOR_TURQOISE;
struct simplex simplex = ent->simplex; struct simplex simplex = ent->simplex;
struct v2 simplex_points[] = { simplex.a, simplex.b, simplex.c }; 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]); 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 = ARRAY_COUNT(simplex_points), .points = simplex_points }; struct v2_array simplex_array = { .count = simplex.len, .points = simplex_points };
draw_solid_poly_line(G.viewport_canvas, simplex_array, true, thickness, color);
if (simplex.len >= 1) {
u32 color = simplex.len == 1 ? color_first : (simplex.len == 2 ? color_second : color_third);
draw_solid_circle(G.viewport_canvas, simplex_array.points[0], thickness * 2, color, 10);
}
if (simplex.len >= 2) {
u32 color = simplex.len == 2 ? color_first : color_second;
draw_solid_poly_line(G.viewport_canvas, simplex_array, simplex.len > 2, thickness, line_color);
draw_solid_circle(G.viewport_canvas, simplex_array.points[1], thickness * 2, color, 10);
}
if (simplex.len >= 3) {
u32 color = color_first;
draw_solid_circle(G.viewport_canvas, simplex_array.points[2], thickness * 2, color, 10);
}
} }
/* Draw pen */ /* Draw pen */
@ -1143,9 +1175,27 @@ INTERNAL void user_update(void)
/* Queue player fire cmd */ /* Queue player fire cmd */
queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) { queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
.kind = GAME_CMD_KIND_PLAYER_FIRE, .kind = GAME_CMD_KIND_PLAYER_FIRE,
.state = (G.bind_states[USER_BIND_KIND_FIRE].num_presses > 0 || G.bind_states[USER_BIND_KIND_FIRE].is_held) ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP .state = (G.bind_states[USER_BIND_KIND_FIRE].num_presses > 0 || G.bind_states[USER_BIND_KIND_FIRE].is_held) ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP
}); });
} }
#if RTC
/* Queue debug cmds */
/* Gjk steps */
{
i64 new_steps = (i64)G.gjk_steps;
new_steps += G.bind_states[USER_BIND_KIND_INCR_GJK_STEPS].num_presses_and_repeats;
new_steps -= G.bind_states[USER_BIND_KIND_DECR_GJK_STEPS].num_presses_and_repeats;
if (G.bind_states[USER_BIND_KIND_RESET_GJK_STEPS].num_presses_and_repeats > 0) new_steps = 0;
G.gjk_steps = (u32)clamp_i64(new_steps, 0, U32_MAX);
queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
.kind = GAME_CMD_KIND_SET_GJK_STEPS,
.state = 1,
.gjk_steps = G.gjk_steps
});
}
#endif
} }
/* ---------------------------------------------------------------------- */ /* ---------------------------------------------------------------------- */
@ -1202,6 +1252,11 @@ INTERNAL void user_update(void)
draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("debug_camera: %F"), FMT_STR(G.debug_camera ? STR("true") : STR("false")))); draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("debug_camera: %F"), FMT_STR(G.debug_camera ? STR("true") : STR("false"))));
pos.y += spacing; pos.y += spacing;
#if RTC
draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("gjk steps: %F"), FMT_UINT(G.gjk_steps)));
pos.y += spacing;
#endif
arena_temp_end(temp); arena_temp_end(temp);
} }

8
src/user.h
View File

@ -34,6 +34,14 @@ enum user_bind_kind {
USER_BIND_KIND_PAN, USER_BIND_KIND_PAN,
USER_BIND_KIND_CTRL_TEST, USER_BIND_KIND_CTRL_TEST,
#if RTC
/* Debug */
USER_BIND_KIND_RESET_GJK_STEPS,
USER_BIND_KIND_INCR_GJK_STEPS,
USER_BIND_KIND_DECR_GJK_STEPS,
#endif
USER_BIND_KIND_COUNT USER_BIND_KIND_COUNT
}; };

206
src/util.c
View File

@ -45,7 +45,7 @@ struct string util_file_name_from_path(struct string path)
/* TODO: Remove / move this */ /* TODO: Remove / move this */
struct v2 poly_furthest_point(struct v2_array a, struct v2 dir) struct v2 poly_support(struct v2_array a, struct v2 dir)
{ {
struct v2 furthest = a.points[0]; struct v2 furthest = a.points[0];
f32 furthest_dot = v2_dot(dir, furthest); f32 furthest_dot = v2_dot(dir, furthest);
@ -60,9 +60,9 @@ struct v2 poly_furthest_point(struct v2_array a, struct v2 dir)
return furthest; return furthest;
} }
struct v2 poly_support_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir) struct v2 menkowski_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir)
{ {
return v2_sub(poly_furthest_point(poly0, dir), poly_furthest_point(poly1, v2_neg(dir))); return v2_sub(poly_support(poly0, dir), poly_support(poly1, v2_neg(dir)));
} }
struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p) struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p)
@ -72,6 +72,7 @@ struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p)
return v2_mul(dir, sign); return v2_mul(dir, sign);
} }
#if 0
struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1) struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
{ {
struct v2 poly0_center = math_poly_center(poly0); struct v2 poly0_center = math_poly_center(poly0);
@ -79,34 +80,36 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
/* Simplex */ /* Simplex */
struct simplex s = { 0 }; struct simplex s = { 0 };
u32 s_len = 0;
/* Append first point to simplex */ /* Append first point to simplex */
struct v2 dir = v2_norm(v2_sub(poly1_center, poly0_center)); struct v2 dir = v2_norm(v2_sub(poly1_center, poly0_center));
s.c = poly_support_point(poly0, poly1, dir); s.a = menkowski_point(poly0, poly1, dir);
s_len = 1; s.len = 1;
dir = v2_norm(v2_neg(s.c)); /* Next point is towards origin */ dir = v2_norm(v2_neg(s.a)); /* Next point is towards origin */
b32 colliding = false; b32 colliding = false;
while (true) { while (true) {
/* Determine support point */ /* Determine support point */
struct v2 p = poly_support_point(poly0, poly1, dir); struct v2 p = menkowski_point(poly0, poly1, dir);
if (v2_dot(dir, p) < 0) { if (v2_dot(dir, p) < 0) {
/* Point did not cross origin */ /* Point did not cross origin */
colliding = false; colliding = false;
break; break;
} }
if (s_len < 3) { if (s.len < 3) {
/* Line case */ /* Line case */
/* Next dir is line normal towards origin */ /* Next dir is line normal towards origin */
if (s_len == 1) { if (s.len == 1) {
s.b = p; s.b = s.a;
} else if (s_len == 2) { s.a = p;
} else if (s.len == 2) {
s.c = s.b;
s.b = s.a;
s.a = p; s.a = p;
} }
++s_len; ++s.len;
dir = normal_towards_point(s.a, s.b, V2(0, 0)); dir = normal_towards_point(s.a, s.b, V2(0, 0));
} else { } else {
/* Triangle case */ /* Triangle case */
@ -114,11 +117,8 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
s.b = s.a; s.b = s.a;
s.a = p; s.a = p;
/* Ensure point is unique */ /* Ensure new point is unique */
/* TODO: Is this necessary? */ if (v2_eq(s.a, s.b) || v2_eq(s.b, s.c) || v2_eq(s.a, s.c)) {
if (v2_eq(s.a, s.b)
|| v2_eq(s.b, s.c)
|| v2_eq(s.a, s.c)) {
colliding = false; colliding = false;
break; break;
} }
@ -127,14 +127,14 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
dir = v2_neg(normal_towards_point(s.a, s.b, s.c)); /* Normal dir of ab pointing away from c */ dir = v2_neg(normal_towards_point(s.a, s.b, s.c)); /* Normal dir of ab pointing away from c */
if (v2_dot(dir, a_to_origin_rel) >= 0) { if (v2_dot(dir, a_to_origin_rel) >= 0) {
/* Point is in region ab, remove c from simplex */ /* Point is in region ab, remove c from simplex (will happen automatically next iteration) */
} else { } else {
dir = v2_neg(normal_towards_point(s.a, s.c, s.b)); /* Normal dir of ac pointing away from b */ dir = v2_neg(normal_towards_point(s.a, s.c, s.b)); /* Normal dir of ac pointing away from b */
if (v2_dot(dir, a_to_origin_rel) >= 0) { if (v2_dot(dir, a_to_origin_rel) >= 0) {
/* Point is in region ac, remove b from simplex */ /* Point is in region ac, remove b from simplex */
s.b = s.c; s.b = s.c;
} else { } else {
/* Point must be in simplex */ /* Point is in simplex */
colliding = true; colliding = true;
break; break;
} }
@ -142,16 +142,174 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
} }
} }
return (struct gjk_result) return (struct gjk_result) {
.colliding = colliding,
.final_simplex = s
};
}
#elif 0
struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
{
b32 colliding = false;
/* Simplex */
struct simplex s = { 0 };
/* First point is support point towards shape centers */
{ {
s.a = menkowski_point(poly0, poly1, v2_norm(v2_sub(poly1.points[0], poly0.points[0])));
s.len = 1;
}
/* Second point is support point towards origin */
{
struct v2 dir = v2_norm(v2_neg(s.a));
struct v2 p = menkowski_point(poly0, poly1, dir);
if (!v2_eq(p, s.a)) {
s.b = s.a;
s.a = p;
s.len = 2;
}
}
if (s.len == 2) {
while (true) {
/* Third point is support point in direction of line normal towards origin */
struct v2 dir = normal_towards_point(s.a, s.b, V2(0, 0));
struct v2 p = menkowski_point(poly0, poly1, dir);
if (v2_eq(p, s.a) || v2_eq(p, s.b)) {
colliding = false;
break;
}
s.c = s.b;
s.b = s.a;
s.a = p;
struct v2 a_to_origin = v2_neg(s.a);
dir = v2_neg(normal_towards_point(s.a, s.b, s.c)); /* Normal dir 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_neg(normal_towards_point(s.a, s.c, s.b)); /* Normal dir 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 */
s.len = 3;
colliding = true;
break;
}
}
}
}
return (struct gjk_result) {
.colliding = colliding,
.final_simplex = s
};
}
#else
struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1, u32 max_steps)
{
b32 colliding = false;
u32 step = 0;
/* Simplex */
struct simplex s = { 0 };
/* First point is support point towards shape centers */
if (step++ >= max_steps) goto abort;
{
s.a = menkowski_point(poly0, poly1, v2_norm(v2_sub(poly1.points[0], poly0.points[0])));
s.len = 1;
}
/* Second point is support point towards origin */
if (step++ >= max_steps) goto abort;
{
struct v2 dir = v2_norm(v2_neg(s.a));
struct v2 p = menkowski_point(poly0, poly1, dir);
#if 0
if (!v2_eq(p, s.a)) {
s.b = s.a;
s.a = p;
s.len = 2;
}
#else
if (v2_dot(s.a, p) < 0) {
s.b = s.a;
s.a = p;
s.len = 2;
}
#endif
}
if (s.len == 2) {
while (true) {
if (step++ >= max_steps) goto abort;
/* Third point is support point in direction of line normal towards origin */
struct v2 dir = normal_towards_point(s.a, s.b, V2(0, 0));
struct v2 p = menkowski_point(poly0, poly1, dir);
#if 0
if (v2_eq(p, s.a) || v2_eq(p, s.b)) {
colliding = false;
break;
}
#else
if (v2_dot(dir, p) < 0) {
colliding = false;
break;
}
#endif
s.c = s.b;
s.b = s.a;
s.a = p;
struct v2 a_to_origin = v2_neg(s.a);
dir = v2_neg(normal_towards_point(s.a, s.b, s.c)); /* Normal dir 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_neg(normal_towards_point(s.a, s.c, s.b)); /* Normal dir 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 */
s.len = 3;
colliding = true;
break;
}
}
}
}
abort:
return (struct gjk_result) {
.colliding = colliding, .colliding = colliding,
.final_simplex = s .final_simplex = s
}; };
} }
#endif
struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simplex) struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simplex)
{ {
struct temp_arena scratch = scratch_begin_no_conflict(); struct temp_arena scratch = scratch_begin_no_conflict();
ASSERT(simplex.len == 3);
struct v2 *proto = arena_dry_push(scratch.arena, struct v2); struct v2 *proto = arena_dry_push(scratch.arena, struct v2);
{ {
@ -195,7 +353,7 @@ struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simpl
#if 1 #if 1
/* FIXME: Ensure convexity */ /* FIXME: Ensure convexity */
struct v2 p = poly_support_point(poly0, poly1, pen); struct v2 p = menkowski_point(poly0, poly1, pen);
/* Check unique */ /* Check unique */
/* TODO: Better */ /* TODO: Better */
@ -225,7 +383,7 @@ struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simpl
proto[pen_pe_index] = p; proto[pen_pe_index] = p;
#else #else
/* FIXME: Maintain convexity */ /* FIXME: Maintain convexity */
struct v2 p = poly_support_point(poly0, poly1, pen); struct v2 p = menkowski_point(poly0, poly1, pen);
if (v2_eq(p, ps) || v2_eq(p, pe)) { if (v2_eq(p, ps) || v2_eq(p, pe)) {
break; break;
} else { } else {
@ -260,7 +418,7 @@ struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_
for (u64 i = 0; i < rays; ++i) { for (u64 i = 0; i < rays; ++i) {
f32 angle = ((f32)i / rays) * (2 * PI); f32 angle = ((f32)i / rays) * (2 * PI);
struct v2 dir = v2_from_angle(angle); struct v2 dir = v2_from_angle(angle);
struct v2 p = poly_support_point(poly0, poly1, dir); struct v2 p = menkowski_point(poly0, poly1, dir);
if (res.count == 0 || !v2_eq(p, res.points[res.count - 1])) { if (res.count == 0 || !v2_eq(p, res.points[res.count - 1])) {
*arena_push(arena, struct v2) = p; *arena_push(arena, struct v2) = p;
++res.count; ++res.count;

7
src/util.h
View File

@ -187,6 +187,7 @@ INLINE void sleep_frame(sys_timestamp_t last_frame_time, f64 target_dt)
/* TODO: Remove this */ /* TODO: Remove this */
struct simplex { struct simplex {
u32 len;
struct v2 a, b, c; struct v2 a, b, c;
}; };
@ -195,10 +196,10 @@ struct gjk_result {
struct simplex final_simplex; struct simplex final_simplex;
}; };
struct v2 poly_furthest_point(struct v2_array a, struct v2 dir); struct v2 poly_support(struct v2_array a, struct v2 dir);
struct v2 poly_support_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir); struct v2 menkowski_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir);
struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p); struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p);
struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1); struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1, u32 max_steps);
struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simplex); struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simplex);
struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1); struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
i32 poly_get_winding_order(struct v2_array poly); i32 poly_get_winding_order(struct v2_array poly);