gjk step tweaking in debug mode
This commit is contained in:
parent
7e125e864e
commit
8de566cad5
@ -278,6 +278,8 @@ void __asan_unpoison_memory_region(void const volatile *add, size_t);
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#define COLOR_GREEN RGB_32(0 , 0xFF, 0 )
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#define COLOR_BLUE RGB_32(0 , 0 , 0xFF)
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#define COLOR_YELLOW RGB_32(0xFF, 0xFF, 0 )
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#define COLOR_TURQOISE RGB_32(0, 0xFF, 0XFF)
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#define COLOR_PURPLE RGB_32(0xFF, 0, 0XFF)
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/* Barrier */
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#if COMPILER_MSVC
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@ -96,6 +96,7 @@ struct entity {
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struct entity_handle colliding_with;
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struct simplex simplex;
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struct v2 pen;
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struct v2 spot;
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24
src/game.c
24
src/game.c
@ -26,6 +26,11 @@ GLOBAL struct {
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struct atomic_u64 prev_tick_id;
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struct world prev_tick;
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struct world tick;
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#if RTC
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u32 gjk_steps;
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#endif
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} G = { 0 }, DEBUG_ALIAS(G, G_game);
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/* ========================== *
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@ -43,6 +48,10 @@ struct game_startup_receipt game_startup(struct mixer_startup_receipt *mixer_sr,
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(UNUSED)sheet_sr;
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(UNUSED)sound_sr;
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#if RTC
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G.gjk_steps = U32_MAX;
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#endif
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/* Initialize game cmd storage */
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G.game_cmds_mutex = sys_mutex_alloc();
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G.game_cmds_arena = arena_alloc(GIGABYTE(64));
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@ -277,6 +286,13 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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spawn_test_entities();
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} break;
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#if RTC
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/* Debug */
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case GAME_CMD_KIND_SET_GJK_STEPS: {
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G.gjk_steps = cmd.gjk_steps;
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} break;
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#endif
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default: break;
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};
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}
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@ -729,6 +745,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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b32 colliding = false;
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struct simplex simplex = { 0 };
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struct v2 pen = V2(0, 0);
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struct v2 spot = V2(0, 0);
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struct entity_handle colliding_with = { 0 };
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for (u64 e1_index = 0; e1_index < store->reserved; ++e1_index) {
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struct entity *e1 = &store->entities[e1_index];
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@ -750,13 +767,13 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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};
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}
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struct gjk_result res = gjk(e0_poly, e1_poly);
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struct gjk_result res = gjk(e0_poly, e1_poly, G.gjk_steps);
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colliding = res.colliding;
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colliding_with = e1->handle;
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simplex = res.final_simplex;
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pen = epa(e0_poly, e1_poly, simplex);
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if (colliding) {
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pen = epa(e0_poly, e1_poly, simplex);
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#if 0
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/* Pen movement test */
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{
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@ -766,6 +783,8 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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//e1->verlet_xform.og = v2_add(e1->verlet_xform.og, pen);
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}
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#endif
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} else {
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spot = e0->spot;
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}
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}
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@ -773,6 +792,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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e0->colliding_with = colliding_with;
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e0->simplex = simplex;
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e0->pen = pen;
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e0->spot = spot;
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}
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#endif
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@ -24,6 +24,11 @@ enum game_cmd_kind {
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GAME_CMD_KIND_PAUSE,
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GAME_CMD_KIND_STEP,
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#if RTC
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/* Debug */
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GAME_CMD_KIND_SET_GJK_STEPS,
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#endif
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GAME_CMD_KIND_COUNT
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};
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@ -34,6 +39,10 @@ struct game_cmd {
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/* GAME_CMD_KIND_PLAYER_MOVE */
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struct v2 move_dir;
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struct v2 aim_pos;
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#if RTC
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u32 gjk_steps;
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#endif
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};
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struct game_cmd_array {
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67
src/user.c
67
src/user.c
@ -68,6 +68,10 @@ GLOBAL struct {
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struct v2 viewport_center;
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struct v2 viewport_cursor;
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struct v2 world_cursor;
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#if RTC
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u32 gjk_steps;
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#endif
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} G = { 0 }, DEBUG_ALIAS(G, G_user);
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/* ========================== *
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@ -95,7 +99,15 @@ GLOBAL READONLY enum user_bind_kind g_binds[SYS_BTN_COUNT] = {
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[SYS_BTN_MWHEELUP] = USER_BIND_KIND_ZOOM_IN,
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[SYS_BTN_MWHEELDOWN] = USER_BIND_KIND_ZOOM_OUT,
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[SYS_BTN_M3] = USER_BIND_KIND_PAN,
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[SYS_BTN_CTRL] = USER_BIND_KIND_CTRL_TEST
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[SYS_BTN_CTRL] = USER_BIND_KIND_CTRL_TEST,
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#if RTC
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/* Debug */
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[SYS_BTN_FORWARD_SLASH] = USER_BIND_KIND_RESET_GJK_STEPS,
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[SYS_BTN_COMMA] = USER_BIND_KIND_DECR_GJK_STEPS,
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[SYS_BTN_PERIOD] = USER_BIND_KIND_INCR_GJK_STEPS
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#endif
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};
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/* ========================== *
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@ -134,6 +146,9 @@ struct user_startup_receipt user_startup(struct work_startup_receipt *work_sr,
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G.viewport_bg_canvas = renderer_canvas_alloc();
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G.viewport_canvas = renderer_canvas_alloc();
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G.window = window;
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#if RTC
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G.gjk_steps = U32_MAX;
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#endif
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sys_window_register_event_callback(G.window, &window_event_callback);
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G.user_thread = sys_thread_alloc(&user_thread_entry_point, NULL, STR("[P1] User thread"));
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@ -1007,7 +1022,7 @@ INTERNAL void user_update(void)
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}
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}
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u32 color = RGBA_32_F(0, 0, 0.75, 1);
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u32 color = RGBA_32_F(0, 0, 0.25, 1);
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f32 thickness = 2;
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(UNUSED)thickness;
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@ -1018,14 +1033,31 @@ INTERNAL void user_update(void)
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}
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/* Draw simplex */
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if (colliding) {
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{
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f32 thickness = 2;
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u32 color = colliding ? COLOR_WHITE: COLOR_YELLOW;
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u32 line_color = colliding ? COLOR_WHITE: COLOR_YELLOW;
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u32 color_first = COLOR_RED;
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u32 color_second = COLOR_GREEN;
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u32 color_third = COLOR_TURQOISE;
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struct simplex simplex = ent->simplex;
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struct v2 simplex_points[] = { simplex.a, simplex.b, simplex.c };
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for (u64 i = 0; i < ARRAY_COUNT(simplex_points); ++i) simplex_points[i] = xform_mul_v2(G.world_view, simplex_points[i]);
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struct v2_array simplex_array = { .count = ARRAY_COUNT(simplex_points), .points = simplex_points };
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draw_solid_poly_line(G.viewport_canvas, simplex_array, true, thickness, color);
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struct v2_array simplex_array = { .count = simplex.len, .points = simplex_points };
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if (simplex.len >= 1) {
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u32 color = simplex.len == 1 ? color_first : (simplex.len == 2 ? color_second : color_third);
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draw_solid_circle(G.viewport_canvas, simplex_array.points[0], thickness * 2, color, 10);
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}
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if (simplex.len >= 2) {
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u32 color = simplex.len == 2 ? color_first : color_second;
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draw_solid_poly_line(G.viewport_canvas, simplex_array, simplex.len > 2, thickness, line_color);
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draw_solid_circle(G.viewport_canvas, simplex_array.points[1], thickness * 2, color, 10);
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}
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if (simplex.len >= 3) {
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u32 color = color_first;
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draw_solid_circle(G.viewport_canvas, simplex_array.points[2], thickness * 2, color, 10);
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}
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}
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/* Draw pen */
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@ -1146,6 +1178,24 @@ INTERNAL void user_update(void)
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.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
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});
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}
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#if RTC
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/* Queue debug cmds */
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/* Gjk steps */
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{
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i64 new_steps = (i64)G.gjk_steps;
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new_steps += G.bind_states[USER_BIND_KIND_INCR_GJK_STEPS].num_presses_and_repeats;
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new_steps -= G.bind_states[USER_BIND_KIND_DECR_GJK_STEPS].num_presses_and_repeats;
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if (G.bind_states[USER_BIND_KIND_RESET_GJK_STEPS].num_presses_and_repeats > 0) new_steps = 0;
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G.gjk_steps = (u32)clamp_i64(new_steps, 0, U32_MAX);
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queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
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.kind = GAME_CMD_KIND_SET_GJK_STEPS,
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.state = 1,
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.gjk_steps = G.gjk_steps
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});
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}
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#endif
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}
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/* ---------------------------------------------------------------------- */
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@ -1202,6 +1252,11 @@ INTERNAL void user_update(void)
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draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("debug_camera: %F"), FMT_STR(G.debug_camera ? STR("true") : STR("false"))));
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pos.y += spacing;
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#if RTC
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draw_text(G.viewport_canvas, font, pos, string_format(temp.arena, STR("gjk steps: %F"), FMT_UINT(G.gjk_steps)));
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pos.y += spacing;
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#endif
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arena_temp_end(temp);
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}
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@ -34,6 +34,14 @@ enum user_bind_kind {
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USER_BIND_KIND_PAN,
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USER_BIND_KIND_CTRL_TEST,
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#if RTC
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/* Debug */
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USER_BIND_KIND_RESET_GJK_STEPS,
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USER_BIND_KIND_INCR_GJK_STEPS,
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USER_BIND_KIND_DECR_GJK_STEPS,
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#endif
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USER_BIND_KIND_COUNT
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};
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208
src/util.c
208
src/util.c
@ -45,7 +45,7 @@ struct string util_file_name_from_path(struct string path)
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/* TODO: Remove / move this */
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struct v2 poly_furthest_point(struct v2_array a, struct v2 dir)
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struct v2 poly_support(struct v2_array a, struct v2 dir)
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{
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struct v2 furthest = a.points[0];
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f32 furthest_dot = v2_dot(dir, furthest);
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@ -60,9 +60,9 @@ struct v2 poly_furthest_point(struct v2_array a, struct v2 dir)
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return furthest;
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}
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struct v2 poly_support_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir)
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struct v2 menkowski_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir)
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{
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return v2_sub(poly_furthest_point(poly0, dir), poly_furthest_point(poly1, v2_neg(dir)));
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return v2_sub(poly_support(poly0, dir), poly_support(poly1, v2_neg(dir)));
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}
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struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p)
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@ -72,6 +72,7 @@ struct v2 normal_towards_point(struct v2 start, struct v2 end, struct v2 p)
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return v2_mul(dir, sign);
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}
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#if 0
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struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
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{
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struct v2 poly0_center = math_poly_center(poly0);
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@ -79,34 +80,36 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
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/* Simplex */
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struct simplex s = { 0 };
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u32 s_len = 0;
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/* Append first point to simplex */
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struct v2 dir = v2_norm(v2_sub(poly1_center, poly0_center));
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s.c = poly_support_point(poly0, poly1, dir);
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s_len = 1;
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s.a = menkowski_point(poly0, poly1, dir);
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s.len = 1;
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dir = v2_norm(v2_neg(s.c)); /* Next point is towards origin */
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dir = v2_norm(v2_neg(s.a)); /* Next point is towards origin */
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b32 colliding = false;
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while (true) {
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/* Determine support point */
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struct v2 p = poly_support_point(poly0, poly1, dir);
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struct v2 p = menkowski_point(poly0, poly1, dir);
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if (v2_dot(dir, p) < 0) {
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/* Point did not cross origin */
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colliding = false;
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break;
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}
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if (s_len < 3) {
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if (s.len < 3) {
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/* Line case */
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/* Next dir is line normal towards origin */
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if (s_len == 1) {
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s.b = p;
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} else if (s_len == 2) {
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if (s.len == 1) {
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s.b = s.a;
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s.a = p;
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} else if (s.len == 2) {
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s.c = s.b;
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s.b = s.a;
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s.a = p;
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}
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++s_len;
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++s.len;
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dir = normal_towards_point(s.a, s.b, V2(0, 0));
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} else {
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/* Triangle case */
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@ -114,11 +117,8 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
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s.b = s.a;
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s.a = p;
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/* Ensure point is unique */
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/* TODO: Is this necessary? */
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if (v2_eq(s.a, s.b)
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|| v2_eq(s.b, s.c)
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|| v2_eq(s.a, s.c)) {
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/* Ensure new point is unique */
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if (v2_eq(s.a, s.b) || v2_eq(s.b, s.c) || v2_eq(s.a, s.c)) {
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colliding = false;
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break;
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}
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@ -127,14 +127,14 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
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dir = v2_neg(normal_towards_point(s.a, s.b, s.c)); /* Normal dir of ab pointing away from c */
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if (v2_dot(dir, a_to_origin_rel) >= 0) {
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/* Point is in region ab, remove c from simplex */
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/* Point is in region ab, remove c from simplex (will happen automatically next iteration) */
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} else {
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dir = v2_neg(normal_towards_point(s.a, s.c, s.b)); /* Normal dir of ac pointing away from b */
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if (v2_dot(dir, a_to_origin_rel) >= 0) {
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/* Point is in region ac, remove b from simplex */
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s.b = s.c;
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} else {
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/* Point must be in simplex */
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/* Point is in simplex */
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colliding = true;
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break;
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}
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@ -142,16 +142,174 @@ struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
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}
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}
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return (struct gjk_result)
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{
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return (struct gjk_result) {
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.colliding = colliding,
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.final_simplex = s
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};
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}
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#elif 0
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struct gjk_result gjk(struct v2_array poly0, struct v2_array poly1)
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{
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b32 colliding = false;
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/* Simplex */
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struct simplex s = { 0 };
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/* First point is support point towards shape centers */
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{
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s.a = menkowski_point(poly0, poly1, v2_norm(v2_sub(poly1.points[0], poly0.points[0])));
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s.len = 1;
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}
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/* Second point is support point towards origin */
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{
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struct v2 dir = v2_norm(v2_neg(s.a));
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struct v2 p = menkowski_point(poly0, poly1, dir);
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if (!v2_eq(p, s.a)) {
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s.b = s.a;
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s.a = p;
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s.len = 2;
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}
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}
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if (s.len == 2) {
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while (true) {
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/* Third point is support point in direction of line normal towards origin */
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struct v2 dir = normal_towards_point(s.a, s.b, V2(0, 0));
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struct v2 p = menkowski_point(poly0, poly1, dir);
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if (v2_eq(p, s.a) || v2_eq(p, s.b)) {
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colliding = false;
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break;
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}
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s.c = s.b;
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s.b = s.a;
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s.a = p;
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struct v2 a_to_origin = v2_neg(s.a);
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dir = v2_neg(normal_towards_point(s.a, s.b, s.c)); /* Normal dir of ab pointing away from c */
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if (v2_dot(dir, a_to_origin) >= 0) {
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/* Point is in region ab, remove c from simplex (will happen automatically next iteration) */
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} else {
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/* Point is not in region ab */
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dir = v2_neg(normal_towards_point(s.a, s.c, s.b)); /* Normal dir of ac pointing away from b */
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if (v2_dot(dir, a_to_origin) >= 0) {
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||||
/* 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,
|
||||
.final_simplex = s
|
||||
};
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
struct v2 epa(struct v2_array poly0, struct v2_array poly1, struct simplex simplex)
|
||||
{
|
||||
struct temp_arena scratch = scratch_begin_no_conflict();
|
||||
ASSERT(simplex.len == 3);
|
||||
|
||||
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
|
||||
/* FIXME: Ensure convexity */
|
||||
|
||||
struct v2 p = poly_support_point(poly0, poly1, pen);
|
||||
struct v2 p = menkowski_point(poly0, poly1, pen);
|
||||
|
||||
/* Check unique */
|
||||
/* 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;
|
||||
#else
|
||||
/* 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)) {
|
||||
break;
|
||||
} 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) {
|
||||
f32 angle = ((f32)i / rays) * (2 * PI);
|
||||
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])) {
|
||||
*arena_push(arena, struct v2) = p;
|
||||
++res.count;
|
||||
|
||||
@ -187,6 +187,7 @@ INLINE void sleep_frame(sys_timestamp_t last_frame_time, f64 target_dt)
|
||||
/* TODO: Remove this */
|
||||
|
||||
struct simplex {
|
||||
u32 len;
|
||||
struct v2 a, b, c;
|
||||
};
|
||||
|
||||
@ -195,10 +196,10 @@ struct gjk_result {
|
||||
struct simplex final_simplex;
|
||||
};
|
||||
|
||||
struct v2 poly_furthest_point(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 poly_support(struct v2_array a, 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 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_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
|
||||
i32 poly_get_winding_order(struct v2_array poly);
|
||||
|
||||
Loading…
Reference in New Issue
Block a user