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jacob 2024-10-15 14:00:03 -05:00
parent 73b7fef768
commit 8f1422a882
3 changed files with 80 additions and 103 deletions
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150
src/collider.c
View File

@ -100,7 +100,8 @@ struct collider_collision_points_result collider_collision_points(struct collide
const f32 tolerance = 0.005f; const f32 tolerance = 0.005f;
/* NOTE: Should always be less than tolerance, since colliding=true if origin is within this distance. */ /* NOTE: Should always be less than tolerance, since colliding=true if origin is within this distance. */
const f32 min_unique_pt_dist_sq = 0.0001f * 0.0001f; //const f32 min_unique_pt_dist_sq = 0.0001f * 0.0001f;
const f32 min_unique_pt_dist_sq = 0.001f * 0.001f;
/* To prevent extremely large prototypes when origin is in exact center of rounded feature */ /* To prevent extremely large prototypes when origin is in exact center of rounded feature */
const u32 max_epa_iterations = 64; const u32 max_epa_iterations = 64;
@ -155,16 +156,10 @@ struct collider_collision_points_result collider_collision_points(struct collide
s.a = m; s.a = m;
s.len = 2; s.len = 2;
if (math_fabs(v2_wedge(v2_sub(s.b, s.a), v2_neg(s.a))) <= min_unique_pt_dist_sq) {
/* Third point is support point in direction of line normal towards origin */
dir = v2_perp(v2_sub(s.b, s.a));
} else {
/* 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, s.a), v2_neg(s.a)); dir = v2_perp_towards_dir(v2_sub(s.b, s.a), v2_neg(s.a));
} }
}
{ {
DBGSTEP; DBGSTEP;
m = menkowski_point(shape0, shape1, xf0, xf1, dir); m = menkowski_point(shape0, shape1, xf0, xf1, dir);
@ -178,6 +173,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
) || ) ||
math_fabs(v2_wedge(v2_sub(s.b, s.a), v2_sub(m, s.a))) < min_unique_pt_dist_sq) math_fabs(v2_wedge(v2_sub(s.b, s.a), v2_sub(m, s.a))) < min_unique_pt_dist_sq)
{ {
colliding = false;
simplex_is_closest_edge = true; simplex_is_closest_edge = true;
break; break;
} }
@ -186,15 +182,13 @@ struct collider_collision_points_result collider_collision_points(struct collide
s.a = m; s.a = m;
s.len = 3; s.len = 3;
#if 1 if ((math_fabs(v2_wedge(v2_sub(s.b, s.a), v2_neg(s.a))) <= min_unique_pt_dist_sq) ||
if (colliding || (math_fabs(v2_wedge(v2_sub(s.c, s.b), v2_neg(s.b))) <= min_unique_pt_dist_sq) ||
math_fabs(v2_wedge(v2_sub(s.c, s.a), v2_neg(s.a))) <= min_unique_pt_dist_sq || (math_fabs(v2_wedge(v2_sub(s.c, s.a), v2_neg(s.a))) <= min_unique_pt_dist_sq)) {
math_fabs(v2_wedge(v2_sub(s.c, s.b), v2_neg(s.b))) <= min_unique_pt_dist_sq) {
/* Simplex lies on origin */ /* Simplex lies on origin */
colliding = true; colliding = true;
break; break;
} }
#endif
} }
/* Determine region of the simplex in which the origin lies */ /* Determine region of the simplex in which the origin lies */
@ -269,11 +263,6 @@ struct collider_collision_points_result collider_collision_points(struct collide
* Epa (to find collision normal from inside shape) * Epa (to find collision normal from inside shape)
* ========================== */ * ========================== */
//const f32 epa_normal_epsilon_sq = 0;
//const f32 epa_normal_epsilon_sq = 0.01f * 0.01f;
//const f32 epa_normal_epsilon_sq = 0.001f * 0.001f;
const f32 epa_normal_epsilon_sq = F32_INFINITY;
proto = arena_dry_push(scratch.arena, struct v2); proto = arena_dry_push(scratch.arena, struct v2);
proto_count = 0; proto_count = 0;
{ {
@ -290,96 +279,86 @@ struct collider_collision_points_result collider_collision_points(struct collide
u32 epa_iterations = 0; u32 epa_iterations = 0;
while (colliding) { while (colliding) {
++epa_iterations; ++epa_iterations;
f32 pen_len_sq = F32_INFINITY;
/* Find dir from origin to closest edge */ /* Find dir from origin to closest edge */
/* FIXME: Winding order of ps & pe index */ /* FIXME: Winding order of ps & pe index */
u32 pen_ps_index = 0; f32 closest_len_sq = F32_INFINITY;
u32 pen_pe_index = 0; struct v2 closest_a = ZI;
struct v2 pen = ZI; struct v2 closest_b = ZI;
u32 closest_b_index = 0;
for (u32 i = 0; i < proto_count; ++i) { for (u32 i = 0; i < proto_count; ++i) {
u32 ps_index = i; u32 a_index = i;
u32 pe_index = (i < proto_count - 1) ? (i + 1) : 0; u32 b_index = (i < proto_count - 1) ? (i + 1) : 0;
struct v2 ps = proto[ps_index]; struct v2 a = proto[a_index];
struct v2 pe = proto[pe_index]; struct v2 b = proto[b_index];
struct v2 vse = v2_sub(pe, ps); struct v2 vab = v2_sub(b, a);
struct v2 vso = v2_neg(ps); struct v2 vao = v2_neg(a);
struct v2 vsd = v2_mul(vse, clamp_f32(v2_dot(vso, vse) / v2_len_sq(vse), 0, 1)); f32 proj_ratio = clamp_f32(v2_dot(vao, vab) / v2_len_sq(vab), 0, 1);
//struct v2 vsd = v2_mul(vse, v2_dot(vso, vse) / v2_len_sq(vse)); struct v2 proj = v2_add(a, v2_mul(vab, proj_ratio));
struct v2 pd = v2_add(ps, vsd);
f32 pd_len_sq = v2_len_sq(pd); f32 proj_len_sq = v2_len_sq(proj);
if (pd_len_sq < pen_len_sq - min_unique_pt_dist_sq) { if (proj_len_sq < closest_len_sq - min_unique_pt_dist_sq) {
pen_ps_index = ps_index; closest_a = a;
pen_pe_index = pe_index; closest_b = b;
pen_len_sq = pd_len_sq; closest_b_index = b_index;
pen = pd; closest_len_sq = proj_len_sq;
} }
} }
struct v2 vab = v2_sub(closest_b, closest_a);
/* TODO: Remove this (debugging) */
s.a = proto[pen_ps_index];
s.b = proto[pen_pe_index];
s.len = 2;
/* Find new point in dir */ /* Find new point in dir */
DBGSTEP;
{
/* TODO: If winding order is guaranteed then this can become v2_perp_left/right? */
struct v2 a = proto[pen_ps_index];
struct v2 b = proto[pen_pe_index];
struct v2 vab = v2_sub(b, a);
#if 0
if (pen_len_sq < epa_normal_epsilon_sq) {
/* Next point is in direction of line normal pointing outwards from simplex */
struct v2 n = proto[(pen_pe_index < proto_count - 1) ? (pen_pe_index + 1) : 0]; /* Next point along prototype after edge */
dir = v2_perp_towards_dir(vab, v2_sub(a, n));
} else {
dir = v2_perp_towards_dir(vab, a);
}
#else
dir = v2_mul(v2_perp(vab), winding); dir = v2_mul(v2_perp(vab), winding);
#endif
}
m = menkowski_point(shape0, shape1, xf0, xf1, dir); m = menkowski_point(shape0, shape1, xf0, xf1, dir);
/* Check unique */ /* TODO: Remove this (debugging) */
/* TODO: Better */
{ {
b32 unique = true;
for (u32 i = 0; i < proto_count; ++i) {
struct v2 edge_start = proto[i];
struct v2 edge_end = i < proto_count - 1 ? proto[i + 1] : proto[0];
struct v2 vsm = v2_sub(m, edge_start);
if (v2_len_sq(vsm) < min_unique_pt_dist_sq ||
math_fabs(v2_wedge(v2_sub(edge_end, edge_start), vsm)) < min_unique_pt_dist_sq) {
unique = false;
break;
}
}
if (!unique || epa_iterations >= max_epa_iterations) {
res.path = 1;
if (pen_len_sq < epa_normal_epsilon_sq) {
normal = v2_norm(dir); normal = v2_norm(dir);
} else { s.a = closest_a;
normal = v2_norm(pen); s.b = closest_b;
s.len = 2;
} }
/* Check validity of new point */
DBGSTEP;
{
b32 valid = true;
{
const f32 validity_epsilon = min_unique_pt_dist_sq; /* Arbitrary */
//const f32 validity_epsilon = 0.000000001f; /* Arbitrary */
struct v2 vam = v2_sub(m, closest_a);
struct v2 vbm = v2_sub(closest_b, closest_a);
f32 dot = v2_dot(vab, vam) / v2_len_sq(vab);
if (dot >= -validity_epsilon && dot <= 1 - validity_epsilon && (v2_wedge(vab, vam) * -winding) >= -validity_epsilon) {
/* New point is not between edge */
valid = false;
} else if (v2_len_sq(vam) < min_unique_pt_dist_sq || v2_len_sq(vbm) < min_unique_pt_dist_sq) {
/* New point is too close to existing */
valid = false;
}
}
if (!valid || epa_iterations >= max_epa_iterations) {
res.path = 1;
normal = v2_norm(dir);
break; break;
} }
} }
/* Insert point into prototype */ /* Insert point into prototype */
/* FIXME: Preserve winding order */
arena_push(scratch.arena, struct collider_menkowski_point); arena_push(scratch.arena, struct collider_menkowski_point);
++proto_count; ++proto_count;
for (u32 i = proto_count - 1; i > pen_pe_index; --i) { for (u32 i = proto_count - 1; i > closest_b_index; --i) {
u32 shift_from = (i > 0) ? i - 1 : proto_count - 1; u32 shift_from = (i > 0) ? i - 1 : proto_count - 1;
u32 shift_to = i; u32 shift_to = i;
proto[shift_to] = proto[shift_from]; proto[shift_to] = proto[shift_from];
} }
proto[pen_pe_index] = m; proto[closest_b_index] = m;
} }
} else if (simplex_is_closest_edge) { } else if (simplex_is_closest_edge) {
if (s.len == 1) { if (s.len == 1) {
@ -724,24 +703,11 @@ struct collider_collision_points_result collider_collision_points(struct collide
res.solved = true; res.solved = true;
abort: abort:
if (proto_count > 0) {
u32 len = min_u32(proto_count, ARRAY_COUNT(res.prototype.points)); u32 len = min_u32(proto_count, ARRAY_COUNT(res.prototype.points));
for (u32 i = 0; i < len; ++i) { for (u32 i = 0; i < len; ++i) {
res.prototype.points[i] = proto[i]; res.prototype.points[i] = proto[i];
} }
res.prototype.len = len; res.prototype.len = len;
} else {
if (s.len >= 1) {
res.prototype.points[0] = s.a;
if (s.len >= 2) {
res.prototype.points[1] = s.b;
if (s.len >= 3) {
res.prototype.points[2] = s.c;
}
}
}
res.prototype.len = s.len;
}
res.normal = normal; res.normal = normal;
res.points[0] = points[0]; res.points[0] = points[0];
res.points[1] = points[1]; res.points[1] = points[1];

18
src/game.c
View File

@ -136,10 +136,13 @@ INTERNAL void spawn_test_entities(f32 offset)
struct entity *e = entity_alloc(root); struct entity *e = entity_alloc(root);
#if 1
//struct v2 pos = V2(0.25, -10); //struct v2 pos = V2(0.25, -10);
//struct v2 pos = V2(0.25, -7); //struct v2 pos = V2(0.25, -7);
//struct v2 pos = V2(0.25, -5.27); //struct v2 pos = V2(0.25, -5.27);
struct v2 pos = V2(0.5, -2); //struct v2 pos = V2(0.5, -1.5);
struct v2 pos = V2(1, -1);
//struct v2 pos = V2(0.300121694803, -1.322724342346);
//struct v2 pos = V2(1.0295, -1); //struct v2 pos = V2(1.0295, -1);
pos = v2_add(pos, V2(0, offset)); pos = v2_add(pos, V2(0, offset));
@ -147,7 +150,7 @@ INTERNAL void spawn_test_entities(f32 offset)
//struct v2 size = V2(1, 1); //struct v2 size = V2(1, 1);
struct v2 size = V2(0.5, 0.5); struct v2 size = V2(0.5, 0.5);
//struct v2 size = V2(3.0, 0.5); //struct v2 size = V2(0.5, 0.25);
//struct v2 size = V2(1.0, 1.0); //struct v2 size = V2(1.0, 1.0);
//struct v2 size = V2(1.5, 1.5); //struct v2 size = V2(1.5, 1.5);
//f32 r = PI; //f32 r = PI;
@ -159,6 +162,9 @@ INTERNAL void spawn_test_entities(f32 offset)
f32 r = 0; f32 r = 0;
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size); struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
#else
struct xform xf = { .bx = {0.0382978655, -0.498547733}, .by = {0.498547733, 0.0382978655}, .og = {2.01672602, -1.06180537}, };
#endif
entity_set_xform(e, xf); entity_set_xform(e, xf);
@ -196,6 +202,7 @@ INTERNAL void spawn_test_entities(f32 offset)
{ {
struct entity *e = entity_alloc(root); struct entity *e = entity_alloc(root);
#if 0
//struct v2 pos = V2(0.25, -10); //struct v2 pos = V2(0.25, -10);
//struct v2 pos = V2(0.25, -7); //struct v2 pos = V2(0.25, -7);
//struct v2 pos = V2(0.25, -5.27); //struct v2 pos = V2(0.25, -5.27);
@ -215,6 +222,9 @@ INTERNAL void spawn_test_entities(f32 offset)
f32 r = 0; f32 r = 0;
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size); struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
#else
struct xform xf = { .bx = {-0.108915359, -0.488007843}, .by = {0.488007843, -0.108915359}, .og = {1.62569654, -0.750172377}, };
#endif
entity_set_xform(e, xf); entity_set_xform(e, xf);
@ -1082,11 +1092,11 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
#if 1 #if 1
if (entity_has_prop(ent, ENTITY_PROP_TEST)) { if (entity_has_prop(ent, ENTITY_PROP_TEST)) {
//if ((true)) { //if ((true)) {
#if 0 #if 1
ent->local_collider.points[0] = V2(0, 0); ent->local_collider.points[0] = V2(0, 0);
ent->local_collider.count = 1; ent->local_collider.count = 1;
ent->local_collider.radius = 0.5; ent->local_collider.radius = 0.5;
#elif 1 #elif 0
ent->local_collider.points[0] = V2(0, 0.5); ent->local_collider.points[0] = V2(0, 0.5);
ent->local_collider.points[1] = V2(0, -0.5); ent->local_collider.points[1] = V2(0, -0.5);
ent->local_collider.count = 2; ent->local_collider.count = 2;

3
src/user.c
View File

@ -1051,7 +1051,7 @@ INTERNAL void user_update(void)
#if 0 #if 0
b32 should_draw = false; b32 should_draw = false;
for (u32 i = 0; i < ent->num_contacts; ++i) { for (u32 i = 0; i < ent->num_contacts; ++i) {
if (ent->contacts[i].starting_separation < -0.5) { if (ent->contacts[i].starting_separation < -0.1) {
should_draw = true; should_draw = true;
break; break;
} }
@ -1136,6 +1136,7 @@ INTERNAL void user_update(void)
}; };
for (u64 i = 0; i < m.count; ++i) m.points[i] = xform_mul_v2(G.world_view, m.points[i]); for (u64 i = 0; i < m.count; ++i) m.points[i] = xform_mul_v2(G.world_view, m.points[i]);
draw_solid_poly_line(G.viewport_canvas, m, true, thickness, color); draw_solid_poly_line(G.viewport_canvas, m, true, thickness, color);
for (u64 i = 0; i < m.count; ++i) draw_solid_circle(G.viewport_canvas, m.points[i], 10, color, 10);
} }
/* Draw simplex */ /* Draw simplex */