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working on capsule collision bug

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jacob 2025-01-13 11:58:32 -06:00
parent 85234c8dac
commit a1b8f752c9
6 changed files with 80 additions and 35 deletions
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28
src/collider.c
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@ -4,10 +4,12 @@
#include "scratch.h" #include "scratch.h"
/* How close can non-overlapping shapes be before collision is considered */ /* How close can non-overlapping shapes be before collision is considered */
#define COLLISION_TOLERANCE 0.005f //#define COLLISION_TOLERANCE 0.005f
#define COLLISION_TOLERANCE 0.0005f
/* 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. */
#define MIN_UNIQUE_PT_DIST_SQ (0.001f * 0.001f) //#define MIN_UNIQUE_PT_DIST_SQ (0.001f * 0.001f)
#define MIN_UNIQUE_PT_DIST_SQ (0.0001f * 0.0001f)
/* 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 */
#define MAX_EPA_ITERATIONS 64 #define MAX_EPA_ITERATIONS 64
@ -366,7 +368,7 @@ INTERNAL struct epa_result epa_get_normal_from_gjk(struct collider_shape *shape0
{ {
/* NOTE: Changing this value affects how stable normals are for circular colliders */ /* NOTE: Changing this value affects how stable normals are for circular colliders */
//const f32 validity_epsilon = min_unique_pt_dist_sq; /* Arbitrary */ //const f32 validity_epsilon = min_unique_pt_dist_sq; /* Arbitrary */
const f32 validity_epsilon = 0.0000000001f; /* Arbitrary */ const f32 validity_epsilon = 0.00000000001f; /* Arbitrary */
struct v2 vam = v2_sub(m.p, closest_a.p); struct v2 vam = v2_sub(m.p, closest_a.p);
struct v2 vbm = v2_sub(closest_b.p, closest_a.p); struct v2 vbm = v2_sub(closest_b.p, closest_a.p);
@ -511,7 +513,8 @@ struct collider_collision_points_result collider_collision_points(struct collide
DBGSTEP; DBGSTEP;
{ {
const f32 wedge_epsilon = 0.05f; const f32 wedge_epsilon = 0.001f;
//const f32 wedge_epsilon = 0.05f;
//const f32 wedge_epsilon = 0.1f; //const f32 wedge_epsilon = 0.1f;
/* shape0 a -> b winding = clockwise */ /* shape0 a -> b winding = clockwise */
@ -655,8 +658,13 @@ struct collider_collision_points_result collider_collision_points(struct collide
f32 vab0_wedge_normal = v2_wedge(vab0, normal); f32 vab0_wedge_normal = v2_wedge(vab0, normal);
f32 vab1_wedge_normal = v2_wedge(vab1, normal); f32 vab1_wedge_normal = v2_wedge(vab1, normal);
#if 0
b32 collapse0 = math_fabs(vab0_wedge_normal) < wedge_epsilon; b32 collapse0 = math_fabs(vab0_wedge_normal) < wedge_epsilon;
b32 collapse1 = math_fabs(vab1_wedge_normal) < wedge_epsilon; b32 collapse1 = math_fabs(vab1_wedge_normal) < wedge_epsilon;
#else
b32 collapse0 = false;
b32 collapse1 = false;
#endif
if (collapse0) { if (collapse0) {
if (v2_dot(b0, normal) >= v2_dot(a0, normal)) { if (v2_dot(b0, normal) >= v2_dot(a0, normal)) {
@ -741,17 +749,15 @@ struct collider_collision_points_result collider_collision_points(struct collide
point->point = contact_b; point->point = contact_b;
} }
#if 1 /* TODO: Remove this */
res.a0 = a0_clipped; res.a0_clipped = a0_clipped;
res.a1 = a1_clipped; res.a1_clipped = a1_clipped;
res.b0 = b0_clipped; res.b0_clipped = b0_clipped;
res.b1 = b1_clipped; res.b1_clipped = b1_clipped;
#else
res.a0 = a0; res.a0 = a0;
res.a1 = a1; res.a1 = a1;
res.b0 = b0; res.b0 = b0;
res.b1 = b1; res.b1 = b1;
#endif
} }
} }

5
src/collider.h
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@ -37,7 +37,10 @@ struct collider_collision_points_result {
b32 solved; b32 solved;
struct collider_menkowski_simplex simplex; struct collider_menkowski_simplex simplex;
struct collider_prototype prototype; struct collider_prototype prototype;
struct v2 a0, b0, a1, b1; /* Clipping faces */
/* Clipping faces */
struct v2 a0, b0, a1, b1;
struct v2 a0_clipped, b0_clipped, a1_clipped, b1_clipped;
}; };
struct collider_closest_points_result { struct collider_closest_points_result {

6
src/config.h
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@ -37,8 +37,7 @@
#define GAME_PHYSICS_ENABLE_RELAXATION 1 #define GAME_PHYSICS_ENABLE_RELAXATION 1
#define GAME_PHYSICS_ENABLE_TOI 1 #define GAME_PHYSICS_ENABLE_TOI 1
#define USER_DRAW_MENKOWSKI 0 #define GAME_PHYSICS_ENABLE_COLLISION 0
#define GAME_PHYSICS_ENABLE_COLLISION 1
#define GAME_SPAWN_TESTENT 0 #define GAME_SPAWN_TESTENT 0
#define GAME_PLAYER_AIM 1 #define GAME_PLAYER_AIM 1
@ -55,7 +54,8 @@
#define USER_INTERP_ENABLED 1 #define USER_INTERP_ENABLED 1
#define COLLIDER_DEBUG RTC #define COLLIDER_DEBUG RTC
#define COLLIDER_DEBUG_DETAILED 0 #define COLLIDER_DEBUG_DETAILED 1
#define COLLIDER_DEBUG_DETAILED_DRAW_MENKOWSKI 1
/* ========================== * /* ========================== *
* Settings * Settings

35
src/game.c
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@ -192,11 +192,15 @@ INTERNAL void spawn_test_entities(void)
#endif #endif
} }
e->local_collider.points[0] = v2_with_len(V2(0.08f, 0.17f), 0.15f);
e->local_collider.points[1] = v2_with_len(V2(-0.07f, -0.2f), 0.15f);
e->local_collider.count = 2;
e->local_collider.radius = 0.075f;
//e->sprite = sprite_tag_from_path(STR("res/graphics/box_rounded.ase")); //e->sprite = sprite_tag_from_path(STR("res/graphics/box_rounded.ase"));
//e->sprite_span_name = STR("idle.unarmed"); //e->sprite_span_name = STR("idle.unarmed");
//e->sprite_span_name = STR("idle.one_handed"); //e->sprite_span_name = STR("idle.one_handed");
e->sprite_span_name = STR("idle.two_handed"); e->sprite_span_name = STR("idle.two_handed");
e->sprite_collider_slice = STR("shape");
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size); struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
//xf.bx.y = -1.f; //xf.bx.y = -1.f;
@ -218,6 +222,7 @@ INTERNAL void spawn_test_entities(void)
} }
/* Enemy */ /* Enemy */
#if 0
{ {
struct entity *e = entity_alloc(root); struct entity *e = entity_alloc(root);
@ -236,11 +241,13 @@ INTERNAL void spawn_test_entities(void)
e->linear_ground_friction = 250; e->linear_ground_friction = 250;
e->angular_ground_friction = 200; e->angular_ground_friction = 200;
} }
#endif
/* Box */ /* Box */
#if 0 #if 1
{ {
#if 0
struct entity *e = entity_alloc(root); struct entity *e = entity_alloc(root);
struct v2 pos = V2(1, -0.5); struct v2 pos = V2(1, -0.5);
@ -257,6 +264,23 @@ INTERNAL void spawn_test_entities(void)
e->inertia_unscaled = 10; e->inertia_unscaled = 10;
e->linear_ground_friction = 250; e->linear_ground_friction = 250;
e->angular_ground_friction = 5; e->angular_ground_friction = 5;
#else
struct entity *e = entity_alloc(root);
struct v2 pos = V2(1, -0.5);
f32 r = PI / 4;
struct v2 size = V2(0.5, 0.25);
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
entity_set_xform(e, xf);
e->sprite = sprite_tag_from_path(STR("res/graphics/bullet.ase"));
e->sprite_collider_slice = STR("shape");
entity_enable_prop(e, ENTITY_PROP_PHYSICAL_DYNAMIC);
e->mass_unscaled = 0.5;
e->inertia_unscaled = 1000;
e->linear_ground_friction = 0.001;
#endif
} }
#endif #endif
@ -615,7 +639,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, ent->sprite_collider_slice, ent->animation_frame); struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, ent->sprite_collider_slice, ent->animation_frame);
ent->local_collider = collider_from_quad(xform_mul_quad(cxf, quad_from_rect(slice.rect))); ent->local_collider = collider_from_quad(xform_mul_quad(cxf, quad_from_rect(slice.rect)));
#if 1 #if 0
if (entity_has_prop(ent, ENTITY_PROP_TEST)) { if (entity_has_prop(ent, ENTITY_PROP_TEST)) {
//if ((true)) { //if ((true)) {
#if 0 #if 0
@ -839,9 +863,14 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
bullet->mass_unscaled = 0.04f; bullet->mass_unscaled = 0.04f;
bullet->inertia_unscaled = 0.00001f; bullet->inertia_unscaled = 0.00001f;
#if 0
/* Point collider */ /* Point collider */
bullet->local_collider.points[0] = V2(0, 0); bullet->local_collider.points[0] = V2(0, 0);
bullet->local_collider.count = 1; bullet->local_collider.count = 1;
#else
bullet->sprite = sprite_tag_from_path(STR("res/graphics/bullet.ase"));
bullet->sprite_collider_slice = STR("shape");
#endif
entity_enable_prop(bullet, ENTITY_PROP_BULLET); entity_enable_prop(bullet, ENTITY_PROP_BULLET);
entity_enable_prop(bullet, ENTITY_PROP_SENSOR); entity_enable_prop(bullet, ENTITY_PROP_SENSOR);

9
src/phys.c
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@ -245,15 +245,6 @@ struct phys_collision_data_array phys_create_contacts(struct arena *arena, struc
struct phys_collision_debug *dbg = &dbg_ent->collision_debug_data; struct phys_collision_debug *dbg = &dbg_ent->collision_debug_data;
if (dbg->res.num_points == 0) {
if (collider_res.num_points > 0) {
++e0->colliding;
++e1->colliding;
}
} else if (collider_res.num_points == 0) {
--e0->colliding;
--e1->colliding;
}
dbg->e0 = e0->handle; dbg->e0 = e0->handle;
dbg->e1 = e1->handle; dbg->e1 = e1->handle;
dbg->res = collider_res; dbg->res = collider_res;

32
src/user.c
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@ -877,7 +877,7 @@ INTERNAL void user_update(void)
b32 skip_debug_draw = !G.debug_camera && ent == active_camera; b32 skip_debug_draw = !G.debug_camera && ent == active_camera;
b32 skip_debug_draw_transform = entity_has_prop(ent, ENTITY_PROP_CAMERA); b32 skip_debug_draw_transform = entity_has_prop(ent, ENTITY_PROP_CAMERA);
//b32 skip_debug_draw_transform = true; skip_debug_draw_transform = true;
struct xform sprite_xform = xf; struct xform sprite_xform = xf;
@ -1007,7 +1007,7 @@ INTERNAL void user_update(void)
/* Draw collider */ /* Draw collider */
if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC)) { if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL_DYNAMIC)) {
struct collider_shape collider = ent->local_collider; struct collider_shape collider = ent->local_collider;
u32 color = RGBA_32_F(1, 0, 1, 0.25); u32 color = RGBA_32_F(1, 1, 0, 0.25);
f32 thickness = 2; f32 thickness = 2;
{ {
/* Draw collider using support points */ /* Draw collider using support points */
@ -1141,15 +1141,24 @@ INTERNAL void user_update(void)
{ {
f32 thickness = 2; f32 thickness = 2;
f32 radius = 4; f32 radius = 4;
u32 color_line = RGBA_32_F(1, 0, 1, 0.5); u32 color_line = RGBA_32_F(1, 0, 1, 0.25);
u32 color_a = RGBA_32_F(1, 0, 0, 0.5); u32 color_a = RGBA_32_F(1, 0, 0, 0.25);
u32 color_b = RGBA_32_F(0, 1, 0, 0.5); u32 color_b = RGBA_32_F(0, 1, 0, 0.25);
u32 color_line_clipped = RGBA_32_F(1, 0, 1, 1);
u32 color_a_clipped = RGBA_32_F(1, 0, 0, 1);
u32 color_b_clipped = RGBA_32_F(0, 1, 0, 1);
{ {
struct v2 a = xform_mul_v2(G.world_view, collider_res.a0); struct v2 a = xform_mul_v2(G.world_view, collider_res.a0);
struct v2 b = xform_mul_v2(G.world_view, collider_res.b0); struct v2 b = xform_mul_v2(G.world_view, collider_res.b0);
draw_solid_line(G.viewport_canvas, a, b, thickness, color_line); draw_solid_line(G.viewport_canvas, a, b, thickness, color_line);
draw_solid_circle(G.viewport_canvas, a, radius, color_a, 10); draw_solid_circle(G.viewport_canvas, a, radius, color_a, 10);
draw_solid_circle(G.viewport_canvas, b, radius, color_b, 10); draw_solid_circle(G.viewport_canvas, b, radius, color_b, 10);
struct v2 a_clipped = xform_mul_v2(G.world_view, collider_res.a0_clipped);
struct v2 b_clipped = xform_mul_v2(G.world_view, collider_res.b0_clipped);
draw_solid_line(G.viewport_canvas, a_clipped, b_clipped, thickness, color_line_clipped);
draw_solid_circle(G.viewport_canvas, a_clipped, radius, color_a_clipped, 10);
draw_solid_circle(G.viewport_canvas, b_clipped, radius, color_b_clipped, 10);
} }
{ {
struct v2 a = xform_mul_v2(G.world_view, collider_res.a1); struct v2 a = xform_mul_v2(G.world_view, collider_res.a1);
@ -1157,10 +1166,16 @@ INTERNAL void user_update(void)
draw_solid_line(G.viewport_canvas, a, b, thickness, color_line); draw_solid_line(G.viewport_canvas, a, b, thickness, color_line);
draw_solid_circle(G.viewport_canvas, a, radius, color_a, 10); draw_solid_circle(G.viewport_canvas, a, radius, color_a, 10);
draw_solid_circle(G.viewport_canvas, b, radius, color_b, 10); draw_solid_circle(G.viewport_canvas, b, radius, color_b, 10);
struct v2 a_clipped = xform_mul_v2(G.world_view, collider_res.a1_clipped);
struct v2 b_clipped = xform_mul_v2(G.world_view, collider_res.b1_clipped);
draw_solid_line(G.viewport_canvas, a_clipped, b_clipped, thickness, color_line_clipped);
draw_solid_circle(G.viewport_canvas, a_clipped, radius, color_a_clipped, 10);
draw_solid_circle(G.viewport_canvas, b_clipped, radius, color_b_clipped, 10);
} }
} }
#if USER_DRAW_MENKOWSKI #if COLLIDER_DEBUG_DETAILED_DRAW_MENKOWSKI
struct xform e0_xf = data->xf0; struct xform e0_xf = data->xf0;
struct xform e1_xf = data->xf1; struct xform e1_xf = data->xf1;
@ -1263,7 +1278,7 @@ INTERNAL void user_update(void)
u32 color_second = RGBA_32_F(0, 1, 0, 0.75); u32 color_second = RGBA_32_F(0, 1, 0, 0.75);
u32 color_third = RGBA_32_F(0, 0, 1, 0.75); u32 color_third = RGBA_32_F(0, 0, 1, 0.75);
struct collider_simplex simplex = collider_res.simplex; struct collider_menkowski_simplex simplex = collider_res.simplex;
struct v2 simplex_points[] = { simplex.a.p, simplex.b.p, simplex.c.p }; struct v2 simplex_points[] = { simplex.a.p, simplex.b.p, simplex.c.p };
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 = simplex.len, .points = simplex_points }; struct v2_array simplex_array = { .count = simplex.len, .points = simplex_points };
@ -1407,7 +1422,8 @@ INTERNAL void user_update(void)
/* Queue player fire cmd */ /* Queue player fire cmd */
i32 fire_presses = G.bind_states[USER_BIND_KIND_FIRE].num_presses - G.bind_states[USER_BIND_KIND_FIRE].num_releases; i32 fire_presses = G.bind_states[USER_BIND_KIND_FIRE].num_presses - G.bind_states[USER_BIND_KIND_FIRE].num_releases;
if (!G.debug_camera && fire_presses) { //if (!G.debug_camera && fire_presses) {
if (fire_presses) {
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 = fire_presses > 0 ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP .state = fire_presses > 0 ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP