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rounded collisions working except for clipping

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This commit is contained in:
jacob 2024-10-08 16:01:30 -05:00
parent d52effe5c1
commit ac042a3306
4 changed files with 161 additions and 106 deletions
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216
src/collider.c
View File

@ -4,11 +4,22 @@
#include "scratch.h"
#if COLLIDER_DEBUG
//u32 collider_debug_steps = U32_MAX;
u32 collider_debug_steps = 50;
u32 collider_debug_steps = U32_MAX;
//u32 collider_debug_steps = 50;
#endif
#define DBGSTEP if (dbg_step++ >= collider_debug_steps) goto abort
INTERNAL void _dbgbreakable(void)
{
DEBUGBREAKABLE;
}
#define DBGSTEP \
dbg_step++; \
if (dbg_step >= collider_debug_steps) { \
goto abort; \
} else if (dbg_step >= collider_debug_steps - 1) { \
_dbgbreakable(); \
}
struct v2 collider_support_point(struct collider_shape *a, struct xform xf, struct v2 dir)
{
@ -16,14 +27,11 @@ struct v2 collider_support_point(struct collider_shape *a, struct xform xf, stru
u32 count = a->count;
f32 radius = a->radius;
struct xform xf_inv = xform_invert(xf); /* TODO: Calculate this outside of function */
dir = xform_basis_mul_v2(xf_inv, dir);
/* TODO: Could probably binary search for largest dot since shape is convex */
struct v2 furthest = points[0];
f32 furthest_dot = v2_dot(dir, furthest);
for (u32 i = 1; i < count; ++i) {
struct v2 p = points[i];
struct v2 furthest = ZI;
f32 furthest_dot = -F32_INFINITY;
for (u32 i = 0; i < count; ++i) {
struct v2 p = xform_mul_v2(xf, points[i]);
f32 dot = v2_dot(dir, p);
if (dot > furthest_dot) {
furthest = p;
@ -32,12 +40,10 @@ struct v2 collider_support_point(struct collider_shape *a, struct xform xf, stru
}
if (radius > 0.0) {
dir = v2_with_len(dir, radius);
dir = v2_mul_v2(v2_with_len(dir, radius), xform_get_scale(xf));
furthest = v2_add(furthest, dir);
}
furthest = xform_mul_v2(xf, furthest);
return furthest;
}
@ -73,12 +79,13 @@ struct collider_collision_points_result collider_collision_points(struct collide
struct v2 *points1 = shape1->points;
u32 count0 = shape0->count;
u32 count1 = shape1->count;
//f32 radius0 = shape0->radius;
//f32 radius1 = shape1->radius;
f32 radius0 = shape0->radius;
f32 radius1 = shape1->radius;
(UNUSED)radius0;
(UNUSED)radius1;
/* TODO: Parameterize */
const f32 tolerance = 0.0025f;
//const f32 min_unique_pt_dist_sq = 0.001f * 0.001f;
const f32 tolerance = 0.005f;
const f32 min_unique_pt_dist_sq = 0.001f * 0.001f;
b32 colliding = false;
@ -157,6 +164,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
}
/* Determine voronoi region of the simplex in which the origin lies */
DBGSTEP;
i32 voronoi_mask = 0;
struct v2 vab = v2_sub(s.b, s.a);
struct v2 vac = v2_sub(s.c, s.a);
@ -164,9 +172,19 @@ struct collider_collision_points_result collider_collision_points(struct collide
struct v2 rab_dir = v2_perp_towards_dir(vab, v2_neg(vac));
struct v2 rac_dir = v2_perp_towards_dir(vac, v2_neg(vab));
struct v2 rbc_dir = v2_perp_towards_dir(vbc, vab);
#if 0
voronoi_mask |= (v2_dot(rab_dir, v2_neg(s.a)) > 0) << 0; /* Regions ab, a, and b*/
voronoi_mask |= (v2_dot(rac_dir, v2_neg(s.a)) > 0) << 1; /* Regions ac, a, and c */
voronoi_mask |= (v2_dot(rbc_dir, v2_neg(s.b)) > 0) << 2; /* Regions bc, b, and c */
#else
voronoi_mask = (v2_dot(rab_dir, v2_neg(s.a)) > 0) << 0; /* Regions ab, a, and b*/
if (!voronoi_mask) {
voronoi_mask = (v2_dot(rac_dir, v2_neg(s.a)) > 0) << 1; /* Regions ac, a, and c */
if (!voronoi_mask) {
voronoi_mask = (v2_dot(rbc_dir, v2_neg(s.b)) > 0) << 2; /* Regions bc, b, and c */
}
}
#endif
/* Remove point or edge and determine next direction based on voronoi region */
switch (voronoi_mask) {
case 0:
@ -350,13 +368,14 @@ struct collider_collision_points_result collider_collision_points(struct collide
CT_ASSERT(ARRAY_COUNT(shape0->points) <= 16);
DBGSTEP;
{
const f32 wedge_epsilon = 0.001f;
#if 0
{
const f32 wedge_epsilon = 0.001f;
/* shape0 a -> b winding = clockwise */
u32 id_a0;
u32 id_b0;
b32 a0_is_deepest;
struct v2 a0;
struct v2 b0;
struct v2 vab0;
@ -364,6 +383,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
/* shape1 a -> b winding = counterclockwise */
u32 id_a1;
u32 id_b1;
b32 a1_is_deepest;
struct v2 a1;
struct v2 b1;
struct v2 vab1;
@ -386,12 +406,14 @@ struct collider_collision_points_result collider_collision_points(struct collide
a0 = a;
b0 = p;
vab0 = vap;
a0_is_deepest = false;
} else {
id_a0 = p_i;
id_b0 = b_i;
a0 = p;
b0 = b;
vab0 = vpb;
a0_is_deepest = true;
}
}
{
@ -415,93 +437,53 @@ struct collider_collision_points_result collider_collision_points(struct collide
a1 = a;
b1 = p;
vab1 = vap;
a1_is_deepest = false;
} else {
id_a1 = p_i;
id_b1 = b_i;
a1 = p;
b1 = b;
vab1 = vpb;
a1_is_deepest = true;
}
}
f32 a0t = 0;
f32 a1t = 0;
f32 b0t = 0;
f32 b1t = 0;
if (radius0 > 0.0) {
struct v2 scale = xform_get_scale(xf0);
struct v2 vba0 = v2_neg(vab0);
struct v2 vba1 = v2_neg(vab1);
{
{
struct v2 va0a1 = v2_sub(a1, a0);
struct v2 va1a0 = v2_neg(va0a1);
{
f32 w = v2_wedge(vab0, normal);
if (w != 0) {
w = 1 / w;
a0t = v2_wedge(va0a1, normal) * w;
}
}
{
f32 w = v2_wedge(vab1, normal);
if (w != 0) {
w = 1 / w;
a1t = v2_wedge(va1a0, normal) * w;
}
}
}
{
struct v2 vb0b1 = v2_sub(b1, b0);
struct v2 vb1b0 = v2_neg(vb0b1);
{
f32 w = v2_wedge(vba0, normal);
if (w != 0) {
w = 1 / w;
b0t = v2_wedge(vb0b1, normal) * w;
}
}
{
f32 w = v2_wedge(vba1, normal);
if (w != 0) {
w = 1 / w;
b1t = v2_wedge(vb1b0, normal) * w;
}
}
struct v2 normal_radius = v2_with_len(normal, radius0);
normal_radius = v2_mul_v2(normal_radius, scale);
struct v2 perp_radius = v2_with_len(v2_neg(v2_perp(v2_sub(b0, a0))), radius0);
perp_radius = v2_mul_v2(perp_radius, scale);
if (a0_is_deepest) {
a0 = v2_add(a0, normal_radius);
b0 = v2_add(b0, perp_radius);
} else {
a0 = v2_add(a0, perp_radius);
b0 = v2_add(b0, normal_radius);
}
}
a0t = clamp_f32(a0t, 0, 1);
a1t = clamp_f32(a1t, 0, 1);
b0t = clamp_f32(b0t, 0, 1);
b1t = clamp_f32(b1t, 0, 1);
if (radius1 > 0.0) {
struct v2 scale = xform_get_scale(xf1);
struct v2 a0_clipped = v2_add(a0, v2_mul(vab0, a0t));
struct v2 a1_clipped = v2_add(a1, v2_mul(vab1, a1t));
struct v2 b0_clipped = v2_add(b0, v2_mul(vba0, b0t));
struct v2 b1_clipped = v2_add(b1, v2_mul(vba1, b1t));
struct v2 normal_radius = v2_with_len(normal, radius1);
normal_radius = v2_mul_v2(normal_radius, scale);
struct v2 va0a1_clipped = v2_sub(a1_clipped, a0_clipped);
struct v2 vb0b1_clipped = v2_sub(b1_clipped, b0_clipped);
struct v2 perp_radius = v2_with_len(v2_neg(v2_perp(v2_sub(b1, a1))), radius1);
perp_radius = v2_mul_v2(perp_radius, scale);
f32 a_sep = v2_dot(va0a1_clipped, normal);
f32 b_sep = v2_dot(vb0b1_clipped, normal);
if (a_sep < tolerance) {
struct collider_collision_point *point = &points[num_points++];
point->id = id_a0 | (id_a1 << 4);
point->separation = a_sep;
point->point = v2_add(a0_clipped, v2_mul(va0a1_clipped, 0.5f));
if (a1_is_deepest) {
a1 = v2_sub(a1, normal_radius);
b1 = v2_sub(b1, perp_radius);
} else {
a1 = v2_sub(a1, perp_radius);
b1 = v2_sub(b1, normal_radius);
}
}
if (b_sep < tolerance) {
struct collider_collision_point *point = &points[num_points++];
point->id = id_b0 | (id_b1 << 4);
point->separation = b_sep;
point->point = v2_add(b0_clipped, v2_mul(vb0b1_clipped, 0.5f));
}
}
#else
{
const f32 wedge_epsilon = 0.001f;
/* shape0 a -> b winding = clockwise */
u32 id_a0;
u32 id_b0;
@ -572,6 +554,54 @@ struct collider_collision_points_result collider_collision_points(struct collide
}
}
if (radius0 > 0.0) {
struct v2 scale = xform_get_scale(xf0);
struct v2 normal_radius = v2_with_len(normal, radius0);
normal_radius = v2_mul_v2(normal_radius, scale);
struct v2 perp_radius = v2_with_len(v2_neg(v2_perp(v2_sub(b0, a0))), radius0);
perp_radius = v2_mul_v2(perp_radius, scale);
if (v2_dot(a0, normal) >= v2_dot(b0, normal)) {
a0 = v2_add(a0, normal_radius);
b0 = v2_add(b0, perp_radius);
} else {
a0 = v2_add(a0, perp_radius);
b0 = v2_add(b0, normal_radius);
}
}
if (radius1 > 0.0) {
struct v2 scale = xform_get_scale(xf1);
struct v2 normal_radius = v2_with_len(normal, radius1);
normal_radius = v2_mul_v2(normal_radius, scale);
struct v2 perp_radius = v2_with_len(v2_neg(v2_perp(v2_sub(b1, a1))), radius1);
perp_radius = v2_mul_v2(perp_radius, scale);
if (v2_dot(a1, normal) <= v2_dot(b1, normal)) {
a1 = v2_sub(a1, normal_radius);
b1 = v2_sub(b1, perp_radius);
} else {
a1 = v2_sub(a1, perp_radius);
b1 = v2_sub(b1, normal_radius);
}
}
#endif
f32 a0t = 0;
f32 a1t = 0;
f32 b0t = 0;
@ -651,7 +681,6 @@ struct collider_collision_points_result collider_collision_points(struct collide
res.b0 = b0_clipped;
res.b1 = b1_clipped;
}
#endif
}
res.solved = true;
@ -688,12 +717,11 @@ abort:
* ========================== */
/* TODO: Remove this (debugging) */
struct v2_array menkowski(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1)
struct v2_array menkowski(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1, u32 detail)
{
struct v2_array res = { .points = arena_dry_push(arena, struct v2) };
u64 rays = 500;
for (u64 i = 0; i < rays; ++i) {
f32 angle = ((f32)i / rays) * (2 * PI);
for (u64 i = 0; i < detail; ++i) {
f32 angle = ((f32)i / detail) * (2 * PI);
struct v2 dir = v2_from_angle(angle);
struct v2 p = menkowski_point(shape0, shape1, xf0, xf1, dir);
if (res.count == 0 || !v2_eq(p, res.points[res.count - 1])) {

2
src/collider.h
View File

@ -46,7 +46,7 @@ struct collider_collision_points_result {
struct collider_collision_points_result collider_collision_points(struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1);
struct v2_array menkowski(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1);
struct v2_array menkowski(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1, u32 detail);
struct v2_array cloud(struct arena *arena, struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1);
#endif

29
src/game.c
View File

@ -144,11 +144,12 @@ INTERNAL void spawn_test_entities(f32 offset)
//struct v2 size = V2(1, 1);
struct v2 size = V2(0.5, 0.5);
//f32 r = PI;
f32 r = PI / 4;
//f32 r = PI / 4;
//f32 r = PI / 3;
//f32 r = 0.05;
//f32 r = PI / 2;
//f32 r = 0;
f32 r = 0;
//f32 skew = PI / 4;
f32 skew = 0;
struct entity *e = entity_alloc(root);
@ -208,7 +209,8 @@ INTERNAL void spawn_test_entities(f32 offset)
#if 1
if (!G.first_spawn) {
struct v2 pos = V2(0.5, -1);
//struct v2 pos = V2(0.5, 20);
//struct v2 pos = V2(0.5, 29);
//struct v2 pos = V2(0.5, 24);
//struct v2 pos = V2(1, -1);
struct v2 size = V2(1, 1);
//struct v2 size = V2(500, 50);
@ -521,6 +523,8 @@ INTERNAL void warm_start_contacts(void)
struct v2 vcp1 = v2_sub(p1, e1_xf.og);
struct v2 impulse = v2_add(v2_mul(normal, contact->normal_impulse), v2_mul(tangent, contact->tangent_impulse));
impulse = v2_mul(impulse, 0.5f);
v0 = v2_sub(v0, v2_mul(impulse, contact->inv_m0));
v1 = v2_add(v1, v2_mul(impulse, contact->inv_m1));
w0 -= v2_wedge(vcp0, impulse) * contact->inv_i0;
@ -571,7 +575,7 @@ INTERNAL struct soft_result make_soft(f32 hertz, f32 zeta, f32 h)
INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
{
#if 0
#if 1
struct entity_store *store = G.tick.entity_store;
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *manifold = &store->entities[entity_index];
@ -951,6 +955,19 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
struct sprite_sheet_slice slice = sprite_sheet_get_slice(sheet, STR("shape"), ent->animation_frame);
ent->local_collider = collider_from_quad(xform_mul_quad(ent->sprite_local_xform, quad_from_rect(slice.rect)));
ent->local_collider.radius = 0.1;
if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
#if 0
ent->local_collider.points[0] = V2(0, 0);
ent->local_collider.count = 1;
ent->local_collider.radius = 0.5;
#else
ent->local_collider.points[0] = V2(0, 0.5);
ent->local_collider.points[1] = V2(0, -0.5);
ent->local_collider.count = 2;
ent->local_collider.radius = 0.25;
#endif
}
}
}
@ -1187,7 +1204,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
* Create forces from control focus (aim)
* ========================== */
#if 1
#if 0
for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
struct entity *ent = &store->entities[entity_index];
if (!entity_is_valid_and_active(ent)) continue;
@ -1411,6 +1428,8 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
for (u32 i = 0; i < GAME_PHYSICS_SUBSTEPS; ++i) {
#if GAME_PHYSICS_ENABLE_WARM_STARTING
warm_start_contacts();
#else
(UNUSED)warm_start_contacts;
#endif
solve_collisions(substep_dt, true);
integrate_positions_from_velocities(substep_dt);

20
src/user.c
View File

@ -867,7 +867,7 @@ INTERNAL void user_update(void)
#endif
/* Draw sprite */
if (!sprite_tag_is_nil(sprite)) {
if (!sprite_tag_is_nil(sprite) && ((false))) {
/* Calculate sprite xform */
sprite_xform = xform_mul(xf, ent->sprite_local_xform);
@ -993,14 +993,16 @@ INTERNAL void user_update(void)
/* Draw collider */
if (entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) {
struct collider_shape collider = ent->local_collider;
u32 color = ent->colliding ? RGBA_32_F(1, 1, 1, 1) : RGBA_32_F(1, 1, 1, 0.25);
f32 thickness = 2;
u32 detail = 32;
u32 color = ent->colliding ? RGBA_32_F(1, 1, 1, 0.5) : RGBA_32_F(1, 1, 0, 0.25);
f32 thickness = 1;
//u32 detail = 32;
u32 detail = 256;
//draw_solid_collider_line(G.viewport_canvas, collider, xform_mul(G.world_view, xf), thickness, color, detail);
draw_solid_collider_line(G.viewport_canvas, G.world_view, collider, xf, thickness, color, detail);
}
/* Draw collision */
#if 1
if (entity_has_prop(ent, ENTITY_PROP_MANIFOLD)) {
struct entity *e0 = entity_from_handle(store, ent->manifold_e0);
struct entity *e1 = entity_from_handle(store, ent->manifold_e1);
@ -1011,6 +1013,8 @@ INTERNAL void user_update(void)
struct collider_shape e0_collider = e0->local_collider;
struct collider_shape e1_collider = e1->local_collider;
(UNUSED)e0_collider;
(UNUSED)e1_collider;
#if 1
/* Draw menkowski */
@ -1018,9 +1022,10 @@ INTERNAL void user_update(void)
u32 color = ent->res.solved ? RGBA_32_F(0, 0, 0.25, 1) : RGBA_32_F(0, 0.25, 0.25, 1);
f32 thickness = 2;
u32 detail = 512;
(UNUSED)thickness;
struct v2_array m = menkowski(temp.arena, &e0_collider, &e1_collider, e0_xf, e1_xf);
struct v2_array m = menkowski(temp.arena, &e0_collider, &e1_collider, e0_xf, e1_xf, detail);
//struct v2_array m = menkowski(temp.arena, e0_collider, e1_collider, v2_sub(ent->xf1.og, ent->xf0.og));
for (u64 i = 0; i < m.count; ++i) m.points[i] = xform_mul_v2(G.world_view, m.points[i]);
@ -1125,7 +1130,7 @@ INTERNAL void user_update(void)
struct v2 end = xform_mul_v2(G.world_view, v2_add(point, v2_mul(v2_norm(ent->manifold_normal), len)));
draw_solid_arrow_line(G.viewport_canvas, start, end, arrow_thickness, arrow_height, color);
}
#if 0
#if 1
/* Draw info text */
{
struct font *disp_font = font_load_async(STR("res/fonts/fixedsys.ttf"), 12.0f);
@ -1158,6 +1163,7 @@ INTERNAL void user_update(void)
}
}
#if 1
/* Draw clipping */
{
f32 thickness = 2;
@ -1173,8 +1179,10 @@ INTERNAL void user_update(void)
draw_solid_line(G.viewport_canvas, start, end, thickness, color);
}
}
#endif
#endif
}
#endif
/* Draw hierarchy */
if (entity_has_prop(parent, ENTITY_PROP_ACTIVE) && !parent->is_root) {