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gonna probably rework clipping to better support round shapes

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jacob 2024-10-10 08:57:55 -05:00
parent 1eac05e8f1
commit bc19bd816d
3 changed files with 639 additions and 78 deletions
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628
src/collider.c
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@ -384,6 +384,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
DBGSTEP; DBGSTEP;
{ {
const f32 wedge_epsilon = 0.001f; const f32 wedge_epsilon = 0.001f;
//const f32 wedge_epsilon = 0.1f;
/* shape0 a -> b winding = clockwise */ /* shape0 a -> b winding = clockwise */
u32 id_a0; u32 id_a0;
@ -408,6 +409,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
struct v2 vap = v2_sub(p, a); struct v2 vap = v2_sub(p, a);
struct v2 vpb = v2_sub(b, p); struct v2 vpb = v2_sub(b, p);
#if 0
/* Swap a & b depending on winding order */ /* Swap a & b depending on winding order */
if (v2_wedge(vap, vpb) < 0) { if (v2_wedge(vap, vpb) < 0) {
u32 tmp_u32 = a_i; u32 tmp_u32 = a_i;
@ -420,8 +422,11 @@ struct collider_collision_points_result collider_collision_points(struct collide
vap = v2_neg(vpb); vap = v2_neg(vpb);
vpb = v2_neg(tmp_v2); vpb = v2_neg(tmp_v2);
} }
#endif
if (v2_wedge(vap, normal) < (v2_wedge(vpb, normal) + wedge_epsilon)) { f32 vap_wedge = v2_wedge(vap, normal);
f32 vpb_wedge = v2_wedge(vpb, normal);
if (vap_wedge < (vpb_wedge + wedge_epsilon)) {
id_a0 = a_i; id_a0 = a_i;
id_b0 = p_i; id_b0 = p_i;
a0 = a; a0 = a;
@ -447,6 +452,7 @@ struct collider_collision_points_result collider_collision_points(struct collide
struct v2 vap = v2_sub(p, a); struct v2 vap = v2_sub(p, a);
struct v2 vpb = v2_sub(b, p); struct v2 vpb = v2_sub(b, p);
#if 0
/* Swap a & b depending on winding order */ /* Swap a & b depending on winding order */
if (v2_wedge(vap, vpb) > 0) { if (v2_wedge(vap, vpb) > 0) {
u32 tmp_u32 = a_i; u32 tmp_u32 = a_i;
@ -459,8 +465,11 @@ struct collider_collision_points_result collider_collision_points(struct collide
vap = v2_neg(vpb); vap = v2_neg(vpb);
vpb = v2_neg(tmp_v2); vpb = v2_neg(tmp_v2);
} }
#endif
if (v2_wedge(vap, normal) < (v2_wedge(vpb, normal) + wedge_epsilon)) { f32 vap_wedge = v2_wedge(vap, normal);
f32 vpb_wedge = v2_wedge(vpb, normal);
if (vap_wedge < (vpb_wedge + wedge_epsilon)) {
id_a1 = a_i; id_a1 = a_i;
id_b1 = p_i; id_b1 = p_i;
a1 = a; a1 = a;
@ -473,48 +482,6 @@ struct collider_collision_points_result collider_collision_points(struct collide
} }
} }
#if 1
if (radius0 > 0.0) {
struct v2 scale = xform_get_scale(xf0);
struct v2 normal_radius = v2_mul_v2(v2_mul(normal, radius0), scale);
a0 = v2_add(a0, normal_radius);
b0 = v2_add(b0, normal_radius);
}
if (radius1 > 0.0) {
struct v2 scale = xform_get_scale(xf1);
struct v2 normal_radius = v2_mul_v2(v2_mul(normal, radius1), scale);
a1 = v2_sub(a1, normal_radius);
b1 = v2_sub(b1, normal_radius);
}
#else
if (radius0 > 0.0) {
struct v2 scale = xform_get_scale(xf0);
struct v2 normal_radius = v2_mul_v2(v2_mul(normal, radius0), scale);
struct v2 perp_radius = v2_mul_v2(v2_with_len(v2_neg(v2_perp(v2_sub(b0, a0))), radius0), 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_mul_v2(v2_mul(normal, radius1), scale);
struct v2 perp_radius = v2_mul_v2(v2_with_len(v2_neg(v2_perp(v2_sub(b1, a1))), radius1), 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 a0t = 0;
f32 a1t = 0; f32 a1t = 0;
f32 b0t = 0; f32 b0t = 0;
@ -559,16 +526,6 @@ struct collider_collision_points_result collider_collision_points(struct collide
struct v2 contact_a = v2_add(a0_clipped, v2_mul(va0a1_clipped, 0.5f)); struct v2 contact_a = v2_add(a0_clipped, v2_mul(va0a1_clipped, 0.5f));
struct v2 contact_b = v2_add(b0_clipped, v2_mul(vb0b1_clipped, 0.5f)); struct v2 contact_b = v2_add(b0_clipped, v2_mul(vb0b1_clipped, 0.5f));
//b32 merge_contacts = v2_len_sq(v2_sub(contact_b, contact_a)) < (0.001f * 0.001f);
b32 merge_contacts = false;
#if 1
if (math_fabs(v2_dot(vab0, normal)) > (0.01f) &&
math_fabs(v2_dot(vab1, normal)) > (0.01f)) {
merge_contacts = true;
}
#endif
if (a_sep < tolerance) { if (a_sep < tolerance) {
struct collider_collision_point *point = &points[num_points++]; struct collider_collision_point *point = &points[num_points++];
point->id = id_a0 | (id_a1 << 4); point->id = id_a0 | (id_a1 << 4);
@ -576,26 +533,17 @@ struct collider_collision_points_result collider_collision_points(struct collide
point->point = contact_a; point->point = contact_a;
} }
if (b_sep < tolerance && !merge_contacts) { if (b_sep < tolerance) {
struct collider_collision_point *point = &points[num_points++]; struct collider_collision_point *point = &points[num_points++];
point->id = id_b0 | (id_b1 << 4); point->id = id_b0 | (id_b1 << 4);
point->separation = b_sep; point->separation = b_sep;
point->point = contact_b; point->point = contact_b;
} }
#if 0
res.a0 = a0_clipped; res.a0 = a0_clipped;
res.a1 = a1_clipped; res.a1 = a1_clipped;
res.b0 = b0_clipped; res.b0 = b0_clipped;
res.b1 = b1_clipped; res.b1 = b1_clipped;
#else
res.a0 = a0;
res.a1 = a1;
res.b0 = b0;
res.b1 = b1;
#endif
} }
} }
@ -742,3 +690,555 @@ b32 collider_collision_boolean(struct collider_shape *shape0, struct collider_sh
return false; return false;
} }
#endif #endif
#if 0
struct collider_collision_points_result collider_collision_points(struct collider_shape *shape0, struct collider_shape *shape1, struct xform xf0, struct xform xf1)
{
struct temp_arena scratch = scratch_begin_no_conflict(); /* TODO: Only begin scratch for EPA */
struct collider_collision_points_result res = ZI;
struct v2 *points0 = shape0->points;
struct v2 *points1 = shape1->points;
u32 count0 = shape0->count;
u32 count1 = shape1->count;
f32 radius0 = shape0->radius;
f32 radius1 = shape1->radius;
(UNUSED)radius0;
(UNUSED)radius1;
/* TODO: Parameterize */
const f32 tolerance = 0.005f; /* How close can shapes be before collision is considered */
const f32 min_unique_pt_dist_sq = 0.0001f * 0.0001f;
const u32 max_epa_iterations = 64; /* To prevent extremely large prototypes when origin is in exact center of rounded feature */
b32 colliding = false;
b32 simplex_is_closest_edge = false;
struct collider_simplex s = ZI;
struct v2 *proto = NULL;
u32 proto_count = 0;
struct v2 normal = ZI;
struct collider_collision_point points[2] = ZI;
u32 num_points = 0;
struct v2 dir = ZI;
struct v2 m = ZI;
#if COLLIDER_DEBUG
u32 dbg_step = 0;
#endif
/* ========================== *
* GJK
*
* Determine encapsulating simplex if colliding, or closest edge / point to
* origin on simplex (for check if shape distances are within tolerance)
* ========================== */
{
/* First point is support point in shape's general directions to eachother */
dir = v2_sub(xf1.og, xf0.og);
if (v2_is_zero(dir)) dir = V2(1, 0);
s.a = menkowski_point(shape0, shape1, xf0, xf1, dir);
s.len = 1;
struct v2 removed_a = ZI;
struct v2 removed_b = ZI;
u32 num_removed = 0;
while (true) {
if (s.len == 1) {
/* Second point is support point towards origin */
dir = v2_neg(s.a);
DBGSTEP;
m = menkowski_point(shape0, shape1, xf0, xf1, dir);
/* Check that new point is far enough away from existing point */
if (v2_len_sq(v2_sub(m, s.a)) < min_unique_pt_dist_sq) {
simplex_is_closest_edge = true;
break;
}
s.b = s.a;
s.a = m;
s.len = 2;
/* 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));
}
{
DBGSTEP;
m = menkowski_point(shape0, shape1, xf0, xf1, dir);
/* Check that new point is far enough away from existing points */
if (v2_len_sq(v2_sub(m, s.a)) < min_unique_pt_dist_sq ||
v2_len_sq(v2_sub(m, s.b)) < min_unique_pt_dist_sq ||
(
(num_removed >= 1) && (
(v2_len_sq(v2_sub(m, removed_a)) < min_unique_pt_dist_sq) ||
(num_removed >= 2 && v2_len_sq(v2_sub(m, removed_b)) < 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) {
simplex_is_closest_edge = true;
break;
}
s.c = s.b;
s.b = s.a;
s.a = m;
s.len = 3;
if (math_fabs(v2_wedge(v2_sub(s.b, 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 */
colliding = true;
break;
}
}
/* Determine region of the simplex in which the origin lies */
DBGSTEP;
struct v2 vab = v2_sub(s.b, s.a);
struct v2 vac = v2_sub(s.c, s.a);
struct v2 vbc = v2_sub(s.c, s.b);
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);
f32 rab_dot = v2_dot(rab_dir, v2_neg(s.a));
f32 rac_dot = v2_dot(rac_dir, v2_neg(s.a));
f32 rbc_dot = v2_dot(rbc_dir, v2_neg(s.b));
f32 vab_dot = v2_dot(vab, v2_neg(s.a)) / v2_len_sq(vab);
f32 vac_dot = v2_dot(vac, v2_neg(s.a)) / v2_len_sq(vac);
f32 vbc_dot = v2_dot(vbc, v2_neg(s.b)) / v2_len_sq(vbc);
if (rab_dot >= 0 && vab_dot >= 0 && vab_dot <= 1) {
/* Region ab, remove c */
num_removed = 1;
removed_a = s.c;
s.len = 2;
dir = rab_dir; /* Next third point is in direction of region ab */
} else if (rac_dot >= 0 && vac_dot >= 0 && vac_dot <= 1) {
/* Region ac, remove b */
num_removed = 1;
removed_a = s.b;
s.len = 2;
s.b = s.c;
dir = rac_dir; /* Next third point is in direction of region ac */
} else if (rbc_dot >= 0 && vbc_dot >= 0 && vbc_dot <= 1) {
/* Region bc, remove a */
num_removed = 1;
removed_a = s.a;
s.len = 2;
s.a = s.b;
s.b = s.c;
dir = rbc_dir; /* Next third point is in direction of region bc */
} else if (vab_dot <= 0 && vac_dot <= 0) {
/* Region a, remove bc */
num_removed = 2;
removed_a = s.b;
removed_b = s.c;
s.len = 1;
} else if (vab_dot >= 1 && vbc_dot <= 0) {
/* Region b, remove ac */
num_removed = 2;
removed_a = s.a;
removed_b = s.c;
s.len = 1;
s.a = s.b;
} else if (vac_dot >= 1 && vbc_dot >= 1) {
/* Region c, remove ab */
num_removed = 2;
removed_a = s.a;
removed_b = s.b;
s.len = 1;
s.a = s.c;
} else {
/* No region, must be in simplex */
colliding = true;
break;
}
}
}
if (colliding) {
/* ========================== *
* Epa (to find collision normal from inside shape)
* ========================== */
const f32 epa_epsilon_sq = 0.001f * 0.001f;
proto = arena_dry_push(scratch.arena, struct v2);
proto_count = 0;
{
ASSERT(s.len == 3);
struct v2 *tmp = arena_push_array(scratch.arena, struct v2, 3);
tmp[0] = s.a;
tmp[1] = s.b;
tmp[2] = s.c;
proto_count = 3;
}
u32 epa_iterations = 0;
while (colliding) {
++epa_iterations;
f32 pen_len_sq = F32_INFINITY;
/* Find dir from origin to closest edge */
/* FIXME: Winding order of ps & pe index */
u32 pen_ps_index = 0;
u32 pen_pe_index = 0;
struct v2 pen = ZI;
for (u32 i = 0; i < proto_count; ++i) {
u32 ps_index = i;
u32 pe_index = (i < proto_count - 1) ? (i + 1) : 0;
struct v2 ps = proto[ps_index];
struct v2 pe = proto[pe_index];
struct v2 vse = v2_sub(pe, ps);
struct v2 vso = v2_neg(ps);
struct v2 vsd = v2_mul(vse, (v2_dot(vso, vse) / v2_len_sq(vse)));
struct v2 pd = v2_add(ps, vsd);
f32 pd_len_sq = v2_len_sq(pd);
if (pd_len_sq < pen_len_sq) {
pen_ps_index = ps_index;
pen_pe_index = pe_index;
pen_len_sq = pd_len_sq;
pen = pd;
}
}
/* TODO: Remove this (debugging) */
s.a = proto[pen_ps_index];
s.b = proto[pen_pe_index];
s.len = 2;
/* 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 (pen_len_sq < epa_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);
}
}
m = menkowski_point(shape0, shape1, xf0, xf1, dir);
/* Check unique */
/* 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_epsilon_sq) {
normal = v2_norm(dir);
} else {
normal = v2_norm(pen);
}
break;
}
}
/* Insert point into prototype */
/* FIXME: Preserve winding order */
arena_push(scratch.arena, struct collider_menkowski_point);
++proto_count;
for (u32 i = proto_count - 1; i > pen_pe_index; --i) {
u32 shift_from = (i > 0) ? i - 1 : proto_count - 1;
u32 shift_to = i;
proto[shift_to] = proto[shift_from];
}
proto[pen_pe_index] = m;
}
} else if (simplex_is_closest_edge) {
if (s.len == 1) {
struct v2 p = v2_neg(s.a);
if (v2_len_sq(p) <= (tolerance * tolerance)) {
res.path = 2;
normal = v2_norm(dir);
colliding = true;
}
} else {
/* Shapes are not overlapping (origin is outside of simplex). Project
* origin to determine if distance is within tolerance. */
ASSERT(s.len == 2);
struct v2 vab = v2_sub(s.b, s.a);
struct v2 vao = v2_neg(s.a);
f32 ratio = clamp_f32(v2_dot(vab, vao) / v2_dot(vab, vab), 0, 1);
struct v2 p = v2_add(s.a, v2_mul(vab, ratio));
if (v2_len_sq(p) <= (tolerance * tolerance)) {
res.path = 2;
normal = v2_norm(dir);
colliding = true;
}
}
}
if (colliding) {
/* ========================== *
* Clip to determine final points
* ========================== */
/* Max vertices must be < 16 to fit in 4 bit ids */
CT_ASSERT(ARRAY_COUNT(shape0->points) <= 16);
DBGSTEP;
{
//const f32 wedge_epsilon = 0.001f;
const f32 wedge_epsilon = 0.1f;
/* shape0 a -> b winding = clockwise */
u32 id_a0;
u32 id_b0;
struct v2 a0;
struct v2 b0;
/* shape1 a -> b winding = counterclockwise */
u32 id_a1;
u32 id_b1;
struct v2 a1;
struct v2 b1;
{
u32 p_i = collider_support_point_index(shape0, xf0, normal);
u32 a_i = (p_i > 0) ? (p_i - 1) : (count0 - 1);
u32 b_i = ((p_i + 1) < count0) ? (p_i + 1) : 0;
struct v2 p = xform_mul_v2(xf0, points0[p_i]);
struct v2 a = xform_mul_v2(xf0, points0[a_i]);
struct v2 b = xform_mul_v2(xf0, points0[b_i]);
struct v2 vap = v2_sub(p, a);
struct v2 vpb = v2_sub(b, p);
/* Swap a & b depending on winding order */
if (v2_wedge(vap, vpb) < 0) {
u32 tmp_u32 = a_i;
a_i = b_i;
b_i = tmp_u32;
struct v2 tmp_v2 = a;
a = b;
b = tmp_v2;
tmp_v2 = vap;
vap = v2_neg(vpb);
vpb = v2_neg(tmp_v2);
}
f32 vap_wedge = v2_wedge(vap, normal);
f32 vpb_wedge = v2_wedge(vpb, normal);
if (vap_wedge < (vpb_wedge + wedge_epsilon)) {
id_a0 = a_i;
id_b0 = p_i;
a0 = a;
b0 = p;
} else {
id_a0 = p_i;
id_b0 = b_i;
a0 = p;
b0 = b;
}
}
{
struct v2 neg_normal = v2_neg(normal);
u32 p_i = collider_support_point_index(shape1, xf1, neg_normal);
u32 a_i = ((p_i + 1) < count1) ? (p_i + 1) : 0;
u32 b_i = (p_i > 0) ? (p_i - 1) : (count1 - 1);
struct v2 p = xform_mul_v2(xf1, points1[p_i]);
struct v2 a = xform_mul_v2(xf1, points1[a_i]);
struct v2 b = xform_mul_v2(xf1, points1[b_i]);
struct v2 vap = v2_sub(p, a);
struct v2 vpb = v2_sub(b, p);
/* Swap a & b depending on winding order */
if (v2_wedge(vap, vpb) > 0) {
u32 tmp_u32 = a_i;
a_i = b_i;
b_i = tmp_u32;
struct v2 tmp_v2 = a;
a = b;
b = tmp_v2;
tmp_v2 = vap;
vap = v2_neg(vpb);
vpb = v2_neg(tmp_v2);
}
f32 vap_wedge = v2_wedge(vap, normal);
f32 vpb_wedge = v2_wedge(vpb, normal);
if (vap_wedge < (vpb_wedge + wedge_epsilon)) {
id_a1 = a_i;
id_b1 = p_i;
a1 = a;
b1 = p;
} else {
id_a1 = p_i;
id_b1 = b_i;
a1 = p;
b1 = b;
}
}
#if 0
#if 1
if (radius0 > 0.0) {
struct v2 scale = xform_get_scale(xf0);
struct v2 normal_radius = v2_mul_v2(v2_mul(normal, radius0), scale);
a0 = v2_add(a0, normal_radius);
b0 = v2_add(b0, normal_radius);
}
if (radius1 > 0.0) {
struct v2 scale = xform_get_scale(xf1);
struct v2 normal_radius = v2_mul_v2(v2_mul(normal, radius1), scale);
a1 = v2_sub(a1, normal_radius);
b1 = v2_sub(b1, normal_radius);
}
#else
if (radius0 > 0.0) {
struct v2 scale = xform_get_scale(xf0);
struct v2 perp_radius = v2_mul_v2(v2_with_len(v2_neg(v2_perp(v2_sub(b0, a0))), radius0), scale);
a0 = v2_add(a0, perp_radius);
b0 = v2_add(b0, perp_radius);
}
if (radius1 > 0.0) {
struct v2 scale = xform_get_scale(xf1);
struct v2 perp_radius = v2_mul_v2(v2_with_len(v2_neg(v2_perp(v2_sub(b1, a1))), radius1), scale);
a1 = v2_sub(a1, perp_radius);
b1 = v2_sub(b1, perp_radius);
}
#endif
#endif
f32 a0t = 0;
f32 a1t = 0;
f32 b0t = 0;
f32 b1t = 0;
struct v2 vab0 = v2_sub(b0, a0);
struct v2 vab1 = v2_sub(b1, a1);
{
struct v2 va0a1 = v2_sub(a1, a0);
struct v2 vb0b1 = v2_sub(b1, b0);
f32 vab0_wedge_normal = v2_wedge(vab0, normal);
f32 vab1_wedge_normal = v2_wedge(vab1, normal);
f32 va0a1_wedge_normal = v2_wedge(va0a1, normal);
f32 vb0b1_wedge_normal = v2_wedge(vb0b1, normal);
if (math_fabs(vab0_wedge_normal) > 0.01f) {
f32 w = 1 / vab0_wedge_normal;
a0t = clamp_f32(va0a1_wedge_normal * w, 0, 1);
b0t = clamp_f32(vb0b1_wedge_normal * -w, 0, 1);
}
if (math_fabs(vab1_wedge_normal) > 0.01f) {
f32 w = 1 / vab1_wedge_normal;
a1t = clamp_f32(-va0a1_wedge_normal * w, 0, 1);
b1t = clamp_f32(-vb0b1_wedge_normal * -w, 0, 1);
}
}
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(vab0, -b0t));
struct v2 b1_clipped = v2_add(b1, v2_mul(vab1, -b1t));
struct v2 va0a1_clipped = v2_sub(a1_clipped, a0_clipped);
struct v2 vb0b1_clipped = v2_sub(b1_clipped, b0_clipped);
f32 a_sep = v2_dot(va0a1_clipped, normal);
f32 b_sep = v2_dot(vb0b1_clipped, normal);
struct v2 contact_a = v2_add(a0_clipped, v2_mul(va0a1_clipped, 0.5f));
struct v2 contact_b = v2_add(b0_clipped, v2_mul(vb0b1_clipped, 0.5f));
//b32 merge_contacts = v2_len_sq(v2_sub(contact_b, contact_a)) < 0.01f;
b32 merge_contacts = false;
b32 force = false;
#if 0
if (a_sep > tolerance && b_sep > tolerance) {
res.path = 999999999;
DEBUGBREAKABLE;
}
#endif
if (force || a_sep < tolerance) {
struct collider_collision_point *point = &points[num_points++];
point->id = id_a0 | (id_a1 << 4);
point->separation = a_sep;
point->point = contact_a;
}
if (force || (b_sep < tolerance && !merge_contacts)) {
struct collider_collision_point *point = &points[num_points++];
point->id = id_b0 | (id_b1 << 4);
point->separation = b_sep;
point->point = contact_b;
}
res.a0 = a0_clipped;
res.a1 = a1_clipped;
res.b0 = b0_clipped;
res.b1 = b1_clipped;
}
}
res.solved = true;
abort:
if (proto_count > 0) {
u32 len = min_u32(proto_count, ARRAY_COUNT(res.prototype.points));
for (u32 i = 0; i < len; ++i) {
res.prototype.points[i] = proto[i];
}
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.points[0] = points[0];
res.points[1] = points[1];
res.num_points = num_points;
res.simplex = s;
scratch_end(scratch);
return res;
}
#endif

61
src/game.c
View File

@ -183,6 +183,63 @@ INTERNAL void spawn_test_entities(f32 offset)
player_ent = e; player_ent = e;
} }
#if 0
{
//struct v2 pos = V2(0.25, -10);
//struct v2 pos = V2(0.25, -7);
//struct v2 pos = V2(0.25, -5.27);
//struct v2 pos = V2(0.85, -2);
struct v2 pos = V2(0.25, -2);
//struct v2 pos = V2(1.1230469346046448864129274625156, -1); /* Touching right side of box */
//struct v2 pos = V2(1.1230469346046448864129274625156 - 0.0001, -1); /* Touching right side of box */
//struct v2 pos = V2(0.374142020941, -0.246118023992); /* Touching glitch spot */
pos = v2_add(pos, V2(0, offset));
pos = v2_add(pos, V2(0, offset_all));
//struct v2 size = V2(1, 1);
struct v2 size = V2(0.5, 0.5);
//f32 r = PI;
//f32 r = PI / 4;
//f32 r = PI / 3;
//f32 r = 0.05;
//f32 r = PI / 2;
f32 r = 0;
//f32 skew = PI / 4;
f32 skew = 0;
struct entity *e = entity_alloc(root);
struct xform xf = XFORM_TRS(.t = pos, .r = r, .s = size);
xf = xform_skewed_to(xf, skew);
entity_set_xform(e, xf);
//e->sprite = sprite_tag_from_path(STR("res/graphics/tim.ase"));
e->sprite = sprite_tag_from_path(STR("res/graphics/box.ase"));
//e->sprite_span_name = STR("idle.unarmed");
//e->sprite_span_name = STR("idle.one_handed");
e->sprite_span_name = STR("idle.two_handed");
//entity_enable_prop(e, ENTITY_PROP_PLAYER_CONTROLLED);
//e->control_force = 4500;
//e->control_force = 1200;
e->control_force = 250;
e->control_torque = 10;
e->control.focus = V2(0, -1);
entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
e->mass_unscaled = 100;
//e->inertia_unscaled = F32_INFINITY;
e->inertia_unscaled = 25;
e->linear_ground_friction = 1000;
e->angular_ground_friction = 100;
//entity_enable_prop(e, ENTITY_PROP_TEST);
player_ent = e;
}
#endif
/* Weapon */ /* Weapon */
{ {
#if 0 #if 0
@ -972,9 +1029,11 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
#elif 1 #elif 1
ent->local_collider.points[0] = V2(-0.5, 0.5); ent->local_collider.points[0] = V2(-0.5, 0.5);
ent->local_collider.points[1] = V2(0.5, 0.5); ent->local_collider.points[1] = V2(0.5, 0.5);
//ent->local_collider.points[1] = V2(0, 0.5);
ent->local_collider.points[2] = V2(0, -0.5); ent->local_collider.points[2] = V2(0, -0.5);
ent->local_collider.count = 3; ent->local_collider.count = 3;
ent->local_collider.radius = 0.25; //ent->local_collider.radius = 0.25;
//ent->local_collider.radius = math_fabs(math_sin(G.tick.time) / 3);
#else #else
ent->local_collider.radius = 0.25; ent->local_collider.radius = 0.25;
#endif #endif

28
src/user.c
View File

@ -1018,7 +1018,7 @@ INTERNAL void user_update(void)
(UNUSED)e0_collider; (UNUSED)e0_collider;
(UNUSED)e1_collider; (UNUSED)e1_collider;
#if 1 #if 0
/* Draw menkowski */ /* Draw menkowski */
{ {
@ -1048,18 +1048,16 @@ INTERNAL void user_update(void)
} }
} }
/* Draw pendir */ /* Draw normal */
#if 0
{ {
f32 thickness = 2; u32 color = COLOR_WHITE;
u32 color = COLOR_YELLOW; f32 len = 0.1f;
f32 arrow_thickness = 2;
struct v2 start = G.world_view.og; f32 arrow_height = 5;
struct v2 ray = xform_basis_mul_v2(G.world_view, ent->pendir); struct v2 start = xform_mul_v2(G.world_view, V2(0, 0));
struct v2 end = xform_mul_v2(G.world_view, v2_mul(v2_norm(ent->manifold_normal), len));
draw_solid_arrow_ray(G.viewport_canvas, start, ray, thickness, thickness * 4, color); draw_solid_arrow_line(G.viewport_canvas, start, end, arrow_thickness, arrow_height, color);
} }
#endif
/* Draw prototype */ /* Draw prototype */
{ {
@ -1172,17 +1170,22 @@ INTERNAL void user_update(void)
#if 1 #if 1
/* Draw clipping */ /* Draw clipping */
{ {
f32 thickness = 4; f32 thickness = 2;
f32 radius = 4;
u32 color = RGBA_32_F(1, 0, 1, 0.5); u32 color = RGBA_32_F(1, 0, 1, 0.5);
{ {
struct v2 start = xform_mul_v2(G.world_view, ent->res.a0); struct v2 start = xform_mul_v2(G.world_view, ent->res.a0);
struct v2 end = xform_mul_v2(G.world_view, ent->res.b0); struct v2 end = xform_mul_v2(G.world_view, ent->res.b0);
draw_solid_line(G.viewport_canvas, start, end, thickness, color); draw_solid_line(G.viewport_canvas, start, end, thickness, color);
draw_solid_circle(G.viewport_canvas, start, radius, color, 10);
draw_solid_circle(G.viewport_canvas, end, radius, color, 10);
} }
{ {
struct v2 start = xform_mul_v2(G.world_view, ent->res.a1); struct v2 start = xform_mul_v2(G.world_view, ent->res.a1);
struct v2 end = xform_mul_v2(G.world_view, ent->res.b1); struct v2 end = xform_mul_v2(G.world_view, ent->res.b1);
draw_solid_line(G.viewport_canvas, start, end, thickness, color); draw_solid_line(G.viewport_canvas, start, end, thickness, color);
draw_solid_circle(G.viewport_canvas, start, radius, color, 10);
draw_solid_circle(G.viewport_canvas, end, radius, color, 10);
} }
} }
#endif #endif
@ -1206,7 +1209,6 @@ INTERNAL void user_update(void)
u32 color = ent == active_camera ? RGBA_32_F(1, 1, 1, 0.5) : RGBA_32_F(0, 0.75, 0, 0.5); u32 color = ent == active_camera ? RGBA_32_F(1, 1, 1, 0.5) : RGBA_32_F(0, 0.75, 0, 0.5);
f32 thickness = 3; f32 thickness = 3;
struct xform quad_xf = xform_mul(xf, ent->camera_quad_xform); struct xform quad_xf = xform_mul(xf, ent->camera_quad_xform);
struct quad quad = xform_mul_quad(quad_xf, QUAD_UNIT_SQUARE_CENTERED); struct quad quad = xform_mul_quad(quad_xf, QUAD_UNIT_SQUARE_CENTERED);
quad = xform_mul_quad(G.world_view, quad); quad = xform_mul_quad(G.world_view, quad);