join logic for gjk expansion into one function
This commit is contained in:
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beccc17b7f
commit
c3b96d1597
@ -94,7 +94,7 @@ struct entity {
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/* TODO: Remove this (testing) */
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b32 colliding;
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struct entity_handle colliding_with;
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struct gjk_extended_simplex simplex;
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struct gjk_simplex simplex;
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struct v2 point;
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17
src/game.c
17
src/game.c
@ -778,7 +778,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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struct v2 point0 = V2(0, 0);
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struct v2 point1 = V2(0, 0);
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struct entity *colliding_with = entity_nil();
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struct gjk_extended_simplex final_simplex = { 0 };
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struct gjk_simplex final_simplex = { 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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if (e1 == e0) continue;
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@ -799,12 +799,25 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
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};
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}
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struct gjk_extended_result res = gjk_extended(e0_poly, e1_poly, G.gjk_steps);
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#if 0
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struct gjk_simplex res = gjk_extended(e0_poly, e1_poly, G.gjk_steps);
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colliding = res.colliding;
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point0 = res.p0;
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point1 = res.p1;
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colliding_with = e1;
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final_simplex = res.final_simplex;
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#else
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struct v2 pendir = V2(0, 0);
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//struct v2 pendir = V2(0, 99999);
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struct gjk_extended_result res = gjk_extended(e0_poly, e1_poly, pendir);
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colliding = res.colliding;
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point0 = res.p0;
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point1 = res.p1;
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colliding_with = e1;
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//final_simplex = res.simplex;
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#endif
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if (colliding) {
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@ -1050,7 +1050,7 @@ INTERNAL void user_update(void)
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u32 color_second = RGBA_32_F(0, 1, 0, 0.75);
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u32 color_third = RGBA_32_F(0, 0, 1, 0.75);
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struct gjk_extended_simplex simplex = ent->simplex;
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struct gjk_simplex simplex = ent->simplex;
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struct v2 simplex_points[] = { simplex.a.p, simplex.b.p, simplex.c.p };
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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 = simplex.len, .points = simplex_points };
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414
src/util.c
414
src/util.c
@ -100,37 +100,28 @@ INTERNAL struct v2 poly_support(struct v2_array a, struct v2 dir)
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return furthest;
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}
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INTERNAL struct v2 menkowski_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir)
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INTERNAL struct v2 menkowski_point(struct v2_array poly0, struct v2_array shape1, struct v2 dir)
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{
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return v2_sub(poly_support(poly0, dir), poly_support(poly1, v2_neg(dir)));
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return v2_sub(poly_support(poly0, dir), poly_support(shape1, v2_neg(dir)));
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}
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INTERNAL struct gjk_menkowski_point extended_menkowski_point(struct v2_array poly0, struct v2_array poly1, struct v2 dir)
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{
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struct gjk_menkowski_point res;
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res.p0 = poly_support(poly0, dir);
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res.p1 = poly_support(poly1, v2_neg(dir));
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res.p = v2_sub(res.p0, res.p1);
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return res;
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}
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b32 gjk_boolean(struct v2_array poly0, struct v2_array poly1)
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b32 gjk_boolean(struct v2_array shape0, struct v2_array shape1)
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{
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struct { struct v2 a, b, c; } s = { 0 };
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/* First point is support point in shape's general directions to eachother */
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s.a = menkowski_point(poly0, poly1, v2_sub(poly1.points[0], poly0.points[0]));
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s.a = menkowski_point(shape0, shape1, v2_sub(shape1.points[0], shape0.points[0]));
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/* Second point is support point towards origin */
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struct v2 dir = v2_neg(s.a);
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struct v2 p = menkowski_point(poly0, poly1, dir);
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struct v2 p = menkowski_point(shape0, shape1, dir);
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if (v2_dot(dir, p) >= 0) {
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s.b = s.a;
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s.a = p;
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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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dir = perp_towards_point(s.a, s.b, V2(0, 0));
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p = menkowski_point(poly0, poly1, dir);
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p = menkowski_point(shape0, shape1, dir);
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if (v2_dot(dir, p) < 0) {
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/* New point did not cross origin, collision impossible */
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break;
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@ -171,34 +162,94 @@ b32 gjk_boolean(struct v2_array poly0, struct v2_array poly1)
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#if 0
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struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array poly1, u32 max_steps)
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INTERNAL struct gjk_menkowski_point menkowski_point_extended(struct v2_array poly0, struct v2_array poly1, struct v2 dir)
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{
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struct temp_arena scratch = scratch_begin_no_conflict();
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b32 colliding = false;
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struct v2 shape0_p = V2(0, 0);
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struct v2 shape1_p = V2(0, 0);
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u32 step = 0;
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struct gjk_menkowski_point res;
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res.p0 = poly_support(poly0, dir);
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res.p1 = poly_support(poly1, v2_neg(dir));
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res.p = v2_sub(res.p0, res.p1);
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return res;
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}
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struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array shape1, struct v2 penetration_dir)
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{
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struct gjk_extended_result res = { 0 };
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/* TODO: Verify epsilon */
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f32 unique_epsilon = 0.00001;
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b32 use_penetration_dir = false;
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struct gjk_simplex s = { 0 };
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/* Simplex */
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struct gjk_extended_simplex s = { 0 };
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/* First point is support point towards shape centers */
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if (step++ >= max_steps) goto abort;
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struct v2 dir = v2_sub(poly1.points[0], poly0.points[0]);
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struct gjk_menkowski_point m = extended_menkowski_point(poly0, poly1, dir);
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s.a = m;
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/* ========================== *
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* Collision check
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* ========================== */
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struct v2 dir = { 0 };
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struct gjk_menkowski_point m = { 0 };
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{
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/* First point is support point in shape's general directions to eachother */
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s.a = menkowski_point_extended(shape0, shape1, v2_sub(shape1.points[0], shape0.points[0]));
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s.len = 1;
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while (true) {
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/* Second point is support point towards origin */
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dir = v2_neg(s.a.p);
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m = menkowski_point_extended(shape0, shape1, dir);
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if (v2_dot(dir, m.p) >= 0) {
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s.b = s.a;
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s.a = m;
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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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dir = perp_towards_point(s.a.p, s.b.p, V2(0, 0));
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m = menkowski_point_extended(shape0, shape1, dir);
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if (v2_dot(dir, m.p) < 0) {
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/* New point did not cross origin, collision impossible */
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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 = m;
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s.len = 3;
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dir = v2_neg(perp_towards_point(s.a.p, s.b.p, s.c.p)); /* Normal of ab pointing away from c */
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struct v2 a_to_origin = v2_neg(s.a.p);
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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 */
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s.len = 2;
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} else {
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/* Point is not in region ab */
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dir = v2_neg(perp_towards_point(s.a.p, s.c.p, s.b.p)); /* Normal 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 */
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s.b = s.c;
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s.len = 2;
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} else {
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res.colliding = true;
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break;
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}
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}
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}
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}
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}
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if (res.colliding) {
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use_penetration_dir = !v2_eq(penetration_dir, V2(0, 0));
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if (use_penetration_dir) {
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/* ========================== *
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* Penetration dir expansion
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* ========================== */
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while (true) {
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/* Second point is support point towards penetration_dir */
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if (s.len == 1) {
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if (step++ >= max_steps) goto abort;
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m = extended_menkowski_point(poly0, poly1, v2_neg(s.a.p));
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dir = v2_sub(v2_mul(penetration_dir, v2_dot(penetration_dir, s.a.p) / v2_dot(penetration_dir, penetration_dir)), s.a.p);
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m = menkowski_point_extended(shape0, shape1, dir);
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if (v2_eq(m.p, s.a.p)) {
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break;
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}
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@ -207,12 +258,12 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
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s.a = m;
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s.len = 2;
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/* Third point is support point in direction of line normal towards origin */
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dir = perp_towards_point(s.a.p, s.b.p, V2(0, 0));
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/* Third point is support point in direction of line normal towards `a` projected onto penetration_dir */
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dir = perp_towards_dir(s.a.p, s.b.p, penetration_dir);
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}
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if (step++ >= max_steps) goto abort;
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m = extended_menkowski_point(poly0, poly1, dir);
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if (s.len == 2) {
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m = menkowski_point_extended(shape0, shape1, dir);
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if (math_fabs(v2_wedge(v2_sub(s.b.p, s.a.p), v2_sub(m.p, s.a.p))) < unique_epsilon) {
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/* New point is already on the current line */
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@ -223,59 +274,36 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
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s.b = s.a;
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s.a = m;
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s.len = 3;
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if (step++ >= max_steps) goto abort;
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struct v2 rab_dir = v2_neg(perp_towards_point(s.a.p, s.b.p, s.c.p));
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struct v2 rac_dir = v2_neg(perp_towards_point(s.a.p, s.c.p, s.b.p));
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struct v2 rbc_dir = v2_neg(perp_towards_point(s.b.p, s.c.p, s.a.p));
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b32 rab = v2_dot(rab_dir, v2_neg(s.a.p)) >= 0;
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b32 rac = v2_dot(rac_dir, v2_neg(s.a.p)) >= 0;
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b32 rbc = v2_dot(rbc_dir, v2_neg(s.b.p)) >= 0;
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if (!rab && !rac && !rbc) {
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colliding = true;
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break;
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}
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/* Remove point or edge and determine next direction based on vornoi regions */
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b32 ra = rab && rac;
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b32 rb = rab && rbc;
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b32 rc = rac && rbc;
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rab = rab && !ra && !rb;
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rac = rac && !ra && !rc;
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rbc = rbc && !rb && !rc;
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if (rab) {
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i32 a_wedgesign = math_fsign(v2_wedge(penetration_dir, s.a.p));
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i32 b_wedgesign = math_fsign(v2_wedge(penetration_dir, s.b.p));
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i32 c_wedgesign = math_fsign(v2_wedge(penetration_dir, s.c.p));
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if (a_wedgesign != b_wedgesign) {
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/* Remove c */
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dir = rab_dir;
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dir = perp_towards_dir(s.a.p, s.b.p, penetration_dir);
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s.len = 2;
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} else if (rac) {
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} else if (b_wedgesign != c_wedgesign) {
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/* Remove b */
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dir = rac_dir;
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dir = perp_towards_dir(s.a.p, s.c.p, penetration_dir);
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s.b = s.c;
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s.len = 2;
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} else if (rbc) {
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} else {
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/* Remove a */
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dir = rbc_dir;
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dir = perp_towards_dir(s.b.p, s.c.p, penetration_dir);
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s.a = s.b;
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s.b = s.c;
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s.len = 2;
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} else if (ra) {
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/* Remove bc */
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s.len = 1;
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} else if (rb) {
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/* Remove ac */
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s.a = s.b;
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s.len = 1;
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} else if (rc) {
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/* Remove ab */
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s.a = s.c;
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s.len = 1;
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}
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}
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} else {
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/* ========================== *
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* Epa expansion
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* ========================== */
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ASSERT(s.len == 3);
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struct temp_arena scratch = scratch_begin_no_conflict();
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if (colliding) {
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struct gjk_menkowski_point *proto = arena_dry_push(scratch.arena, struct gjk_menkowski_point);
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u32 proto_count = 0;
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@ -292,8 +320,6 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
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}
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while (true) {
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if (step++ >= max_steps) goto abort;
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struct v2 pen = V2(0, 0);
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f32 pen_len_sq = F32_INFINITY;
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@ -323,12 +349,7 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
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}
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/* Find new point in dir */
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m = extended_menkowski_point(poly0, poly1, pen);
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/* TODO: Move to break */
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s.a = proto[pen_ps_index];
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s.b = proto[pen_pe_index];
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s.len = 2;
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m = menkowski_point_extended(shape0, shape1, pen);
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/* Check unique */
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/* TODO: Better */
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@ -343,6 +364,9 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
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}
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}
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if (!unique) {
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s.a = proto[pen_ps_index];
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s.b = proto[pen_pe_index];
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s.len = 2;
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break;
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}
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}
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@ -358,101 +382,37 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
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}
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proto[pen_pe_index] = m;
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}
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}
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{
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if (s.len == 1) {
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shape0_p = s.a.p0;
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shape1_p = s.a.p1;
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} else if (s.len == 2) {
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/* Determine ratio between edge a & b that projected origin lies */
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struct v2 vab = v2_sub(s.b.p, s.a.p);
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struct v2 vao = v2_neg(s.a.p);
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f32 ratio = clamp_f32(v2_dot(vab, vao) / v2_dot(vab, vab), 0, 1);
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/* Determine point on shape 0 */
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{
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shape0_p = v2_sub(s.b.p0, s.a.p0);
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shape0_p = v2_mul(shape0_p, ratio);
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shape0_p = v2_add(shape0_p, s.a.p0);
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}
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/* Determine point on shape 1 */
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{
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shape1_p = v2_sub(s.b.p1, s.a.p1);
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shape1_p = v2_mul(shape1_p, ratio);
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shape1_p = v2_add(shape1_p, s.a.p1);
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}
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}
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}
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abort:
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struct gjk_extended_result res = { 0 };
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res.colliding = colliding;
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res.p0 = shape0_p;
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res.p1 = shape1_p;
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res.final_simplex = s;
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scratch_end(scratch);
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return res;
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}
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}
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} else {
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/* ========================== *
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* Closest point expansion
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* ========================== */
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#else
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INTERNAL b32 ray_intersects_line(struct v2 p0, struct v2 p1, struct v2 ray_dir)
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{
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return (v2_dot(ray_dir, p0) >= 0 || v2_dot(ray_dir, p1) >= 0) && math_fsign(v2_wedge(ray_dir, p0)) != math_fsign(v2_wedge(ray_dir, p1));
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}
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struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array poly1, u32 max_steps)
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{
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struct v2 movedir = V2(0, 999999);
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struct temp_arena scratch = scratch_begin_no_conflict();
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b32 colliding = false;
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struct v2 shape0_p = V2(0, 0);
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struct v2 shape1_p = V2(0, 0);
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u32 step = 0;
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/* TODO: Verify epsilon */
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f32 unique_epsilon = 0.00001;
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/* Simplex */
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struct gjk_extended_simplex s = { 0 };
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/* First point is support point towards shape centers */
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if (step++ >= max_steps) goto abort;
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struct v2 dir = v2_sub(poly1.points[0], poly0.points[0]);
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struct gjk_menkowski_point m = extended_menkowski_point(poly0, poly1, dir);
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s.a = m;
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s.len = 1;
|
||||
if (s.len == 2) {
|
||||
/* Third point is support point in direction of line normal towards `a` projected onto penetration_dir */
|
||||
dir = perp_towards_dir(s.a.p, s.b.p, penetration_dir);
|
||||
}
|
||||
|
||||
while (true) {
|
||||
/* Second point is support point towards movedir */
|
||||
/* Second point is support point towards origin */
|
||||
if (s.len == 1) {
|
||||
if (step++ >= max_steps) goto abort;
|
||||
#if 0
|
||||
m = extended_menkowski_point(poly0, poly1, movedir);
|
||||
m = menkowski_point_extended(shape0, shape1, v2_neg(s.a.p));
|
||||
if (v2_eq(m.p, s.a.p)) {
|
||||
break;
|
||||
}
|
||||
#else
|
||||
dir = v2_sub(v2_mul(movedir, v2_dot(movedir, s.a.p) / v2_dot(movedir, movedir)), s.a.p);
|
||||
m = extended_menkowski_point(poly0, poly1, dir);
|
||||
if (v2_eq(m.p, s.a.p)) {
|
||||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
s.b = s.a;
|
||||
s.a = m;
|
||||
s.len = 2;
|
||||
|
||||
/* Third point is support point in direction of line normal towards `a` projected onto movedir */
|
||||
dir = perp_towards_dir(s.a.p, s.b.p, movedir);
|
||||
/* Third point is support point in direction of line normal towards origin */
|
||||
dir = perp_towards_point(s.a.p, s.b.p, V2(0, 0));
|
||||
}
|
||||
|
||||
if (step++ >= max_steps) goto abort;
|
||||
m = extended_menkowski_point(poly0, poly1, dir);
|
||||
if (s.len == 2) {
|
||||
m = menkowski_point_extended(shape0, shape1, dir);
|
||||
|
||||
if (math_fabs(v2_wedge(v2_sub(s.b.p, s.a.p), v2_sub(m.p, s.a.p))) < unique_epsilon) {
|
||||
/* New point is already on the current line */
|
||||
@ -463,108 +423,82 @@ struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array p
|
||||
s.b = s.a;
|
||||
s.a = m;
|
||||
s.len = 3;
|
||||
}
|
||||
|
||||
if (step++ >= max_steps) goto abort;
|
||||
|
||||
/* TODO: Can group dots & wedges from intersect checks */
|
||||
b32 abi = ray_intersects_line(s.a.p, s.b.p, movedir);
|
||||
b32 aci = ray_intersects_line(s.a.p, s.c.p, movedir);
|
||||
b32 bci = ray_intersects_line(s.b.p, s.c.p, movedir);
|
||||
|
||||
|
||||
struct v2 ab_dir = perp_towards_dir(s.a.p, s.b.p, movedir);
|
||||
struct v2 ac_dir = perp_towards_dir(s.a.p, s.c.p, movedir);
|
||||
struct v2 bc_dir = perp_towards_dir(s.b.p, s.c.p, movedir);
|
||||
|
||||
if (abi) {
|
||||
/* Remove c */
|
||||
dir = ab_dir;
|
||||
/* Remove point or edge and determine next direction based on vornoi regions */
|
||||
i32 code = 0;
|
||||
struct v2 rab_dir = v2_neg(perp_towards_point(s.a.p, s.b.p, s.c.p));
|
||||
struct v2 rac_dir = v2_neg(perp_towards_point(s.a.p, s.c.p, s.b.p));
|
||||
struct v2 rbc_dir = v2_neg(perp_towards_point(s.b.p, s.c.p, s.a.p));
|
||||
code |= ((v2_dot(rab_dir, v2_neg(s.a.p)) >= 0) << 0); /* Regions ab, a, and b*/
|
||||
code |= ((v2_dot(rac_dir, v2_neg(s.a.p)) >= 0) << 1); /* Regions ac, a, and c */
|
||||
code |= ((v2_dot(rbc_dir, v2_neg(s.b.p)) >= 0) << 2); /* Regions bc, b, and c */
|
||||
switch (code) {
|
||||
case 1: { /* Region ab, remove c */
|
||||
dir = rab_dir;
|
||||
s.len = 2;
|
||||
} else if (aci) {
|
||||
/* Remove b */
|
||||
dir = ac_dir;
|
||||
} break;
|
||||
case 2: { /* Region ac, remove b */
|
||||
dir = rac_dir;
|
||||
s.b = s.c;
|
||||
s.len = 2;
|
||||
} else if (bci) {
|
||||
/* Remove a */
|
||||
dir = bc_dir;
|
||||
} break;
|
||||
case 4: { /* Region bc, remove a */
|
||||
dir = rbc_dir;
|
||||
s.a = s.b;
|
||||
s.b = s.c;
|
||||
s.len = 2;
|
||||
} break;
|
||||
case 3: { /* Region a, remove bc */
|
||||
s.len = 1;
|
||||
} break;
|
||||
case 5: { /* Region b, remove ac */
|
||||
s.a = s.b;
|
||||
s.len = 1;
|
||||
} break;
|
||||
case 6: { /* Region c, remove ab */
|
||||
s.a = s.c;
|
||||
s.len = 1;
|
||||
} break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#if 0
|
||||
{
|
||||
/* Resolve points */
|
||||
if (s.len == 1) {
|
||||
shape0_p = s.a.p0;
|
||||
shape1_p = s.a.p1;
|
||||
res.p0 = s.a.p0;
|
||||
res.p1 = s.a.p1;
|
||||
} else if (s.len == 2) {
|
||||
/* Determine ratio between edge a & b that projected origin lies */
|
||||
/* FIXME: Winding order dependent? */
|
||||
f32 ratio;
|
||||
if (use_penetration_dir) {
|
||||
/* Determine ratio between edge a & b that penetration dir intersection lies */
|
||||
f32 wedgea = math_fabs(v2_wedge(penetration_dir, s.a.p));
|
||||
f32 wedgeb = math_fabs(v2_wedge(penetration_dir, s.b.p));
|
||||
ratio = wedgea / (wedgea + wedgeb);
|
||||
} else {
|
||||
/* Determine ratio between edge a & b that projected origin lies */
|
||||
struct v2 vab = v2_sub(s.b.p, s.a.p);
|
||||
struct v2 vao = v2_neg(s.a.p);
|
||||
f32 ratio = clamp_f32(v2_dot(vab, vao) / v2_dot(vab, vab), 0, 1);
|
||||
ratio = clamp_f32(v2_dot(vab, vao) / v2_dot(vab, vab), 0, 1);
|
||||
}
|
||||
/* Determine point on shape 0 */
|
||||
{
|
||||
shape0_p = v2_sub(s.b.p0, s.a.p0);
|
||||
shape0_p = v2_mul(shape0_p, ratio);
|
||||
shape0_p = v2_add(shape0_p, s.a.p0);
|
||||
res.p0 = v2_sub(s.b.p0, s.a.p0);
|
||||
res.p0 = v2_mul(res.p0, ratio);
|
||||
res.p0 = v2_add(res.p0, s.a.p0);
|
||||
}
|
||||
/* Determine point on shape 1 */
|
||||
{
|
||||
shape1_p = v2_sub(s.b.p1, s.a.p1);
|
||||
shape1_p = v2_mul(shape1_p, ratio);
|
||||
shape1_p = v2_add(shape1_p, s.a.p1);
|
||||
res.p1 = v2_sub(s.b.p1, s.a.p1);
|
||||
res.p1 = v2_mul(res.p1, ratio);
|
||||
res.p1 = v2_add(res.p1, s.a.p1);
|
||||
}
|
||||
}
|
||||
}
|
||||
#else
|
||||
{
|
||||
if (s.len == 1) {
|
||||
shape0_p = s.a.p0;
|
||||
shape1_p = s.a.p1;
|
||||
} else if (s.len == 2) {
|
||||
/* Determine ratio between edge a & b that ray intersection lies */
|
||||
/* FIXME: Winding order dependent? */
|
||||
f32 wedgea = math_fabs(v2_wedge(movedir, s.a.p));
|
||||
f32 wedgeb = math_fabs(v2_wedge(movedir, s.b.p));
|
||||
f32 ratio = wedgea / (wedgea + wedgeb);
|
||||
/* Determine point on shape 0 */
|
||||
{
|
||||
shape0_p = v2_sub(s.b.p0, s.a.p0);
|
||||
shape0_p = v2_mul(shape0_p, ratio);
|
||||
shape0_p = v2_add(shape0_p, s.a.p0);
|
||||
}
|
||||
/* Determine point on shape 1 */
|
||||
{
|
||||
shape1_p = v2_sub(s.b.p1, s.a.p1);
|
||||
shape1_p = v2_mul(shape1_p, ratio);
|
||||
shape1_p = v2_add(shape1_p, s.a.p1);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
abort:
|
||||
struct gjk_extended_result res = { 0 };
|
||||
res.colliding = colliding;
|
||||
res.p0 = shape0_p;
|
||||
res.p1 = shape1_p;
|
||||
res.final_simplex = s;
|
||||
scratch_end(scratch);
|
||||
return res;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -577,7 +511,7 @@ 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 = extended_menkowski_point(poly0, poly1, dir).p;
|
||||
struct v2 p = menkowski_point_extended(poly0, poly1, dir).p;
|
||||
if (res.count == 0 || !v2_eq(p, res.points[res.count - 1])) {
|
||||
*arena_push(arena, struct v2) = p;
|
||||
++res.count;
|
||||
|
||||
14
src/util.h
14
src/util.h
@ -184,33 +184,27 @@ INLINE void sleep_frame(sys_timestamp_t last_frame_time, f64 target_dt)
|
||||
* Collision testing
|
||||
* ========================== */
|
||||
|
||||
/* TODO: Remove this */
|
||||
|
||||
struct gjk_menkowski_point {
|
||||
struct v2 p0; /* Support point of first shape in dir */
|
||||
struct v2 p1; /* Support point of second shape in -dir */
|
||||
struct v2 p; /* Menkowski difference point */
|
||||
};
|
||||
|
||||
struct gjk_extended_simplex {
|
||||
struct gjk_simplex {
|
||||
u32 len;
|
||||
struct gjk_menkowski_point a, b, c;
|
||||
};
|
||||
|
||||
struct gjk_extended_result {
|
||||
b32 colliding;
|
||||
struct v2 p0; /* Closest / deepest point on first shape's edge */
|
||||
struct v2 p1; /* Closest / deepest point on second shape's edge */
|
||||
|
||||
/* For debugging */
|
||||
struct gjk_extended_simplex final_simplex;
|
||||
struct v2 p0, p1;
|
||||
};
|
||||
|
||||
struct v2 perp_towards_point(struct v2 start, struct v2 end, struct v2 p);
|
||||
struct v2 perp_towards_dir(struct v2 start, struct v2 end, struct v2 dir);
|
||||
struct v2_array menkowski(struct arena *arena, struct v2_array poly0, struct v2_array poly1);
|
||||
i32 poly_get_winding_order(struct v2_array poly);
|
||||
b32 gjk_boolean(struct v2_array poly0, struct v2_array poly1);
|
||||
struct gjk_extended_result gjk_extended(struct v2_array poly0, struct v2_array poly1, u32 max_steps);
|
||||
b32 gjk_boolean(struct v2_array shape0, struct v2_array shape1);
|
||||
struct gjk_extended_result gjk_extended(struct v2_array shape0, struct v2_array shape1, struct v2 penetration_dir);
|
||||
|
||||
#endif
|
||||
|
||||
Loading…
Reference in New Issue
Block a user