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revert to returning contact pairs from gjk

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This commit is contained in:
jacob 2024-09-13 12:12:57 -05:00
parent 1d7f9be8b4
commit e8bc83df3a
7 changed files with 55 additions and 40 deletions
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BIN
res/graphics/tim.ase (Stored with Git LFS)
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5
src/entity.h
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@ -94,14 +94,15 @@ struct entity {
/* TODO: Remove this (testing) */ /* TODO: Remove this (testing) */
b32 colliding;
struct entity_handle colliding_with; struct entity_handle colliding_with;
struct gjk_simplex simplex; struct gjk_simplex simplex;
struct gjk_prototype prototype; struct gjk_prototype prototype;
struct v2 pendir; struct v2 pendir;
b32 solved; b32 solved;
struct v2 point; struct v2 point0;
struct v2 point1;
u32 num_points;
b32 test_torque_applied; b32 test_torque_applied;
b32 test_collided; b32 test_collided;

25
src/game.c
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@ -910,8 +910,9 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
} }
b32 colliding = false; b32 colliding = false;
struct v2 p0 = V2(0, 0); struct gjk_contact_pair pair0 = { 0 };
struct v2 p1 = V2(0, 0); struct gjk_contact_pair pair1 = { 0 };
u32 num_pairs = 0;
struct entity *colliding_with = entity_nil(); struct entity *colliding_with = entity_nil();
struct gjk_simplex simplex = { 0 }; struct gjk_simplex simplex = { 0 };
struct gjk_prototype prototype = { 0 }; struct gjk_prototype prototype = { 0 };
@ -940,31 +941,35 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
struct gjk_contact_points_result res = gjk_contact_points(e0_poly, e1_poly); struct gjk_contact_points_result res = gjk_contact_points(e0_poly, e1_poly);
colliding = res.colliding; num_pairs = res.num_pairs;
p0 = res.p0; colliding = num_pairs > 0;
p1 = res.p1; pair0 = res.pairs[0];
pair1 = res.pairs[1];
colliding_with = e1; colliding_with = e1;
simplex = res.simplex; simplex = res.simplex;
prototype = res.prototype; prototype = res.prototype;
solved = res.solved; solved = res.solved;
} }
e0->colliding = colliding;
e0->colliding_with = colliding_with->handle; e0->colliding_with = colliding_with->handle;
e0->point = p0; e0->point0 = pair0.p0;
e0->point1 = pair1.p0;
e0->num_points = num_pairs;
e0->simplex = simplex; e0->simplex = simplex;
e0->prototype = prototype; e0->prototype = prototype;
e0->pendir = velocity; e0->pendir = velocity;
e0->solved = solved; e0->solved = solved;
if (colliding_with->valid) { if (colliding_with->valid) {
colliding_with->colliding = colliding;
colliding_with->colliding_with = e0->handle; colliding_with->colliding_with = e0->handle;
colliding_with->point = p1; colliding_with->point0 = pair0.p1;
colliding_with->point1 = pair1.p1;
colliding_with->num_points = num_pairs;
} }
(UNUSED)colliding;
{ {
#if 1 #if 0
if (colliding) { if (colliding) {
struct entity *e1 = colliding_with; struct entity *e1 = colliding_with;
struct xform e1_xf = entity_get_xform(e1); struct xform e1_xf = entity_get_xform(e1);

38
src/gjk.c
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@ -161,8 +161,9 @@ struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, stru
struct gjk_menkowski_point *proto = NULL; struct gjk_menkowski_point *proto = NULL;
u32 proto_count = 0; u32 proto_count = 0;
struct v2 p0 = { 0 }; struct gjk_contact_pair pair0 = { 0 };
struct v2 p1 = { 0 }; struct gjk_contact_pair pair1 = { 0 };
u32 num_pairs = 0;
#if GJK_DEBUG #if GJK_DEBUG
u32 dbg_step = 0; u32 dbg_step = 0;
@ -370,14 +371,16 @@ struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, stru
/* Resolve points */ /* Resolve points */
if (s.len == 1) { if (s.len == 1) {
p0 = s.a.p0; pair0.p0 = s.a.p0;
p1 = s.a.p1; pair0.p1 = s.a.p1;
num_pairs = 1;
} else { } else {
ASSERT(s.len == 2); ASSERT(s.len == 2);
b32 p0_is_on_edge = !v2_eq(s.a.p0, s.b.p0); b32 p0_is_on_edge = !v2_eq(s.a.p0, s.b.p0);
b32 p1_is_on_edge = !v2_eq(s.a.p1, s.b.p1); b32 p1_is_on_edge = !v2_eq(s.a.p1, s.b.p1);
if (p0_is_on_edge && p1_is_on_edge) { if (p0_is_on_edge && p1_is_on_edge) {
/* Closest features are both faces, use midpoint of clipped faces to represent contact points */ /* Closest features are both faces, use midpoint of clipped faces to represent contact points */
num_pairs = 2;
struct v2 a = s.a.p0; struct v2 a = s.a.p0;
struct v2 b = s.b.p0; struct v2 b = s.b.p0;
struct v2 c = s.a.p1; struct v2 c = s.a.p1;
@ -394,28 +397,31 @@ struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, stru
f32 inv_vab_len_sq = 1.f / v2_len_sq(vab); f32 inv_vab_len_sq = 1.f / v2_len_sq(vab);
f32 inv_vcd_len_sq = 1.f / v2_len_sq(vcd); f32 inv_vcd_len_sq = 1.f / v2_len_sq(vcd);
f32 ab_clip_c = clamp_f32(v2_dot(vab, vac) * inv_vab_len_sq, 0, 1); pair0.p0 = v2_add(a, v2_mul(vab, clamp_f32(v2_dot(vab, vac) * inv_vab_len_sq, 0, 1)));
f32 ab_clip_d = clamp_f32(v2_dot(vab, vad) * inv_vab_len_sq, 0, 1); pair0.p1 = v2_add(c, v2_mul(vcd, clamp_f32(v2_dot(vcd, vcb) * inv_vcd_len_sq, 0, 1)));
f32 cd_clip_a = clamp_f32(v2_dot(vcd, vca) * inv_vcd_len_sq, 0, 1); pair1.p0 = v2_add(a, v2_mul(vab, clamp_f32(v2_dot(vab, vad) * inv_vab_len_sq, 0, 1)));
f32 cd_clip_b = clamp_f32(v2_dot(vcd, vcb) * inv_vcd_len_sq, 0, 1); pair1.p1 = v2_add(c, v2_mul(vcd, clamp_f32(v2_dot(vcd, vca) * inv_vcd_len_sq, 0, 1)));
p0 = v2_add(a, v2_mul(vab, (ab_clip_c + ab_clip_d) * 0.5f));
p1 = v2_add(c, v2_mul(vcd, (cd_clip_a + cd_clip_b) * 0.5f));
} else { } else {
/* Determine ratio between edge a & b that projected origin lies */ /* Determine ratio between edge a & b that projected origin lies */
num_pairs = 1;
f32 ratio; f32 ratio;
{ {
struct v2 vab = v2_sub(s.b.p, s.a.p); struct v2 vab = v2_sub(s.b.p, s.a.p);
struct v2 vao = v2_neg(s.a.p); struct v2 vao = v2_neg(s.a.p);
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);
} }
p0 = v2_add(s.a.p0, v2_mul(v2_sub(s.b.p0, s.a.p0), ratio)); pair0.p0 = v2_add(s.a.p0, v2_mul(v2_sub(s.b.p0, s.a.p0), ratio));
p1 = v2_add(s.a.p1, v2_mul(v2_sub(s.b.p1, s.a.p1), ratio)); pair0.p1 = v2_add(s.a.p1, v2_mul(v2_sub(s.b.p1, s.a.p1), ratio));
} }
} }
res.solved = true; res.solved = true;
abort: abort:
/* TODO: Remove this */
if (!colliding) num_pairs = 0;
if (proto_count > 0) { if (proto_count > 0) {
for (u32 i = 0; i < min_u32(proto_count, ARRAY_COUNT(res.prototype.points)); ++i) { for (u32 i = 0; i < min_u32(proto_count, ARRAY_COUNT(res.prototype.points)); ++i) {
res.prototype.points[i] = proto[i].p; res.prototype.points[i] = proto[i].p;
@ -433,9 +439,9 @@ abort:
} }
res.prototype.len = s.len; res.prototype.len = s.len;
} }
res.colliding = colliding; res.pairs[0] = pair0;
res.p0 = p0; res.pairs[1] = pair1;
res.p1 = p1; res.num_pairs = num_pairs;
res.simplex = s; res.simplex = s;
scratch_end(scratch); scratch_end(scratch);
return res; return res;

10
src/gjk.h
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@ -21,11 +21,15 @@ struct gjk_simplex {
/* Returns simple true or false indicating shape collision */ /* Returns simple true or false indicating shape collision */
b32 gjk_boolean(struct v2_array shape0, struct v2_array shape1); b32 gjk_boolean(struct v2_array shape0, struct v2_array shape1);
struct gjk_contact_pair {
struct v2 p0, p1;
};
struct gjk_prototype { struct v2 points[64]; u32 len; }; struct gjk_prototype { struct v2 points[64]; u32 len; };
struct gjk_contact_points_result { struct gjk_contact_points_result {
b32 colliding;
struct v2 p0; struct gjk_contact_pair pairs[2];
struct v2 p1; u32 num_pairs;
/* For debugging */ /* For debugging */
b32 solved; b32 solved;

1
src/math.h
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@ -667,6 +667,7 @@ INLINE struct v2 v2_norm(struct v2 a)
{ {
f32 l = a.x * a.x + a.y * a.y; f32 l = a.x * a.x + a.y * a.y;
if (l != 0) { if (l != 0) {
/* TODO: Benchmark with math_rqsrt(l) */
f32 denom = 1.f / math_sqrt(l); f32 denom = 1.f / math_sqrt(l);
a.x *= denom; a.x *= denom;
a.y *= denom; a.y *= denom;

14
src/user.c
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@ -888,6 +888,7 @@ INTERNAL void user_update(void)
/* Debug draw info */ /* Debug draw info */
if (G.debug_draw && !skip_debug_draw) { if (G.debug_draw && !skip_debug_draw) {
struct temp_arena temp = arena_temp_begin(scratch.arena); struct temp_arena temp = arena_temp_begin(scratch.arena);
b32 colliding = ent->num_points > 0;
#if 0 #if 0
struct font *disp_font = font_load_async(STR("res/fonts/fixedsys.ttf"), 12.0f); struct font *disp_font = font_load_async(STR("res/fonts/fixedsys.ttf"), 12.0f);
@ -953,7 +954,7 @@ INTERNAL void user_update(void)
u32 point_color = RGBA_32_F(1, 0, 0, 1); u32 point_color = RGBA_32_F(1, 0, 0, 1);
u32 ray_color = RGBA_32_F(1, 0, 0.5, 1); u32 ray_color = RGBA_32_F(1, 0, 0.5, 1);
if (ent->colliding) { if (colliding) {
quad_color = RGBA_32_F(1, 1, 1, 1); quad_color = RGBA_32_F(1, 1, 1, 1);
} }
@ -988,7 +989,6 @@ INTERNAL void user_update(void)
/* Draw collision */ /* Draw collision */
if (ent->is_top) { if (ent->is_top) {
b32 colliding = ent->colliding;
struct entity *e1 = entity_from_handle(store, ent->colliding_with); struct entity *e1 = entity_from_handle(store, ent->colliding_with);
(UNUSED)e1; (UNUSED)e1;
(UNUSED)colliding; (UNUSED)colliding;
@ -1116,18 +1116,16 @@ INTERNAL void user_update(void)
/* Draw points */ /* Draw points */
{ {
f32 radius = 5; f32 radius = 5;
{
u32 color = entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED) ? RGBA_32_F(1, 0, 0, 0.75) : RGBA_32_F(0, 1, 1, 0.75); u32 color = entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED) ? RGBA_32_F(1, 0, 0, 0.75) : RGBA_32_F(0, 1, 1, 0.75);
struct v2 point = xform_mul_v2(G.world_view, ent->point); {
struct v2 point = xform_mul_v2(G.world_view, ent->point0);
draw_solid_circle(G.viewport_canvas, point, radius, color, 10); draw_solid_circle(G.viewport_canvas, point, radius, color, 10);
} }
#if 0 if (!v2_is_zero(ent->point1)) {
if (ent->has_2nd_point) { //u32 color = entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED) ? RGBA_32_F(1, 1, 0, 0.75) : RGBA_32_F(1, 0, 1, 0.75);
u32 color = entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED) ? RGBA_32_F(1, 1, 0, 0.75) : RGBA_32_F(1, 0, 1, 0.75);
struct v2 point = xform_mul_v2(G.world_view, ent->point1); struct v2 point = xform_mul_v2(G.world_view, ent->point1);
draw_solid_circle(G.viewport_canvas, point, radius, color, 10); draw_solid_circle(G.viewport_canvas, point, radius, color, 10);
} }
#endif
} }
} }