accumulate impulses

src/ase.c

@@ -245,7 +245,7 @@ INTERNAL void inflate(u8 *dest, u8 *encoded)
     struct temp_arena scratch = scratch_begin_no_conflict();
 
     __prof;
-    struct bitbuf bb = { encoded };
+    struct bitbuf bb = { .data = encoded };
 
     /* ZLIB header */
     u32 cm = consume_bits(&bb, 4);

src/entity.h

@@ -70,7 +70,9 @@ struct contact {
     struct v2 p1_local;
     struct v2 p1_initial_world;
 
-    f32 depth;          /* How far is p0 from p1 along normal */
+    f32 depth;                  /* How far is p0 from p1 along normal */
+    f32 accumulated_impulse;    /* Accumulated impulse along normal */
+    f32 delta_impulse;          /* Change in impulse along normal */
 
     b32 persisted;
 };

src/game.c

@@ -129,10 +129,10 @@ INTERNAL void spawn_test_entities(void)
         //struct v2 pos = V2(0.374142020941, -0.246118023992);  /* Touching glitch spot */
         //struct v2 size = V2(1, 1);
         struct v2 size = V2(0.5, 0.5);
-        f32 r = PI / 4;
+        //f32 r = PI / 4;
         //f32 r = PI / 3;
         //f32 r = PI / 2;
-        //f32 r = 0;
+        f32 r = 0;
         f32 skew = 0;
 
         struct entity *e = entity_alloc(root);
@@ -155,8 +155,8 @@ INTERNAL void spawn_test_entities(void)
 
         entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
         e->mass_unscaled = 100;
-        //e->inertia_unscaled = 1;
+        e->inertia_unscaled = 1;
-        e->inertia_unscaled = F32_INFINITY;
+        //e->inertia_unscaled = F32_INFINITY;
         e->linear_ground_friction = 1000;
         e->angular_ground_friction = 100;
 
@@ -182,7 +182,7 @@ INTERNAL void spawn_test_entities(void)
         e->attach_slice = STR("attach.wep");
 
         entity_enable_prop(e, ENTITY_PROP_WEAPON);
-        e->trigger_delay = 1.0 / 10.0;
+        e->trigger_delay = 1.0f / 10.0f;
 
         player_ent->equipped = e->handle;
     }
@@ -299,10 +299,11 @@ INTERNAL void create_contact_manifolds(void)
                 dict = fixed_dict_init(&dict_arena, 4096);
             }
 
+            u64 manifold_hash;
             struct string manifold_key;
             {
+                manifold_hash = hash_fnv64(HASH_FNV64_BASIS, BUFFER_FROM_STRUCT(&e0->handle));
                 /* FIXME: Contact should be same regardless of entity order */
-                u64 manifold_hash = hash_fnv64(HASH_FNV64_BASIS, BUFFER_FROM_STRUCT(&e0->handle));
                 manifold_hash = hash_fnv64(manifold_hash, BUFFER_FROM_STRUCT(&e1->handle));
                 manifold_key = STRING_FROM_BUFFER(BUFFER_FROM_STRUCT(&manifold_hash));
             }
@@ -313,8 +314,8 @@ INTERNAL void create_contact_manifolds(void)
 
 
 #if 1
-            const f32 remove_contact_threshold_global_dist_sq = 0.005 * 0.005;
+            const f32 remove_contact_threshold_global_dist_sq = 0.005f * 0.005f;
-            const f32 insert_contact_threshold_global_dist_sq = 0.005 * 0.005;
+            const f32 insert_contact_threshold_global_dist_sq = 0.005f * 0.005f;
 #else
             const f32 remove_contact_threshold_global_dist_sq = 0;
             const f32 insert_contact_threshold_global_dist_sq = 0;
@@ -518,7 +519,6 @@ INTERNAL void create_contact_manifolds(void)
 INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
 {
     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];
         if (!(manifold->valid && entity_has_prop(manifold, ENTITY_PROP_ACTIVE))) continue;
@@ -527,13 +527,15 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
         struct entity *e0 = entity_from_handle(store, manifold->manifold_e0);
         struct entity *e1 = entity_from_handle(store, manifold->manifold_e1);
 
+        u32 num_contacts = manifold->num_contacts;
+        f32 inv_num_contacts = 1.f / num_contacts;
+        if (num_contacts > 0 && e0->valid && e1->valid) {
+            /* TODO: Remove this (testing) */
+            if (!e0->test_collided) {
+                e0->test_collided = true;
+            }
 
 
-
-
-
-
-        if (manifold->num_contacts > 0 && e0->valid && e1->valid) {
             struct xform e0_xf = entity_get_xform(e0);
             struct xform e1_xf = entity_get_xform(e1);
 
@@ -549,13 +551,14 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
             f32 inv_i1 = 1.f / i1;
 
 
-            struct v2 e0_accumulated_linear_impulse = { 0 };
+            struct queued_impulse {
-            f32 e0_accumulated_angular_impulse = 0;
+                struct v2 p0, p1;
-            struct v2 e1_accumulated_linear_impulse = { 0 };
+                f32 impulse;
-            f32 e1_accumulated_angular_impulse = 0;
+            };
+            struct queued_impulse queued_impulses[ARRAY_COUNT(manifold->contacts)];
 
             struct v2 normal = manifold->manifold_normal;
-            for (u32 contact_index = 0; contact_index < manifold->num_contacts; ++contact_index) {
+            for (u32 contact_index = 0; contact_index < num_contacts; ++contact_index) {
                 struct contact *contact = &manifold->contacts[contact_index];
 
                 struct v2 p0 = xform_mul_v2(e0_xf, contact->p0_local);
@@ -563,14 +566,14 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
 
                 f32 bias = 0;
                 if (apply_bias) {
-                    //f32 bias_factor = 0.2;
+                    //f32 bias_factor = 0.2f;
-                    f32 bias_factor = 0.1;
+                    f32 bias_factor = 0.1f;
 
-                    f32 bias_slop = 0.0005;
+                    //f32 bias_slop = 0.0005f;
-                    //f32 bias_slop = 0.001;
+                    f32 bias_slop = 0.001f;
-                    //f32 bias_slop = 0.00;
+                    //f32 bias_slop = 0.00f;
 
-                    bias = (bias_factor / dt) * max((contact->depth - bias_slop), 0);
+                    bias = (bias_factor / dt) * max_f32((contact->depth - bias_slop), 0);
                 }
 
 
@@ -593,44 +596,24 @@ INTERNAL void solve_collisions(f32 dt, b32 apply_bias)
 
                 /* (to be applied along n) */
                 f32 j = (vn + bias) / k;
-                //j = max_f32(j, 0);
+                j *= inv_num_contacts;  /* TODO: Is this the correct place to do this? */
 
-                struct v2 imp = v2_mul(normal, j);
+                f32 old_impulse = contact->accumulated_impulse;
+                contact->accumulated_impulse = max_f32(contact->accumulated_impulse + j, 0);
 
-                if (!e0->test_collided) {
+                queued_impulses[contact_index] = (struct queued_impulse) {
-                    e0->test_collided = true;
+                    .p0 = p0,
-                }
+                    .p1 = p1,
-
+                    .impulse = contact->accumulated_impulse - old_impulse
-                e0_accumulated_linear_impulse = v2_add(e0_accumulated_linear_impulse, imp);
+                };
-                e1_accumulated_linear_impulse = v2_add(e1_accumulated_linear_impulse, v2_neg(imp));
-
-                e0_accumulated_angular_impulse += v2_wedge(vcp0, imp);
-                e1_accumulated_angular_impulse += v2_wedge(vcp1, v2_neg(imp));
-
-                //entity_apply_linear_impulse(e0, imp, p0);
-                //entity_apply_linear_impulse(e1, v2_neg(imp), p1);
             }
 
-            //entity_apply_linear_impulse(e0, imp, p0);
+            for (u32 i = 0; i < num_contacts; ++i) {
-            //entity_apply_linear_impulse(e1, v2_neg(imp), p1);
+                struct queued_impulse qi = queued_impulses[i];
-
+                struct v2 impulse = v2_mul(normal, qi.impulse);
-
+                entity_apply_linear_impulse(e0, impulse, qi.p0);
-            /* TODO: Remove this (testing) */
+                entity_apply_linear_impulse(e1, v2_neg(impulse), qi.p1);
-#if 1
-            /* Divide impulses by number of contact points. */
-            {
-                f32 inv_num_contacts = 1.f / manifold->num_contacts;
-                e0_accumulated_linear_impulse = v2_mul(e0_accumulated_linear_impulse, inv_num_contacts);
-                e1_accumulated_linear_impulse = v2_mul(e1_accumulated_linear_impulse, inv_num_contacts);
-                e0_accumulated_angular_impulse *= inv_num_contacts;
-                e1_accumulated_angular_impulse *= inv_num_contacts;
             }
-#endif
-
-            entity_apply_linear_impulse_to_center(e0, e0_accumulated_linear_impulse);
-            entity_apply_angular_impulse(e0, e0_accumulated_angular_impulse);
-            entity_apply_linear_impulse_to_center(e1, e1_accumulated_linear_impulse);
-            entity_apply_angular_impulse(e1, e1_accumulated_angular_impulse);
         } else {
             entity_enable_prop(manifold, ENTITY_PROP_RELEASE);
         }
@@ -1036,10 +1019,10 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
                 bullet->bullet_src = ent->handle;
                 bullet->bullet_src_pos = rel_pos;
                 bullet->bullet_src_dir = rel_dir;
-                bullet->bullet_impulse = 0.25;
+                bullet->bullet_impulse = 0.25f;
-                //bullet->bullet_impulse = 1;
+                //bullet->bullet_impulse = 1.f;
-                bullet->mass_unscaled = 0.04;
+                bullet->mass_unscaled = 0.04f;
-                bullet->inertia_unscaled = 0.00001;
+                bullet->inertia_unscaled = 0.00001f;
 
                 entity_enable_prop(bullet, ENTITY_PROP_BULLET);
             }
@@ -1197,7 +1180,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
             }
 
             if (!F32_IS_NAN(final_xf_angle)) {
-                const f32 angle_error_allowed = 0.001;
+                const f32 angle_error_allowed = 0.001f;
                 f32 cur_angle = v2_angle(xf.bx);
                 f32 diff = final_xf_angle - cur_angle;
                 if (math_fabs(diff) > angle_error_allowed) {

src/gjk.c

@@ -159,12 +159,12 @@ struct v2_array cloud(struct arena *arena, struct v2_array poly0, struct v2_arra
  * `colliding` & `has_2nd_pair` become "num_pairs", where 0 = no collision. */
 struct gjk_contact_points_result gjk_contact_points(struct v2_array shape0, struct v2_array shape1)
 {
-    struct temp_arena scratch = scratch_begin_no_conflict();
+    struct temp_arena scratch = scratch_begin_no_conflict();  /* TODO: Only begin scratch for EPA */
     struct gjk_contact_points_result res = { 0 };
 
     /* TODO: Verify epsilon */
     /* FIXME: Infinite loop when epsilon too low and shapes is too far from 0 (precision issue) */
-    const f32 epsilon = 0.0000100;
+    const f32 epsilon = 0.0000100f;
     struct gjk_simplex s = { 0 };
     b32 colliding = false;
     struct gjk_menkowski_point *proto = NULL;

src/sys_win32.c

@@ -869,7 +869,7 @@ INTERNAL void win32_update_window_from_system(struct win32_window *window)
 
     /* TODO: Error if we can't get monitor info */
     /* Screen dimensions */
-    MONITORINFO monitor_info = {sizeof(monitor_info)};
+    MONITORINFO monitor_info = { .cbSize = sizeof(monitor_info) };
     GetMonitorInfo(MonitorFromWindow(hwnd, MONITOR_DEFAULTTOPRIMARY), &monitor_info);
     RECT monitor_rect = monitor_info.rcMonitor;
     window->monitor_width = monitor_rect.right - monitor_rect.left;
@@ -877,7 +877,7 @@ INTERNAL void win32_update_window_from_system(struct win32_window *window)
 
     /* Minimized / maximized */
     if (window->flags & SYS_WINDOW_FLAG_SHOWING) {
-        WINDOWPLACEMENT placement = {sizeof(placement)};
+        WINDOWPLACEMENT placement = { .length = sizeof(placement) };
         GetWindowPlacement(hwnd, &placement);
         if (placement.showCmd == SW_SHOWMINIMIZED) {
             window->settings.flags |= SYS_WINDOW_SETTINGS_FLAG_MINIMIZED;

src/ttf_dwrite.cpp

@@ -202,6 +202,8 @@ struct ttf_decode_result ttf_decode(struct arena *arena, struct buffer encoded,
 
         /* Compute glyph metrics */
         DWRITE_GLYPH_METRICS glyph_metrics = { 0 };
+
+
         error = font_face->GetDesignGlyphMetrics(&i, 1, &glyph_metrics, false);
 
         f32 off_x = (f32)bounding_box.left - raster_target_x;