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Update collision detection sample

master
En Yi 2025-01-04 16:40:53 +08:00
parent 0106e2673f
commit a05a021976
2 changed files with 74 additions and 34 deletions
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10
engine/geometry/geometry.c
View File

@ -84,7 +84,10 @@ double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly*
for(int i = 0; i<A.count; i++){ for(int i = 0; i<A.count; i++){
if(leading_verts_a[i]){ if(leading_verts_a[i]){
double v_t = PointToSegmentTOI(A.verts[i], vA2B, B.verts[j], B.verts[(j+1)%B.count]); double v_t = PointToSegmentTOI(A.verts[i], vA2B, B.verts[j], B.verts[(j+1)%B.count]);
if(v_t <= t){ //Original check is (v_t <= t), but we want to override only if there is a shorter time.
// Change to check if difference is within some threshold
// This is fine because the value should fall between 0 and 1
if(v_t - t < -1e-6){
if(v_t<0) return INFINITY; //point collided in the past, therefore this is a degenerate case if(v_t<0) return INFINITY; //point collided in the past, therefore this is a degenerate case
t = v_t; t = v_t;
@ -102,7 +105,7 @@ double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly*
for(int i = 0; i<B.count; i++){ for(int i = 0; i<B.count; i++){
if(leading_verts_b[i]){ if(leading_verts_b[i]){
double v_t = PointToSegmentTOI(B.verts[i], vB2A, A.verts[j], A.verts[(j+1)%A.count]); double v_t = PointToSegmentTOI(B.verts[i], vB2A, A.verts[j], A.verts[(j+1)%A.count]);
if(v_t <= t){ if(v_t - t < -1e-6){
if(v_t<0) return INFINITY; //point collided in the past, therefore this is a degenerate case if(v_t<0) return INFINITY; //point collided in the past, therefore this is a degenerate case
t = v_t; t = v_t;
@ -194,7 +197,6 @@ double CircleToPolyTOI(c2Circle cA, c2v vA, const c2Poly* pB, const c2x* bx_ptr,
} }
double CircleToCircleTOI(c2Circle cA, c2v vA, c2Circle cB, c2v vB, c2v* out_normal, c2v* out_contact_point){ double CircleToCircleTOI(c2Circle cA, c2v vA, c2Circle cB, c2v vB, c2v* out_normal, c2v* out_contact_point){
//return c2TOI(&cA, C2_TYPE_CIRCLE, NULL, vA, &cB, C2_TYPE_CIRCLE, NULL, vB, true, out_normal, out_contact_point, NULL);
c2v vA2B = c2Sub(vA, vB); c2v vA2B = c2Sub(vA, vB);
double t = PointToCircleTOI(cA.p, vA2B, cB.p, cB.r+cA.r); double t = PointToCircleTOI(cA.p, vA2B, cB.p, cB.r+cA.r);
@ -212,7 +214,6 @@ double CircleToCircleTOI(c2Circle cA, c2v vA, c2Circle cB, c2v vB, c2v* out_norm
double PolyToCapsuleTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point){ double PolyToCapsuleTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point){
//return c2TOI(pA, C2_TYPE_POLY, ax_ptr, vA, &cB, C2_TYPE_CAPSULE, NULL, vB, true, out_normal, out_contact_point, NULL);
//degenerate cases, zero movement //degenerate cases, zero movement
if(vA.x==vB.x && vA.y==vB.y) return INFINITY; if(vA.x==vB.x && vA.y==vB.y) return INFINITY;
@ -344,7 +345,6 @@ double CapsuleToPolyTOI(c2Capsule cA, c2v vA, const c2Poly* pB, const c2x* bx_pt
double CapsuleToCapsuleTOI(c2Capsule cA, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point){ double CapsuleToCapsuleTOI(c2Capsule cA, c2v vA, c2Capsule cB, c2v vB, c2v* out_normal, c2v* out_contact_point){
//return c2TOI(&cA, C2_TYPE_CAPSULE, NULL, vA, &cB, C2_TYPE_CAPSULE, NULL, vB, true, out_normal, out_contact_point, NULL);
//degenerate cases, zero movement //degenerate cases, zero movement
if(vA.x==vB.x && vA.y==vB.y) return INFINITY; if(vA.x==vB.x && vA.y==vB.y) return INFINITY;

98
engine/tests/geometry/samples/collision_sample.c
View File

@ -9,6 +9,7 @@ const int screenHeight = 450;
typedef struct Shape { typedef struct Shape {
Vector2 pos; Vector2 pos;
Vector2 center;
Vector2 vel; Vector2 vel;
C2_TYPE type; C2_TYPE type;
union { union {
@ -25,8 +26,8 @@ void DrawShape(const Shape* shape) {
{ {
case C2_TYPE_AABB: case C2_TYPE_AABB:
DrawRectangle( DrawRectangle(
shape->pos.x - shape->shape.boxDim.x / 2, shape->center.x - shape->shape.boxDim.x / 2,
shape->pos.y - shape->shape.boxDim.y / 2, shape->center.y - shape->shape.boxDim.y / 2,
shape->shape.boxDim.x, shape->shape.boxDim.x,
shape->shape.boxDim.y, shape->shape.boxDim.y,
shape->colour shape->colour
@ -34,8 +35,8 @@ void DrawShape(const Shape* shape) {
break; break;
case C2_TYPE_CIRCLE: case C2_TYPE_CIRCLE:
DrawCircle( DrawCircle(
shape->pos.x, shape->center.x,
shape->pos.y, shape->shape.circle.r, shape->center.y, shape->shape.circle.r,
shape->colour shape->colour
); );
break; break;
@ -82,29 +83,32 @@ int main(void)
SetTargetFPS(60); SetTargetFPS(60);
Shape A = { Shape A = {
.pos = {300,150}, .pos = {450,150},
.center = {450,150},
.type = C2_TYPE_CIRCLE, .type = C2_TYPE_CIRCLE,
//.shape.box = {{0, 0}, {64, 64}},
.shape.circle = {{0, 0}, 64}, .shape.circle = {{0, 0}, 64},
.colour = RED, .colour = RED,
}; };
Shape B = { Shape B = {
.pos = {43,60}, .pos = {300,150},
.center = {300,150},
.type = C2_TYPE_AABB, .type = C2_TYPE_AABB,
.shape.boxDim = {32, 32}, .shape.boxDim = {32, 32},
.colour = BLUE, .colour = BLUE,
}; };
Shape C = { Shape C = {
.pos = {100,100}, .pos = {200,100},
.center = {200,100},
.type = C2_TYPE_AABB, .type = C2_TYPE_AABB,
.shape.boxDim = {64, 64}, .shape.boxDim = {64, 64},
.colour = PURPLE, .colour = RED,
}; };
Shape D = { Shape D = {
.pos = {200,300}, .pos = {200,250},
.center = {250,266.666},
.type = C2_TYPE_POLY, .type = C2_TYPE_POLY,
.shape.poly = { .shape.poly = {
.count = 3, .count = 3,
@ -141,27 +145,30 @@ int main(void)
} }
move_dir = Vector2Normalize(move_dir); move_dir = Vector2Normalize(move_dir);
B.vel = Vector2Scale(move_dir, 100); B.vel = Vector2Scale(move_dir, 200);
B.pos = Vector2Add( B.pos = Vector2Add(
B.pos , Vector2Scale(B.vel, frame_time) B.pos , Vector2Scale(B.vel, frame_time)
); );
B.center = B.pos;
c2Circle Acirc= { c2Circle Acirc= {
{A.pos.x, A.pos.y}, {A.center.x, A.center.y},
A.shape.circle.r A.shape.circle.r
}; };
c2AABB Bbox= { c2AABB Bbox= {
{B.pos.x - B.shape.boxDim.x / 2, B.pos.y - B.shape.boxDim.y / 2}, {B.center.x - B.shape.boxDim.x / 2, B.center.y - B.shape.boxDim.y / 2},
{B.pos.x + B.shape.boxDim.x / 2, B.pos.y + B.shape.boxDim.y / 2}, {B.center.x + B.shape.boxDim.x / 2, B.center.y + B.shape.boxDim.y / 2},
}; };
c2AABB Cbox= { c2AABB Cbox= {
{C.pos.x - C.shape.boxDim.x / 2, C.pos.y - C.shape.boxDim.y / 2}, {C.center.x - C.shape.boxDim.x / 2, C.center.y - C.shape.boxDim.y / 2},
{C.pos.x + C.shape.boxDim.x / 2, C.pos.y + C.shape.boxDim.y / 2}, {C.center.x + C.shape.boxDim.x / 2, C.center.y + C.shape.boxDim.y / 2},
}; };
Vector2 test_spd = Vector2Normalize(Vector2Subtract(C.pos, B.pos)); const float TEST_VELOCITY = 100;
c2v test_velocityB = {test_spd.x * 100, test_spd.y * 100};
Vector2 test_spd = Vector2Normalize(Vector2Subtract(C.center, B.center));
c2v test_velocityB = {test_spd.x * TEST_VELOCITY, test_spd.y * TEST_VELOCITY};
const c2v static_velocity = {0,0}; const c2v static_velocity = {0,0};
struct TOIInfo toi0 = {0}; struct TOIInfo toi0 = {0};
@ -170,39 +177,72 @@ int main(void)
Cbox, static_velocity, Cbox, static_velocity,
&toi0.normal, &toi0.contact &toi0.normal, &toi0.contact
); );
struct Shape projB0 = B;
projB0.pos = Vector2Add(
projB0.pos ,
(Vector2){test_velocityB.x * toi0.toi, test_velocityB.y * toi0.toi}
);
projB0.center = projB0.pos;
projB0.colour = PINK;
test_spd = Vector2Normalize(Vector2Subtract(A.pos, B.pos)); test_spd = Vector2Normalize(Vector2Subtract(A.center, B.center));
test_velocityB = (c2v){test_spd.x * 100, test_spd.y * 100}; test_velocityB = (c2v){test_spd.x * TEST_VELOCITY, test_spd.y * TEST_VELOCITY};
struct TOIInfo toi1 = {0}; struct TOIInfo toi1 = {0};
toi1.toi = AABBToCircleTOI( toi1.toi = AABBToCircleTOI(
Bbox, test_velocityB, Bbox, test_velocityB,
Acirc, static_velocity, Acirc, static_velocity,
&toi1.normal, &toi1.contact &toi1.normal, &toi1.contact
); );
struct Shape projB1 = B;
projB1.pos = Vector2Add(
projB1.pos ,
(Vector2){test_velocityB.x * toi1.toi, test_velocityB.y * toi1.toi}
);
projB1.center = projB1.pos;
projB1.colour = PINK;
test_spd = Vector2Normalize(Vector2Subtract(D.pos, B.pos)); test_spd = Vector2Normalize(Vector2Subtract(D.center, B.center));
test_velocityB = (c2v){test_spd.x * 100, test_spd.y * 100}; test_velocityB = (c2v){test_spd.x * TEST_VELOCITY, test_spd.y * TEST_VELOCITY};
struct TOIInfo toi2 = {0}; struct TOIInfo toi2 = {0};
toi2.toi = AABBToPolyTOI( toi2.toi = AABBToPolyTOI(
Bbox, test_velocityB, Bbox, test_velocityB,
&D.shape.poly, NULL, static_velocity, &D.shape.poly, NULL, static_velocity,
&toi2.normal, &toi2.contact &toi2.normal, &toi2.contact
); );
struct Shape projB2 = B;
projB2.pos = Vector2Add(
projB2.pos ,
(Vector2){test_velocityB.x * toi2.toi, test_velocityB.y * toi2.toi}
);
projB2.center = projB2.pos;
projB2.colour = PINK;
//char buf[32];
BeginDrawing(); BeginDrawing();
ClearBackground(RAYWHITE); ClearBackground(RAYWHITE);
DrawShape(&A); DrawShape(&A);
DrawShape(&C); DrawShape(&C);
DrawShape(&D); DrawShape(&D);
if (toi0.toi <= 1)
{
DrawShape(&projB0);
draw_toi_info(&toi0);
}
if (toi1.toi <= 1)
{
DrawShape(&projB1);
draw_toi_info(&toi1);
}
if (toi2.toi <= 1)
{
DrawShape(&projB2);
draw_toi_info(&toi2);
}
DrawShape(&B); DrawShape(&B);
DrawLineEx(B.pos, A.pos, 1, BLACK); DrawLineEx(A.center, B.center, 1, BLACK);
DrawLineEx(C.pos, A.pos, 1, BLACK); DrawLineEx(C.center, B.center, 1, BLACK);
DrawLineEx(D.pos, A.pos, 1, BLACK); DrawLineEx(D.center, B.center, 1, BLACK);
//DrawText(buf, A.pos.x, A.pos.y, 12, BLACK); //DrawText(buf, A.pos.x, A.pos.y, 12, BLACK);
draw_toi_info(&toi0);
draw_toi_info(&toi1);
draw_toi_info(&toi2);
EndDrawing(); EndDrawing();
} }
return 0; return 0;