Add second sample for test later

engine/geometry/geometry.c

@@ -88,7 +88,7 @@ double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly*
                     // 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;
                         n = c2Neg(B.norms[j]);
@@ -106,7 +106,7 @@ double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly*
                 if(leading_verts_b[i]){
                     double v_t = PointToSegmentTOI(B.verts[i], vB2A, A.verts[j], A.verts[(j+1)%A.count]);
                     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;
                         n = A.norms[j];
@@ -154,7 +154,7 @@ double PolyToCircleTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2Circle cB,
 
             double v_t = PointToCircleTOI(A.verts[i], vA2B, cB.p, cB.r);
             if(v_t <= t){
-                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;
                 n = c2Sub(
@@ -172,7 +172,7 @@ double PolyToCircleTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, c2Circle cB,
             c2v offset = c2Mulvs(A.norms[i], cB.r);
             double v_t = PointToSegmentTOI(cB.p, vB2A, c2Add(A.verts[i], offset), c2Add(A.verts[(i+1)%A.count], offset));
             if(v_t <= t){
-                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;
                 n = A.norms[i];

engine/tests/geometry/samples/CMakeLists.txt

@@ -4,5 +4,15 @@ target_link_libraries(collisionSample PRIVATE
 )
 set_target_properties(collisionSample
     PROPERTIES
-    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin/manual)
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin/manual
+)
+
+add_executable(collisionSample2 collision_sample2.c)
+target_link_libraries(collisionSample2 PRIVATE
+    engine
+)
+set_target_properties(collisionSample2
+    PROPERTIES
+    RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin/manual
+)
 

engine/tests/geometry/samples/collision_sample2.c

@@ -0,0 +1,177 @@
+#include "cute_c2_ext.h"
+#include "raylib.h"
+#include "raymath.h"
+
+#include <stdio.h>
+
+const int screenWidth = 800;
+const int screenHeight = 450;
+
+typedef struct Shape {
+    Vector2 pos;
+    Vector2 center;
+    Vector2 vel;
+    C2_TYPE type;
+    union {
+        c2v boxDim;
+        c2Circle circle;
+        c2Poly poly;
+    } shape;
+    Color colour;
+} Shape;
+
+
+void DrawShape(const Shape* shape) {
+    switch (shape->type) 
+    {
+        case C2_TYPE_AABB:
+            DrawRectangle(
+                shape->center.x - shape->shape.boxDim.x / 2,
+                shape->center.y - shape->shape.boxDim.y / 2,
+                shape->shape.boxDim.x,
+                shape->shape.boxDim.y,
+                shape->colour
+            );
+        break;
+        case C2_TYPE_CIRCLE:
+            DrawCircle(
+                shape->center.x,
+                shape->center.y, shape->shape.circle.r,
+                shape->colour
+            );
+        break;
+        case C2_TYPE_POLY:
+            for (int i = 0; i < shape->shape.poly.count; ++i) {
+                int next = (i + 1 + shape->shape.poly.count) % shape->shape.poly.count;
+                DrawLineV(
+                    (Vector2){shape->shape.poly.verts[i].x, shape->shape.poly.verts[i].y},
+                    (Vector2){shape->shape.poly.verts[next].x, shape->shape.poly.verts[next].y},
+                    shape->colour
+                );
+            }
+        break;
+        default:
+        break;
+    }
+}
+
+struct TOIInfo {
+    double toi;
+    c2v contact;
+    c2v normal;
+};
+
+void draw_toi_info(const struct TOIInfo* info)
+{
+    if (info->toi != INFINITY)
+    {
+        DrawCircle(info->contact.x, info->contact.y, 4, GREEN);
+        DrawLineEx(
+            (Vector2){info->contact.x, info->contact.y},
+            (Vector2){
+                info->contact.x + info->normal.x * 12,
+                info->contact.y + info->normal.y * 12
+            },
+            2, GREEN
+        );
+    }
+}
+
+int main(void)
+{
+    InitWindow(screenWidth, screenHeight, "raylib");
+    SetTargetFPS(60);
+
+
+    Shape A = {
+        .pos = {300,150},
+        .center = {300,150},
+        .type = C2_TYPE_AABB,
+        .shape.boxDim = {32, 32},
+        .colour = BLUE,
+    };
+
+    Shape B = {
+        .pos = {400,300},
+        .center = {400,300},
+        .type = C2_TYPE_AABB,
+        .shape.boxDim = {256, 64},
+        .colour = RED,
+    };
+
+    //Shape C = {
+    //    .pos = {200,250},
+    //    .center = {250,266.666},
+    //    .type = C2_TYPE_POLY,
+    //    .shape.poly = {
+    //        .count = 3,
+    //        .verts = {
+    //            {0,0},
+    //            {100, 0},
+    //            {50,50},
+    //        },
+    //    },
+    //    .colour = RED,
+    //};
+    //c2MakePoly(&C.shape.poly);
+    //for (int i = 0; i < C.shape.poly.count; ++i) {
+    //    C.shape.poly.verts[i].x += C.pos.x;
+    //    C.shape.poly.verts[i].y += C.pos.y;
+    //}
+
+    while (!WindowShouldClose())
+    {
+        float frame_time = GetFrameTime();
+        Vector2 move_dir = {0};
+
+        if (IsKeyDown(KEY_LEFT)) {
+            move_dir.x += -1;
+        }
+        if (IsKeyDown(KEY_RIGHT)) {
+            move_dir.x += 1;
+        }
+        if (IsKeyDown(KEY_UP)) {
+            move_dir.y += -1;
+        }
+        if (IsKeyDown(KEY_DOWN)) {
+            move_dir.y += 1;
+        }
+
+        move_dir = Vector2Normalize(move_dir);
+        A.vel = Vector2Scale(move_dir, 200);
+
+        c2AABB Abox= {
+            {A.center.x - A.shape.boxDim.x / 2, A.center.y - A.shape.boxDim.y / 2},
+            {A.center.x + A.shape.boxDim.x / 2, A.center.y + A.shape.boxDim.y / 2},
+        };
+        c2AABB Bbox= {
+            {B.center.x - B.shape.boxDim.x / 2, B.center.y - B.shape.boxDim.y / 2},
+            {B.center.x + B.shape.boxDim.x / 2, B.center.y + B.shape.boxDim.y / 2},
+        };
+
+
+        struct TOIInfo toi0 = {0};
+        toi0.toi = AABBToAABBTOI(
+            Abox, (c2v){A.vel.x *frame_time, A.vel.y * frame_time},
+            Bbox, (c2v){0,0},
+            &toi0.normal, &toi0.contact
+        );
+
+
+        A.pos = Vector2Add(
+            A.pos , Vector2Scale(A.vel, frame_time)
+        );
+        A.center = A.pos;
+
+        BeginDrawing();
+            ClearBackground(RAYWHITE);
+            DrawShape(&B);
+            if (toi0.toi <= 1 && toi0.toi > 0)
+            {
+                draw_toi_info(&toi0);
+            }
+            DrawShape(&A);
+        EndDrawing();
+    }
+    return 0;
+}