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SomeGameEngineV2
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Tweak collision logic to for second sample

master
En Yi 2025-01-07 22:17:45 +08:00
parent a9c873d8da
commit b148a0458e
2 changed files with 94 additions and 31 deletions
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8
engine/geometry/geometry.c
View File

@ -87,8 +87,8 @@ double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly*
//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 < t){
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]);
@ -105,8 +105,8 @@ double PolyToPolyTOI(const c2Poly* pA, const c2x* ax_ptr, c2v vA, const c2Poly*
for(int i = 0; i<B.count; i++){
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 < t){
if(v_t<0) return INFINITY; //point collided in the past, therefore this is a degenerate case
t = v_t;
n = A.norms[j];

115
engine/tests/geometry/samples/collision_sample2.c
View File

@ -1,3 +1,4 @@
#include "cute_c2.h"
#include "cute_c2_ext.h"
#include "raylib.h"
#include "raymath.h"
@ -63,6 +64,8 @@ struct TOIInfo {
void draw_toi_info(const struct TOIInfo* info)
{
if (info->toi > 1) return;
if (info->toi != INFINITY)
{
DrawCircle(info->contact.x, info->contact.y, 4, GREEN);
@ -77,6 +80,25 @@ void draw_toi_info(const struct TOIInfo* info)
}
}
void check_collision_and_move(struct Shape* shape, const struct TOIInfo* toi) {
if (toi->toi < 1)
{
Vector2 normal = {-toi->normal.x, -toi->normal.y};
Vector2 nV =
Vector2Scale(
normal,
fabs(
Vector2DotProduct(
normal,
Vector2Scale(shape->vel, 1.0-toi->toi)
) - 0.2)
);
shape->vel = Vector2Add(
shape->vel, nV
);
}
}
int main(void)
{
InitWindow(screenWidth, screenHeight, "raylib");
@ -92,36 +114,44 @@ int main(void)
};
Shape B = {
.pos = {400,300},
.center = {400,300},
.pos = {200,300},
.center = {200,300},
.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;
//}
Shape C = {
.pos = {328,268},
.center = {250,266.666},
.type = C2_TYPE_POLY,
.shape.poly = {
.count = 3,
.verts = {
{0,0},
{100, -50},
{100,0},
},
},
.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;
}
Shape D = {
.pos = {460,243},
.center = {460,243},
.type = C2_TYPE_AABB,
.shape.boxDim = {64, 50},
.colour = RED,
};
while (!WindowShouldClose())
{
float frame_time = GetFrameTime();
float frame_time = 1.0/60;
Vector2 move_dir = {0};
if (IsKeyDown(KEY_LEFT)) {
@ -138,7 +168,8 @@ int main(void)
}
move_dir = Vector2Normalize(move_dir);
A.vel = Vector2Scale(move_dir, 200);
A.vel = Vector2Scale(move_dir, 400);
A.vel.y += 15000 * frame_time;
c2AABB Abox= {
{A.center.x - A.shape.boxDim.x / 2, A.center.y - A.shape.boxDim.y / 2},
@ -149,6 +180,28 @@ int main(void)
{B.center.x + B.shape.boxDim.x / 2, B.center.y + B.shape.boxDim.y / 2},
};
c2AABB Dbox= {
{D.center.x - D.shape.boxDim.x / 2, D.center.y - D.shape.boxDim.y / 2},
{D.center.x + D.shape.boxDim.x / 2, D.center.y + D.shape.boxDim.y / 2},
};
// Actually need to order via TOI and resolve
// For each resolve, recheck TOI
struct TOIInfo toi1 = {0};
toi1.toi = AABBToPolyTOI(
Abox, (c2v){A.vel.x *frame_time, A.vel.y * frame_time},
&C.shape.poly, NULL, (c2v){0,0},
&toi1.normal, &toi1.contact
);
check_collision_and_move(&A, &toi1);
struct TOIInfo toi2 = {0};
toi2.toi = AABBToAABBTOI(
Abox, (c2v){A.vel.x *frame_time, A.vel.y * frame_time},
Dbox, (c2v){0,0},
&toi2.normal, &toi2.contact
);
check_collision_and_move(&A, &toi2);
struct TOIInfo toi0 = {0};
toi0.toi = AABBToAABBTOI(
@ -157,19 +210,29 @@ int main(void)
&toi0.normal, &toi0.contact
);
check_collision_and_move(&A, &toi0);
A.pos = Vector2Add(
A.pos , Vector2Scale(A.vel, frame_time)
);
A.center = A.pos;
char buf[32];
BeginDrawing();
ClearBackground(RAYWHITE);
DrawShape(&B);
if (toi0.toi <= 1 && toi0.toi > 0)
{
DrawShape(&C);
DrawShape(&D);
draw_toi_info(&toi0);
}
draw_toi_info(&toi1);
draw_toi_info(&toi2);
sprintf(buf, "TOI: %.3f, %.3f, %.3f", toi0.toi, toi1.toi, toi2.toi);
DrawText(buf, 16, 16, 12, BLACK);
sprintf(buf, "Velocity: %.3f, %.3f", A.vel.x, A.vel.y);
DrawText(buf, 16, 32, 12, BLACK);
DrawShape(&A);
EndDrawing();
}