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feat(physics): reworked physics to use colliders, allowing for bodies with multiple colliders

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Sara 2023-11-25 21:52:12 +01:00
parent 84a940d046
commit 240186c8de
13 changed files with 137 additions and 132 deletions
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37
core/src/collision.c
View file

@ -1,6 +1,7 @@
#include "collision.h"
#include "vmath.h"
#include "rigidbody.h"
#include "collider.h"
// =====================================================
// Shape overlap test using the separating axis theorem
@ -49,18 +50,18 @@ Vector _internal_collision_overlap_on_axis(PhysicsQuery self, PhysicsQuery other
}
static
int _internal_collision_get_collisions(PhysicsEntity self, PhysicsEntity other, Collision* out) {
int _internal_collision_get_collisions(Collider* self, Collider* other, Collision* out) {
// get components used
Shape* self_shape = self.tc->get_shape(self.data);
Transform* self_transform = self.transformable->get_transform(self.data);
Shape* self_shape = collider_get_shape(self);
Transform* self_transform = rigidbody_get_transform(collider_get_rigidbody(self));
PhysicsQuery self_query = {
.shape = self_shape,
.transform = self_transform,
.mask = 0x0 // not used
};
PhysicsQuery other_query = {
.shape = other.tc->get_shape(other.data),
.transform = other.transformable->get_transform(other.data),
.shape = collider_get_shape(other),
.transform = rigidbody_get_transform(collider_get_rigidbody(other)),
.mask = 0x0 // not used
};
@ -77,8 +78,8 @@ int _internal_collision_get_collisions(PhysicsEntity self, PhysicsEntity other,
// the next point on the line
size_t next_index = (point_index + 1) % self_point_count;
// get the two points defining the collision edge
Vector edge_lhs = shape_get_point_transformed(self.tc->get_shape(self.data), point_index, *self_transform);
Vector edge_rhs = shape_get_point_transformed(self.tc->get_shape(self.data), next_index, *self_transform);
Vector edge_lhs = shape_get_point_transformed(self_shape, point_index, *self_transform);
Vector edge_rhs = shape_get_point_transformed(self_shape, next_index, *self_transform);
// the direction of the line
Vector normal = vnormalizedf(vperpendicularf(vsubf(edge_rhs, edge_lhs)));
@ -96,8 +97,8 @@ int _internal_collision_get_collisions(PhysicsEntity self, PhysicsEntity other,
}
}
RigidBody* rba = self.tc->get_rigidbody(self.data);
RigidBody* rbb = other.tc->get_rigidbody(other.data);
RigidBody* rba = collider_get_rigidbody(self);
RigidBody* rbb = collider_get_rigidbody(other);
const Vector velocity = vsubf(rigidbody_get_velocity(rba), rigidbody_get_velocity(rbb));
const Vector normal = vnormalizedf(shortest_escape);
Vector world_point = _internal_collision_get_range_on_axis(self_query, normal).minpoint;
@ -118,9 +119,9 @@ int _internal_collision_get_collisions(PhysicsEntity self, PhysicsEntity other,
return !veqf(shortest_escape, ZeroVector);
}
Collision collision_invert(Collision collision_a, PhysicsEntity a) {
RigidBody* body = collision_a.other.tc->get_rigidbody(collision_a.other.data);
Shape* shape = collision_a.other.tc->get_shape(collision_a.other.data);
Collision collision_invert(Collision collision_a, Collider* a) {
RigidBody* body = collider_get_rigidbody(a);
Shape* shape = collider_get_shape(a);
Transform* transform = rigidbody_get_transform(body);
Vector world_point = _internal_collision_get_range_on_axis((PhysicsQuery){.shape = shape, .transform = transform }, collision_a.normal).maxpoint;
@ -136,7 +137,7 @@ Collision collision_invert(Collision collision_a, PhysicsEntity a) {
};
}
int collision_check(PhysicsEntity a, PhysicsEntity b, Collision* out_a, Collision* out_b) {
int collision_check(Collider* a, Collider* b, Collision* out_a, Collision* out_b) {
Collision collision_a, collision_b;
int collision_a_overlaps = _internal_collision_get_collisions(a, b, &collision_a);
int collision_b_overlaps = _internal_collision_get_collisions(b, a, &collision_b);
@ -180,11 +181,7 @@ int _internal_overlap_check(PhysicsQuery a, PhysicsQuery b) {
return 1;
}
int overlap_check(PhysicsQuery query, PhysicsEntity entity) {
PhysicsQuery entity_q = {
.shape = entity.tc->get_shape(entity.data),
.transform = entity.transformable->get_transform(entity.data),
.mask = rigidbody_get_layers(entity.tc->get_rigidbody(entity.data)),
};
return (query.mask & entity_q.mask) != 0 && _internal_overlap_check(query, entity_q) || _internal_overlap_check(entity_q, query);
int overlap_check(PhysicsQuery query, Collider* collider) {
PhysicsQuery collider_query = collider_to_query(collider);
return (query.mask & collider_query.mask) != 0 && _internal_overlap_check(query, collider_query) || _internal_overlap_check(collider_query, query);
}

30
core/src/collision.h
View file

@ -3,31 +3,13 @@
#include "shape.h"
#include "physics_entity.h"
#include <stddef.h>
#include "rigidbody.h"
#include "physics.h"
typedef uint32_t PhysicsMask;
typedef struct Collider Collider;
typedef struct Collision {
PhysicsEntity other;
Vector point;
Vector normal;
Vector velocity;
Vector penetration_vector;
Vector edge_left;
Vector edge_right;
} Collision;
typedef struct PhysicsQuery {
Shape* shape;
Transform* transform;
PhysicsMask mask;
} PhysicsQuery;
extern Collision collision_invert(Collision src, PhysicsEntity new_other);
extern int collision_check(PhysicsEntity a, PhysicsEntity b, Collision* out_a, Collision* out_b);
extern int overlap_check(PhysicsQuery query, PhysicsEntity entity);
extern Collision collision_invert(Collision src, Collider* new_other);
extern int collision_check(Collider* a, Collider* b, Collision* out_a, Collision* out_b);
extern int overlap_check(PhysicsQuery query, Collider* collider);
#endif // !_fencer_collision_h

14
core/src/physics_entity.c
View file

@ -4,13 +4,15 @@
#include "shape.h"
#include "render.h"
#include "debug.h"
#include "collider.h"
void physics_entity_debug_draw(PhysicsEntity self) {
RigidBody* body = self.tc->get_rigidbody(self.data);
Shape* shape = self.tc->get_shape(self.data);
Transform* transform = self.transformable->get_transform(self.data);
Transform* transform = rigidbody_get_transform(body);
shape_draw(shape, *transform);
list_foreach(Collider**, collider, rigidbody_get_colliders(body)) {
shape_draw(collider_get_shape(*collider), *transform);
}
rigidbody_debug_draw_contacts(body);
Vector lhs = transform->position;
@ -81,18 +83,14 @@ void physics_entity_update(PhysicsEntity self) {
List* contacts = rigidbody_get_contacts(body);
if(contacts->len > 0) {
if(rigidbody_get_overlap(body) == 1) {
list_foreach(Contact*, contact, contacts)
self.tc->on_overlap(self.data, contact->hit.other);
} else {
if (rigidbody_is_static(body) == 0) {
physics_entity_solve_contacts(self, contacts);
}
list_foreach(Contact *, contact, contacts) {
self.tc->on_collision(self.data, contact->hit);
}
}
}
rigidbody_collect_contacts(body);
ASSERT_RETURN(!visnanf(rigidbody_get_velocity(body)),, "Velocity is NaN (1)");

17
core/src/physics_entity.h
View file

@ -1,20 +1,20 @@
#ifndef _fencer_collidable_h
#define _fencer_collidable_h
#include "vmath.h"
#include "typeclass_helpers.h"
#include "list.h"
#include "shape.h"
#include "transformable.h"
typedef struct Collider Collider;
typedef struct Collision Collision;
typedef struct RigidBody RigidBody;
typedef struct PhysicsEntity PhysicsEntity;
typedef struct IPhysicsEntity {
RigidBody* (*const get_rigidbody)(void* self);
Shape* (*const get_shape)(void* self);
void(*const on_collision)(void* self, Collision collision);
void(*const on_overlap)(void* self, PhysicsEntity other);
void(*const on_overlap)(void* self, Collider* other);
} IPhysicsEntity;
typedef struct PhysicsEntity {
@ -28,18 +28,15 @@ extern void physics_entity_solve_contacts(PhysicsEntity self, List* contacts);
extern void physics_entity_update(PhysicsEntity self);
#define impl_PhysicsEntity_for(T, get_rigidbody_f, get_shape_f, on_collision_f, on_overlap_f)\
#define impl_PhysicsEntity_for(T, get_rigidbody_f, on_collision_f, on_overlap_f)\
static inline PhysicsEntity T##_as_PhysicsEntity(T* x) {\
TC_FN_TYPECHECK(Transformable, T##_as_Transformable, T*);\
TC_FN_TYPECHECK(RigidBody*, get_rigidbody_f, T*);\
TC_FN_TYPECHECK(Shape*, get_shape_f, T*);\
TC_FN_TYPECHECK(void, on_collision_f, T*, Collision);\
TC_FN_TYPECHECK(void, on_overlap_f, T*, PhysicsEntity);\
TC_FN_TYPECHECK(void, on_overlap_f, T*, Collider*);\
static IPhysicsEntity const tc = {\
.get_rigidbody = (RigidBody*(*const)(void*)) get_rigidbody_f,\
.get_shape = (Shape*(*const)(void*)) get_shape_f,\
.on_collision = (void(*const)(void*,Collision)) on_collision_f,\
.on_overlap = (void(*const)(void*,PhysicsEntity)) on_overlap_f,\
.on_overlap = (void(*const)(void*,Collider*)) on_overlap_f,\
};\
Transformable transformable = T##_as_Transformable(x);\
return (PhysicsEntity){.data = x, .tc = &tc, .transformable = transformable.tc};\

48
core/src/physics_world.c
View file

@ -1,6 +1,7 @@
#include "physics_world.h"
#include "debug.h"
#include "collision.h"
#include "collider.h"
#include "rigidbody.h"
static List _world_bodies;
@ -29,30 +30,53 @@ void physics_world_remove_entity(PhysicsEntity entity) {
ASSERT_RETURN(0,, "Physics entity with data at %p is not registered in physics world", entity.data);
}
PhysicsEntity physics_world_query(PhysicsQuery query) {
list_foreach(PhysicsEntity*, entity, &_world_bodies) {
if(overlap_check(query, *entity))
return *entity;
Collider* physics_world_query(PhysicsQuery query) {
list_foreach(RigidBody**, body, &_world_bodies) {
list_foreach(Collider**, collider, rigidbody_get_colliders(*body)) {
if(overlap_check(query, *collider))
return *collider;
}
}
return NULL;
}
static inline
void _internal_physics_check_entities(PhysicsEntity left, PhysicsEntity right) {
RigidBody* rbleft = left.tc->get_rigidbody(left.data);
RigidBody* rbright = right.tc->get_rigidbody(right.data);
Collision collision_left, collision_right;
int is_overlap = 0;
list_foreach(Collider**, left_col, rigidbody_get_colliders(rbleft)) {
list_foreach(Collider**, right_col, rigidbody_get_colliders(rbright)) {
is_overlap = collider_is_overlap(*left_col) || collider_is_overlap(*right_col);
if(collision_check(*left_col, *right_col, &collision_left, &collision_right)) {
if(is_overlap) {
left.tc->on_overlap(left.data, *right_col);
right.tc->on_overlap(right.data, *left_col);
} else {
rigidbody_add_contact(rbleft, collision_left);
rigidbody_add_contact(rbright, collision_right);
}
}
}
}
}
static inline
void _internal_physics_narrow_collision() {
size_t half_end = _world_bodies.len/2;
Collision collision_left, collision_right;
PhysicsEntity* right = NULL;
list_foreach(PhysicsEntity*, left, &_world_bodies) {
for(size_t right_index = 0; right_index < half_end; ++right_index) {
right = list_at_as(PhysicsEntity, &_world_bodies, right_index);
if(left->data == right->data) continue;
if(collision_check(*left, *right, &collision_left, &collision_right)) {
left->tc->on_collision(left->data, collision_left);
right->tc->on_collision(right->data, collision_right);
rigidbody_add_contact(left->tc->get_rigidbody(left->data), collision_left);
rigidbody_add_contact(right->tc->get_rigidbody(right->data), collision_right);
}
if(left->data == right->data) continue;
_internal_physics_check_entities(*left, *right);
}
}
}

2
core/src/physics_world.h
View file

@ -10,7 +10,7 @@ extern void physics_world_clean();
extern void physics_world_add_entity(PhysicsEntity entity);
extern void physics_world_remove_entity(PhysicsEntity entity);
extern PhysicsEntity physics_world_query(PhysicsQuery query);
extern Collider* physics_world_query(PhysicsQuery query);
extern void physics_world_tick();

30
core/src/rigidbody.c
View file

@ -19,7 +19,8 @@ struct RigidBody {
PhysicsMask layers;
PhysicsMask collision_mask;
int overlap;
List colliders;
int is_static;
List contacts;
@ -42,7 +43,7 @@ RigidBody* rigidbody_make(Transformable transform) {
.layers = 0x1,
.collision_mask = 0x1,
.overlap = 0,
.colliders = list_from_type(Collider*),
.is_static = 0,
@ -158,14 +159,6 @@ void rigidbody_set_collision_mask(RigidBody* self, PhysicsMask mask) {
self->collision_mask = mask;
}
int rigidbody_get_overlap(RigidBody* self) {
return self->overlap;
}
void rigidbody_set_overlap(RigidBody* self, int value) {
self->overlap = 1;
}
int rigidbody_is_static(RigidBody* self) {
return self->is_static;
}
@ -187,6 +180,23 @@ Vector rigidbody_get_force(RigidBody* self) {
return self->next_linear_force;
}
void rigidbody_add_collider(RigidBody *self, Collider* collider) {
list_add(&self->colliders, &collider);
}
void rigidbody_remove_collider(RigidBody *self, Collider* collider) {
for(size_t i = 0; i < self->colliders.len; ++i) {
if(collider == *list_at_as(Collider*, &self->colliders, i)) {
list_erase(&self->colliders, i);
return;
}
}
}
List* rigidbody_get_colliders(RigidBody* self) {
return &self->colliders;
}
void rigidbody_debug_draw_contacts(RigidBody* self) {
list_foreach(Contact*, contact, &self->contacts) {
_internal_debug_draw_collision_edge(self, contact);

10
core/src/rigidbody.h
View file

@ -4,12 +4,11 @@
#include "shape.h"
#include "transformable.h"
#include "list.h"
#include "collision.h"
#include "stdint.h"
#include "physics.h"
struct Collision;
typedef struct {
struct Collision hit;
Collision hit;
float duration;
} Contact;
@ -54,7 +53,12 @@ extern void rigidbody_set_velocity(RigidBody* self, Vector velocity);
extern Vector rigidbody_get_force(RigidBody* self);
extern void rigidbody_add_collider(RigidBody* self, Collider* collider);
extern void rigidbody_remove_collider(RigidBody* self, Collider* collider);
extern List* rigidbody_get_colliders(RigidBody* self);
extern void rigidbody_debug_draw_contacts(RigidBody* self);
extern Transform* rigidbody_get_transform(RigidBody* self);
impl_Transformable_for(RigidBody,

25
game/src/Player.c
View file

@ -27,12 +27,7 @@ Player* MakePlayer() {
*self = (Player) {
.transform = IdentityTransform,
.rigidbody = NULL,
.collisionShape = shape_new((Vector[]){
MakeVector(-0.15, -0.15),
MakeVector( 0.15, -0.15),
MakeVector( 0.15, 0.0),
MakeVector(-0.15, 0.0)
}, 4),
.physicsCollider = NULL,
.playerInput = playerinput_new(self, -1),
.moveInput = ZeroVector,
.attackInput = 0,
@ -45,8 +40,14 @@ Player* MakePlayer() {
};
self->rigidbody = rigidbody_make(Player_as_Transformable(self));
self->physicsCollider = collider_new(self->rigidbody, shape_new((Vector[]){
MakeVector(-0.15, -0.065),
MakeVector( 0.15, -0.065),
MakeVector( 0.15, 0.065),
MakeVector(-0.15, 0.065)
}, 4), 0, 0x1);
sprite_set_origin(self->sprite, MakeVector(0.45f, 1.f));
sprite_set_origin(self->sprite, MakeVector(0.45f, 0.925f));
self->idle = animation_sprite_new(self->sprite, spritesheet_load("assets/Player_Idle.png", IVectorFrom(512)), 1.5f, LoopMode_Loop);
self->walk = animation_sprite_new(self->sprite, spritesheet_load("assets/Player_Walk.png", IVectorFrom(512)), 5.f, LoopMode_Loop);
@ -70,8 +71,8 @@ Player* SpawnPlayer(Vector location) {
}
void DestroyPlayer(Player* self) {
collider_destroy(self->physicsCollider);
rigidbody_destroy(self->rigidbody);
shape_destroy(self->collisionShape);
playerinput_drop(self->playerInput);
@ -105,7 +106,7 @@ void PlayerUpdate(Player* self, float deltaTime) {
void PlayerDraw(Player* self) {
animation_sprite_draw(self->currentAnimation, &self->transform);
shape_draw(self->collisionShape, self->transform);
shape_draw(collider_get_shape(self->physicsCollider), self->transform);
}
Transform* PlayerGetTransform(Player* self) {
@ -116,9 +117,5 @@ RigidBody* PlayerGetRigidBody(Player* self) {
return self->rigidbody;
}
Shape* PlayerGetCollisionShape(Player* self) {
return self->collisionShape;
}
void PlayerOnCollision(Player* self, Collision collision) {}
void PlayerOnOverlap(Player* self, PhysicsEntity other) {}
void PlayerOnOverlap(Player* self, Collider* other) {}

8
game/src/Player.h
View file

@ -10,7 +10,7 @@
#include "transform.h"
#include "player_input.h"
#include "rigidbody.h"
#include "shape.h"
#include "collider.h"
extern const Vector PLAYER_SPEED;
@ -18,7 +18,7 @@ typedef struct Player {
Transform transform;
RigidBody* rigidbody;
Shape* collisionShape;
Collider* physicsCollider;
PlayerInput* playerInput;
@ -52,9 +52,8 @@ void PlayerDraw(Player* self);
Transform* PlayerGetTransform(Player* self);
RigidBody* PlayerGetRigidBody(Player* self);
Shape* PlayerGetCollisionShape(Player* self);
void PlayerOnCollision(Player* self, Collision collision);
void PlayerOnOverlap(Player* self, PhysicsEntity other);
void PlayerOnOverlap(Player* self, Collider* other);
static long PlayerGetDepth(Player* self) { return -(int)(self->transform.position.y * 1000); }
@ -75,7 +74,6 @@ impl_Transformable_for(Player,
impl_PhysicsEntity_for(Player,
PlayerGetRigidBody,
PlayerGetCollisionShape,
PlayerOnCollision,
PlayerOnOverlap
)

17
game/src/Prop.c
View file

@ -10,15 +10,16 @@ Prop* MakeProp(Sprite* sprite, Shape* shape) {
.transform = IdentityTransform,
.sprite = sprite,
.rigidbody = NULL,
.collisionShape = shape
.collisionShape = NULL
};
self->rigidbody = rigidbody_make(Prop_as_Transformable(self));
self->collisionShape = collider_new(self->rigidbody, shape, 0, 0x1);
rigidbody_set_static(self->rigidbody, 1);
sprite_set_origin(self->sprite, MakeVector(0.5f, 1.0f));
return self;
}
Prop* SpawnProp(Vector location, Sprite* sprite, Shape* shape) {
Prop* SpawnProp(Vector location, Sprite* sprite, Shape* shape, Vector origin) {
Prop* self = MakeProp(sprite, shape);
self->transform.position
@ -28,13 +29,15 @@ Prop* SpawnProp(Vector location, Sprite* sprite, Shape* shape) {
game_world_add_entity(Prop_as_BehaviourEntity(self));
physics_world_add_entity(Prop_as_PhysicsEntity(self));
sprite_set_origin(self->sprite, origin);
return self;
}
void DestroyProp(Prop* self) {
sprite_destroy(self->sprite);
collider_destroy(self->collisionShape);
rigidbody_destroy(self->rigidbody);
shape_destroy(self->collisionShape);
free(self);
}
@ -43,11 +46,11 @@ void PropUpdate(Prop* self, float deltaTime) {}
void PropDraw(Prop* self) {
sprite_draw(self->sprite, self->transform);
shape_draw(self->collisionShape, self->transform);
shape_draw(collider_get_shape(self->collisionShape), self->transform);
}
void PropOnCollision(Prop* self, Collision collision) {}
void PropOnOverlap(Prop* self, PhysicsEntity other) {}
void PropOnOverlap(Prop* self, Collider* other) {}
Transform* PropGetTransform(Prop* self) {
return &self->transform;
@ -56,7 +59,3 @@ Transform* PropGetTransform(Prop* self) {
RigidBody* PropGetRigidBody(Prop* self) {
return self->rigidbody;
}
Shape* PropGetCollisionShape(Prop* self) {
return self->collisionShape;
}

10
game/src/Prop.h
View file

@ -8,17 +8,17 @@
#include "transform.h"
#include "sprite.h"
#include "rigidbody.h"
#include "shape.h"
#include "collider.h"
typedef struct Prop {
Transform transform;
Sprite* sprite;
RigidBody* rigidbody;
Shape* collisionShape;
Collider* collisionShape;
} Prop;
Prop* MakeProp(Sprite* sprite, Shape* shape);
Prop* SpawnProp(Vector location, Sprite* sprite, Shape* shape);
Prop* SpawnProp(Vector location, Sprite* sprite, Shape* shape, Vector origin);
void DestroyProp(Prop* self);
void PropStart(Prop* self);
@ -26,11 +26,10 @@ void PropUpdate(Prop* self, float deltaTime);
void PropDraw(Prop* self);
void PropOnCollision(Prop* self, Collision collision);
void PropOnOverlap(Prop* self, PhysicsEntity other);
void PropOnOverlap(Prop* self, Collider* other);
Transform* PropGetTransform(Prop* self);
RigidBody* PropGetRigidBody(Prop* self);
Shape* PropGetCollisionShape(Prop* self);
static long PropGetDepth(Prop* self) { return -(int)(self->transform.position.y * 1000); }
@ -40,7 +39,6 @@ impl_Transformable_for(Prop,
impl_PhysicsEntity_for(Prop,
PropGetRigidBody,
PropGetCollisionShape,
PropOnCollision,
PropOnOverlap
)

11
game/src/beat-em-up.c
View file

@ -8,11 +8,12 @@ void play() {
SpawnProp(MakeVector(2.f, 0.f),
sprite_from_spritesheet(spritesheet_load("assets/bag.png", IVectorFrom(512)), 0),
shape_new((Vector[]){
MakeVector(-0.25, -0.1),
MakeVector(0.25, -0.1),
MakeVector(0.25, 0.0),
MakeVector(-0.25, 0.0)
}, 4)
MakeVector(-0.2, -0.1),
MakeVector( 0.2, -0.1),
MakeVector( 0.2, 0.05),
MakeVector(-0.2, 0.05)
}, 4),
MakeVector(0.5f, .95f)
);
SpawnPlayer(ZeroVector);
}