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implemented collision constraint solver

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Sara 2023-10-24 23:14:30 +02:00
parent 256fef97d9
commit e86fa1bdef
10 changed files with 95 additions and 62 deletions
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23
src/player.c
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@ -25,23 +25,6 @@ void player_spawn(Player* self, Vector at) {
}
void player_collision_solver(Player* self, List* contacts) {
RigidBody* body = self->rigidbody;
Collision hit;
const Vector vel = vaddf(rigidbody_get_velocity(body), vmulff(rigidbody_get_force(body), delta_time()));
Vector avrg = ZeroVector;
int n = 0;
list_foreach(Contact, contact, contacts) {
hit = contact->hit;
Vector norm = vnormalizedf(hit.penetration_vector);
LOG_INFO("n %f %f", norm.x, norm.y);
float dot = fmaxf(0, vdotf(norm, hit.velocity));
avrg = vaddf(vmulff(avrg, (float)n), vsubf(vel, vmulff(norm, dot)));
++n;
avrg = vmulff(avrg, 1.0f / (float)n);
}
LOG_INFO("vel %f %f", vel.x, vel.y);
LOG_INFO("for %f %f", avrg.x, avrg.y);
// rigidbody_add_impulse(body, vinvf(avrg), 0);
default_contact_solver(Player_as_PhysicsEntity(self), contacts);
}
@ -78,11 +61,11 @@ void player_start(Player* self) {
void player_update(Player* self, float dt) {
Vector velocity = rigidbody_get_velocity(self->rigidbody);
Vector velocity_target = {directional.x, velocity.y};
Vector velocity_target = {directional.x, directional.y};
rigidbody_accelerate(self->rigidbody, vmulff(vsubf(velocity_target, velocity), 20.f), 0);
rigidbody_accelerate(self->rigidbody, (Vector){0.0f, 20.f}, 0);
// rigidbody_accelerate(self->rigidbody, (Vector){0.0f, 20.f}, 0);
LOG_INFO("%f %f", self->transform.position.x, self->transform.position.y);
// LOG_INFO("%f %f", self->transform.position.x, self->transform.position.y);
}
void player_collision(Player* self, Collision hit) {