From ed274c415ffcb7bdaa01597d038bc166ee2f0c42 Mon Sep 17 00:00:00 2001
From: Sara <sara@saragerretsen.nl>
Date: Wed, 18 Oct 2023 13:21:02 +0200
Subject: [PATCH] IT FUCKING WORKS (collision resolution is now working)
---
src/collision.c | 12 +++++++-----
src/player.c | 2 +-
src/rigidbody.c | 21 ++++++++++++---------
3 files changed, 20 insertions(+), 15 deletions(-)
diff --git a/src/collision.c b/src/collision.c
index e630302..4ebb7c9 100644
--- a/src/collision.c
+++ b/src/collision.c
@@ -1,6 +1,7 @@
#include "collision.h"
#include "debug.h"
#include "player.h"
+#include "vmath.h"
// =====================================================
// Shape overlap test using the separating axis theorem
@@ -78,6 +79,7 @@ int _internal_collision_get_overlap(PhysicsEntity self, PhysicsEntity other, Col
}
if(sqr_mag == 0) {
+ out->separation_force = InfinityVector;
return 0;
}
}
@@ -121,13 +123,13 @@ int collision_check(PhysicsEntity a, PhysicsEntity b, Collision* out_a, Collisio
int collision_a_overlaps = _internal_collision_get_overlap(a, b, &collision_a);
int collision_b_overlaps = _internal_collision_get_overlap(b, a, &collision_b);
- if(!collision_a_overlaps && !collision_b_overlaps)
+ if(!collision_a_overlaps || !collision_b_overlaps)
return 0;
- else if(!collision_a_overlaps && collision_b_overlaps)
- collision_a = _internal_collision_invert(collision_b, b);
- else if(!collision_b_overlaps && collision_a_overlaps)
- collision_b = _internal_collision_invert(collision_a, a);
+ if(vsqrmagnitudef(collision_a.separation_force) < vsqrmagnitudef(collision_b.separation_force))
+ collision_b = _internal_collision_invert(collision_a, a);
+ else
+ collision_a = _internal_collision_invert(collision_b, b);
*out_a = collision_a;
*out_b = collision_b;
diff --git a/src/player.c b/src/player.c
index 7938a99..1a61e8d 100644
--- a/src/player.c
+++ b/src/player.c
@@ -41,7 +41,7 @@ void player_start(Player* self) {
float ex_w = 0.1f;
float h = .75f;
float r = 0.05f;
- float rr = (r/3)*2;
+ float rr = r;
self->shape = shape_new((Vector[]){
{r-ex_w, 0.f}, {-ex_w, -rr},
diff --git a/src/rigidbody.c b/src/rigidbody.c
index 63a2315..35e77ae 100644
--- a/src/rigidbody.c
+++ b/src/rigidbody.c
@@ -69,9 +69,12 @@ static inline
void _internal_rigidbody_collect_contacts(RigidBody* self) {
for(size_t i = 0; i < self->contacts.len; ++i) {
Contact* contact = list_at(&self->contacts, i);
+
if(contact->expiry <= 0) {
- list_erase(&self->contacts, i);
- i--;
+ if(vdotf(vnormalizedf(self->linear_velocity), contact->hit.normal) >= -0.01f || contact->expiry <= -1) {
+ list_erase(&self->contacts, i);
+ i--;
+ }
}
--(contact->expiry);
}
@@ -95,9 +98,13 @@ void _internal_debug_draw_collision_edge(Vector left, Vector right, Vector norma
static inline
Vector _internal_calculate_contact_force(Contact* contact) {
Collision hit = contact->hit;
- const float warming = fminf(1.f, contact->warming);
+
+ if(vsqrmagnitudef(hit.separation_force) < powf(0.01f, 2))
+ return ZeroVector;
+
+ const float warming = 100.f * fminf(1.f, contact->warming);
const float d = 1.0f;
- const float k = 1.0f * warming;
+ const float k = 0.0f * warming;
const float b = 1.0f;
const Vector damping = vmulff(hit.normal, k * d);
@@ -149,11 +156,7 @@ void rigidbody_solve_contacts(RigidBody* self) {
void rigidbody_apply_physics(RigidBody* self) {
Vector position = transformable_get_position(self->transformable);
Vector velocity = vmulff(self->linear_velocity, delta_time());
-
- if(vsqrmagnitudef(velocity) > powf(0.00000f, 2)) {
- transformable_set_position(self->transformable, vaddf(position, velocity));
- }
-
+ transformable_set_position(self->transformable, vaddf(position, velocity));
self->linear_force = ZeroVector;
}