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IT FUCKING WORKS (collision resolution is now working)

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Sara 2023-10-18 13:21:02 +02:00
parent 74369d88fe
commit ed274c415f
3 changed files with 20 additions and 15 deletions
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12
src/collision.c
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@ -1,6 +1,7 @@
#include "collision.h" #include "collision.h"
#include "debug.h" #include "debug.h"
#include "player.h" #include "player.h"
#include "vmath.h"
// ===================================================== // =====================================================
// Shape overlap test using the separating axis theorem // 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) { if(sqr_mag == 0) {
out->separation_force = InfinityVector;
return 0; 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_a_overlaps = _internal_collision_get_overlap(a, b, &collision_a);
int collision_b_overlaps = _internal_collision_get_overlap(b, a, &collision_b); 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; 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_a = collision_a;
*out_b = collision_b; *out_b = collision_b;

2
src/player.c
View file

@ -41,7 +41,7 @@ void player_start(Player* self) {
float ex_w = 0.1f; float ex_w = 0.1f;
float h = .75f; float h = .75f;
float r = 0.05f; float r = 0.05f;
float rr = (r/3)*2; float rr = r;
self->shape = shape_new((Vector[]){ self->shape = shape_new((Vector[]){
{r-ex_w, 0.f}, {-ex_w, -rr}, {r-ex_w, 0.f}, {-ex_w, -rr},

15
src/rigidbody.c
View file

@ -69,10 +69,13 @@ static inline
void _internal_rigidbody_collect_contacts(RigidBody* self) { void _internal_rigidbody_collect_contacts(RigidBody* self) {
for(size_t i = 0; i < self->contacts.len; ++i) { for(size_t i = 0; i < self->contacts.len; ++i) {
Contact* contact = list_at(&self->contacts, i); Contact* contact = list_at(&self->contacts, i);
if(contact->expiry <= 0) { if(contact->expiry <= 0) {
if(vdotf(vnormalizedf(self->linear_velocity), contact->hit.normal) >= -0.01f || contact->expiry <= -1) {
list_erase(&self->contacts, i); list_erase(&self->contacts, i);
i--; i--;
} }
}
--(contact->expiry); --(contact->expiry);
} }
} }
@ -95,9 +98,13 @@ void _internal_debug_draw_collision_edge(Vector left, Vector right, Vector norma
static inline static inline
Vector _internal_calculate_contact_force(Contact* contact) { Vector _internal_calculate_contact_force(Contact* contact) {
Collision hit = contact->hit; 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 d = 1.0f;
const float k = 1.0f * warming; const float k = 0.0f * warming;
const float b = 1.0f; const float b = 1.0f;
const Vector damping = vmulff(hit.normal, k * d); const Vector damping = vmulff(hit.normal, k * d);
@ -149,11 +156,7 @@ void rigidbody_solve_contacts(RigidBody* self) {
void rigidbody_apply_physics(RigidBody* self) { void rigidbody_apply_physics(RigidBody* self) {
Vector position = transformable_get_position(self->transformable); Vector position = transformable_get_position(self->transformable);
Vector velocity = vmulff(self->linear_velocity, delta_time()); 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; self->linear_force = ZeroVector;
} }