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Try to fix edge collision issues, more debug stuff

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This commit is contained in:
sergeypdev 2025-01-23 04:06:11 +04:00
parent f2f23ee2e0
commit 19a1398068
4 changed files with 114 additions and 59 deletions
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63
game/game.odin
View File

@ -80,6 +80,7 @@ Game_Memory :: struct {
preview_bvh: int,
preview_node: int,
physics_pause: bool,
free_cam: bool,
}
Track_Edit_State :: enum {
@ -147,7 +148,7 @@ camera_forward_vec :: proc() -> rl.Vector3 {
}
game_camera_3d :: proc() -> rl.Camera3D {
if g_mem.editor {
if g_mem.editor || g_mem.free_cam {
return {
position = get_world().player_pos,
up = {0, 1, 0},
@ -260,19 +261,23 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
mass = 100,
},
)
for x in -3 ..< 3 {
for y in -3 ..< 3 {
physics.immediate_body(
&world.physics_scene,
&runtime_world.solver_state,
hash.fnv32a(slice.to_bytes([]int{(x | y << 8)})),
physics.Body_Config {
initial_pos = {f32(x), 5, f32(y)},
initial_rot = linalg.QUATERNIONF32_IDENTITY,
shape = physics.Shape_Box{size = 0.5},
mass = 10,
},
)
if true {
for x in -3 ..< 3 {
for y in -3 ..< 3 {
physics.immediate_body(
&world.physics_scene,
&runtime_world.solver_state,
hash.fnv32a(slice.to_bytes([]int{(x | y << 8)})),
physics.Body_Config {
initial_pos = {f32(x), 5, f32(y)},
initial_rot = linalg.QUATERNIONF32_IDENTITY,
shape = physics.Shape_Box{size = 0.5},
mass = 10,
},
)
}
}
}
@ -375,11 +380,11 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
wheel.drive_impulse = 0
wheel.brake_impulse = 0
if rl.IsKeyDown(.W) {
if rl.IsKeyDown(.W) && !g_mem.free_cam {
wheel.drive_impulse = DRIVE_IMPULSE
}
if rl.IsKeyDown(.S) {
if rl.IsKeyDown(.S) && !g_mem.free_cam {
wheel.brake_impulse = BRAKE_IMPULSE
}
}
@ -388,11 +393,11 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
wheel := physics.get_suspension_constraint(&world.physics_scene, wheel_handle)
wheel.turn_angle = 0
if (rl.IsKeyDown(.A)) {
if rl.IsKeyDown(.A) && !g_mem.free_cam {
wheel.turn_angle += -TURN_ANGLE
}
if (rl.IsKeyDown(.D)) {
if rl.IsKeyDown(.D) && !g_mem.free_cam {
wheel.turn_angle += TURN_ANGLE
}
@ -411,6 +416,10 @@ update :: proc() {
g_mem.editor = !g_mem.editor
}
if rl.IsKeyPressed(.F1) {
g_mem.free_cam = !g_mem.free_cam
}
dt := rl.GetFrameTime()
// Debug BVH traversal
@ -449,7 +458,9 @@ update :: proc() {
if g_mem.editor {
update_editor(get_editor_state())
} else {
// update_free_look_camera(get_editor_state())
if g_mem.free_cam {
update_free_look_camera(get_editor_state())
}
update_runtime_world(get_runtime_world(), dt)
}
}
@ -487,7 +498,7 @@ draw :: proc() {
rl.BeginDrawing()
defer rl.EndDrawing()
rl.ClearBackground(rl.BLACK)
rl.ClearBackground(rl.GRAY)
runtime_world := get_runtime_world()
world := get_world()
@ -547,10 +558,10 @@ draw :: proc() {
halfedge.transform_mesh(&box1_convex, box1_mat)
halfedge.transform_mesh(&box2_convex, box2_mat)
manifold, _ := collision.convex_vs_convex_sat(box1_convex, box2_convex)
// manifold, _ := collision.convex_vs_convex_sat(box1_convex, box2_convex)
halfedge.debug_draw_mesh_wires(halfedge.Half_Edge_Mesh(box1_convex), rl.RED)
halfedge.debug_draw_mesh_wires(halfedge.Half_Edge_Mesh(box2_convex), rl.RED)
// halfedge.debug_draw_mesh_wires(halfedge.Half_Edge_Mesh(box1_convex), rl.RED)
// halfedge.debug_draw_mesh_wires(halfedge.Half_Edge_Mesh(box2_convex), rl.RED)
// {
// rlgl_transform_scope(auto_cast linalg.matrix4_from_quaternion(rot1))
@ -560,9 +571,9 @@ draw :: proc() {
// rlgl_transform_scope(auto_cast linalg.matrix4_from_quaternion(rot2))
// rl.DrawCubeWiresV(box2.pos, box2.rad * 2, rl.RED)
// }
for p in manifold.points_a[:manifold.points_len] {
rl.DrawSphereWires(p, 0.05, 8, 8, rl.BLUE)
}
// for p in manifold.points_a[:manifold.points_len] {
// rl.DrawSphereWires(p, 0.05, 8, 8, rl.BLUE)
// }
// {
// mesh_bvh := assets.get_bvh(&g_mem.assetman, "assets/toyota_corolla_ae86_trueno.glb")

23
game/physics/collision/convex.odin
View File

@ -62,8 +62,8 @@ convex_vs_convex_sat :: proc(a, b: Convex) -> (manifold: Contact_Manifold, colli
if edge_separation > 0 {
return
}
biased_face_a_separation := face_query_a.separation
biased_face_b_separation := face_query_b.separation
biased_face_a_separation := face_query_a.separation + 0.2
biased_face_b_separation := face_query_b.separation + 0.1
biased_edge_separation := edge_separation
is_face_a_contact := biased_face_a_separation >= biased_edge_separation
@ -249,6 +249,7 @@ query_separation_edges :: proc(
debug_draw_plane(edge_a_origin, plane_a, rl.Color{0, 228, 48, 100})
}
}
if distance_b > separation {
separation = distance_b
a_edge = halfedge.Edge_Index(edge_a_idx)
@ -336,6 +337,8 @@ create_face_contact_manifold :: proc(
step := 0
vert_count := original_vert_count
EPS :: 1e-6
{
it := halfedge.iterator_face_edges(
halfedge.Half_Edge_Mesh(ref_convex),
@ -380,11 +383,11 @@ create_face_contact_manifold :: proc(
d1 := signed_distance_plane(src_polygon[i], clipping_plane)
d2 := signed_distance_plane(src_polygon[k], clipping_plane)
if d1 < 0 && d2 < 0 {
if d1 < -EPS && d2 < -EPS {
// Both points inside
clipped_polygon[j] = src_polygon[k]
j += 1
} else if d1 >= 0 && d2 < 0 {
} else if d1 > -EPS && d2 < -EPS {
// First point is outside
_, clipped_polygon[j], _ = intersect_segment_plane(
{src_polygon[i], src_polygon[k]},
@ -393,7 +396,7 @@ create_face_contact_manifold :: proc(
j += 1
clipped_polygon[j] = src_polygon[k]
j += 1
} else if d1 < 0 && d2 >= 0 {
} else if d1 < -EPS && d2 > -EPS {
// Second point outside
_, clipped_polygon[j], _ = intersect_segment_plane(
{src_polygon[i], src_polygon[k]},
@ -422,7 +425,7 @@ create_face_contact_manifold :: proc(
for i in 0 ..< vert_count {
d := signed_distance_plane(src_polygon[i], ref_plane)
if d <= 0.01 {
if d <= EPS {
clipped_polygon[j] = src_polygon[i] - d * ref_plane.normal
j += 1
}
@ -487,7 +490,7 @@ create_face_contact_manifold :: proc(
assert(len(full_clipped_polygon) <= 4)
}
inc_face_vert := ref_convex.vertices[inc_convex.edges[inc_face.edge].origin].pos
inc_face_vert := inc_convex.vertices[inc_convex.edges[inc_face.edge].origin].pos
inc_plane := plane_from_point_normal(inc_face_vert, inc_face.normal)
inc_points: [4]Vec3
@ -528,10 +531,10 @@ create_edge_contact_manifold :: proc(
_, ps := closest_point_between_segments(a1, a2, b1, b2)
manifold.normal = separating_plane.normal
manifold.separation = lg.dot(ps[1] - ps[0], manifold.normal)
manifold.normal = 0
manifold.separation = separation
manifold.points_a[0] = ps[0]
manifold.points_b[1] = ps[1]
manifold.points_b[0] = ps[0]
manifold.points_len = 1
return

50
game/physics/debug.odin
View File

@ -100,23 +100,37 @@ draw_debug_scene :: proc(scene: ^Scene) {
}
for &contact, contact_idx in scene.contact_pairs[:scene.contact_pairs_len] {
color := debug.int_to_color(i32(contact_idx))
if contact.manifold.points_len >= 3 {
// Triangle or quad
v1 := contact.manifold.points_a[0]
for i in 2 ..< contact.manifold.points_len {
v2, v3 := contact.manifold.points_a[i - 1], contact.manifold.points_a[i]
rl.DrawTriangle3D(v1, v2, v3, color)
}
} else if contact.manifold.points_len == 2 {
// Line
rl.DrawLine3D(contact.manifold.points_a[0], contact.manifold.points_a[1], color)
}
for p in contact.manifold.points_a[:contact.manifold.points_len] {
rl.DrawSphereWires(p, 0.1, 4, 4, color)
}
debug_draw_manifold_points(
-contact.manifold.normal,
contact.manifold.points_a[:contact.manifold.points_len],
color = debug.int_to_color(i32(contact_idx * 2 + 0)),
)
debug_draw_manifold_points(
contact.manifold.normal,
contact.manifold.points_b[:contact.manifold.points_len],
color = debug.int_to_color(i32(contact_idx * 2 + 1)),
)
}
}
debug_draw_manifold_points :: proc(normal: rl.Vector3, points: []rl.Vector3, color: rl.Color) {
if len(points) >= 3 {
// Triangle or quad
v1 := points[0]
for i in 2 ..< len(points) {
v2, v3 := points[i - 1], points[i]
rl.DrawTriangle3D(v1, v2, v3, color)
}
} else if len(points) == 2 {
// Line
rl.DrawLine3D(points[0], points[1], color)
}
for p in points {
rl.DrawLine3D(p, p + normal, color)
rl.DrawSphereWires(p, len(points) == 1 ? 0.5 : 0.1, 4, 4, color)
}
}

37
game/physics/simulation.odin
View File

@ -155,9 +155,32 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
manifold = manifold,
}
scene.contact_pairs_len += 1
for p in manifold.points_a[:manifold.points_len] {
body1_inv_mass := get_body_inverse_mass(body, manifold.normal, p)
body2_inv_mass := get_body_inverse_mass(body2, manifold.normal, p)
points_a_local, points_b_local: [4]rl.Vector3
for point_idx in 0 ..< manifold.points_len {
points_a_local = body_world_to_local(
body,
manifold.points_a[point_idx],
)
points_b_local = body_world_to_local(
body2,
manifold.points_b[point_idx],
)
}
for point_idx in 0 ..< manifold.points_len {
p1, p2 :=
manifold.points_a[point_idx], manifold.points_b[point_idx]
//p1, p2 =
// body_local_to_world(body, p1), body_local_to_world(body2, p2)
body1_inv_mass := get_body_inverse_mass(body, manifold.normal, p1)
body2_inv_mass := get_body_inverse_mass(body2, manifold.normal, p2)
diff := p2 - p1
length := lg.length(diff)
if length != 0 {
diff /= length
}
// separation := lg.dot(p2 - p1, manifold.normal)
handled_pairs[{a = min(i, j), b = max(i, j)}] = true
@ -167,7 +190,7 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
0,
-manifold.separation,
-manifold.normal,
p,
p1,
body2_inv_mass,
)
@ -177,7 +200,7 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
0,
-manifold.separation,
manifold.normal,
p,
p2,
body1_inv_mass,
)
}
@ -218,6 +241,10 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
solve_velocities(scene, body_states, inv_dt)
// for pair in scene.contact_pairs[:scene.contact_pairs_len] {
// pair.a
// }
// Solve suspension velocity
for _, i in scene.suspension_constraints {
v := &scene.suspension_constraints_slice[i]