Convex vs convex face manifolds working
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71df8df94a
commit
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7
.vscode/launch.json
vendored
7
.vscode/launch.json
vendored
@ -1,6 +1,12 @@
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{
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"version": "0.2.0",
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"configurations": [
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{
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"type": "lldb",
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"request": "attach",
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"name": "Attach Hot Reload (Linux/Max)",
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"program": "${workspaceFolder}/game_hot_reload.bin"
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},
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// Windows configs (only difference from linux/mac is "type" and "program")
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{
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"type": "cppvsdbg",
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@ -29,7 +35,6 @@
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"args": [],
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"cwd": "${workspaceFolder}"
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},
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// Linux / Mac configs
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{
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"type": "lldb",
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13
.vscode/tasks.json
vendored
13
.vscode/tasks.json
vendored
@ -3,6 +3,17 @@
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"command": "",
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"args": [],
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"tasks": [
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{
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"label": "Test",
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"type": "shell",
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"linux": {
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"command": "${workspaceFolder}/test.sh"
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},
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"osx": {
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"command": "${workspaceFolder}/test.sh"
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},
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"group": "test"
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},
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{
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"label": "Build Debug",
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"type": "shell",
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@ -57,4 +68,4 @@
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},
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}
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]
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}
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}
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136
game/game.odin
136
game/game.odin
@ -22,7 +22,7 @@ import "core:math"
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import "core:math/linalg"
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import "game:physics"
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import "game:physics/bvh"
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import "halfedge"
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import "game:physics/collision"
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import "libs:tracy"
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import rl "vendor:raylib"
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import "vendor:raylib/rlgl"
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@ -481,6 +481,7 @@ draw :: proc() {
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origin = rl_ray.position,
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dir = rl_ray.direction,
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}
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_ = ray
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{
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rl.BeginMode3D(camera)
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@ -490,38 +491,57 @@ draw :: proc() {
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physics.draw_debug_scene(&world.physics_scene)
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{
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mesh_bvh := assets.get_bvh(&g_mem.assetman, "assets/toyota_corolla_ae86_trueno.glb")
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for &blas, i in mesh_bvh.bvhs {
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mesh := car_model.meshes[i]
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if i == g_mem.preview_bvh {
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bvh.debug_draw_bvh_bounds(
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&blas,
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bvh.bvh_mesh_from_rl_mesh(mesh),
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0,
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g_mem.preview_node,
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)
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}
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vertices := (cast([^]rl.Vector3)mesh.vertices)[:mesh.vertexCount]
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indices := mesh.indices[:mesh.triangleCount * 3]
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if bvh.traverse_bvh_ray_mesh(
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&blas,
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bvh.Mesh{vertices = vertices, indices = indices},
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ray,
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&mesh_col,
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) {
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hit_mesh_idx = i
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}
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box1, box2 := collision.Box {
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pos = {0, 0.5, 0},
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rad = 0.5,
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}, collision.Box {
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pos = {0.5, 1.5, 0.5},
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rad = 0.5,
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}
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if mesh_col.hit {
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rl.DrawSphereWires(ray.origin + ray.dir * mesh_col.t, 0.1, 8, 8, rl.RED)
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}
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box1_convex := collision.box_to_convex(box1, context.temp_allocator)
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box2_convex := collision.box_to_convex(box2, context.temp_allocator)
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manifold, _ := collision.convex_vs_convex_sat(box1_convex, box2_convex)
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rl.DrawCubeWiresV(box1.pos, box1.rad * 1.999, rl.RED)
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rl.DrawCubeWiresV(box2.pos, box2.rad * 1.999, rl.RED)
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for p in manifold.points {
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rl.DrawSphereWires(p, 0.1, 8, 8, rl.BLUE)
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}
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// {
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// mesh_bvh := assets.get_bvh(&g_mem.assetman, "assets/toyota_corolla_ae86_trueno.glb")
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// for &blas, i in mesh_bvh.bvhs {
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// mesh := car_model.meshes[i]
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// if i == g_mem.preview_bvh {
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// bvh.debug_draw_bvh_bounds(
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// &blas,
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// bvh.bvh_mesh_from_rl_mesh(mesh),
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// 0,
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// g_mem.preview_node,
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// )
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// }
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// vertices := (cast([^]rl.Vector3)mesh.vertices)[:mesh.vertexCount]
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// indices := mesh.indices[:mesh.triangleCount * 3]
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// if bvh.traverse_bvh_ray_mesh(
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// &blas,
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// bvh.Mesh{vertices = vertices, indices = indices},
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// ray,
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// &mesh_col,
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// ) {
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// hit_mesh_idx = i
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// }
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// }
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// if mesh_col.hit {
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// rl.DrawSphereWires(ray.origin + ray.dir * mesh_col.t, 0.1, 8, 8, rl.RED)
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// }
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// }
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if !g_mem.editor {
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car_matrix := rl.QuaternionToMatrix(car_body.q)
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car_model.transform = car_matrix
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@ -577,35 +597,35 @@ draw :: proc() {
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}
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}
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if mesh_col.hit {
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mesh := car_model.meshes[hit_mesh_idx]
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vertices := (cast([^]rl.Vector3)mesh.vertices)[:mesh.vertexCount]
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indices := mesh.indices[:mesh.triangleCount * 3]
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car_halfedge := halfedge.mesh_from_vertex_index_list(vertices, indices, 3, context.temp_allocator)
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face_idx := halfedge.Face_Index(mesh_col.prim)
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face := car_halfedge.faces[face_idx]
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first_edge_idx := face.edge
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first := true
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cur_edge_idx := first_edge_idx
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for first || cur_edge_idx != first_edge_idx {
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first = false
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edge := car_halfedge.edges[cur_edge_idx]
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cur_edge_idx = edge.next
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if edge.twin >= 0 {
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twin_edge := car_halfedge.edges[edge.twin]
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face := twin_edge.face
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i1, i2, i3 := indices[face * 3 + 0], indices[face * 3 + 1], indices[face * 3 + 2]
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v1, v2, v3 := vertices[i1], vertices[i2], vertices[i3]
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rl.DrawTriangle3D(v1, v2, v3, rl.RED)
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}
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}
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}
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// if mesh_col.hit {
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// mesh := car_model.meshes[hit_mesh_idx]
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// vertices := (cast([^]rl.Vector3)mesh.vertices)[:mesh.vertexCount]
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// indices := mesh.indices[:mesh.triangleCount * 3]
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// car_halfedge := halfedge.mesh_from_vertex_index_list(vertices, indices, 3, context.temp_allocator)
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//
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// face_idx := halfedge.Face_Index(mesh_col.prim)
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// face := car_halfedge.faces[face_idx]
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// first_edge_idx := face.edge
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//
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// first := true
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// cur_edge_idx := first_edge_idx
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// for first || cur_edge_idx != first_edge_idx {
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// first = false
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// edge := car_halfedge.edges[cur_edge_idx]
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// cur_edge_idx = edge.next
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//
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// if edge.twin >= 0 {
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// twin_edge := car_halfedge.edges[edge.twin]
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// face := twin_edge.face
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//
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// i1, i2, i3 := indices[face * 3 + 0], indices[face * 3 + 1], indices[face * 3 + 2]
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// v1, v2, v3 := vertices[i1], vertices[i2], vertices[i3]
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//
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// rl.DrawTriangle3D(v1, v2, v3, rl.RED)
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// }
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// }
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// }
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//
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}
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}
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@ -63,7 +63,7 @@ mesh_from_vertex_index_list :: proc(
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for f in 0 ..< num_faces {
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base_index := f * vertices_per_face
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i1, i2, i3 := base_index + 0, base_index + 1, base_index + 2
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i1, i2, i3 := indices[base_index + 0], indices[base_index + 1], indices[base_index + 2]
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v1, v2, v3 := vertices[i1], vertices[i2], vertices[i3]
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// Assuming ccw winding
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@ -83,6 +83,7 @@ mesh_from_vertex_index_list :: proc(
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}
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if i == 0 {
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verts[index].edge = Edge_Index(e)
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faces[f].edge = Edge_Index(e)
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}
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@ -129,14 +130,16 @@ get_adjacent_face :: proc(
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edge: Half_Edge,
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) -> (
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face: Face,
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face_idx: Face_Index,
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ok: bool,
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) #optional_ok {
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) {
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if edge.twin < 0 {
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return {}, false
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return {}, 0, false
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}
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twin := mesh.edges[edge.twin]
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face = mesh.faces[twin.face]
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face_idx = twin.face
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ok = true
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return
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@ -157,6 +160,11 @@ iterator_face_edges :: proc(mesh: Half_Edge_Mesh, face: Face_Index) -> (it: Edge
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return
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}
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iterator_reset_edges :: proc(it: ^Edge_Iterator) {
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it.current_edge = it.first_edge
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it.past_first = false
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}
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iterate_next_edge :: proc(it: ^Edge_Iterator) -> (edge: Half_Edge, ok: bool) {
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if it.current_edge == it.first_edge {
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if !it.past_first {
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@ -3,58 +3,31 @@ package collision
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import "core:math"
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import lg "core:math/linalg"
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import "game:halfedge"
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import rl "vendor:raylib"
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import "vendor:raylib/rlgl"
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_ :: math
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Convex :: distinct halfedge.Half_Edge_Mesh
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BOX_CORNERS_NORM :: [8]Vec3 {
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Vec3{-1, -1, -1},
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Vec3{-1, -1, 1},
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Vec3{-1, 1, -1},
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Vec3{-1, 1, 1},
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Vec3{1, -1, -1},
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Vec3{1, -1, 1},
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Vec3{1, 1, -1},
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Vec3{1, 1, 1},
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{-1, 1, 1},
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{-1, -1, 1},
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{-1, 1, -1},
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{-1, -1, -1},
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{1, 1, 1},
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{1, -1, 1},
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{1, 1, -1},
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{1, -1, -1},
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}
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box_indices := [6 * 4]u16 {
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// near
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0,
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4,
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6,
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2,
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// right
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4,
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5,
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7,
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6,
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// far
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5,
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1,
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3,
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7,
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// left
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1,
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0,
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2,
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3,
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// top
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2,
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6,
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7,
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3,
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// bottom
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0,
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4,
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5,
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1,
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}
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box_indices := [6 * 4]u16{0, 4, 6, 2, 3, 2, 6, 7, 7, 6, 4, 5, 5, 1, 3, 7, 1, 0, 2, 3, 5, 4, 0, 1}
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box_to_convex :: proc(box: Box, allocator := context.allocator) -> (convex: Convex) {
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vertices := make([]Vec3, 8, context.temp_allocator)
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for corner, i in BOX_CORNERS_NORM {
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vertices[i] = corner * box.rad
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vertices[i] = box.pos + corner * box.rad
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}
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convex = Convex(halfedge.mesh_from_vertex_index_list(vertices, box_indices[:], 4, allocator))
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@ -78,9 +51,11 @@ convex_vs_convex_sat :: proc(a, b: Convex) -> (manifold: Contact_Manifold, colli
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}
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edge_separation, edge_a, edge_b := query_separation_edges(a, b)
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_, _ = edge_a, edge_b
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if edge_separation > 0 {
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return
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}
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edge_separation = -1
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is_face_a_contact := face_query_a.separation > edge_separation
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is_face_b_contact := face_query_b.separation > edge_separation
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@ -89,7 +64,6 @@ convex_vs_convex_sat :: proc(a, b: Convex) -> (manifold: Contact_Manifold, colli
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if is_face_a_contact && is_face_b_contact {
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manifold = create_face_contact_manifold(face_query_a, a, face_query_b, b)
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} else {
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}
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return
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@ -190,15 +164,174 @@ create_face_contact_manifold :: proc(
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is_ref_a := face_query_a.separation > face_query_b.separation
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ref_face_query := is_ref_a ? face_query_a : face_query_b
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ref_convex := is_ref_a ? a : b
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inc_face_query := is_ref_a ? face_query_b : face_query_a
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inc_convex := is_ref_a ? b : a
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it := halfedge.iterator_face_edges(halfedge.Half_Edge_Mesh(ref_convex), ref_face_query.face)
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ref_face := a.faces[ref_face_query.face]
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for edge in halfedge.iterate_next_edge(&it) {
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clipping_face := halfedge.get_adjacent_face(halfedge.Half_Edge_Mesh(ref_convex), edge)
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// incident face
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inc_face: halfedge.Face
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inc_face_idx: halfedge.Face_Index
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// Find the most anti parallel face
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{
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min_dot := f32(1.0)
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for face, face_idx in inc_convex.faces {
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dot := lg.dot(ref_face.normal, face.normal)
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if dot < min_dot {
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min_dot = dot
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inc_face = face
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inc_face_idx = halfedge.Face_Index(face_idx)
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}
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}
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}
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inc_polygon: []Vec3
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// Get incident face vertices
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{
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it := halfedge.iterator_face_edges(halfedge.Half_Edge_Mesh(inc_convex), inc_face_idx)
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vert_count := 0
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for _ in halfedge.iterate_next_edge(&it) {
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vert_count += 1
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}
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inc_polygon = make([]Vec3, vert_count, context.temp_allocator)
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halfedge.iterator_reset_edges(&it)
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i := 0
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for edge in halfedge.iterate_next_edge(&it) {
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inc_polygon[i] = inc_convex.vertices[edge.origin].pos
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i += 1
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}
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}
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assert(len(inc_polygon) > 0)
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// Set up ping pong buffers
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inc_polygon2 := make([]Vec3, len(inc_polygon), context.temp_allocator)
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// Buffer 0 is the original incident polygon, start with index 1
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clip_buf_idx := 1
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clip_bufs := [2][]Vec3{inc_polygon, inc_polygon2}
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get_other_clip_buf :: proc(idx: int) -> int {
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return (idx + 1) % 2
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}
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step := 0
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{
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it := halfedge.iterator_face_edges(
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halfedge.Half_Edge_Mesh(ref_convex),
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ref_face_query.face,
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)
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for edge in halfedge.iterate_next_edge(&it) {
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src_polygon := clip_bufs[get_other_clip_buf(clip_buf_idx)]
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clipped_polygon := clip_bufs[clip_buf_idx]
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clipping_face, clipping_face_idx, _ := halfedge.get_adjacent_face(
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halfedge.Half_Edge_Mesh(ref_convex),
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edge,
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)
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clipping_face_vert :=
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ref_convex.vertices[ref_convex.edges[clipping_face.edge].origin].pos
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clipping_plane_center: Vec3
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{
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clipping_plane_it := halfedge.iterator_face_edges(
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halfedge.Half_Edge_Mesh(ref_convex),
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clipping_face_idx,
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)
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num := 0
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for clip_edge in halfedge.iterate_next_edge(&clipping_plane_it) {
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vert := ref_convex.vertices[clip_edge.origin].pos
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clipping_plane_center += vert
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num += 1
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}
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clipping_plane_center /= f32(num)
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}
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clipping_plane := plane_from_point_normal(clipping_face_vert, clipping_face.normal)
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// Actual clipping
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{
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j := 0
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for i in 0 ..< len(src_polygon) {
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k := (i + 1) % len(src_polygon)
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d1 := signed_distance_plane(src_polygon[i], clipping_plane)
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d2 := signed_distance_plane(src_polygon[k], clipping_plane)
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if d1 < 0 && d2 < 0 {
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// Both points inside
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clipped_polygon[j] = src_polygon[k]
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j += 1
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||||
} else if d1 >= 0 && d2 < 0 {
|
||||
// First point is outside
|
||||
_, clipped_polygon[j], _ = intersect_segment_plane(
|
||||
{src_polygon[i], src_polygon[k]},
|
||||
clipping_plane,
|
||||
)
|
||||
j += 1
|
||||
clipped_polygon[j] = src_polygon[k]
|
||||
j += 1
|
||||
} else if d1 < 0 && d2 >= 0 {
|
||||
// Second point outside
|
||||
_, clipped_polygon[j], _ = intersect_segment_plane(
|
||||
{src_polygon[i], src_polygon[k]},
|
||||
clipping_plane,
|
||||
)
|
||||
j += 1
|
||||
}
|
||||
}
|
||||
|
||||
clipped_polygon = clipped_polygon[:j]
|
||||
|
||||
if step == 3 {
|
||||
for p in clipped_polygon {
|
||||
rl.DrawSphereWires(p, 0.05, 4, 4, rl.GREEN)
|
||||
}
|
||||
|
||||
{
|
||||
rl.BeginBlendMode(.ALPHA)
|
||||
defer rl.EndBlendMode()
|
||||
|
||||
rlgl.PushMatrix()
|
||||
defer rlgl.PopMatrix()
|
||||
|
||||
f := clipping_face.normal
|
||||
r := lg.normalize0(lg.cross(f, rl.Vector3{0, 1, 0}))
|
||||
u := lg.cross(r, f)
|
||||
|
||||
// ps: [4]Vec3 = {{-1, -1, 0}, {1, -1, 0}, {1, 1, 0}, {-1, 1, 0}}
|
||||
|
||||
rl.DrawLine3D(clipping_plane_center, clipping_plane_center + f, rl.BLUE)
|
||||
rl.DrawLine3D(clipping_plane_center, clipping_plane_center + r, rl.RED)
|
||||
rl.DrawLine3D(clipping_plane_center, clipping_plane_center + u, rl.GREEN)
|
||||
// mat: rlgl.Matrix = auto_cast lg.matrix4_look_at_from_fru(0, f, r, u, false)
|
||||
|
||||
// rlgl.LoadIdentity()
|
||||
// rlgl.MultMatrixf(cast([^]f32)&mat)
|
||||
|
||||
// col := rl.Color{0, 228, 48, 50}
|
||||
// rl.DrawTriangle3D(ps[0], ps[1], ps[2], col)
|
||||
// rl.DrawTriangle3D(ps[2], ps[3], ps[0], col)
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
clip_bufs[clip_buf_idx] = clipped_polygon
|
||||
clip_buf_idx = get_other_clip_buf(clip_buf_idx)
|
||||
step += 1
|
||||
}
|
||||
}
|
||||
|
||||
manifold.normal = ref_face.normal
|
||||
manifold.points = clip_bufs[get_other_clip_buf(clip_buf_idx)]
|
||||
|
||||
return
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user