Fix convex mesh to remove coplanar faces, fix contact debug visualizer

.gitattributes

@@ -3,3 +3,4 @@
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
 *.blend filter=lfs diff=lfs merge=lfs -text
+*.blend1 filter=lfs diff=lfs merge=lfs -text

.gitignore

@@ -6,7 +6,6 @@
 *.dll
 *.exp
 *.rdi
-*.obj
 *.lib
 log.txt
 *.bin
@@ -16,4 +15,4 @@ log.txt
 linux
 atlas.png
 pdbs/
-game_web/
+game_web/

assets/box.obj

@@ -0,0 +1,18 @@
+# Blender 4.2.3 LTS
+# www.blender.org
+o Cube
+v -1.000000 1.000000 1.000000
+v -1.000000 -1.000000 1.000000
+v -1.000000 1.000000 -1.000000
+v -1.000000 -1.000000 -1.000000
+v 1.000000 1.000000 1.000000
+v 1.000000 -1.000000 1.000000
+v 1.000000 1.000000 -1.000000
+v 1.000000 -1.000000 -1.000000
+s 0
+f 1 5 7 3
+f 4 3 7 8
+f 8 7 5 6
+f 6 2 4 8
+f 2 1 3 4
+f 6 5 1 2

assets/car_convex.obj

@@ -0,0 +1,80 @@
+# Blender 4.3.2
+# www.blender.org
+o Object_5
+v -1.841497 0.441915 2.882739
+v -1.528260 -0.439969 4.246670
+v -1.532271 -0.014560 4.306011
+v -1.458986 0.585761 4.084804
+v -1.169056 1.845618 -0.044352
+v -1.794738 0.759021 -2.991723
+v -1.751396 -0.067717 -3.937637
+v 1.598544 -0.437865 4.228289
+v -1.355442 0.205843 4.443853
+v -1.495447 -0.513379 -3.072723
+v -1.081991 -0.669625 2.507290
+v 1.152275 -0.667619 2.498550
+v 0.035142 0.587956 4.202047
+v 0.035142 1.889431 -0.088813
+v 0.035142 1.953676 -2.216545
+v -1.179023 1.913049 -2.281286
+v -1.418515 1.165435 -4.711776
+v -1.589515 0.055308 -5.153280
+v 1.558805 0.203133 4.425279
+v 1.565731 -0.511086 -3.071773
+v 1.821680 -0.067717 -3.937637
+v 1.911781 0.441916 2.882739
+v 0.035142 -0.194318 -4.868722
+v 1.529270 0.585761 4.084804
+v 1.239340 1.845618 -0.044352
+v 1.249308 1.913049 -2.281285
+v 1.488799 1.165434 -4.711775
+v 0.035142 1.168489 -4.782736
+v 0.035142 0.107657 -5.212766
+v 1.659799 0.055307 -5.153279
+v 1.865023 0.759021 -2.991723
+s 0
+f 1 2 3
+f 1 3 4
+f 1 4 5
+f 31 26 25 22
+f 1 6 7
+f 1 7 2
+f 2 9 3
+f 2 7 10
+f 2 10 11
+f 20 12 11 10
+f 3 9 4
+f 4 9 13
+f 24 25 14 13
+f 25 26 15 14
+f 6 16 17
+f 6 17 18
+f 6 18 7
+f 7 18 10
+f 8 12 20
+f 8 20 21
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+f 8 22 19
+f 9 19 13
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+f 10 23 20
+f 8 19 9 2
+f 13 19 24
+f 15 16 5 14
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+f 18 29 30
+f 18 30 23
+f 19 22 24
+f 20 23 30
+f 20 30 21
+f 21 31 22
+f 21 30 31
+f 22 25 24
+f 26 31 27
+f 12 8 2 11
+f 27 31 30
+f 14 5 4 13
+f 5 16 6 1

game/game.odin

@@ -379,7 +379,7 @@ update_runtime_world :: proc(runtime_world: ^Runtime_World, dt: f32) {
 		turn_wheels := []physics.Suspension_Constraint_Handle{wheel_fl, wheel_fr}
 
 		DRIVE_IMPULSE :: 10
-		BRAKE_IMPULSE :: 20
+		BRAKE_IMPULSE :: 10
 		TURN_ANGLE :: -f32(30) * math.RAD_PER_DEG
 
 		for wheel_handle in drive_wheels {

game/physics/debug.odin

@@ -105,17 +105,20 @@ draw_debug_scene :: proc(scene: ^Scene) {
 
 	if true {
 		for &contact, contact_idx in scene.contact_pairs[:scene.contact_pairs_len] {
-			points_a := contact.manifold.points_a[:contact.manifold.points_len]
+			points_a := contact.manifold.points_a
-			points_b := contact.manifold.points_b[:contact.manifold.points_len]
+			points_b := contact.manifold.points_b
-			debug_transform_points_local_to_world(get_body(scene, contact.a), points_a)
+			points_a_slice, points_b_slice :=
+				points_a[:contact.manifold.points_len], points_b[:contact.manifold.points_len]
+			debug_transform_points_local_to_world(get_body(scene, contact.a), points_a_slice)
+			debug_transform_points_local_to_world(get_body(scene, contact.b), points_b_slice)
 			debug_draw_manifold_points(
 				-contact.manifold.normal,
-				contact.manifold.points_a[:contact.manifold.points_len],
+				points_a_slice,
 				color = debug.int_to_color(i32(contact_idx * 2 + 0)),
 			)
 			debug_draw_manifold_points(
 				contact.manifold.normal,
-				points_b,
+				points_b_slice,
 				color = debug.int_to_color(i32(contact_idx * 2 + 1)),
 			)
 		}

game/physics/simulation.odin

@@ -240,7 +240,7 @@ simulate_step :: proc(scene: ^Scene, config: Solver_Config) {
 												)
 											contact_pair.lambda_tangent[point_idx] = lambda_tangent
 
-											STATIC_FRICTION :: 0.3
+											STATIC_FRICTION :: 0.7
 											if ok_tangent &&
 											   lambda_tangent < lambda_norm * STATIC_FRICTION {
 												apply_correction(body, corr1_tangent, p1)