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-rwxr-xr-x2d/rigidbody/rigidbody_3/dist/output.wasmbin43488 -> 53544 bytes
-rw-r--r--2d/rigidbody/rigidbody_3/main.cpp208
2 files changed, 205 insertions, 3 deletions
diff --git a/2d/rigidbody/rigidbody_3/dist/output.wasm b/2d/rigidbody/rigidbody_3/dist/output.wasm
index 9af2c31..5df757d 100755
--- a/2d/rigidbody/rigidbody_3/dist/output.wasm
+++ b/2d/rigidbody/rigidbody_3/dist/output.wasm
Binary files differ
diff --git a/2d/rigidbody/rigidbody_3/main.cpp b/2d/rigidbody/rigidbody_3/main.cpp
index 06f77dc..2063718 100644
--- a/2d/rigidbody/rigidbody_3/main.cpp
+++ b/2d/rigidbody/rigidbody_3/main.cpp
@@ -21,6 +21,7 @@ struct Rigidbody {
float32 rotationalVelocity = 0.f;
float32 rotation = 0.f;
float32 momentOfInertia = 1.f;
+ float32 cofOfRestitution = 1.f;
void reset() {
linearForce = { 0, 0 };
@@ -54,11 +55,19 @@ struct Rigidbody {
}
};
+struct Edge {
+ Vector2 normal;
+ Vector2 start;
+ Vector2 end;
+};
+
struct Rectangle {
OrthographicShape shape;
Rigidbody body;
+ Rigidbody previousBody;
Vector2 originalPoints[4];
Vector2 transformedPoints[4];
+ Edge edges[4];
void load(OrthographicRenderer* renderer, Vector4 color, float32 width, float32 height) {
color = color.toNormalizedColor();
@@ -90,14 +99,26 @@ struct Rectangle {
}
void update(float32 dtSeconds) {
+ previousBody = body;
body.update(dtSeconds);
shape.model = Mat4x4().translateByVec2(body.position).rotate2D(body.rotation);
- // Note: This helps us check if the cursor is within the bounds of the
- // rectangle later on.
+ // Note: This helps us check rectangle collisions using SAT later on.
+ // This is probably a slightly slow way of doing this, but we will ignore
+ // that for now.
for (int idx = 0; idx < 4; idx++) {
transformedPoints[idx] = shape.model * originalPoints[idx];
}
+
+ for (int eidx = 0; eidx < 4; eidx++) {
+ edges[eidx].start = transformedPoints[eidx];
+ edges[eidx].end = transformedPoints[eidx == 3 ? 0 : eidx + 1];
+ edges[eidx].normal = (edges[eidx].end - edges[eidx].start).getPerp().normalize();
+ }
+ }
+
+ void restorePreviousBody() {
+ body = previousBody;
}
void render(OrthographicRenderer* renderer) {
@@ -109,6 +130,13 @@ struct Rectangle {
}
};
+struct IntersectionResult {
+ bool intersect = false;
+ Vector2 collisionNormal;
+ Vector2 relativeVelocity;
+ Vector2 firstPointOfApplication;
+ Vector2 secondPointOfApplication;
+};
EM_BOOL onPlayClicked(int eventType, const EmscriptenMouseEvent* mouseEvent, void* userData);
EM_BOOL onStopClicked(int eventType, const EmscriptenMouseEvent* mouseEvent, void* userData);
@@ -165,13 +193,187 @@ void handleCollisionWithWall(Rectangle* r) {
}
}
+Vector2 getProjection(Vector2* vertices, Vector2 axis) {
+ float32 min = axis.dot(vertices[0]);
+ float32 max = min;
+
+ for (int v = 1; v < 4; v++) {
+ float32 d = axis.dot(vertices[v]);
+
+ if (d < min) {
+ min = d;
+ } else if (d > max) {
+ max = d;
+ }
+ }
+
+ return Vector2 { min, max };
+}
+
+bool projectionsOverlap(Vector2 first, Vector2 second) {
+ return first.x <= second.y && second.x <= first.y;
+}
+
+float32 getProjectionOverlap(Vector2 first, Vector2 second) {
+ float32 firstOverlap = fabs(first.x - second.y);
+ float32 secondOverlap = fabs(second.x - first.y);
+ return firstOverlap > secondOverlap ? secondOverlap : firstOverlap;
+}
+
+const float32 EPSILON = 1.f;
+IntersectionResult getIntersection(Rectangle* first, Rectangle* second) {
+ IntersectionResult ir;
+
+ // For two rectangles to overlap, it means that at least one of the corners of one is inside of the other
+ Edge* firstEdges = first->edges;
+ Vector2* firstPoints = first->transformedPoints;
+
+ Edge* secondEdges = second->edges;
+ Vector2* secondPoints = second->transformedPoints;
+
+ float32 minOverlap = FLT_MAX;
+ Vector2 minOverlapAxis;
+ Edge* minOverlapEdge = NULL;
+ bool minOverlapWasFirstRect = false;
+
+ for (int i = 0; i < 4; i++) {
+ Vector2 normal = firstEdges[i].normal;
+
+ Vector2 firstProj = getProjection(firstPoints, normal);
+ Vector2 secondProj = getProjection(secondPoints, normal);
+
+ if (!projectionsOverlap(firstProj, secondProj)) {
+ return ir;
+ }
+
+ float32 overlap = getProjectionOverlap(firstProj, secondProj);
+ if (overlap < minOverlap) {
+ minOverlap = overlap;
+ minOverlapAxis = normal;
+ minOverlapEdge = &firstEdges[i];
+ minOverlapWasFirstRect = true;
+ }
+ }
+
+ for (int i = 0; i < 4; i++) {
+ Vector2 normal = secondEdges[i].normal;
+
+ Vector2 firstProj = getProjection(firstPoints, normal);
+ Vector2 secondProj = getProjection(secondPoints, normal);
+
+ if (!projectionsOverlap(firstProj, secondProj)) {
+ return ir;
+ }
+
+ float32 overlap = getProjectionOverlap(firstProj, secondProj);
+ if (overlap < minOverlap) {
+ minOverlap = overlap;
+ minOverlapAxis = normal;
+ minOverlapEdge = &secondEdges[i];
+ }
+ }
+
+ ir.intersect = true;
+ ir.relativeVelocity = first->body.velocity - second->body.velocity;
+ ir.collisionNormal = minOverlapAxis;
+
+ // Find the point of collision, this is kind of tricky, and it is just an approximation for now.
+ // At this point, we know that we intersected along the minOverlapAxis, but we do not know where
+ // that exactly happened. To remedy this will, we create two parallel lines: one at the top of the
+ // normal area, and one at the bottom. For point on both of the Rectangles, we will check:
+ // (1) if it is between these two planes
+ // (2) if, for that rectangle, it is the closest point to the original normal vector
+ // (3) or if it is equally distant from normal vector as another point (then this is a "flat" collision)
+ //
+ // The collision point MUST be between these two planes. We can then say the corner/face of the non-monoverlapAxis
+ // Rectangle is the collision point. This enables us to then solve for their respective points of application fairly
+ // easily. If the collision "point" is an entire face, we make the collision point be the center point.
+ //
+
+ Vector2 closestPoint;
+ float32 minDistance = FLT_MAX;
+
+ for (int p = 0; p < 4; p++) {
+ Vector2 point = minOverlapWasFirstRect ? secondPoints[p] : firstPoints[p];
+
+ float32 distFromPointToStart = (minOverlapEdge->start - point).length();
+ float32 distFromPointToEnd = (minOverlapEdge->end - point).length();
+ float32 potentialMin = MIN(distFromPointToStart, distFromPointToEnd);
+
+ if (potentialMin < minDistance) {
+ closestPoint = point;
+ minDistance = potentialMin;
+ }
+ }
+
+ ir.firstPointOfApplication = closestPoint - first->body.position;
+ ir.secondPointOfApplication = closestPoint - second->body.position;;
+
+ return ir;
+}
+
+void resolveCollision(Rigidbody* first, Rigidbody* second, IntersectionResult* ir) {
+ Vector2 relativeVelocity = ir->relativeVelocity;
+ Vector2 collisionNormal = ir->collisionNormal;
+ Vector2 firstPerp = ir->firstPointOfApplication.getPerp();
+ Vector2 secondPerp = ir->secondPointOfApplication.getPerp();
+ float32 firstPerpNorm = firstPerp.dot(collisionNormal);
+ float32 sndPerpNorm = secondPerp.dot(collisionNormal);
+
+ float32 cofOfRestitution = (first->cofOfRestitution + second->cofOfRestitution) / 2.f;
+ float32 numerator = (relativeVelocity * (-1 * (1.f + cofOfRestitution))).dot(collisionNormal);
+ float32 linearDenomPart = collisionNormal.dot(collisionNormal * (1.f / first->mass + 1.f / second->mass));
+ float32 rotationalDenomPart = (firstPerpNorm * firstPerpNorm) / first->momentOfInertia + (sndPerpNorm * sndPerpNorm) / second->momentOfInertia;
+
+ float32 impulseMagnitude = numerator / (linearDenomPart + rotationalDenomPart);
+ first->velocity = first->velocity + (collisionNormal * (impulseMagnitude / first->mass));
+ second->velocity = second->velocity - (collisionNormal * (impulseMagnitude / second->mass));
+
+ first->rotationalVelocity = first->rotationalVelocity + firstPerp.dot(collisionNormal * impulseMagnitude) / first->momentOfInertia;
+ second->rotationalVelocity = second->rotationalVelocity - secondPerp.dot(collisionNormal * impulseMagnitude) / second->momentOfInertia;
+}
+
void update(float32 deltaTimeSeconds, void* userData) {
r1.update(deltaTimeSeconds);
r2.update(deltaTimeSeconds);
+ // Handle intersection between the two rectangles here
+ IntersectionResult ir = getIntersection(&r1, &r2);
+ if (ir.intersect) {
+ IntersectionResult irCopy = ir;
+ float32 copyDt = deltaTimeSeconds;
+
+ do {
+ r1.restorePreviousBody();
+ r2.restorePreviousBody();
+
+ ir = irCopy;
+ copyDt = copyDt /= 2.f;
+
+ r1.update(copyDt);
+ r2.update(copyDt);
+
+ irCopy = getIntersection(&r1, &r2);
+
+ if (copyDt <= 0.f) {
+ printf("Error: Should not be happening.\n");
+ break;
+ }
+
+ } while (irCopy.intersect);
+
+ printf("Found intersection at timestamp: %f\n", copyDt);
+
+ resolveCollision(&r1.body, &r2.body, &ir);
+ float32 frameTimeRemaining = deltaTimeSeconds - copyDt;
+
+ r1.update(frameTimeRemaining);
+ r2.update(frameTimeRemaining);
+ }
+
+ // Keep within the bounds
handleCollisionWithWall(&r1);
handleCollisionWithWall(&r2);
-
// Renderer
renderer.render();