diff options
| -rwxr-xr-x | frontend/2d/_collisions/rectangle_line/dist/output.wasm | bin | 50694 -> 50712 bytes | |||
| -rw-r--r-- | frontend/2d/_collisions/rectangle_line/main.cpp | 2 | ||||
| -rwxr-xr-x | frontend/2d/_collisions/rectangle_rectangle/dist/output.wasm | bin | 47175 -> 51583 bytes | |||
| -rw-r--r-- | frontend/2d/_collisions/rectangle_rectangle/main.cpp | 107 |
4 files changed, 70 insertions, 39 deletions
diff --git a/frontend/2d/_collisions/rectangle_line/dist/output.wasm b/frontend/2d/_collisions/rectangle_line/dist/output.wasm Binary files differindex dd44607..f23eebd 100755 --- a/frontend/2d/_collisions/rectangle_line/dist/output.wasm +++ b/frontend/2d/_collisions/rectangle_line/dist/output.wasm diff --git a/frontend/2d/_collisions/rectangle_line/main.cpp b/frontend/2d/_collisions/rectangle_line/main.cpp index 9ccbc7e..74e1ec2 100644 --- a/frontend/2d/_collisions/rectangle_line/main.cpp +++ b/frontend/2d/_collisions/rectangle_line/main.cpp @@ -246,7 +246,7 @@ void resolveCollision(Rigidbody* first, Rigidbody* second, IntersectionResult* i 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); + 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; diff --git a/frontend/2d/_collisions/rectangle_rectangle/dist/output.wasm b/frontend/2d/_collisions/rectangle_rectangle/dist/output.wasm Binary files differindex 9038de5..c13cd15 100755 --- a/frontend/2d/_collisions/rectangle_rectangle/dist/output.wasm +++ b/frontend/2d/_collisions/rectangle_rectangle/dist/output.wasm diff --git a/frontend/2d/_collisions/rectangle_rectangle/main.cpp b/frontend/2d/_collisions/rectangle_rectangle/main.cpp index b4e307e..6b7b8dd 100644 --- a/frontend/2d/_collisions/rectangle_rectangle/main.cpp +++ b/frontend/2d/_collisions/rectangle_rectangle/main.cpp @@ -9,6 +9,7 @@ #include <unistd.h> #include <pthread.h> #include <cmath> +#include <cfloat> struct Rigidbody { Vector2 force = { 0, 0 }; @@ -62,6 +63,7 @@ struct IntersectionResult { struct Rectangle { OrthographicShape shape; Rigidbody body; + Rigidbody previousBody; Vector4 color; float32 width = 0.f; float32 height = 0.f; @@ -92,6 +94,8 @@ struct Rectangle { } void update(float32 dtSeconds) { + previousBody = body; + body.update(dtSeconds); shape.model = Mat4x4().translateByVec2(body.position).rotate2D(body.rotation); } @@ -104,6 +108,10 @@ struct Rectangle { shape.unload(); } + void restorePreviousBody() { + body = previousBody; + } + // Note that these getters are needlessly verbose for demonstration's sake void getPoints(Vector2* pointList) { Vector2 botLeft = shape.model * Vector2 { -width / 2.f, -height / 2.f }; @@ -163,21 +171,21 @@ int main() { void load() { renderer.load(&context); - rectangleList[0].load(&renderer, Vector4 { 135.f, 135.f, 35.f, 255.f }, 24.f, 32.f); + rectangleList[0].load(&renderer, Vector4 { 235.f, 35.f, 35.f, 255.f }, 24.f, 32.f); rectangleList[0].body.position = Vector2 { context.width / 3.f, context.height / 3.f }; rectangleList[0].body.velocity = Vector2 { 100.f, 250.f }; rectangleList[0].body.rotation = 0.2f; - rectangleList[1].load(&renderer, Vector4 { 35.f, 135.f, 135.f, 255.f }, 64.f, 96.f); + rectangleList[1].load(&renderer, Vector4 { 35.f, 235.f, 35.f, 255.f }, 64.f, 96.f); rectangleList[1].body.position = Vector2 { context.width / 3.f, context.height * (2.f / 3.f) }; rectangleList[1].body.rotation = 1.3f; - rectangleList[2].load(&renderer, Vector4 { 135.f, 35.f, 135.f, 255.f }, 64.f, 32.f); + rectangleList[2].load(&renderer, Vector4 { 235.f, 35.f, 235.f, 255.f }, 64.f, 32.f); rectangleList[2].body.position = Vector2 { context.width * (2.f / 3.f), context.height / 3.f }; rectangleList[2].body.velocity = Vector2 { -100.f, 250.f }; rectangleList[2].body.rotation = -0.5f; - rectangleList[3].load(&renderer, Vector4 { 35.f, 135.f, 35.f, 255.f }, 8.f, 16.f); + rectangleList[3].load(&renderer, Vector4 { 35.f, 235.f, 235.f, 255.f }, 8.f, 16.f); rectangleList[3].body.position = Vector2 { context.width * (2.f / 3.f), context.height * (2.f / 3.f) }; rectangleList[3].body.rotation = -3.23f; @@ -205,6 +213,12 @@ 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; @@ -220,6 +234,9 @@ IntersectionResult getIntersection(Rectangle* first, Rectangle* second) { Vector2 secondPoints[4]; second->getPoints(secondPoints); + float32 minOverlap = FLT_MAX; + Vector2 minOverlapAxis; + for (int i = 0; i < 4; i++) { Vector2 normal = firstNormals[i]; @@ -229,6 +246,12 @@ IntersectionResult getIntersection(Rectangle* first, Rectangle* second) { if (!projectionsOverlap(firstProj, secondProj)) { return ir; } + + float32 overlap = getProjectionOverlap(firstProj, secondProj); + if (overlap < minOverlap) { + minOverlap = overlap; + minOverlapAxis = normal; + } } for (int i = 0; i < 4; i++) { @@ -240,10 +263,17 @@ IntersectionResult getIntersection(Rectangle* first, Rectangle* second) { if (!projectionsOverlap(firstProj, secondProj)) { return ir; } + + float32 overlap = getProjectionOverlap(firstProj, secondProj); + if (overlap < minOverlap) { + minOverlap = overlap; + minOverlapAxis = normal; + } } - printf("We are overlapping\n"); - + ir.intersect = true; + ir.relativeVelocity = first->body.velocity - second->body.velocity; + ir.collisionNormal = minOverlapAxis; return ir; } @@ -259,13 +289,14 @@ void resolveCollision(Rigidbody* first, Rigidbody* second, IntersectionResult* i float32 cofOfRestition = (first->cofOfRestition + second->cofOfRestition) / 2.f; float32 numerator = (relativeVelocity * (-1 * (1.f + cofOfRestition))).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 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; + + //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) { @@ -281,42 +312,42 @@ void update(float32 deltaTimeSeconds, void* userData) { Rectangle* second = &rectangleList[j]; IntersectionResult ir = getIntersection(first, second); - } - } - - /*for (int32 segmentIndex = 0; segmentIndex < 4; segmentIndex++) { - IntersectionResult ir = getIntersection(&rectangle, &segmentList[segmentIndex]); - if (!ir.intersect) { - continue; - } + if (!ir.intersect) { + continue; + } - // Handle collison here - IntersectionResult irCopy = ir; - float32 copyDt = deltaTimeSeconds; + // Handle collison here + IntersectionResult irCopy = ir; + float32 copyDt = deltaTimeSeconds; - do { - ir = irCopy; - rectangle = rectCopy; - copyDt = copyDt /= 2.f; + do { + first->restorePreviousBody(); + second->restorePreviousBody(); + + ir = irCopy; + copyDt = copyDt /= 2.f; - rectangle.update(copyDt); - irCopy = getIntersection(&rectangle, &segmentList[segmentIndex]); + first->update(copyDt); + second->update(copyDt); + + irCopy = getIntersection(first, second); - if (copyDt <= 0.f) { - printf("Error: Should not be happening.\n"); - break; - } + if (copyDt <= 0.f) { + printf("Error: Should not be happening.\n"); + break; + } - } while (irCopy.intersect); + } while (irCopy.intersect); - printf("Found intersection at timestamp: %f\n", copyDt); + printf("Found intersection at timestamp: %f\n", copyDt); - resolveCollision(&rectangle.body, &segmentList[segmentIndex].body, &ir); - float32 frameTimeRemaining = deltaTimeSeconds - copyDt; - - update(frameTimeRemaining, userData); - return; - }*/ + resolveCollision(&first->body, &second->body, &ir); + float32 frameTimeRemaining = deltaTimeSeconds - copyDt; + + first->update(frameTimeRemaining); + second->update(frameTimeRemaining); + } + } // Renderer renderer.render(); |