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Now when polygons collide, they get moved by the overlap to ensure that

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they don't get stuck in the following frames, it works very well and
Carza is happy :))))))
This commit is contained in:
Karma Riuk 2023-05-19 15:24:11 +02:00
parent 92e51a96be
commit a424fec9a9
5 changed files with 94 additions and 102 deletions
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23
collisions.cc
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@ -1,5 +1,7 @@
#include "collisions.h" #include "collisions.h"
#include "game.h"
#include <algorithm> #include <algorithm>
#include <cassert> #include <cassert>
#include <iostream> #include <iostream>
@ -96,8 +98,13 @@ static collision penetration(segment& edge, vertex& vertex, vec2d& d) {
vec2d n = (edge.second - edge.first).orthogonal(); vec2d n = (edge.second - edge.first).orthogonal();
ret.n = vec2d::normalize(n); ret.n = vec2d::normalize(n);
if (vec2d::dot(n, d) > 0) if (vec2d::dot(n, d) > 0)
ret.n *= -1; ret.n *= -1;
vec2d temp = vertex.v - edge.first;
ret.overlap = vec2d::dot(temp, ret.n) * -ret.n;
ret.overlap += .1 * delta * -ret.n;
// std::cout << "-------------- Impact: penetration --------------" // std::cout << "-------------- Impact: penetration --------------"
// << std::endl; // << std::endl;
return ret; return ret;
@ -139,6 +146,11 @@ static collision parallel(segment edge_p, segment edge_q, vec2d d) {
ret.n = base.orthogonal(); ret.n = base.orthogonal();
if (vec2d::dot(ret.n, d) > 0) if (vec2d::dot(ret.n, d) > 0)
ret.n *= -1; ret.n *= -1;
vec2d temp = ret.impact_point - edge_p.first;
ret.overlap = vec2d::dot(temp, ret.n) * -ret.n;
ret.overlap += .1 * delta * -ret.n;
// std::cout << "-------------- Impact: parallel --------------" << // std::cout << "-------------- Impact: parallel --------------" <<
// std::endl; // std::endl;
return ret; return ret;
@ -206,10 +218,14 @@ static collision vertex_vertex_collision(polygon& p, polygon& q) {
if (vec2d::dot(n, d) > 0) if (vec2d::dot(n, d) > 0)
n *= -1; n *= -1;
vec2d temp = vertex.v - edge_q.first;
vec2d overlap = vec2d::dot(temp, n) * -n;
overlap += .1 * delta * -n;
// std::cout // std::cout
// << "-------------- Impact: angle in angle --------------" // << "-------------- Impact: angle in angle --------------"
// << std::endl; // << std::endl;
return {true, n, vertex.v}; return {true, n, vertex.v, overlap};
} }
} }
return {false}; return {false};
@ -223,14 +239,17 @@ static collision convex_collides(polygon& p, polygon& q) {
if ((ret = vertex_edge_collision(q, p)).collides) { if ((ret = vertex_edge_collision(q, p)).collides) {
ret.n *= -1; ret.n *= -1;
ret.overlap *= -1;
return ret; return ret;
} }
if ((ret = vertex_vertex_collision(p, q)).collides) if ((ret = vertex_vertex_collision(p, q)).collides)
return ret; return ret;
if ((ret = vertex_vertex_collision(q, p)).collides) if ((ret = vertex_vertex_collision(q, p)).collides) {
ret.n *= -1; ret.n *= -1;
ret.overlap *= -1;
}
return ret; return ret;
} }

3
collisions.h
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@ -6,8 +6,9 @@
struct collision { struct collision {
bool collides = false; bool collides = false;
vec2d n; // minimum push vector vec2d n;
vec2d impact_point; vec2d impact_point;
vec2d overlap; // minimum push vector
}; };
extern collision collides(polygon& p, polygon& q); extern collision collides(polygon& p, polygon& q);

2
game.h
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@ -8,7 +8,7 @@
extern double delta; /* simulation time delta in seconds */ extern double delta; /* simulation time delta in seconds */
#define DEFAULT_DELTA 0.001 #define DEFAULT_DELTA 0.01
extern int width; /* game canvas width */ extern int width; /* game canvas width */
extern int height; /* game canvas height */ extern int height; /* game canvas height */

166
polygons.cc
View File

@ -17,70 +17,55 @@ polygon* polygons = nullptr;
uint n_polygons = 0; uint n_polygons = 0;
void polygons_init_state() { void polygons_init_state() {
n_polygons = 11; n_polygons = 20;
polygons = new polygon[n_polygons]; polygons = new polygon[n_polygons];
int wall_thickness = 50; int wall_thickness = 50;
uint n = 0;
// north wall // north wall
polygons[0] = poly_generate::rectangle(width, wall_thickness, INFINITY) polygons[n++] = poly_generate::rectangle(width, wall_thickness, INFINITY)
.set_center({width / 2., -wall_thickness / 2.}); .set_center({width / 2., -wall_thickness / 2.});
// south wall // south wall
polygons[1] = poly_generate::rectangle(width, wall_thickness, INFINITY) polygons[n++] = poly_generate::rectangle(width, wall_thickness, INFINITY)
.set_center({width / 2., height + wall_thickness / 2.}); .set_center({width / 2., height + wall_thickness / 2.});
// west wall // west wall
polygons[2] = poly_generate::rectangle(wall_thickness, height, INFINITY) polygons[n++] = poly_generate::rectangle(wall_thickness, height, INFINITY)
.set_center({-wall_thickness / 2., height / 2.}); .set_center({-wall_thickness / 2., height / 2.});
// east wall // east wall
polygons[3] = poly_generate::rectangle(wall_thickness, height, INFINITY) polygons[n++] = poly_generate::rectangle(wall_thickness, height, INFINITY)
.set_center({width + wall_thickness / 2., height / 2.}); .set_center({width + wall_thickness / 2., height / 2.});
polygons[4] = poly_generate::rectangle(50, height / 2., INFINITY)
.set_center({25 + width * 1. / 2, height / 2.})
.set_angle(0);
#define PROBLEMATIC_COUPLES 0 // middle wall
#if PROBLEMATIC_COUPLES == 0 polygons[n++] = poly_generate::rectangle(50, height / 2., INFINITY)
polygons[5] = poly_generate::regular(100, 3) .set_center({25 + width * 1. / 2, height / 2.})
.set_center({100, 400}) .set_angle(0);
.set_angle(0)
.set_speed({200, -10});
polygons[6] = poly_generate::square(100) polygons[n++] = poly_generate::regular(100, 3)
.set_center({600, 400}) .set_center({100, 400})
.set_angle(45) .set_angle(0)
.set_speed({-200, -10}); .set_speed({200, -10});
polygons[7] = poly_generate::general( polygons[n++] = poly_generate::square(100)
{{0, 0}, {100, 0}, {100, 100}, {50, 150}, {0, 100}}, 3) .set_center({600, 400})
.set_center({200, 600}); .set_angle(45)
.set_speed({-200, -10});
polygons[8] = poly_generate::rectangle(100, 150).set_center({600, 200}); polygons[n++] = poly_generate::general(
polygons[9] = poly_generate::regular(50, 5).set_center({150, 150}); {{0, 0}, {100, 0}, {100, 100}, {50, 150}, {0, 100}},
polygons[10] = 3
)
.set_center({200, 600})
.set_angle(45)
.set_speed({10, 0});
polygons[n++] = poly_generate::rectangle(100, 150).set_center({600, 200});
polygons[n++] = poly_generate::regular(50, 5).set_center({150, 150});
polygons[n++] =
poly_generate::general({{0, 0}, {50, 80}, {0, 160}, {-50, 80}}) poly_generate::general({{0, 0}, {50, 80}, {0, 160}, {-50, 80}})
.set_center({700, 700}) .set_center({700, 700})
.set_speed({0, -100}); .set_speed({0, -100});
#elif PROBLEMATIC_COUPLES == 1
// for this problematic couple to work, remove the gravity
n_polygons = 7;
polygons[4] = poly_generate::regular(100, 3)
.set_center({103.91, 684.587})
.set_angle(280.108)
.set_speed({190.114, 131.983})
.set_angular_speed(32.6448);
polygons[5] = poly_generate::square(100) assert(n <= n_polygons);
.set_center({614.338, 514.889}) n_polygons = n;
.set_angle(-54.3526)
.set_speed({-70.0347, -62.4788})
.set_angular_speed(-39.3846);
polygons[6] = poly_generate::general(
{{0, 0}, {100, 0}, {100, 100}, {50, 150}, {0, 100}}, 3)
.set_center({261.425, 556.613})
.set_angle(-122.59)
.set_speed({-46.9522, 48.5392})
.set_angular_speed(-35.5983);
#endif
} }
static double to_rad(double angle_in_deg) { static double to_rad(double angle_in_deg) {
@ -100,13 +85,14 @@ static bool is_point_inside_rect(rect rect, vec2d point) {
static bool bounding_rects_collide(rect cur_bound, rect other_bound) { static bool bounding_rects_collide(rect cur_bound, rect other_bound) {
vec2d other_tl = other_bound.first, other_br = other_bound.second; vec2d other_tl = other_bound.first, other_br = other_bound.second;
return is_point_inside_rect(cur_bound, other_tl) || return is_point_inside_rect(cur_bound, other_tl)
is_point_inside_rect(cur_bound, {other_tl.x, other_br.y}) || || is_point_inside_rect(cur_bound, {other_tl.x, other_br.y})
is_point_inside_rect(cur_bound, {other_br.x, other_tl.y}) || || is_point_inside_rect(cur_bound, {other_br.x, other_tl.y})
is_point_inside_rect(cur_bound, other_br); || is_point_inside_rect(cur_bound, other_br);
} }
static double impulse_parameter(vec2d v_ab1, static double impulse_parameter(
vec2d v_ab1,
vec2d n, vec2d n,
double m_a, double m_a,
double m_b, double m_b,
@ -114,13 +100,14 @@ static double impulse_parameter(vec2d v_ab1,
vec2d r_bp, vec2d r_bp,
double I_a, double I_a,
double I_b, double I_b,
double e) { double e
) {
double nominator = -(1 + e) * vec2d::dot(v_ab1, n); double nominator = -(1 + e) * vec2d::dot(v_ab1, n);
double r_ap_cross_n = vec2d::cross(r_ap, n); double r_ap_cross_n = vec2d::cross(r_ap, n);
double r_bp_cross_n = vec2d::cross(r_bp, n); double r_bp_cross_n = vec2d::cross(r_bp, n);
double denominator = 1 / m_a + 1 / m_b + r_ap_cross_n * r_ap_cross_n / I_a + double denominator = 1 / m_a + 1 / m_b + r_ap_cross_n * r_ap_cross_n / I_a
r_bp_cross_n * r_bp_cross_n / I_b; + r_bp_cross_n * r_bp_cross_n / I_b;
return nominator / denominator; return nominator / denominator;
} }
@ -139,18 +126,26 @@ static void handle_collision(collision& c, polygon* a, polygon* b) {
vec2d v_ab1 = v_ap1 - v_bp1; vec2d v_ab1 = v_ap1 - v_bp1;
// avoid the polygons getting stuck if, on the frame after the impact, if (vec2d::norm(c.overlap) > 10)
// the polygon a is still inside of b c.overlap = -.1 * vec2d::normalize(c.overlap);
if (a->collided_with.find(b) != a->collided_with.end()) // std::cout << c.overlap << std::endl;
return; if (b->mass == INFINITY)
a->translate(c.overlap);
a->collided_with.insert(b); else {
b->collided_with.insert(a); double ma = a->mass;
double mb = b->mass;
double m_total = ma + mb;
// If b is wall, then mb / m_total = INFINITY / INFINITY = -nan,
// so we need the if statement above
a->translate(c.overlap * mb / m_total);
b->translate(-c.overlap * ma / m_total);
}
double I_a = a->inertia, I_b = b->inertia; double I_a = a->inertia, I_b = b->inertia;
double j = impulse_parameter(v_ab1, double j = impulse_parameter(
v_ab1,
c.n, c.n,
a->mass, a->mass,
b->mass, b->mass,
@ -158,7 +153,8 @@ static void handle_collision(collision& c, polygon* a, polygon* b) {
r_bp, r_bp,
I_a, I_a,
I_b, I_b,
restitution_coefficient_get()); restitution_coefficient_get()
);
vec2d v_a2 = a->speed + j * c.n / a->mass; vec2d v_a2 = a->speed + j * c.n / a->mass;
vec2d v_b2 = b->speed - j * c.n / b->mass; vec2d v_b2 = b->speed - j * c.n / b->mass;
@ -173,45 +169,27 @@ static void handle_collision(collision& c, polygon* a, polygon* b) {
b->angular_speed = to_deg(omega_b2); b->angular_speed = to_deg(omega_b2);
} }
collision col; // tbd
static void check_collisions(polygon* current_p) { static void check_collisions(polygon* current_p) {
rect cur_bound = current_p->get_bounding_box(); rect cur_bound = current_p->get_bounding_box();
bool collided_with_something = false; collision c;
for (polygon* other_p = polygons; other_p != polygons + n_polygons; polygon* other_p;
++other_p) { for (other_p = polygons; other_p != polygons + n_polygons; ++other_p) {
if (other_p == current_p) // polygons don't collide with themselves if (other_p == current_p) // polygons don't collide with themselves
continue; continue;
if (vec2d::norm(current_p->speed) == 0 &&
vec2d::norm(other_p->speed) == 0)
// if both are not moving, no need to go through the whole
// collision detection thing
continue;
rect other_bound = other_p->get_bounding_box(); rect other_bound = other_p->get_bounding_box();
if (bounding_rects_collide(cur_bound, other_bound) || if ((bounding_rects_collide(cur_bound, other_bound)
bounding_rects_collide(other_bound, cur_bound)) { || bounding_rects_collide(other_bound, cur_bound))
collision c = collides(*current_p, *other_p); && (c = collides(*current_p, *other_p)).collides) {
if (c.collides) { handle_collision(c, current_p, other_p);
collided_with_something = true;
col = c;
handle_collision(c, current_p, other_p);
} else if (current_p->collided_with.find(other_p) !=
current_p->collided_with.end()) {
current_p->collided_with.erase(other_p);
other_p->collided_with.erase(current_p);
}
} }
} }
if (!collided_with_something && current_p->collided_with.size() > 0)
current_p->collided_with.clear();
} }
void polygons_update_state() { void polygons_update_state() {
for (polygon* p = polygons; p != polygons + n_polygons; ++p) { for (polygon* p = polygons; p != polygons + n_polygons; ++p) {
if (p->mass == INFINITY) // immovable objects don't need to be updated if (p->mass == INFINITY) // immovable objects don't need to be updated
continue; continue;
// check_border_collision(p);
check_collisions(p); check_collisions(p);
p->rotate(delta * p->angular_speed); p->rotate(delta * p->angular_speed);
@ -222,7 +200,6 @@ void polygons_update_state() {
vec2d g = gravity_vector(p); vec2d g = gravity_vector(p);
p->translate(.5 * delta * delta * g); p->translate(.5 * delta * delta * g);
p->speed += delta * g; p->speed += delta * g;
// std::cout << *p << std::endl;
} }
} }
@ -281,9 +258,6 @@ void polygon::draw(cairo_t* cr) const {
} }
void polygons_draw(cairo_t* cr) { void polygons_draw(cairo_t* cr) {
// draw_circle(cr, col.impact_point, 3); // tbd
// col.n.draw(cr, col.impact_point); // tbd
for (const polygon* p = polygons; p != polygons + n_polygons; ++p) for (const polygon* p = polygons; p != polygons + n_polygons; ++p)
p->draw(cr); p->draw(cr);
} }

2
polygons.h
View File

@ -5,7 +5,6 @@
#include <cmath> #include <cmath>
#include <gtk/gtk.h> #include <gtk/gtk.h>
#include <unordered_set>
#include <utility> #include <utility>
#include <vector> #include <vector>
@ -27,7 +26,6 @@ class polygon {
vec2d speed; vec2d speed;
double angular_speed; double angular_speed;
std::unordered_set<polygon*> collided_with;
void draw(cairo_t* cr) const; void draw(cairo_t* cr) const;
void draw_bounding_rect(cairo_t* cr) const; void draw_bounding_rect(cairo_t* cr) const;