Mercurial > games > semicongine
diff src/semicongine/collision.nim @ 363:451b7ccfe722
improve 2D collision, add some vector functionality, allow shaders/pipelines to be ordered for deterministic rendering order
| author | Sam <sam@basx.dev> |
|---|---|
| date | Sun, 01 Oct 2023 20:53:35 +0700 |
| parents | 6f61e0bb89b7 |
| children |
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--- a/src/semicongine/collision.nim Fri Sep 29 19:30:07 2023 +0700 +++ b/src/semicongine/collision.nim Sun Oct 01 20:53:35 2023 +0700 @@ -272,7 +272,7 @@ result = (normal: minNormal, penetrationDepth: minDistance + 0.001'f32) -func collisionPoint2D(polytopeIn: seq[Vec3f], a, b: Collider): tuple[normal: Vec2f, penetrationDepth: float32] = +func collisionPoint2D(polytopeIn: seq[Vec3f], a, b: Collider): tuple[normal: Vec3f, penetrationDepth: float32] = var polytope = polytopeIn minIndex = 0 @@ -309,11 +309,11 @@ polytope.insert(support, minIndex) inc iterCount - result = (normal: minNormal, penetrationDepth: minDistance + 0.001'f32) + result = (normal: newVec3f(minNormal.x, minNormal.y), penetrationDepth: minDistance + 0.001'f32) -func intersects*(a, b: Collider): bool = +func intersects*(a, b: Collider, as2D=false): bool = var - support = supportPoint(a, b, newVec3f(0.8153, -0.4239, 0.5786)) # just random initial vector + support = supportPoint(a, b, newVec3f(0.8153, -0.4239, if as2D: 0.0 else: 0.5786)) # just random initial vector simplex = newSeq[Vec3f]() direction = -support n = 0 @@ -323,16 +323,16 @@ if support.dot(direction) <= 0: return false simplex.insert(support, 0) - if nextSimplex(simplex, direction): + if nextSimplex(simplex, direction, twoDimensional=as2D): return true # prevent numeric instability if direction == newVec3f(0, 0, 0): direction[0] = 0.0001 inc n -func collision*(a, b: Collider): tuple[hasCollision: bool, normal: Vec3f, penetrationDepth: float32] = +func collision*(a, b: Collider, as2D=false): tuple[hasCollision: bool, normal: Vec3f, penetrationDepth: float32] = var - support = supportPoint(a, b, newVec3f(0.8153, -0.4239, 0.5786)) # just random initial vector + support = supportPoint(a, b, newVec3f(0.8153, -0.4239, if as2D: 0.0 else: 0.5786)) # just random initial vector simplex = newSeq[Vec3f]() direction = -support n = 0 @@ -342,28 +342,8 @@ if support.dot(direction) <= 0: return result simplex.insert(support, 0) - if nextSimplex(simplex, direction): - let (normal, depth) = collisionPoint3D(simplex, a, b) - return (true, normal, depth) - # prevent numeric instability - if direction == newVec3f(0, 0, 0): - direction[0] = 0.0001 - inc n - -func collision2D*(a, b: Collider): tuple[hasCollision: bool, normal: Vec2f, penetrationDepth: float32] = - var - support = supportPoint(a, b, newVec3f(0.8153, -0.4239, 0)) # just random initial vector - simplex = newSeq[Vec3f]() - direction = -support - n = 0 - simplex.insert(support, 0) - while n < MAX_COLLISON_DETECTION_ITERATIONS: - support = supportPoint(a, b, direction) - if support.dot(direction) <= 0: - return result - simplex.insert(support, 0) - if nextSimplex(simplex, direction, twoDimensional=true): - let (normal, depth) = collisionPoint2D(simplex, a, b) + if nextSimplex(simplex, direction, twoDimensional=as2D): + let (normal, depth) = if as2D: collisionPoint2D(simplex, a, b) else: collisionPoint3D(simplex, a, b) return (true, normal, depth) # prevent numeric instability if direction == newVec3f(0, 0, 0):