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epa working

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This commit is contained in:
IXtreme 2025-08-13 22:15:22 -04:00
parent 37745b1bd2
commit 0db35dc0b2
5 changed files with 291 additions and 86 deletions
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2
Makefile
View file

@ -9,7 +9,7 @@ BIN_DIR = bin
LIB_DIR = lib
CPPFLAGS = -O3 -Iinclude -Isrc/imgui -g -D ASSET_DIR=\"$(ASSET_PREFIX)\"
CPPFLAGS = -O3 -std=c++20 -Iinclude -Isrc/imgui -g -D ASSET_DIR=\"$(ASSET_PREFIX)\"
CFLAGS = -O3 -g -Iinclude -D ASSET_DIR=\"$(ASSET_PREFIX)\"
LDFLAGS = -O3 -g
#global LDLIBS

62
compile_commands.json
View file

@ -3,6 +3,7 @@
"arguments": [
"/sbin/g++",
"-O3",
"-std=c++20",
"-Iinclude",
"-Isrc/imgui",
"-g",
@ -10,64 +11,11 @@
"ASSET_DIR=\"assets/\"",
"-c",
"-o",
"obj/rlImGui/rlImGui.o",
"src/rlImGui/rlImGui.cpp"
"obj/phys.o",
"src/phys.cpp"
],
"directory": "/home/inventorx/projects/shooter",
"file": "/home/inventorx/projects/shooter/src/rlImGui/rlImGui.cpp",
"output": "/home/inventorx/projects/shooter/obj/rlImGui/rlImGui.o"
},
{
"arguments": [
"/sbin/g++",
"-O3",
"-Iinclude",
"-Isrc/imgui",
"-g",
"-D",
"ASSET_DIR=\"assets/\"",
"-c",
"-o",
"obj/main.o",
"src/main.cpp"
],
"directory": "/home/inventorx/projects/shooter",
"file": "/home/inventorx/projects/shooter/src/main.cpp",
"output": "/home/inventorx/projects/shooter/obj/main.o"
},
{
"arguments": [
"/sbin/gcc",
"-O3",
"-g",
"-Iinclude",
"-D",
"ASSET_DIR=\"assets/\"",
"-c",
"-o",
"obj/testc.o",
"src/testc.c"
],
"directory": "/home/inventorx/projects/shooter",
"file": "/home/inventorx/projects/shooter/src/testc.c",
"output": "/home/inventorx/projects/shooter/obj/testc.o"
},
{
"arguments": [
"/sbin/g++",
"-O3",
"-Iinclude",
"-Isrc/imgui",
"-g",
"-D",
"ASSET_DIR=\"assets/\"",
"-c",
"-o",
"obj/testcpp.o",
"src/testcpp.cpp"
],
"directory": "/home/inventorx/projects/shooter",
"file": "/home/inventorx/projects/shooter/src/testcpp.cpp",
"output": "/home/inventorx/projects/shooter/obj/testcpp.o"
"file": "/home/inventorx/projects/shooter/src/phys.cpp",
"output": "/home/inventorx/projects/shooter/obj/phys.o"
}
]

36
src/main.cpp
View file

@ -106,6 +106,8 @@ std::ostream &operator<<(std::ostream &os, const Vector2 &obj) {
return os;
}
struct Player {
raylib::Camera3D cam;
@ -127,16 +129,20 @@ struct Player {
rl::Vector3 up = (Vector3) {0, 1, 0};
rl::Vector3 left = Vector3RotateByAxisAngle(forward, up, M_PI_2);
if (IsKeyDown(KEY_W)) {
accel += forward * 5;
//accel += forward * 5;
accel += rl::Vector3(forward.x, 0, forward.z).Normalize() * 5;
}
if (IsKeyDown(KEY_S)) {
accel += -forward * 5;
//accel += -forward * 5;
accel += -rl::Vector3(forward.x, 0, forward.z).Normalize() * 5;
}
if (IsKeyDown(KEY_A)) {
accel += left * 5;
//accel += left * 5;
accel += rl::Vector3(left.x, 0, left.z) * 5;
}
if (IsKeyDown(KEY_D)) {
accel += -left * 5;
//accel += -left * 5;
accel += -rl::Vector3(left.x, 0, left.z) * 5;
}
if(IsKeyDown(KEY_SPACE)) {
@ -221,7 +227,7 @@ int main(int argc, char *argv[]) {
user.pos = rl::Vector3 {0, 0, 200};
RecPrism peak(Vector3Zero(), (Vector3) {50, 50, 50} );
RecPrism peakduo((Vector3) {60, 0, 0} , (Vector3) {50, 50, 50} );
RecPrism peakduo((Vector3) {45, 0, 0} , (Vector3) {50, 50, 50} );
while (!window.ShouldClose()) // Detect window close button or ESC key, or a quit from the menu
{
if (IsWindowResized()) {
@ -259,15 +265,33 @@ int main(int argc, char *argv[]) {
}
if(IsKeyDown(KEY_L)) {
peak.pos.x += 0.1;
}
if(IsKeyDown(KEY_J)) {
peak.pos.x -= 0.1;
}
if(IsKeyDown(KEY_I)) {
peak.pos.z -= 0.1;
}
if(IsKeyDown(KEY_K)) {
peak.pos.z += 0.1;
}
outputTexture.BeginMode();
ClearBackground(BLACK);
user.cam.BeginMode();
DrawSphere((Vector3){0, 0, -300}, 20, RED);
if (GJK(peak, peakduo)) {
auto opt = GJK(peak, peakduo);
if (opt) {
peakduo.Draw(RED);
peak.Draw(RED);
auto vec = EPA(opt.value(), peak, peakduo);
//DrawRay(Ray{peakduo.pos, vec}, BLUE);
peakduo.pos += vec;
} else {
peakduo.Draw();
peak.Draw();

211
src/phys.cpp
View file

@ -1,13 +1,16 @@
#include "phys.hpp"
#include "raylib-cpp/include/Camera3D.hpp"
#include "raylib-cpp/include/Model.hpp"
#include "raylib-cpp/include/Vector3.hpp"
#include <array>
#include <cassert>
#include <cerrno>
#include <cfloat>
#include <compare>
#include <initializer_list>
#include <iostream>
#include <optional>
#include <ostream>
#include <queue>
#include <raylib.h>
#include <raymath.h>
#include <vector>
@ -83,7 +86,6 @@ rl::Vector3 RecPrism::FindFurthestPoint(rl::Vector3 dir) const {
}
}
return pos + maxpoint;
}
@ -123,7 +125,7 @@ bool NextSimplex(Simplex& points, rl::Vector3& direction) {
case 2:
return Line(points, direction);
case 3:
return Triangle(points, direction);
return TriCase(points, direction);
case 4:
return Tetrahedron(points, direction);
}
@ -131,7 +133,7 @@ bool NextSimplex(Simplex& points, rl::Vector3& direction) {
return false;
}
bool SameDirection(rl::Vector3 dir, rl::Vector3& otherdir) {
bool SameDirection(rl::Vector3 dir, rl::Vector3 otherdir) {
return dir.DotProduct(otherdir) > 0;
}
@ -155,7 +157,7 @@ bool Line(Simplex& points, rl::Vector3& dir) {
return false;
}
bool Triangle(Simplex& points, rl::Vector3& dir) {
bool TriCase(Simplex& points, rl::Vector3& dir) {
rl::Vector3 a = points[0];
rl::Vector3 b = points[1];
rl::Vector3 c = points[2];
@ -205,26 +207,30 @@ bool Tetrahedron(Simplex& points, rl::Vector3& dir) {
auto adb = ad.CrossProduct(ab);
if (SameDirection(abc, ao)) {
return Triangle(points = {a, b, c}, dir);
return TriCase(points = {a, b, c}, dir);
}
if (SameDirection(acd, ao)) {
return Triangle(points = {a, c, d}, dir);
return TriCase(points = {a, c, d}, dir);
}
if (SameDirection(adb, ao)) {
return Triangle(points = {a, d, b}, dir);
return TriCase(points = {a, d, b}, dir);
}
return true;
}
bool GJK(const Collider& a, const Collider& b) {
std::optional<Simplex> GJK(const Collider& a, const Collider& b) {
rl::Vector3 support = Support(a, b, rl::Vector3(1, 0, 0));
if (support == rl::Vector3(0, 0, 0)) {
std::cout << "h" << std::endl;
return true;
Simplex degen;
degen.pushf(rl::Vector3(0, 0, 0));
degen.pushf(rl::Vector3(0, 0, 0));
degen.pushf(rl::Vector3(0, 0, 0));
degen.pushf(rl::Vector3(0, 0, 0));
return std::optional(degen);
}
Simplex points;
points.pushf(support);
@ -236,17 +242,192 @@ bool GJK(const Collider& a, const Collider& b) {
support = Support(a, b, dir);
if (support.DotProduct(dir) <= 0) {
std::cout << "here!!!" << its << std::endl;
// std::cout << "here!!!" << its << std::endl;
// std::cout << support.x << support.y << support.z << std::endl;
return false; // if this point is not in the direction of the origin, then no colision
return std::optional<Simplex>(); // if this point is not in the direction of the origin, then no
// colision
}
points.pushf(support);
if (NextSimplex(points, dir)) {
return true;
return points;
}
its = its + 1;
}
}
Triangle::Triangle(rl::Vector3 x, rl::Vector3 y, rl::Vector3 z) {
a = x;
b = y;
c = z;
}
rl::Vector3& Triangle::operator[](size_t i) {
switch (i) {
case 0:
return a;
case 1:
return b;
case 2:
return c;
}
assert(false);
return a;
}
rl::Vector3 Triangle::Normal() {
auto p1 = b - a;
auto p2 = c - a;
auto normal = p1.CrossProduct(p2);
normal = normal.Normalize();
if (SameDirection(normal, -a)) {
return -normal;
}
return normal;
}
std::array<Edge, 3> Triangle::Edges() {
std::array<Edge, 3> out;
out[0] = Edge(a,b);
out[1] = Edge(b,c);
out[2] = Edge(c,a);
return out;
}
std::ostream& operator<<(std::ostream& out, const rl::Vector3& p) {
out << p.x << "," << p.y << "," << p.z;
return out;
}
std::ostream& operator<<(std::ostream& out, const Triangle& p) {
out << p.a << ";" << p.b << ";" << p.c;
return out;
}
bool operator<(const rl::Vector3& a, const rl::Vector3& b) {
if (a.x != b.x) return a.x < b.x;
if (a.y != b.y) return a.y < b.y;
return a.z < b.z;
}
Edge::Edge(rl::Vector3 a, rl::Vector3 b) {
if (a < b) {
x = a;
y = b;
} else {
x = b;
y = a;
}
}
Edge::Edge() {
x = 0;
y = 0;
}
bool Edge::operator<(const Edge& b) const { //TODO: better
if(x != b.x) return x < b.x;
return y < b.y;
}
bool Triangle::operator<(const Triangle& b) const { //TODO: better
if(this->a != b.a) return this->a < b.a;
if(this->b != b.b) return this->b < b.b;
return this->c < b.c;
}
float Pointtoplane(Triangle t, rl::Vector3 p){
//std::cout << "calcing dist between" << p << " and " << t << " norm: " << t.Normal() << std::endl;
//return abs((p-t.a).Project(t.Normal()).Length());
return fabs((p-t.a).Project(t.Normal()).Length());
}
Polytope::Polytope(Simplex S) {
faces.insert(Triangle(S[0],S[1],S[2]));
faces.insert(Triangle(S[0],S[3],S[1]));
faces.insert(Triangle(S[0],S[2],S[3]));
faces.insert(Triangle(S[1],S[3],S[2]));
}
void Polytope::Extend(rl::Vector3 p) {
std::set<Edge> edges;
std::queue<Triangle> rem;
for (auto face : faces) {
if (SameDirection(face.Normal(), p)) {
rem.push(face);
for (auto edge : face.Edges()) {
if(edges.contains(edge)) {
edges.erase(edge);
} else {
edges.insert(edge);
}
}
}
}
while (!rem.empty()) {
faces.erase(rem.front());
rem.pop();
}
int i = 0;
for (auto edge : edges) {
auto adding = Triangle(edge.x, edge.y, p);
faces.insert(adding);
std::cout << "adding: " << adding << "count: " << i << std::endl;
i++;
}
}
rl::Vector3 EPA(Simplex S, const Collider& a, const Collider& b) {
Polytope p(S);
std::cout << "BEGIN" << std::endl;
while (true) {
// Find closest face
float dist = FLT_MAX;
Triangle nearest(0,0,0);
for (auto face : p.faces) {
auto temp = Pointtoplane(face, 0);
std::cout << "dist: " << temp << " " << face << std::endl;
if ( temp < dist) {
dist = temp;
nearest = face;
//DrawTriangle3D(nearest.a, nearest.b, nearest.c, WHITE);
}
}
auto normal = nearest.Normal();
//DrawLine3D(rl::Vector3(0), normal*1000, GREEN);
auto supportPoint = Support(a, b, normal);
//std::cout << "dist to farthest hull" << supportPoint.Dotproduct(normal) - dist << std::endl;
if (abs(supportPoint.DotProduct(normal) - dist) < 0.1) { // if distance between face and point on face is same
//return supportPoint.Project(normal);
//DrawTriangle3D(nearest.a, nearest.b, nearest.c, GREEN);
std::cout << "END" << std::endl;
return normal * Pointtoplane(nearest, 0);
} else {
//extend
std::cout << "extending" << std::endl;
p.Extend(supportPoint);
}
}
}

58
src/phys.hpp
View file

@ -5,9 +5,14 @@
#include "raylib-cpp/include/Model.hpp"
#include "raylib-cpp/include/Vector3.hpp"
#include "raylib-cpp/include/Vector4.hpp"
#include <array>
#include <initializer_list>
#include <optional>
#include <ostream>
#include <raylib-cpp/include/raylib-cpp.hpp>
#include <raylib.h>
#include <set>
#include <unordered_set>
#include <vector>
namespace rl = raylib;
@ -56,17 +61,64 @@ struct Simplex {
rl::Vector3& operator[](size_t i);
};
struct Edge {
Edge();
Edge(rl::Vector3 a, rl::Vector3 b);
rl::Vector3 x;
rl::Vector3 y;
// bool operator==(const Edge& b);
bool operator<(const Edge& b) const;
};
struct Triangle {
Triangle(rl::Vector3 x, rl::Vector3 y, rl::Vector3 z);
rl::Vector3 a;
rl::Vector3 b;
rl::Vector3 c;
rl::Vector3& operator[](size_t i);
bool operator<(const Triangle& b) const;
rl::Vector3 Normal(); //Normal away from origin.
std::array<Edge, 3> Edges();
friend std::ostream& operator<<(std::ostream& out, const Triangle& p);
};
struct Polytope {
Polytope(Simplex S);
std::set<Triangle> faces;
void Extend(rl::Vector3 p);
};
bool Line(Simplex& points, rl::Vector3& dir);
bool Triangle(Simplex& points, rl::Vector3& dir);
bool TriCase(Simplex& points, rl::Vector3& dir);
bool Tetrahedron(Simplex& points, rl::Vector3& dir);
bool NextSimplex(Simplex& points, rl::Vector3& direction);
bool GJK(const Collider& a, const Collider& b);
std::optional<Simplex> GJK(const Collider& a, const Collider& b);
bool SameDirection(rl::Vector3 dir, rl::Vector3 otherdir);
float Pointtoplane(Triangle t, rl::Vector3 p);
rl::Vector3 EPA(Simplex S, const Collider& a, const Collider& b);
bool SameDirection(rl::Vector3 dir, rl::Vector3& otherdir);
#endif