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fix shape cast initial overlap and tolerance #125

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merged 2 commits into from
Feb 26, 2024
Merged

fix shape cast initial overlap and tolerance #125

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373fc13
fix shape cast initial overlap and tolerance
erincatto Feb 26, 2024
3a4cb59
added speculative collision failure case
erincatto Feb 26, 2024
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117 changes: 94 additions & 23 deletions samples/sample_collision.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1598,14 +1598,14 @@ class RayCastWorld : public Sample
{
const char* castTypes[] = {"Ray", "Circle", "Capsule", "Polygon"};
int castType = int(m_castType);
if (ImGui::Combo("Cast Type", &castType, castTypes, IM_ARRAYSIZE(castTypes)))
if (ImGui::Combo("Type", &castType, castTypes, IM_ARRAYSIZE(castTypes)))
{
m_castType = CastType(castType);
}

if (m_castType != e_rayCast)
{
ImGui::SliderFloat("radius", &m_castRadius, 0.0f, 2.0f, "%.1f");
ImGui::SliderFloat("Radius", &m_castRadius, 0.0f, 2.0f, "%.1f");
}

const char* modes[] = {"Any", "Closest", "Multiple", "Sorted"};
Expand Down Expand Up @@ -3274,10 +3274,11 @@ class ShapeCast : public Sample
if (settings.restart == false)
{
g_camera.m_center = {-1.5f, 1.0f};
g_camera.m_zoom = 0.12f;
g_camera.m_zoom = 0.2f;
}

#if 1
// box swept against a triangle
m_vAs[0] = {-0.5f, 1.0f};
m_vAs[1] = {0.5f, 1.0f};
m_vAs[2] = {0.0f, 0.0f};
Expand All @@ -3297,53 +3298,99 @@ class ShapeCast : public Sample
m_transformB.q = b2Rot_identity;
m_translationB = {8.0f, 0.0f};
#elif 0
m_vAs[0].Set(0.0f, 0.0f);
// A point swept against a box
m_vAs[0] = {-0.5f, -0.5f};
m_vAs[1] = {0.5f, -0.5f};
m_vAs[2] = {0.5f, 0.5f};
m_vAs[3] = {-0.5f, 0.5f};
m_countA = 4;
m_radiusA = 0.0f;

m_vBs[0] = {0.0f, 0.0f};
m_countB = 1;
m_radiusB = 0.0f;

m_transformA.p = {0.0f, 0.0f};
m_transformA.q = b2Rot_identity;
m_transformB.p = {-1.0f, 0.0f};
m_transformB.q = b2Rot_identity;
m_translationB = {1.0f, 0.0f};
#elif 0
m_vAs[0] = {0.0f, 0.0f};
m_countA = 1;
m_radiusA = 0.5f;

m_vBs[0].Set(0.0f, 0.0f);
m_vBs[0] = {0.0f, 0.0f};
m_countB = 1;
m_radiusB = 0.5f;

m_transformA.p.Set(0.0f, 0.25f);
m_transformA.q.SetIdentity();
m_transformB.p.Set(-4.0f, 0.0f);
m_transformB.q.SetIdentity();
m_translationB.Set(8.0f, 0.0f);
m_transformA.p = {0.0f, 0.25f};
m_transformA.q = b2Rot_identity;
m_transformB.p = {-4.0f, 0.0f};
m_transformB.q = b2Rot_identity;
m_translationB = {8.0f, 0.0f};
#else
m_vAs[0].Set(0.0f, 0.0f);
m_vAs[1].Set(2.0f, 0.0f);
m_vAs[0] = {0.0f, 0.0f};
m_vAs[1] = {2.0f, 0.0f};
m_countA = 2;
m_radiusA = b2_polygonRadius;
m_radiusA = 0.0f;

m_vBs[0].Set(0.0f, 0.0f);
m_vBs[0] = {0.0f, 0.0f};
m_countB = 1;
m_radiusB = 0.25f;

// Initial overlap
m_transformA.p.Set(0.0f, 0.0f);
m_transformA.q.SetIdentity();
m_transformB.p.Set(-0.244360745f, 0.05999358f);
m_transformB.q.SetIdentity();
m_translationB.Set(0.0f, 0.0399999991f);
m_transformA.p = b2Vec2_zero;
m_transformA.q = b2Rot_identity;
m_transformB.p = {-0.244360745f, 0.05999358f};
m_transformB.q = b2Rot_identity;
m_translationB = {0.0f, 0.0399999991f};
#endif

m_rayDrag = false;
}

static Sample* Create(Settings& settings)
{
return new ShapeCast(settings);
}

void MouseDown(b2Vec2 p, int button, int mods) override
{
if (button == GLFW_MOUSE_BUTTON_1)
{
m_transformB.p = p;
m_rayDrag = true;
}
}

void MouseUp(b2Vec2, int button) override
{
if (button == GLFW_MOUSE_BUTTON_1)
{
m_rayDrag = false;
}
}

void MouseMove(b2Vec2 p) override
{
if (m_rayDrag)
{
m_translationB = b2Sub(p, m_transformB.p);
}
}

void Step(Settings& settings) override
{
Sample::Step(settings);

b2ShapeCastPairInput input;
b2ShapeCastPairInput input = {0};
input.proxyA = b2MakeProxy(m_vAs, m_countA, m_radiusA);
input.proxyB = b2MakeProxy(m_vBs, m_countB, m_radiusB);
input.transformA = m_transformA;
input.transformB = m_transformB;
input.translationB = m_translationB;
input.maxFraction = 1.0f;

b2CastOutput output = b2ShapeCast(&input);

Expand Down Expand Up @@ -3374,7 +3421,14 @@ class ShapeCast : public Sample

if (m_countA == 1)
{
g_draw.DrawCircle(vertices[0], m_radiusA, {0.9f, 0.9f, 0.9f, 1.0f});
if (m_radiusA > 0.0f)
{
g_draw.DrawCircle(vertices[0], m_radiusA, {0.9f, 0.9f, 0.9f, 1.0f});
}
else
{
g_draw.DrawPoint(vertices[0], 5.0f, {0.9f, 0.9f, 0.9f, 1.0f});
}
}
else
{
Expand All @@ -3388,7 +3442,14 @@ class ShapeCast : public Sample

if (m_countB == 1)
{
g_draw.DrawCircle(vertices[0], m_radiusB, {0.5f, 0.9f, 0.5f, 1.0f});
if (m_radiusB > 0.0f)
{
g_draw.DrawCircle(vertices[0], m_radiusB, {0.5f, 0.9f, 0.5f, 1.0f});
}
else
{
g_draw.DrawPoint(vertices[0], 5.0f, {0.5f, 0.9f, 0.5f, 1.0f});
}
}
else
{
Expand All @@ -3402,7 +3463,14 @@ class ShapeCast : public Sample

if (m_countB == 1)
{
g_draw.DrawCircle(vertices[0], m_radiusB, {0.5f, 0.7f, 0.9f, 1.0f});
if (m_radiusB > 0.0f)
{
g_draw.DrawCircle(vertices[0], m_radiusB, {0.5f, 0.7f, 0.9f, 1.0f});
}
else
{
g_draw.DrawPoint(vertices[0], 5.0f, {0.5f, 0.7f, 0.9f, 1.0f});
}
}
else
{
Expand All @@ -3416,6 +3484,8 @@ class ShapeCast : public Sample
b2Vec2 p2 = b2MulAdd(p1, 1.0f, output.normal);
g_draw.DrawSegment(p1, p2, {0.9f, 0.3f, 0.3f, 1.0f});
}

g_draw.DrawSegment(m_transformB.p, b2Add(m_transformB.p, m_translationB), {0.9f, 0.9f, 0.9f, 1.0f});
}

b2Vec2 m_vAs[b2_maxPolygonVertices];
Expand All @@ -3429,6 +3499,7 @@ class ShapeCast : public Sample
b2Transform m_transformA;
b2Transform m_transformB;
b2Vec2 m_translationB;
bool m_rayDrag;
};

static int sampleShapeCast = RegisterSample("Collision", "Shape Cast", ShapeCast::Create);
Expand Down
48 changes: 48 additions & 0 deletions samples/sample_continuous.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -609,3 +609,51 @@ class GhostCollision : public Sample
};

static int sampleGhostCollision = RegisterSample("Continuous", "Ghost Collision", GhostCollision::Create);

// Speculative collision failure case suggested by Dirk Gregorius
class SpeculativeFail : public Sample
{
public:
SpeculativeFail(Settings& settings)
: Sample(settings)
{
if (settings.restart == false)
{
g_camera.m_center = {1.0f, 5.0f};
g_camera.m_zoom = 0.25f;
}

{
b2BodyDef bodyDef = b2DefaultBodyDef();
b2BodyId groundId = b2CreateBody(m_worldId, &bodyDef);

b2ShapeDef shapeDef = b2DefaultShapeDef();
b2Segment segment = {{-10.0f, 0.0f}, {10.0f, 0.0f}};
b2CreateSegmentShape(groundId, &shapeDef, &segment);

b2Vec2 points[5] = {{-2.0f, 4.0f}, {2.0f, 4.0f}, {2.0f, 4.1f}, {-0.5f, 4.2f}, {-2.0f, 4.2f}};
b2Hull hull = b2ComputeHull(points, 5);
b2Polygon poly = b2MakePolygon(&hull, 0.0f);
b2CreatePolygonShape(groundId, &shapeDef, &poly);
}

{
b2BodyDef bodyDef = b2DefaultBodyDef();
bodyDef.type = b2_dynamicBody;
bodyDef.position = {0.0f, 8.0f};
bodyDef.linearVelocity = {0.0f, -100.0f};
b2BodyId bodyId = b2CreateBody(m_worldId, &bodyDef);

b2ShapeDef shapeDef = b2DefaultShapeDef();
b2Polygon box = b2MakeBox(2.0f, 0.05f);
b2CreatePolygonShape(bodyId, &shapeDef, &box);
}
}

static Sample* Create(Settings& settings)
{
return new SpeculativeFail(settings);
}
};

static int sampleSpeculativeFail = RegisterSample("Continuous", "Speculative Fail", SpeculativeFail::Create);
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