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GJK #141

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135 changes: 115 additions & 20 deletions examples/example_basic_6.c
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Original file line number Diff line number Diff line change
Expand Up @@ -47,6 +47,7 @@ Index of this file:
#include "pl_draw_ext.h"
#include "pl_starter_ext.h"
#include "pl_collision_ext.h"
#include "pl_gjk_ext.h"
#include "pl_screen_log_ext.h"

//-----------------------------------------------------------------------------
Expand Down Expand Up @@ -95,6 +96,7 @@ const plGraphicsI* gptGfx = NULL;
const plDrawI* gptDraw = NULL;
const plStarterI* gptStarter = NULL;
const plCollisionI* gptCollision = NULL;
const plGjkI* gptGjk = NULL;
const plScreenLogI* gptScreenLog = NULL;

//-----------------------------------------------------------------------------
Expand Down Expand Up @@ -133,6 +135,7 @@ pl_app_load(plApiRegistryI* ptApiRegistry, plAppData* ptAppData)
gptDraw = pl_get_api_latest(ptApiRegistry, plDrawI);
gptStarter = pl_get_api_latest(ptApiRegistry, plStarterI);
gptCollision = pl_get_api_latest(ptApiRegistry, plCollisionI);
gptGjk = pl_get_api_latest(ptApiRegistry, plGjkI);
gptScreenLog = pl_get_api_latest(ptApiRegistry, plScreenLogI);

return ptAppData;
Expand All @@ -159,6 +162,7 @@ pl_app_load(plApiRegistryI* ptApiRegistry, plAppData* ptAppData)
gptDraw = pl_get_api_latest(ptApiRegistry, plDrawI);
gptStarter = pl_get_api_latest(ptApiRegistry, plStarterI);
gptCollision = pl_get_api_latest(ptApiRegistry, plCollisionI);
gptGjk = pl_get_api_latest(ptApiRegistry, plGjkI);
gptScreenLog = pl_get_api_latest(ptApiRegistry, plScreenLogI);

// use window API to create a window
Expand Down Expand Up @@ -275,13 +279,19 @@ pl_app_update(plAppData* ptAppData)

// simple variation setting to check things (until gizmo extension is stable)
static uint32_t uVariation = 0;
if(gptIO->is_key_pressed(PL_KEY_V, false))
if(gptIO->is_key_pressed(PL_KEY_V, false) && uVariation < 3)
uVariation++;
if(gptIO->is_key_pressed(PL_KEY_B, false))
if(gptIO->is_key_pressed(PL_KEY_B, false) && uVariation > 0)
uVariation--;

// use screen log extension to display variation
// toggle GJK mode
static bool bUseGjk = false;
if(gptIO->is_key_pressed(PL_KEY_G, false))
bUseGjk = !bUseGjk;

// use screen log extension to display variation and mode
gptScreenLog->add_message_ex(117, 0, PL_COLOR_32_WHITE, 2.0, "Variation: %u", uVariation);
gptScreenLog->add_message_ex(118, 0, PL_COLOR_32_WHITE, 2.0, "Mode: %s (G to toggle)", bUseGjk ? "GJK" : "Collision Ext");

// sphere <-> sphere collision
{
Expand All @@ -303,19 +313,33 @@ pl_app_update(plAppData* ptAppData)
uint32_t uColor0 = PL_COLOR_32_RED;
uint32_t uColor1 = PL_COLOR_32_RED;

if(gptCollision->sphere_sphere(&tSphere0, &tSphere1))
uColor0 = PL_COLOR_32_GREEN;

plCollisionInfo tInfo = {0};
if(gptCollision->pen_sphere_sphere(&tSphere0, &tSphere1, &tInfo))
if(bUseGjk)
{
uColor1 = PL_COLOR_32_GREEN;
gptDraw->add_3d_cross(ptAppData->pt3dDrawlist, tInfo.tPoint, 0.1f, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_RED});
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, tInfo.tPoint, pl_add_vec3(tInfo.tPoint, pl_mul_vec3_scalarf(tInfo.tNormal, tInfo.fPenetration)), (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_GREEN});
plGjkCollisionInfo tInfo = {0};
if(gptGjk->pen(pl_gjk_support_sphere, &tSphere0, pl_gjk_support_sphere, &tSphere1, &tInfo))
{
uColor0 = PL_COLOR_32_GREEN;
uColor1 = PL_COLOR_32_GREEN;
gptDraw->add_3d_cross(ptAppData->pt3dDrawlist, tInfo.tPoint, 0.1f, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_RED});
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, tInfo.tPoint, pl_add_vec3(tInfo.tPoint, pl_mul_vec3_scalarf(tInfo.tNormal, tInfo.fPenetration)), (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_GREEN});
}
}
else
{
if(gptCollision->sphere_sphere(&tSphere0, &tSphere1))
uColor0 = PL_COLOR_32_GREEN;

plCollisionInfo tInfo = {0};
if(gptCollision->pen_sphere_sphere(&tSphere0, &tSphere1, &tInfo))
{
uColor1 = PL_COLOR_32_GREEN;
gptDraw->add_3d_cross(ptAppData->pt3dDrawlist, tInfo.tPoint, 0.1f, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_RED});
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, tInfo.tPoint, pl_add_vec3(tInfo.tPoint, pl_mul_vec3_scalarf(tInfo.tNormal, tInfo.fPenetration)), (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_GREEN});
}
}

gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){2.0f, 4.0f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor0});
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){2.0f, 4.5f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor1});
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){2.0f, 4.5f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor1});
}

// box <-> sphere collision
Expand All @@ -334,26 +358,97 @@ pl_app_update(plAppData* ptAppData)
if(uVariation == 2) tSphere1.tCenter = (plVec3){5.2f, 2.9f, 0.0f};
if(uVariation == 3) tSphere1.tCenter = (plVec3){4.3f, 2.0f, 0.0f};
gptDraw->add_3d_sphere(ptAppData->pt3dDrawlist, tSphere1, 0, 0, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_CYAN});

uint32_t uColor0 = PL_COLOR_32_RED;
uint32_t uColor1 = PL_COLOR_32_RED;

if(gptCollision->box_sphere(&tBox0, &tSphere1))
uColor0 = PL_COLOR_32_GREEN;
if(bUseGjk)
{
plGjkCollisionInfo tInfo = {0};
if(gptGjk->pen(pl_gjk_support_box, &tBox0, pl_gjk_support_sphere, &tSphere1, &tInfo))
{
uColor0 = PL_COLOR_32_GREEN;
uColor1 = PL_COLOR_32_GREEN;
gptDraw->add_3d_cross(ptAppData->pt3dDrawlist, tInfo.tPoint, 0.1f, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_RED});
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, tInfo.tPoint, pl_add_vec3(tInfo.tPoint, pl_mul_vec3_scalarf(tInfo.tNormal, tInfo.fPenetration)), (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_GREEN});
}
}
else
{
if(gptCollision->box_sphere(&tBox0, &tSphere1))
uColor0 = PL_COLOR_32_GREEN;

plCollisionInfo tInfo = {0};
if(gptCollision->pen_box_sphere(&tBox0, &tSphere1, &tInfo))
{
uColor1 = PL_COLOR_32_GREEN;
gptDraw->add_3d_cross(ptAppData->pt3dDrawlist, tInfo.tPoint, 0.1f, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_RED});
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, tInfo.tPoint, pl_add_vec3(tInfo.tPoint, pl_mul_vec3_scalarf(tInfo.tNormal, tInfo.fPenetration)), (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_GREEN});
}
}

plCollisionInfo tInfo = {0};
if(gptCollision->pen_box_sphere(&tBox0, &tSphere1, &tInfo))
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){5.0f, 4.0f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor0});
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){5.0f, 4.5f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor1});
}

// convex poly (icosahedron) <-> sphere collision (GJK only)
{
static const float fPhi = 1.618033988f; // golden ratio
static const plVec3 tPolyCenter = {9.0f, 2.0f, 0.0f};
static const float fScale = 0.5f;

// icosahedron vertices (centered at origin, then offset)
plVec3 atIcoVerts[12] = {
{-1, fPhi, 0}, { 1, fPhi, 0}, {-1, -fPhi, 0}, { 1, -fPhi, 0},
{ 0, -1, fPhi}, { 0, 1, fPhi}, { 0, -1, -fPhi}, { 0, 1, -fPhi},
{ fPhi, 0, -1}, { fPhi, 0, 1}, {-fPhi, 0, -1}, {-fPhi, 0, 1}
};
for (int ii = 0; ii < 12; ii++) {
atIcoVerts[ii].x = atIcoVerts[ii].x * fScale + tPolyCenter.x;
atIcoVerts[ii].y = atIcoVerts[ii].y * fScale + tPolyCenter.y;
atIcoVerts[ii].z = atIcoVerts[ii].z * fScale + tPolyCenter.z;
}

plConvexPoly tPoly = {
.pVertices = atIcoVerts,
.iVertexCount = 12
};

// draw icosahedron edges
static const int aiEdges[][2] = {
{0,1},{0,5},{0,7},{0,10},{0,11},{1,5},{1,7},{1,8},{1,9},
{2,3},{2,4},{2,6},{2,10},{2,11},{3,4},{3,6},{3,8},{3,9},
{4,5},{4,9},{4,11},{5,9},{5,11},{6,7},{6,8},{6,10},{7,8},
{7,10},{8,9},{10,11}
};
for (int ii = 0; ii < 30; ii++)
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, atIcoVerts[aiEdges[ii][0]], atIcoVerts[aiEdges[ii][1]], (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_WHITE});

plSphere tSphere1 = {
.fRadius = 0.5f,
.tCenter = {8.1f, 2.0f, 0.0f}
};
if(uVariation == 1) tSphere1.tCenter = (plVec3){8.5f, 2.0f, 0.0f};
if(uVariation == 2) tSphere1.tCenter = (plVec3){9.0f, 2.8f, 0.0f};
if(uVariation == 3) tSphere1.tCenter = (plVec3){7.5f, 2.0f, 0.0f};
gptDraw->add_3d_sphere(ptAppData->pt3dDrawlist, tSphere1, 0, 0, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_CYAN});

uint32_t uColor0 = PL_COLOR_32_RED;
uint32_t uColor1 = PL_COLOR_32_RED;

plGjkCollisionInfo tInfo = {0};
if(gptGjk->pen(pl_gjk_support_convex_poly, &tPoly, pl_gjk_support_sphere, &tSphere1, &tInfo))
{
uColor0 = PL_COLOR_32_GREEN;
uColor1 = PL_COLOR_32_GREEN;
gptDraw->add_3d_cross(ptAppData->pt3dDrawlist, tInfo.tPoint, 0.1f, (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_RED});
gptDraw->add_3d_line(ptAppData->pt3dDrawlist, tInfo.tPoint, pl_add_vec3(tInfo.tPoint, pl_mul_vec3_scalarf(tInfo.tNormal, tInfo.fPenetration)), (plDrawLineOptions){.fThickness = 0.01f, .uColor = PL_COLOR_32_GREEN});
}

gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){5.0f, 4.0f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor0});
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){5.0f, 4.5f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor1});
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){8.0f, 4.0f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor0});
gptDraw->add_3d_band_xy_filled(ptAppData->pt3dDrawlist, (plVec3){8.0f, 4.5f, 0.0f}, 0.05f, 0.25f, 0, (plDrawSolidOptions){.uColor = uColor1});
}


// start main pass & return the encoder being used
plRenderEncoder* ptEncoder = gptStarter->begin_main_pass();

Expand Down
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