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Merge branch 'feature/minmax-vector-ops-and-aabb-collisions'
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commit
0bc9ccb17b
@ -242,12 +242,40 @@ function intersect.aabb_point_overlap(pos, hs, v)
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return _apo_delta.x < hs.x and _apo_delta.y < hs.y
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end
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-- discrete displacement
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-- return msv to push point to closest edge of aabb
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local _apo_delta_c = vec2:zero()
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local _apo_delta_c_abs = vec2:zero()
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function intersect.aabb_point_collide(pos, hs, v, into)
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--separation between centres
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_apo_delta_c
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:vset(v)
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:vsubi(pos)
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--absolute separation
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_apo_delta_c_abs
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:vset(_apo_delta_c)
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:absi()
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if _apo_delta_c_abs.x < hs.x and _apo_delta_c_abs.y < hs.y then
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return (into or vec2:zero())
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--separating offset in both directions
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:vset(hs)
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:vsubi(_apo_delta_c_abs)
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--minimum separating distance
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:minori()
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--in the right direction
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:vmuli(_apo_delta_c:signi())
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--from the aabb's point of view
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:smuli(-1)
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end
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return false
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end
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--return true on overlap, false otherwise
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local _aao_abs_delta = vec2:zero()
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local _aao_total_size = vec2:zero()
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function intersect.aabb_aabb_overlap(pos, hs, opos, ohs)
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_aao_abs_delta:vset(pos):vsubi(opos):absi()
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_aao_total_size:vset(hs):vaddi(ohs)
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function intersect.aabb_aabb_overlap(a_pos, a_hs, b_pos, b_hs)
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_aao_abs_delta:vset(a_pos):vsubi(b_pos):absi()
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_aao_total_size:vset(a_hs):vaddi(b_hs)
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return _aao_abs_delta.x < _aao_total_size.x and _aao_abs_delta.y < _aao_total_size.y
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end
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@ -257,11 +285,11 @@ local _aac_delta = vec2:zero()
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local _aac_abs_delta = vec2:zero()
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local _aac_size = vec2:zero()
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local _aac_abs_amount = vec2:zero()
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function intersect.aabb_aabb_collide(apos, ahs, bpos, bhs, into)
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function intersect.aabb_aabb_collide(a_pos, a_hs, b_pos, b_hs, into)
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if not into then into = vec2:zero() end
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_aac_delta:vset(apos):vsubi(bpos)
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_aac_delta:vset(a_pos):vsubi(b_pos)
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_aac_abs_delta:vset(_aac_delta):absi()
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_aac_size:vset(ahs):vaddi(bhs)
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_aac_size:vset(a_hs):vaddi(b_hs)
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_aac_abs_amount:vset(_aac_size):vsubi(_aac_abs_delta)
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if _aac_abs_amount.x > COLLIDE_EPS and _aac_abs_amount.y > COLLIDE_EPS then
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--actually collided
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@ -287,8 +315,8 @@ end
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--return normal and fraction of dt encountered on collision, false otherwise
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--TODO: re-pool storage here
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function intersect.aabb_aabb_collide_continuous(
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a_startpos, a_endpos, ahs,
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b_startpos, b_endpos, bhs,
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a_startpos, a_endpos, a_hs,
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b_startpos, b_endpos, b_hs,
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into
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)
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if not into then into = vec2:zero() end
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@ -301,11 +329,11 @@ function intersect.aabb_aabb_collide_continuous(
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do
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local _self_half_delta = _self_delta_motion:smul(0.5)
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local _self_bounds_pos = _self_half_delta:vadd(a_endpos)
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local _self_bounds_hs = _self_half_delta:vadd(ahs)
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local _self_bounds_hs = _self_half_delta:vadd(a_hs)
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local _other_half_delta = _other_delta_motion:smul(0.5)
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local _other_bounds_pos = _other_half_delta:vadd(b_endpos)
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local _other_bounds_hs = _other_half_delta:vadd(bhs)
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local _other_bounds_hs = _other_half_delta:vadd(b_hs)
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if not body._overlap_raw(
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_self_bounds_pos, _self_bounds_hs,
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@ -318,7 +346,7 @@ function intersect.aabb_aabb_collide_continuous(
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--get ccd minkowski box
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--this is a relative-space box
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local _relative_delta_motion = _self_delta_motion:vsub(_other_delta_motion)
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local _minkowski_halfsize = ahs:vadd(bhs)
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local _minkowski_halfsize = a_hs:vadd(b_hs)
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local _minkowski_pos = b_startpos:vsub(a_startpos)
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--if a line seg from our relative motion hits the minkowski box, we're in luck
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@ -407,6 +435,46 @@ function intersect.aabb_aabb_collide_continuous(
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return false
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end
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-- helper function to clamp point to aabb
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function intersect.aabb_point_clamp(pos, hs, v, into)
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local v_min = pos:pooled_copy():vsubi(hs)
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local v_max = pos:pooled_copy():vaddi(hs)
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into = into or vec2:zero()
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into:vset(v):clampi(v_min, v_max)
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vec2.release(v_min, v_max)
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return into
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end
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-- return true on overlap, false otherwise
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function intersect.aabb_circle_overlap(a_pos, a_hs, b_pos, b_rad)
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local clamped = intersect.aabb_point_clamp(a_pos, a_hs, b_pos, vec2:pooled())
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local edge_distance_squared = clamped:distance_squared(b_pos)
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clamped:release()
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return edge_distance_squared < (b_rad * b_rad)
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end
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-- return msv on collision, false otherwise
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function intersect.aabb_circle_collide(a_pos, a_hs, b_pos, b_rad, into)
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local abs_delta = a_pos:pooled_copy():vsub(b_pos):absi()
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--circle centre within aabb-like bounds, collide as an aabb
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local like_aabb = abs_delta.x < a_hs.x or abs_delta.y < a_hs.y
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--(clean up)
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abs_delta:release()
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--
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local result
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if like_aabb then
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local pretend_hs = vec2:pooled():sset(b_rad)
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result = intersect.aabb_aabb_collide(a_pos, a_hs, b_pos, pretend_hs, into)
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pretend_hs:release()
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else
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--outside aabb-like bounds so we need to collide with the nearest clamped corner point
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local clamped = intersect.aabb_point_clamp(a_pos, a_hs, b_pos, vec2:pooled())
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result = intersect.circle_circle_collide(clamped, 0, b_pos, b_rad, into)
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clamped:release()
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end
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return result
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end
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--check if a point is in a polygon
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--point is the point to test
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--poly is a list of points in order
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57
vec2.lua
57
vec2.lua
@ -92,10 +92,13 @@ function vec2:pooled_copy()
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end
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--release a vector to the pool
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function vec2:release()
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function vec2:release(...)
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if vec2.pool_size() < _vec2_pool_limit then
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table.insert(_vec2_pool, self)
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end
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if ... then
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vec2.release(...)
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end
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end
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--unpack for multi-args
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@ -448,6 +451,20 @@ function vec2:abs()
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return self:copy():absi()
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end
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-----------------------------------------------------------
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-- sign
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-----------------------------------------------------------
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function vec2:signi()
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self.x = math.sign(self.x)
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self.y = math.sign(self.y)
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return self
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end
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function vec2:sign()
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return self:copy():signi()
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end
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-----------------------------------------------------------
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-- truncation/rounding
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-----------------------------------------------------------
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@ -599,4 +616,42 @@ function vec2:apply_friction_xy(mu_x, mu_y, dt)
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return self
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end
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--minimum/maximum components
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function vec2:mincomp()
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return math.min(self.x, self.y)
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end
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function vec2:maxcomp()
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return math.max(self.x, self.y)
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end
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-- mask out min component, with preference to keep x
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function vec2:majori()
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if self.x > self.y then
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self.y = 0
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else
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self.x = 0
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end
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return self
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end
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-- mask out max component, with preference to keep x
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function vec2:minori()
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if self.x < self.y then
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self.y = 0
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else
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self.x = 0
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end
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return self
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end
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--garbage generating versions
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function vec2:major(axis)
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return self:copy():majori(axis)
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end
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function vec2:minor(axis)
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return self:copy():minori(axis)
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end
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return vec2
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