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De-ugifying

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This commit is contained in:
Dominic Masters
2026-04-14 14:29:48 -05:00
parent 4009130f6e
commit c7a3e5601c
8 changed files with 267 additions and 289 deletions
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src/dusk/display/mesh/capsule.c
+1 -1
View File
@@ -85,7 +85,7 @@ void capsuleBuffer(
const float_t lxz1 = radius * cosf(phi1);
const float_t lxz2 = radius * cosf(phi2);
/* UV: top cap occupies v in [0.5 + halfHeightFrac .. 1.0] — we use a
/* UV: top cap occupies v in [0.5 + halfHeightFrac .. 1.0]: we use a
* simple per-band normalisation against the full height. */
const float_t v1 = 1.0f - (float_t)i / (float_t)(2 * capRings + 1);
const float_t v2 = 1.0f - (float_t)(i + 1) / (float_t)(2 * capRings + 1);
src/dusk/display/mesh/cube.c
+6 -6
View File
@@ -62,7 +62,7 @@ void cubeBuffer(
const float_t x0 = min[0], y0 = min[1], z0 = min[2];
const float_t x1 = max[0], y1 = max[1], z1 = max[2];
// Front face (+Z normal) — CCW when viewed from +Z
// Front face (+Z normal): CCW when viewed from +Z
CUBE_VERT( 0, x0, y0, z1, 0.0f, 0.0f);
CUBE_VERT( 1, x1, y0, z1, 1.0f, 0.0f);
CUBE_VERT( 2, x1, y1, z1, 1.0f, 1.0f);
@@ -70,7 +70,7 @@ void cubeBuffer(
CUBE_VERT( 4, x1, y1, z1, 1.0f, 1.0f);
CUBE_VERT( 5, x0, y1, z1, 0.0f, 1.0f);
// Back face (-Z normal) — CCW when viewed from -Z
// Back face (-Z normal): CCW when viewed from -Z
CUBE_VERT( 6, x1, y0, z0, 0.0f, 0.0f);
CUBE_VERT( 7, x0, y0, z0, 1.0f, 0.0f);
CUBE_VERT( 8, x0, y1, z0, 1.0f, 1.0f);
@@ -78,7 +78,7 @@ void cubeBuffer(
CUBE_VERT(10, x0, y1, z0, 1.0f, 1.0f);
CUBE_VERT(11, x1, y1, z0, 0.0f, 1.0f);
// Right face (+X normal) — CCW when viewed from +X
// Right face (+X normal): CCW when viewed from +X
CUBE_VERT(12, x1, y0, z1, 0.0f, 0.0f);
CUBE_VERT(13, x1, y0, z0, 1.0f, 0.0f);
CUBE_VERT(14, x1, y1, z0, 1.0f, 1.0f);
@@ -86,7 +86,7 @@ void cubeBuffer(
CUBE_VERT(16, x1, y1, z0, 1.0f, 1.0f);
CUBE_VERT(17, x1, y1, z1, 0.0f, 1.0f);
// Left face (-X normal) — CCW when viewed from -X
// Left face (-X normal): CCW when viewed from -X
CUBE_VERT(18, x0, y0, z0, 0.0f, 0.0f);
CUBE_VERT(19, x0, y0, z1, 1.0f, 0.0f);
CUBE_VERT(20, x0, y1, z1, 1.0f, 1.0f);
@@ -94,7 +94,7 @@ void cubeBuffer(
CUBE_VERT(22, x0, y1, z1, 1.0f, 1.0f);
CUBE_VERT(23, x0, y1, z0, 0.0f, 1.0f);
// Top face (+Y normal) — CCW when viewed from +Y
// Top face (+Y normal): CCW when viewed from +Y
CUBE_VERT(24, x0, y1, z1, 0.0f, 0.0f);
CUBE_VERT(25, x1, y1, z1, 1.0f, 0.0f);
CUBE_VERT(26, x1, y1, z0, 1.0f, 1.0f);
@@ -102,7 +102,7 @@ void cubeBuffer(
CUBE_VERT(28, x1, y1, z0, 1.0f, 1.0f);
CUBE_VERT(29, x0, y1, z0, 0.0f, 1.0f);
// Bottom face (-Y normal) — CCW when viewed from -Y
// Bottom face (-Y normal): CCW when viewed from -Y
CUBE_VERT(30, x0, y0, z0, 0.0f, 0.0f);
CUBE_VERT(31, x1, y0, z0, 1.0f, 0.0f);
CUBE_VERT(32, x1, y0, z1, 1.0f, 1.0f);
src/dusk/display/mesh/plane.h
+3 -3
View File
@@ -36,9 +36,9 @@ errorret_t planeInit();
*
* The min/max corners fully describe the plane in 3D space. The axis enum
* controls which dimension is treated as the "depth" (normal) axis:
* PLANE_AXIS_XY — spans X and Y, depth from min[2]/max[2] (uses min[2])
* PLANE_AXIS_XZ — spans X and Z, depth from min[1]/max[1] (uses min[1])
* PLANE_AXIS_YZ — spans Y and Z, depth from min[0]/max[0] (uses min[0])
* PLANE_AXIS_XY: spans X and Y, depth from min[2]/max[2] (uses min[2])
* PLANE_AXIS_XZ: spans X and Z, depth from min[1]/max[1] (uses min[1])
* PLANE_AXIS_YZ: spans Y and Z, depth from min[0]/max[0] (uses min[0])
*
* @param vertices Vertex array to write into (must hold PLANE_VERTEX_COUNT).
* @param axis Which axis the plane's normal points along.
src/dusk/engine/engine.c
+1 -1
View File
@@ -118,7 +118,7 @@ errorret_t engineUpdate(void) {
entityPhysicsSetVelocity(phBoxEnt, phBoxPhys, (vec3){ 0.0f, 0.0f, 0.0f });
}
/* Step physics — positions are updated directly on POSITION components. */
/* Step physics: positions are updated directly on POSITION components. */
physicsManagerUpdate();
errorChain(gameUpdate());
src/dusk/entity/component/physics/entityphysics.c
+1 -1
View File
@@ -87,7 +87,7 @@ void entityPhysicsApplyImpulse(
entityphysics_t *phys = entityPhysicsGet(entityId, componentId);
assertNotNull(phys, "Failed to get physics component data");
if (phys->type == PHYSICS_BODY_STATIC) return;
if(phys->type == PHYSICS_BODY_STATIC) return;
glm_vec3_add(phys->velocity, impulse, phys->velocity);
}
src/dusk/physics/physicstest.c
+34 -270
View File
@@ -7,234 +7,7 @@
#include "physicstest.h"
/* ============================================================
* Forward declarations
* ============================================================ */
/**
* Tests overlap between two axis-aligned bounding boxes.
* outNormal points from B toward A.
*
* @param ac Center of AABB A.
* @param ah Half-extents of AABB A.
* @param bc Center of AABB B.
* @param bh Half-extents of AABB B.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestAabbVsAabb(
const vec3 ac, const vec3 ah,
const vec3 bc, const vec3 bh,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between two spheres.
* outNormal points from B toward A.
*
* @param ac Center of sphere A.
* @param ar Radius of sphere A.
* @param bc Center of sphere B.
* @param br Radius of sphere B.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestSphereVsSphere(
const vec3 ac, const float_t ar,
const vec3 bc, const float_t br,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a sphere and an axis-aligned bounding box.
* outNormal points from the AABB toward the sphere.
*
* @param sc Center of the sphere.
* @param sr Radius of the sphere.
* @param ac Center of the AABB.
* @param ah Half-extents of the AABB.
* @param outNormal Push-out normal (AABB toward sphere).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestSphereVsAabb(
const vec3 sc, const float_t sr,
const vec3 ac, const vec3 ah,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a sphere and an infinite plane.
* outNormal equals the plane normal (pointing away from the surface).
*
* @param sc Center of the sphere.
* @param sr Radius of the sphere.
* @param pn Plane normal (unit vector, world-space).
* @param pd Plane offset: dot(pn, surfacePoint) == pd.
* @param outNormal Push-out normal (equals pn).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestSphereVsPlane(
const vec3 sc, const float_t sr,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between an AABB and an infinite plane.
* outNormal equals the plane normal.
*
* @param ac Center of the AABB.
* @param ah Half-extents of the AABB.
* @param pn Plane normal (unit vector, world-space).
* @param pd Plane offset (see physicsTestSphereVsPlane).
* @param outNormal Push-out normal (equals pn).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestAabbVsPlane(
const vec3 ac, const vec3 ah,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
);
/**
* Finds the closest point on segment [a, b] to query point p.
*
* @param a Start of the segment.
* @param b End of the segment.
* @param p Query point.
* @param out Receives the closest point on [a, b] to p.
*/
static void physicsTestClosestPointOnSegment(
const vec3 a, const vec3 b, const vec3 p, vec3 out
);
/**
* Finds the closest points between two line segments.
*
* @param a1 Start of segment 1.
* @param b1 End of segment 1.
* @param a2 Start of segment 2.
* @param b2 End of segment 2.
* @param outP1 Receives the closest point on segment 1.
* @param outP2 Receives the closest point on segment 2.
*/
static void physicsTestClosestPointsBetweenSegments(
const vec3 a1, const vec3 b1,
const vec3 a2, const vec3 b2,
vec3 outP1, vec3 outP2
);
/**
* Tests overlap between a Y-axis-aligned capsule and a sphere.
* outNormal points from the sphere toward the capsule.
*
* @param cc Center of the capsule.
* @param cr Radius of the capsule.
* @param chh Half-height of the capsule's cylindrical segment.
* @param sc Center of the sphere.
* @param sr Radius of the sphere.
* @param outNormal Push-out normal (sphere toward capsule).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestCapsuleVsSphere(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 sc, const float_t sr,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a Y-axis-aligned capsule and an AABB.
* outNormal points from the AABB toward the capsule.
*
* @param cc Center of the capsule.
* @param cr Radius of the capsule.
* @param chh Half-height of the capsule's cylindrical segment.
* @param ac Center of the AABB.
* @param ah Half-extents of the AABB.
* @param outNormal Push-out normal (AABB toward capsule).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestCapsuleVsAabb(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 ac, const vec3 ah,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a Y-axis-aligned capsule and an infinite plane.
* outNormal equals the plane normal.
*
* @param cc Center of the capsule.
* @param cr Radius of the capsule.
* @param chh Half-height of the capsule's cylindrical segment.
* @param pn Plane normal (unit vector, world-space).
* @param pd Plane offset (see physicsTestSphereVsPlane).
* @param outNormal Push-out normal (equals pn).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestCapsuleVsPlane(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between two Y-axis-aligned capsules.
* outNormal points from capsule B toward capsule A.
*
* @param c1 Center of capsule A.
* @param r1 Radius of capsule A.
* @param hh1 Half-height of capsule A's cylindrical segment.
* @param c2 Center of capsule B.
* @param r2 Radius of capsule B.
* @param hh2 Half-height of capsule B's cylindrical segment.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestCapsuleVsCapsule(
const vec3 c1, const float_t r1, const float_t hh1,
const vec3 c2, const float_t r2, const float_t hh2,
vec3 outNormal, float_t *outDepth
);
/**
* Routes a shape-pair collision test to the correct primitive.
* When A is a plane, delegates with swapped arguments and negates
* the resulting normal. outNormal points from B toward A.
*
* @param aPos Position of shape A.
* @param aShape Shape descriptor of A.
* @param bPos Position of shape B.
* @param bShape Shape descriptor of B.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
static bool physicsTestDispatch(
const vec3 aPos, const physicsshape_t aShape,
const vec3 bPos, const physicsshape_t bShape,
vec3 outNormal, float_t *outDepth
);
/* ============================================================
* Collision primitives.
* Convention:
* outNormal — points from shape-B toward shape-A
* (add outNormal * outDepth to A to separate)
* outDepth — positive penetration depth
* return — true if overlapping
* ============================================================ */
static bool physicsTestAabbVsAabb(
bool physicsTestAabbVsAabb(
const vec3 ac, const vec3 ah,
const vec3 bc, const vec3 bh,
vec3 outNormal, float_t *outDepth
@@ -247,13 +20,13 @@ static bool physicsTestAabbVsAabb(
float_t py = (ah[1] + bh[1]) - fabsf(dy);
float_t pz = (ah[2] + bh[2]) - fabsf(dz);
if (px <= 0.0f || py <= 0.0f || pz <= 0.0f) return false;
if(px <= 0.0f || py <= 0.0f || pz <= 0.0f) return false;
outNormal[0] = outNormal[1] = outNormal[2] = 0.0f;
if (px < py && px < pz) {
if(px < py && px < pz) {
*outDepth = px;
outNormal[0] = dx >= 0.0f ? 1.0f : -1.0f;
} else if (py < pz) {
} else if(py < pz) {
*outDepth = py;
outNormal[1] = dy >= 0.0f ? 1.0f : -1.0f;
} else {
@@ -263,7 +36,7 @@ static bool physicsTestAabbVsAabb(
return true;
}
static bool physicsTestSphereVsSphere(
bool physicsTestSphereVsSphere(
const vec3 ac, const float_t ar,
const vec3 bc, const float_t br,
vec3 outNormal, float_t *outDepth
@@ -273,12 +46,12 @@ static bool physicsTestSphereVsSphere(
float_t dist2 = glm_vec3_norm2(diff);
float_t sumR = ar + br;
if (dist2 >= sumR * sumR) return false;
if(dist2 >= sumR * sumR) return false;
float_t dist = sqrtf(dist2);
*outDepth = sumR - dist;
if (dist > 1e-6f) {
if(dist > 1e-6f) {
glm_vec3_scale(diff, 1.0f / dist, outNormal);
} else {
outNormal[0] = 0.0f;
@@ -288,7 +61,7 @@ static bool physicsTestSphereVsSphere(
return true;
}
static bool physicsTestSphereVsAabb(
bool physicsTestSphereVsAabb(
const vec3 sc, const float_t sr,
const vec3 ac, const vec3 ah,
vec3 outNormal, float_t *outDepth
@@ -304,14 +77,13 @@ static bool physicsTestSphereVsAabb(
float_t dist2 = glm_vec3_norm2(diff);
bool inside = (dist2 < 1e-10f);
if (!inside && dist2 >= sr * sr) return false;
if(!inside && dist2 >= sr * sr) return false;
if (!inside) {
if(!inside) {
float_t dist = sqrtf(dist2);
*outDepth = sr - dist;
glm_vec3_scale(diff, 1.0f / dist, outNormal);
} else {
/* Sphere center inside the AABB — push out via nearest face. */
float_t faces[6] = {
(ac[0] + ah[0]) - sc[0],
sc[0] - (ac[0] - ah[0]),
@@ -320,12 +92,12 @@ static bool physicsTestSphereVsAabb(
(ac[2] + ah[2]) - sc[2],
sc[2] - (ac[2] - ah[2])
};
static const float_t normals[6][3] = {
const float_t normals[6][3] = {
{1,0,0},{-1,0,0},{0,1,0},{0,-1,0},{0,0,1},{0,0,-1}
};
int mi = 0;
for (int k = 1; k < 6; k++) {
if (faces[k] < faces[mi]) mi = k;
for(int k = 1; k < 6; k++) {
if(faces[k] < faces[mi]) mi = k;
}
*outDepth = sr + faces[mi];
outNormal[0] = normals[mi][0];
@@ -335,19 +107,19 @@ static bool physicsTestSphereVsAabb(
return true;
}
static bool physicsTestSphereVsPlane(
bool physicsTestSphereVsPlane(
const vec3 sc, const float_t sr,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
) {
float_t signedDist = glm_vec3_dot((float_t *)pn, (float_t *)sc) - pd;
*outDepth = sr - signedDist;
if (*outDepth <= 0.0f) return false;
if(*outDepth <= 0.0f) return false;
glm_vec3_copy((float_t *)pn, outNormal);
return true;
}
static bool physicsTestAabbVsPlane(
bool physicsTestAabbVsPlane(
const vec3 ac, const vec3 ah,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
@@ -357,12 +129,12 @@ static bool physicsTestAabbVsPlane(
+ fabsf(pn[2] * ah[2]);
float_t signedDist = glm_vec3_dot((float_t *)pn, (float_t *)ac) - pd;
*outDepth = proj - signedDist;
if (*outDepth <= 0.0f) return false;
if(*outDepth <= 0.0f) return false;
glm_vec3_copy((float_t *)pn, outNormal);
return true;
}
static void physicsTestClosestPointOnSegment(
void physicsTestClosestPointOnSegment(
const vec3 a, const vec3 b, const vec3 p, vec3 out
) {
vec3 ab, ap;
@@ -375,7 +147,7 @@ static void physicsTestClosestPointOnSegment(
glm_vec3_lerp((float_t *)a, (float_t *)b, t, out);
}
static void physicsTestClosestPointsBetweenSegments(
void physicsTestClosestPointsBetweenSegments(
const vec3 a1, const vec3 b1,
const vec3 a2, const vec3 b2,
vec3 outP1, vec3 outP2
@@ -390,17 +162,17 @@ static void physicsTestClosestPointsBetweenSegments(
float_t f = glm_vec3_dot(d2, r);
float_t s, t;
if (a <= 1e-10f && e <= 1e-10f) {
if(a <= 1e-10f && e <= 1e-10f) {
glm_vec3_copy((float_t *)a1, outP1);
glm_vec3_copy((float_t *)a2, outP2);
return;
}
if (a <= 1e-10f) {
if(a <= 1e-10f) {
t = 0.0f;
s = glm_clamp(f / e, 0.0f, 1.0f);
} else {
float_t c = glm_vec3_dot(d1, r);
if (e <= 1e-10f) {
if(e <= 1e-10f) {
s = 0.0f;
t = glm_clamp(-c / a, 0.0f, 1.0f);
} else {
@@ -417,9 +189,7 @@ static void physicsTestClosestPointsBetweenSegments(
glm_vec3_lerp((float_t *)a2, (float_t *)b2, s, outP2);
}
/* capsule axis: (cc.x, cc.y ± halfHeight, cc.z), oriented along Y. */
static bool physicsTestCapsuleVsSphere(
bool physicsTestCapsuleVsSphere(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 sc, const float_t sr,
vec3 outNormal, float_t *outDepth
@@ -433,7 +203,7 @@ static bool physicsTestCapsuleVsSphere(
);
}
static bool physicsTestCapsuleVsAabb(
bool physicsTestCapsuleVsAabb(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 ac, const vec3 ah,
vec3 outNormal, float_t *outDepth
@@ -447,7 +217,7 @@ static bool physicsTestCapsuleVsAabb(
);
}
static bool physicsTestCapsuleVsPlane(
bool physicsTestCapsuleVsPlane(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
@@ -458,12 +228,12 @@ static bool physicsTestCapsuleVsPlane(
float_t db = glm_vec3_dot((float_t *)pn, capB) - pd;
float_t minDist = (da < db) ? da : db;
*outDepth = cr - minDist;
if (*outDepth <= 0.0f) return false;
if(*outDepth <= 0.0f) return false;
glm_vec3_copy((float_t *)pn, outNormal);
return true;
}
static bool physicsTestCapsuleVsCapsule(
bool physicsTestCapsuleVsCapsule(
const vec3 c1, const float_t r1, const float_t hh1,
const vec3 c2, const float_t r2, const float_t hh2,
vec3 outNormal, float_t *outDepth
@@ -477,11 +247,7 @@ static bool physicsTestCapsuleVsCapsule(
return physicsTestSphereVsSphere(p1, r1, p2, r2, outNormal, outDepth);
}
/* ============================================================
* Dispatch
* ============================================================ */
static bool physicsTestDispatch(
bool physicsTestDispatch(
const vec3 aPos, const physicsshape_t aShape,
const vec3 bPos, const physicsshape_t bShape,
vec3 outNormal, float_t *outDepth
@@ -489,8 +255,7 @@ static bool physicsTestDispatch(
physicshapetype_t ta = aShape.type;
physicshapetype_t tb = bShape.type;
/* Plane is always the reference surface; keep it as B. */
if (tb == PHYSICS_SHAPE_PLANE) {
if(tb == PHYSICS_SHAPE_PLANE) {
const float_t *pn = bShape.data.plane.normal;
const float_t pd = bShape.data.plane.distance;
switch (ta) {
@@ -516,10 +281,9 @@ static bool physicsTestDispatch(
}
}
/* If A is a plane, swap roles and negate the normal. */
if (ta == PHYSICS_SHAPE_PLANE) {
if(ta == PHYSICS_SHAPE_PLANE) {
vec3 tmp; float_t d;
if (!physicsTestDispatch(
if(!physicsTestDispatch(
bPos, bShape, aPos, aShape, tmp, &d
)) return false;
glm_vec3_scale(tmp, -1.0f, outNormal);
@@ -540,7 +304,7 @@ static bool physicsTestDispatch(
);
case PHYSICS_SHAPE_SPHERE: {
vec3 tmp; float_t d;
if (!physicsTestSphereVsAabb(
if(!physicsTestSphereVsAabb(
bPos, bShape.data.sphere.radius,
ac, ah, tmp, &d
)) return false;
@@ -550,7 +314,7 @@ static bool physicsTestDispatch(
}
case PHYSICS_SHAPE_CAPSULE: {
vec3 tmp; float_t d;
if (!physicsTestCapsuleVsAabb(
if(!physicsTestCapsuleVsAabb(
bPos,
bShape.data.capsule.radius,
bShape.data.capsule.halfHeight,
@@ -581,7 +345,7 @@ static bool physicsTestDispatch(
);
case PHYSICS_SHAPE_CAPSULE: {
vec3 tmp; float_t d;
if (!physicsTestCapsuleVsSphere(
if(!physicsTestCapsuleVsSphere(
bPos,
bShape.data.capsule.radius,
bShape.data.capsule.halfHeight,
src/dusk/physics/physicstest.h
+220 -6
View File
@@ -8,6 +8,220 @@
#pragma once
#include "physicsshape.h"
/**
* Tests overlap between two axis-aligned bounding boxes.
* outNormal points from B toward A.
*
* @param ac Center of AABB A.
* @param ah Half-extents of AABB A.
* @param bc Center of AABB B.
* @param bh Half-extents of AABB B.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestAabbVsAabb(
const vec3 ac, const vec3 ah,
const vec3 bc, const vec3 bh,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between two spheres.
* outNormal points from B toward A.
*
* @param ac Center of sphere A.
* @param ar Radius of sphere A.
* @param bc Center of sphere B.
* @param br Radius of sphere B.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestSphereVsSphere(
const vec3 ac, const float_t ar,
const vec3 bc, const float_t br,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a sphere and an axis-aligned bounding box.
* outNormal points from the AABB toward the sphere.
*
* @param sc Center of the sphere.
* @param sr Radius of the sphere.
* @param ac Center of the AABB.
* @param ah Half-extents of the AABB.
* @param outNormal Push-out normal (AABB toward sphere).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestSphereVsAabb(
const vec3 sc, const float_t sr,
const vec3 ac, const vec3 ah,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a sphere and an infinite plane.
* outNormal equals the plane normal (pointing away from the surface).
*
* @param sc Center of the sphere.
* @param sr Radius of the sphere.
* @param pn Plane normal (unit vector, world-space).
* @param pd Plane offset: dot(pn, surfacePoint) == pd.
* @param outNormal Push-out normal (equals pn).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestSphereVsPlane(
const vec3 sc, const float_t sr,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between an AABB and an infinite plane.
* outNormal equals the plane normal.
*
* @param ac Center of the AABB.
* @param ah Half-extents of the AABB.
* @param pn Plane normal (unit vector, world-space).
* @param pd Plane offset (see physicsTestSphereVsPlane).
* @param outNormal Push-out normal (equals pn).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestAabbVsPlane(
const vec3 ac, const vec3 ah,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
);
/**
* Finds the closest point on segment [a, b] to query point p.
*
* @param a Start of the segment.
* @param b End of the segment.
* @param p Query point.
* @param out Receives the closest point on [a, b] to p.
*/
void physicsTestClosestPointOnSegment(
const vec3 a, const vec3 b, const vec3 p, vec3 out
);
/**
* Finds the closest points between two line segments.
*
* @param a1 Start of segment 1.
* @param b1 End of segment 1.
* @param a2 Start of segment 2.
* @param b2 End of segment 2.
* @param outP1 Receives the closest point on segment 1.
* @param outP2 Receives the closest point on segment 2.
*/
void physicsTestClosestPointsBetweenSegments(
const vec3 a1, const vec3 b1,
const vec3 a2, const vec3 b2,
vec3 outP1, vec3 outP2
);
/**
* Tests overlap between a Y-axis-aligned capsule and a sphere.
* outNormal points from the sphere toward the capsule.
*
* @param cc Center of the capsule.
* @param cr Radius of the capsule.
* @param chh Half-height of the capsule's cylindrical segment.
* @param sc Center of the sphere.
* @param sr Radius of the sphere.
* @param outNormal Push-out normal (sphere toward capsule).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestCapsuleVsSphere(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 sc, const float_t sr,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a Y-axis-aligned capsule and an AABB.
* outNormal points from the AABB toward the capsule.
*
* @param cc Center of the capsule.
* @param cr Radius of the capsule.
* @param chh Half-height of the capsule's cylindrical segment.
* @param ac Center of the AABB.
* @param ah Half-extents of the AABB.
* @param outNormal Push-out normal (AABB toward capsule).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestCapsuleVsAabb(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 ac, const vec3 ah,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between a Y-axis-aligned capsule and an infinite plane.
* outNormal equals the plane normal.
*
* @param cc Center of the capsule.
* @param cr Radius of the capsule.
* @param chh Half-height of the capsule's cylindrical segment.
* @param pn Plane normal (unit vector, world-space).
* @param pd Plane offset (see physicsTestSphereVsPlane).
* @param outNormal Push-out normal (equals pn).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestCapsuleVsPlane(
const vec3 cc, const float_t cr, const float_t chh,
const vec3 pn, const float_t pd,
vec3 outNormal, float_t *outDepth
);
/**
* Tests overlap between two Y-axis-aligned capsules.
* outNormal points from capsule B toward capsule A.
*
* @param c1 Center of capsule A.
* @param r1 Radius of capsule A.
* @param hh1 Half-height of capsule A's cylindrical segment.
* @param c2 Center of capsule B.
* @param r2 Radius of capsule B.
* @param hh2 Half-height of capsule B's cylindrical segment.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestCapsuleVsCapsule(
const vec3 c1, const float_t r1, const float_t hh1,
const vec3 c2, const float_t r2, const float_t hh2,
vec3 outNormal, float_t *outDepth
);
/**
* Routes a shape-pair collision test to the correct primitive.
* When A is a plane, delegates with swapped arguments and negates
* the resulting normal. outNormal points from B toward A.
*
* @param aPos Position of shape A.
* @param aShape Shape descriptor of A.
* @param bPos Position of shape B.
* @param bShape Shape descriptor of B.
* @param outNormal Push-out normal (B toward A).
* @param outDepth Penetration depth.
* @return true if overlapping.
*/
bool_t physicsTestDispatch(
const vec3 aPos, const physicsshape_t aShape,
const vec3 bPos, const physicsshape_t bShape,
vec3 outNormal, float_t *outDepth
);
/**
* Tests for collision between two shapes. Returns true if they
* overlap, and if so, outputs the push-out normal and depth.
@@ -15,12 +229,12 @@
* outNormal always points from shape B toward shape A, so adding
* (outNormal * outDepth) to A's position separates the two shapes.
*
* @param aPos Position of shape A.
* @param aShape Shape descriptor of A.
* @param bPos Position of shape B.
* @param bShape Shape descriptor of B.
* @param outNormal Push-out normal, pointing from B toward A.
* @param outDepth Penetration depth (positive when overlapping).
* @param aPos Position of shape A.
* @param aShape Shape descriptor of A.
* @param bPos Position of shape B.
* @param bShape Shape descriptor of B.
* @param outNormal Push-out normal, pointing from B toward A.
* @param outDepth Penetration depth (positive when overlapping).
* @return true if the shapes overlap, false otherwise.
*/
bool_t physicsTestShapeVsShape(
tools/item/csv/__main__.py
+1 -1
View File
@@ -30,7 +30,7 @@ with open(args.csv, newline="", encoding="utf-8") as f:
item_types.append(item_type)
rows[item_id] = row
# Assign enum values — types and IDs share a single counter so values never collide
# Assign enum values: types and IDs share a single counter so values never collide
count = 0
type_values = {}
id_values = {}