Broken verlet work, committing before chipmunk

.vscode/settings.json

@@ -29,6 +29,8 @@
         "sokol_time.h": "c",
         "enet.h": "c",
         "types.h": "c",
-        "cmath": "c"
+        "cmath": "c",
+        "math.h": "c",
+        "corecrt_math.h": "c"
     }
 }

flight.10x

@@ -0,0 +1,46 @@
+<?xml version="1.0"?>
+<N10X>
+	<Workspace>
+		<IncludeFilter>*.c,*.cc,*.cpp,*.c++,*.cp,*.cxx,*.h,*.hh,*.hpp,*.h++,*.hp,*.hxx,*.inl,*.cs,*.rs,*.java,*.jav,*.js,*.jsc,*.jsx,*.json,*.cls,*.py,*.rpy,*.php,*.php3,*.phl,*.phtml,*.rhtml,*.tpl,*.phps,*.lua,*.html,*.html5,*.htm,*.xml,*.xaml,*.css,*.ssi,*.haml,*.yaml,*.bat,*.wbf,*.wbt,*.txt,*.cmake,*.make,*.makefile,*.mak,*.mk,*.sh,*.bash,*.csv,*.asp,*.pl,*.mac,*.ws,*.vbs,*.perl,*.src,*.rss,*.inc,*.f,*.go,*.prl,*.plx,*.rb,*.lsp,*.lpx,*.ps1,*.command,*.cbl,*.cob,*.qs,*.wxs,*.ph,*.msc,*.glsl,*.hlsl,*.fx,*.vert,*.tesc,*.tese,*.geom,*.frag,*.comp,*.pssl,*.scons,</IncludeFilter>
+		<ExcludeFilter></ExcludeFilter>
+		<SyncFiles>true</SyncFiles>
+		<Recursive>true</Recursive>
+		<IsVirtual>false</IsVirtual>
+		<IsFolder>false</IsFolder>
+		<BuildCommand>build_debug.bat</BuildCommand>
+		<RebuildCommand></RebuildCommand>
+		<BuildFileCommand></BuildFileCommand>
+		<CleanCommand></CleanCommand>
+		<BuildWorkingDirectory></BuildWorkingDirectory>
+		<RunCommand>flight.exe</RunCommand>
+		<DebugCommand>devenv.exe \Run $(Workspacefilename)</DebugCommand>
+		<ExePathCommand></ExePathCommand>
+		<DebugSln></DebugSln>
+		<Configurations>
+			<Configuration>Debug</Configuration>
+			<Configuration>Release</Configuration>
+		</Configurations>
+		<Platforms>
+			<Platform>x64</Platform>
+			<Platform>Win32</Platform>
+		</Platforms>
+		<AdditionalIncludePaths></AdditionalIncludePaths>
+		<Defines></Defines>
+		<ConfigProperties>
+			<ConfigAndPlatform>
+				<Name>Debug:x64</Name>
+				<Defines></Defines>
+				<ForceIncludes></ForceIncludes>
+			</ConfigAndPlatform>
+			<Config>
+				<Name>Debug</Name>
+				<Defines></Defines>
+			</Config>
+			<Platform>
+				<Name>x64</Name>
+				<Defines></Defines>
+			</Platform>
+		</ConfigProperties>
+		<Children></Children>
+	</Workspace>
+</N10X>

gamestate.c

@@ -3,9 +3,9 @@
 #include <stdlib.h> // malloc
 #include <stdio.h>
 
-void __assert(bool cond, const char * file, int line, const char * cond_string)
+void __assert(bool cond, const char *file, int line, const char *cond_string)
 {
-    if(!cond)
+    if (!cond)
     {
         fprintf(stderr, "%s:%d | Assertion %s failed\n", file, line, cond_string);
     }
@@ -38,32 +38,68 @@ static void integrate_acceleration(struct Body *body, float dt)
     }
 }
 
-static void modify_interval(struct Body *from, float *from_interval, V2 center, V2 axis)
+struct ProcessBody
 {
-    float halfbox = BOX_SIZE/2.0f;
+    V2 vertices[4];
-    V2 points[4] = {
+    struct Body *body;
-        V2add(from->position, V2rotate((V2){.x = halfbox, .y = -halfbox}, from->rotation)),  // upper right
+};
-        V2add(from->position, V2rotate((V2){.x = halfbox, .y = halfbox}, from->rotation)),   // bottom right
+
-        V2add(from->position, V2rotate((V2){.x = -halfbox, .y = halfbox}, from->rotation)),  // lower left
+struct ProcessBody make_process_body(struct Body *from)
-        V2add(from->position, V2rotate((V2){.x = -halfbox, .y = -halfbox}, from->rotation)), // upper left
+{
-    };
+    float halfbox = BOX_SIZE / 2.0f;
-    for (int point_i = 0; point_i < 4; point_i++)
+    struct ProcessBody to_return =
-    {
-        float value = V2projectvalue(V2sub(points[point_i], center), axis);
-        if (value > from_interval[1])
-        {
-            from_interval[1] = value;
-        }
-        if (value < from_interval[0])
         {
-            from_interval[0] = value;
+            .vertices = {
-        }
+                // important that the first one is the upper right, used to deduce rotation from vertex position
+                // @Robust instead of array of vertices have type? like struct with upper_right upper_left etc
+                V2add(from->position, V2rotate((V2){.x = halfbox, .y = -halfbox}, from->rotation)),  // upper right
+                V2add(from->position, V2rotate((V2){.x = halfbox, .y = halfbox}, from->rotation)),   // bottom right
+                V2add(from->position, V2rotate((V2){.x = -halfbox, .y = halfbox}, from->rotation)),  // lower left
+                V2add(from->position, V2rotate((V2){.x = -halfbox, .y = -halfbox}, from->rotation)), // upper left
+            },
+            .body = from,
+        };
+    return to_return;
+}
+
+static void project(struct ProcessBody *from, V2 axis, float *min, float *max)
+{
+    float DotP = V2dot(axis, from->vertices[0]);
+
+    // Set the minimum and maximum values to the projection of the first vertex
+    *min = DotP;
+    *max = DotP;
+
+    for (int I = 1; I < 4; I++)
+    {
+        // Project the rest of the vertices onto the axis and extend
+        // the interval to the left/right if necessary
+        DotP = V2dot(axis, from->vertices[I]);
+
+        *min = fmin(DotP, *min);
+        *max = fmax(DotP, *max);
     }
 }
 
+static float interval_distance(float min_a, float max_a, float min_b, float max_b)
+{
+    if (min_a < min_b)
+        return min_b - max_a;
+    else
+        return min_a - max_b;
+}
+
+static void move_vertices(V2 *vertices, int num, V2 shift)
+{
+    for (int i = 0; i < num; i++)
+    {
+        vertices[i] = V2add(vertices[i], shift);
+    }
+}
 
 void process(struct GameState *gs, float dt)
 {
+    // process input
     int num_bodies = gs->num_boxes;
     for (int i = 0; i < MAX_PLAYERS; i++)
     {
@@ -76,7 +112,8 @@ void process(struct GameState *gs, float dt)
     }
 
     // @Robust do this without malloc
-    struct Body **bodies = malloc(sizeof *bodies * num_bodies);
+
+    struct ProcessBody *bodies = malloc(sizeof *bodies * num_bodies);
     int cur_body_index = 0;
 
     for (int i = 0; i < MAX_PLAYERS; i++)
@@ -84,24 +121,21 @@ void process(struct GameState *gs, float dt)
         struct Player *p = &gs->players[i];
         if (!p->connected)
             continue;
-        bodies[cur_body_index] = &p->body;
+        integrate_acceleration(&p->body, dt);
+        bodies[cur_body_index] = make_process_body(&p->body);
         cur_body_index++;
     }
 
     for (int i = 0; i < gs->num_boxes; i++)
     {
-        bodies[cur_body_index] = &gs->boxes[i].body;
+        integrate_acceleration(&gs->boxes[i].body, dt);
+        bodies[cur_body_index] = make_process_body(&gs->boxes[i].body);
         cur_body_index++;
     }
 
     assert(cur_body_index == num_bodies);
 
-    for (int i = 0; i < num_bodies; i++)
+    // Collision
-    {
-        struct Body *body = bodies[i];
-        integrate_acceleration(body, dt);
-    }
-
     // @Robust handle when bodies are overlapping (even perfectly)
     for (int i = 0; i < num_bodies; i++)
     {
@@ -109,35 +143,125 @@ void process(struct GameState *gs, float dt)
         {
             if (ii == i)
                 continue;
-            struct Body *from = bodies[i];
+            struct ProcessBody *from = &bodies[i];
-            struct Body *to = bodies[ii];
+            struct ProcessBody *to = &bodies[ii];
+            dbg_line(from->body->position, to->body->position);
+
+            float MinDistance = 10000.0f;
 
-            V2 axis = V2normalize(V2sub(to->position, from->position));
+            struct Edge
-            V2 center = V2scale(V2add(to->position, from->position), 0.5f);
+            {
+                struct ProcessBody *parent;
+                V2 *from;
+                V2 *to;
+            };
 
-            dbg_line(from->position, to->position);
+            struct ProcessBody *bodies[2] = {from, to};
+            bool was_collision = false;
+            V2 normal = {0};
+            struct Edge edge = {0};
+            for (int body_i = 0; body_i < 2; body_i++)
+            {
+                struct ProcessBody *body = bodies[body_i];
+                for (int edge_from_i = 0; edge_from_i < 3; edge_from_i++)
+                {
+                    int edge_to_i = edge_from_i + 1;
+                    V2 *edge_from = &body->vertices[edge_from_i];
+                    V2 *edge_to = &body->vertices[edge_to_i];
 
-            dbg_rect(center);
+                    // normal vector of edge
+                    V2 axis = (V2){
+                        .x = edge_from->y - edge_to->y,
+                        .y = edge_to->x - edge_from->x,
+                    };
+                    axis = V2normalize(axis);
 
-            float from_interval[2] = {1000.0f, -1000.0f};
+                    float min_from, min_to, max_from, max_to = 0.0f;
-            float to_interval[2] = {1000.0f, -1000.0f};
+                    project(from, axis, &min_from, &max_from);
-            modify_interval(from, from_interval, center, axis);
+                    project(to, axis, &min_to, &max_to);
-            modify_interval(to, to_interval, center, axis);
-            assert(from_interval[0] < from_interval[1]);
-            assert(to_interval[0] < to_interval[1]);
 
-            // @BeforeShip debug compile time flag in preprocessor
+                    float distance = interval_distance(min_from, min_to, max_from, max_to);
 
-            if (from_interval[1] > to_interval[0]) // intersecting
+                    if (distance > 0.0f)
+                        break;
+                    else if (fabsf(distance) < MinDistance)
+                    {
+                        MinDistance = fabsf(distance);
+                        was_collision = true;
+                        normal = axis;
+                        edge = (struct Edge){
+                            .parent = &body,
+                            .from = edge_from,
+                            .to = edge_to,
+                        };
+                    }
+                }
+            }
+            float depth = MinDistance;
+            if (was_collision)
             {
                 float intersection_depth = from_interval[1] - to_interval[0];
 
+                move_vertices(from->vertices, 4, V2scale(axis, intersection_depth * -0.5f));
+                move_vertices(to->vertices, 4, V2scale(axis, intersection_depth * 0.5f));
+            }
+        }
+    }
+
+    // Wall
+    if (true)
+    {
+        for (int i = 0; i < num_bodies; i++)
+        {
+            for (int v_i = 0; v_i < 4; v_i++)
+            {
+                V2 *vert = &bodies[i].vertices[v_i];
+                if (vert->x > 2.0f)
+                {
+                    vert->x = 2.0f;
+                }
+            }
+        }
+    }
+
+    // Correct for differences in vertex position
+    const int edge_update_iters = 3;
+    for (int iter = 0; iter < edge_update_iters; iter++)
+    {
+        for (int i = 0; i < num_bodies; i++)
+        {
+            for (int v_i = 0; v_i < 3; v_i++)
+            {
+                int other_v_i = v_i + 1;
+                V2 *from = &bodies[i].vertices[v_i];
+                V2 *to = &bodies[i].vertices[other_v_i];
 
-                from->position = V2add(from->position, V2scale(axis, intersection_depth*-0.5f));
+                V2 line = V2sub(*to, *from);
-                to->position = V2add(to->position, V2scale(axis, intersection_depth*0.5f));
+                float len = V2length(line);
+                float diff = len - BOX_SIZE;
+
+                line = V2normalize(line);
+
+                *from = V2add(*from, V2scale(line, diff * 0.5f));
+                *to = V2sub(*to, V2scale(line, diff * 0.5f));
             }
         }
     }
 
+    // Reupdate the positions of the bodies based on how the vertices changed
+    for (int i = 0; i < num_bodies; i++)
+    {
+        float upper_right_angle = V2angle(V2sub(bodies[i].vertices[0], bodies[i].body->position));
+        bodies[i].body->rotation = upper_right_angle - (PI / 4.0f);
+
+        V2 avg = {0};
+        for (int v_i = 0; v_i < 4; v_i++)
+        {
+            avg = V2add(avg, bodies[i].vertices[v_i]);
+        }
+        avg = V2scale(avg, 1.0f / 4.0f);
+        bodies[i].body->position = avg;
+    }
+
     free(bodies);
 }

main.c

@@ -158,6 +158,7 @@ static void frame(void)
         ENetPacket *packet = enet_packet_create((void *)&curmsg, sizeof(curmsg), ENET_PACKET_FLAG_UNRELIABLE_FRAGMENT);
         enet_peer_send(peer, 0, packet);
 
+        // @BeforeShip client side prediction and rollback to previous server authoritative state, then replay inputs
         process(&gs, (float)sapp_frame_duration());
     }
 

types.h

@@ -89,6 +89,8 @@ void dbg_rect(V2 center);
 
 // all the math is static so that it can be defined in each compilation unit its included in
 
+#define PI 3.14159f
+
 static V2 V2add(V2 a, V2 b)
 {
     return (V2){
@@ -139,6 +141,12 @@ static V2 V2rotate(V2 vec, float theta)
     };
 }
 
+// also known as atan2
+static float V2angle(V2 vec)
+{
+    return atan2f(vec.y, vec.x);
+}
+
 static V2 V2sub(V2 a, V2 b)
 {
     return (V2){