Handle start position

This commit is contained in:
Miloslav Ciz 2024-09-29 20:52:52 +02:00
parent 34293981b0
commit beda272f18
4 changed files with 146 additions and 162 deletions

View file

@ -32,77 +32,16 @@ LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_RAMP,46,0,33,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90), LCR_MAP_BLOCK(LCR_BLOCK_RAMP,46,0,33,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,1,1,10,0,0), LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,1,1,10,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,36,0,33,LCR_BLOCK_MATERIAL_CONCRETE,0), LCR_MAP_BLOCK(LCR_BLOCK_LEFT,36,0,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,10,0,0), LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,10,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,36,0,43,LCR_BLOCK_MATERIAL_CONCRETE,0), LCR_MAP_BLOCK(LCR_BLOCK_FULL,36,0,43,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,4,1,0,0), LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,4,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,0,32,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_START,32,1,32,0,LCR_BLOCK_TRANSFORM_ROT_180),
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,63,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,63,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,63,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,63,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,63,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,63,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,32,32,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,4,4,4,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,50,20,20,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,5,5,5,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,10,10,10,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,3,3,3,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,2,25,50,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,3,3,3,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,0,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,40,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,63,63,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,40,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,15,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,7,4,8,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,15,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,7,4,8,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,32,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,32,32,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_RAMP_CURVED_WALL,34,32,32,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_RAMP_CURVED_WALL,35,32,32,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,63,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,35,32,LCR_BLOCK_MATERIAL_ICE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,40,35,32,LCR_BLOCK_MATERIAL_DIRT,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,41,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,42,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,43,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,44,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_BOTTOM_LEFT,34,32,33,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,33,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,33,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,33,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,33,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,32,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,32,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
*/
LCR_MAP_TERMINATOR LCR_MAP_TERMINATOR
}; };

61
map.h
View file

@ -104,7 +104,7 @@ struct
{ {
uint16_t blockCount; uint16_t blockCount;
uint8_t blocks[LCR_SETTING_MAP_MAX_BLOCKS * LCR_BLOCK_SIZE]; uint8_t blocks[LCR_SETTING_MAP_MAX_BLOCKS * LCR_BLOCK_SIZE];
uint32_t startPos; uint8_t startPos[4]; ///< Initial position and rotation.
uint8_t environment; uint8_t environment;
@ -227,6 +227,8 @@ uint8_t *LCR_getMapBlockAtCoordNumber(uint32_t coord)
*/ */
uint8_t _LCR_mapAddBlock(const uint8_t block[LCR_BLOCK_SIZE]) uint8_t _LCR_mapAddBlock(const uint8_t block[LCR_BLOCK_SIZE])
{ {
LCR_LOG2("adding map block");
if (LCR_currentMap.blockCount >= LCR_SETTING_MAP_MAX_BLOCKS) if (LCR_currentMap.blockCount >= LCR_SETTING_MAP_MAX_BLOCKS)
return 0; return 0;
@ -283,7 +285,11 @@ uint8_t _LCR_mapAddBlock(const uint8_t block[LCR_BLOCK_SIZE])
*/ */
uint8_t LCR_mapLoad(const uint8_t *map) uint8_t LCR_mapLoad(const uint8_t *map)
{ {
LCR_currentMap.startPos = 0; LCR_LOG0("loading map")
for (int i = 0; i < 4; ++i)
LCR_currentMap.startPos[i] = 0;
LCR_currentMap.blockCount = 0; LCR_currentMap.blockCount = 0;
if (map[0] != LCR_MAP_MAGIC_NUMBER1 || map[1] != LCR_MAP_MAGIC_NUMBER2) if (map[0] != LCR_MAP_MAGIC_NUMBER1 || map[1] != LCR_MAP_MAGIC_NUMBER2)
@ -348,6 +354,15 @@ uint8_t LCR_mapLoad(const uint8_t *map)
break; break;
} }
case LCR_BLOCK_START:
LCR_mapBlockGetCoords(map,
LCR_currentMap.startPos,
LCR_currentMap.startPos + 1,
LCR_currentMap.startPos + 2);
LCR_currentMap.startPos[3] = LCR_mapBlockGetTransform(map) & 0x60;
break;
default: default:
if (!_LCR_mapAddBlock(map)) // normal block if (!_LCR_mapAddBlock(map)) // normal block
return 0; return 0;
@ -355,16 +370,10 @@ uint8_t LCR_mapLoad(const uint8_t *map)
break; break;
} }
map += 4; map += LCR_BLOCK_SIZE;
} }
// process and remove special blocks: LCR_LOG2("map loaded")
// TODO
// sort the blocks (for fast searching):
// TODO
return 1; return 1;
} }
@ -447,8 +456,9 @@ void _LCR_addBlockShapeByte(uint8_t *bytes, uint8_t *byteCount,
*byteCount += 1; *byteCount += 1;
} }
/**
Macro that transforms coordinates according to block transformation.
*/
#define LCR_TRANSFORM_COORDS(trans,cx,cy,cz,maxXZ,maxY)\ #define LCR_TRANSFORM_COORDS(trans,cx,cy,cz,maxXZ,maxY)\
if (trans & LCR_BLOCK_TRANSFORM_FLIP_H) cx = maxXZ - cx;\ if (trans & LCR_BLOCK_TRANSFORM_FLIP_H) cx = maxXZ - cx;\
if (trans & 0x20) { /* for both 90 and 270 */ \ if (trans & 0x20) { /* for both 90 and 270 */ \
@ -460,8 +470,6 @@ void _LCR_addBlockShapeByte(uint8_t *bytes, uint8_t *byteCount,
if (trans & LCR_BLOCK_TRANSFORM_FLIP_V) \ if (trans & LCR_BLOCK_TRANSFORM_FLIP_V) \
cy = maxY - cy; cy = maxY - cy;
/** /**
Gets a shape of given map block type as a 3D model composed of triangles. The Gets a shape of given map block type as a 3D model composed of triangles. The
model is returned as an array of byte triplets (triangles), with each byte model is returned as an array of byte triplets (triangles), with each byte
@ -584,28 +592,7 @@ void LCR_mapGetBlockShape(uint8_t blockType, uint8_t transform,
_LCR_decodeMapBlockCoords(bytes[i],&x,&y,&z); _LCR_decodeMapBlockCoords(bytes[i],&x,&y,&z);
LCR_TRANSFORM_COORDS(transform,x,y,z,6,4) LCR_TRANSFORM_COORDS(transform,x,y,z,6,4)
/*
if (transform & LCR_BLOCK_TRANSFORM_FLIP_H)
x = 6 - x;
if (transform & 0x20) // for both 90 and 270
{
tmp = z;
z = x;
x = 6 - tmp;
}
if (transform & 0x40) // for both 180 and 270
{
x = 6 - x;
z = 6 - z;
}
if (transform & LCR_BLOCK_TRANSFORM_FLIP_V)
y = 4 - y;
*/
bytes[i] = _LCR_encodeMapBlockCoords(x,y,z); bytes[i] = _LCR_encodeMapBlockCoords(x,y,z);
} }

172
racing.h
View file

@ -62,9 +62,8 @@ struct
Lower bits record current collisions, higher Lower bits record current collisions, higher
bits the previous state (for averaging). */ bits the previous state (for averaging). */
TPE_Vec3 carPositions[2]; ///* Current and previous position in game units.
TPE_Vec3 carPositions[2]; ///* Current and previous position. TPE_Vec3 carRotations[2]; ///* Current and previous rotation in game units.
TPE_Vec3 carRotations[2]; ///* Current and previous rotation.
TPE_Vec3 carOKPositions[LCR_CAR_JOINTS]; TPE_Vec3 carOKPositions[LCR_CAR_JOINTS];
@ -322,6 +321,61 @@ void LCR_racingRestart(void)
LCR_racing.carRotations[0] = TPE_vec3(0,0,0); LCR_racing.carRotations[0] = TPE_vec3(0,0,0);
LCR_racing.carRotations[1] = LCR_racing.carRotations[0]; LCR_racing.carRotations[1] = LCR_racing.carRotations[0];
TPE_bodyMoveTo(&(LCR_racing.carBody),
TPE_vec3(
(((TPE_Unit) LCR_currentMap.startPos[0]) - LCR_MAP_SIZE_BLOCKS / 2)
* LCR_PHYSICS_UNIT + LCR_PHYSICS_UNIT / 2,
(((TPE_Unit) LCR_currentMap.startPos[1]) - LCR_MAP_SIZE_BLOCKS / 2)
* LCR_PHYSICS_UNIT / 2 + LCR_PHYSICS_UNIT / 4,
(((TPE_Unit) LCR_currentMap.startPos[2]) - LCR_MAP_SIZE_BLOCKS / 2)
* LCR_PHYSICS_UNIT + LCR_PHYSICS_UNIT / 2));
// TODO: allow also flipping the car upside down on start?
if (LCR_currentMap.startPos[3])
TPE_bodyRotateByAxis(&(LCR_racing.carBody),
TPE_vec3(0,
LCR_currentMap.startPos[3] == LCR_BLOCK_TRANSFORM_ROT_90 ? 3 * TPE_F / 4 :
(LCR_currentMap.startPos[3] == LCR_BLOCK_TRANSFORM_ROT_180 ? TPE_F / 2 :
(TPE_F / 4)),0));
/*
const uint8_t *b = LCR_currentMap.blocks;
for (int i = 0; i < LCR_currentMap.blockCount; ++i)
{
if (*b == LCR_BLOCK_START)
{
uint8_t x, y, z;
LCR_LOG1("placing car to start position");
LCR_mapBlockGetCoords(b,&x,&y,&z);
TPE_bodyMoveTo(&(LCR_racing.carBody),
TPE_vec3(
(((TPE_Unit) x) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT +
LCR_PHYSICS_UNIT / 2,
(((TPE_Unit) y) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT / 2 +
LCR_PHYSICS_UNIT / 4,
(((TPE_Unit) z) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT +
LCR_PHYSICS_UNIT / 2
));
// resuse x:
x = LCR_mapBlockGetTransform(b) & 0x60;
if (x)
TPE_bodyRotateByAxis(&(LCR_racing.carBody),
TPE_vec3(0,x == LCR_BLOCK_TRANSFORM_ROT_90 ? TPE_F / 4 :
(x == LCR_BLOCK_TRANSFORM_ROT_180 ? TPE_F / 2 : (3 * TPE_F / 4)),0));
}
b += LCR_BLOCK_SIZE;
}
*/
for (int i = 0; i < LCR_CAR_JOINTS; ++i) for (int i = 0; i < LCR_CAR_JOINTS; ++i)
@ -373,9 +427,6 @@ void LCR_racingInit(void)
all map blocks. */ all map blocks. */
LCR_racing.carBody.flags |= TPE_BODY_FLAG_NO_BSPHERE; LCR_racing.carBody.flags |= TPE_BODY_FLAG_NO_BSPHERE;
TPE_bodyRotateByAxis(&LCR_racing.carBody,
TPE_vec3(TPE_F / 3,0,0));
LCR_racingRestart(); LCR_racingRestart();
} }
@ -616,29 +667,29 @@ LCR_racing.carPositions[0] =
LCR_racing.carRotations[0] = tmpVec; LCR_racing.carRotations[0] = tmpVec;
int carOK = 1; // TODO: for checking if car shape is fine, if we're inside a wall etc.
TPE_Unit roofAngle = TPE_Unit angle =
TPE_vec3Dot(carUp,TPE_vec3Normalized(TPE_vec3Minus(LCR_racing.carBody.joints[4].position, TPE_vec3Dot(carUp,TPE_vec3Normalized(TPE_vec3Minus(
LCR_racing.carBody.joints[0].position))); LCR_racing.carBody.joints[4].position,
LCR_racing.carBody.joints[0].position)));
if (roofAngle < TPE_F / 4) // TODO: magic constant if (angle < TPE_F / 4) // TODO: magic constant
{ {
LCR_LOG2("car roof low, applying anti force") LCR_LOG2("car roof low, applying anti force")
tmpVec = TPE_vec3Times(carUp,LCR_PHYSICS_UNIT / 16); // TODO: 16 magic con. tmpVec = TPE_vec3Times(carUp,LCR_PHYSICS_UNIT / 16); // TODO: 16 magic con.
if (roofAngle <= 0) if (angle <= 0)
{ {
LCR_LOG1("car roof flipped over, fixing") LCR_LOG1("car roof flipped over, fixing")
LCR_racing.carBody.joints[4].position = wheelAverage; LCR_racing.carBody.joints[4].position = wheelAverage;
roofAngle = 0; angle = 0;
} }
roofAngle = TPE_F - 4 * roofAngle; // 4 comes from above TPE_F / 4 angle = TPE_F - 4 * angle; // 4 comes from above TPE_F / 4
tmpVec = TPE_vec3Times(tmpVec,roofAngle); tmpVec = TPE_vec3Times(tmpVec,angle);
// accelerate roof and wheels away from each other // accelerate roof and wheels away from each other
for (int i = 0; i < LCR_CAR_JOINTS; ++i) for (int i = 0; i < LCR_CAR_JOINTS; ++i)
@ -650,76 +701,75 @@ int carOK = 1; // TODO: for checking if car shape is fine, if we're inside a wal
} }
angle =
(TPE_vec3Dot(
TPE_vec3Minus(
LCR_racing.carBody.joints[1].position,
LCR_racing.carBody.joints[0].position),
TPE_vec3Minus(
LCR_racing.carBody.joints[2].position,
LCR_racing.carBody.joints[0].position)) +
TPE_vec3Dot(
TPE_vec3Minus(
LCR_racing.carBody.joints[0].position,
LCR_racing.carBody.joints[3].position),
TPE_vec3Minus(
LCR_racing.carBody.joints[2].position,
LCR_racing.carBody.joints[3].position)));
int carOK = 1; // TODO: for checking if car shape is fine, if we're inside a wall etc.
if (angle < 1900 || angle > 2350 ||
(LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED))
carOK = 0;
if (1 /*carOK*/) if (carOK)
{ {
LCR_racing.carNotOKCount -= LCR_racing.carNotOKCount ? 1 : 0;
for (int i = 0; i < LCR_CAR_JOINTS; ++i) for (int i = 0; i < LCR_CAR_JOINTS; ++i)
LCR_racing.carOKPositions[i] = LCR_racing.carBody.joints[i].position; LCR_racing.carOKPositions[i] = LCR_racing.carBody.joints[i].position;
} }
else else
{ {
LCR_racing.carNotOKCount++;
// if (LCR_racing.carNotOKCount > 4) if (LCR_racing.carNotOKCount > 5)
{ {
LCR_LOG1("car not OK, fixing"); LCR_LOG1("car not OK, fixing");
for (int i = 0; i < LCR_CAR_JOINTS; ++i) for (int i = 0; i < LCR_CAR_JOINTS; ++i)
{ {
LCR_racing.carBody.joints[i].position = LCR_racing.carOKPositions[i]; LCR_racing.carBody.joints[i].position =
TPE_vec3Plus(
LCR_racing.carBody.joints[i].position,
LCR_racing.carOKPositions[i]);
LCR_racing.carBody.joints[i].position.x /= 2;
LCR_racing.carBody.joints[i].position.y /= 2;
LCR_racing.carBody.joints[i].position.z /= 2;
//LCR_racing.carBody.joints[i].velocity[0] = 0; //LCR_racing.carBody.joints[i].velocity[0] = 0;
//LCR_racing.carBody.joints[i].velocity[1] = 0; //LCR_racing.carBody.joints[i].velocity[1] = 0;
//LCR_racing.carBody.joints[i].velocity[2] = 0; //LCR_racing.carBody.joints[i].velocity[2] = 0;
} }
TPE_bodyReshape(&(LCR_racing.carBody),
LCR_racing.physicsWorld.environmentFunction); // TPE_bodyReshape(&(LCR_racing.carBody),
// LCR_racing.physicsWorld.environmentFunction);
// TODO // TODO
LCR_racing.carNotOKCount = 0; // LCR_racing.carNotOKCount = 0;
} }
else
LCR_racing.carNotOKCount++;
} }
#if 0
if (TPE_vec3Dot(carUp,TPE_vec3Minus(LCR_racing.carBody.joints[4].position,
LCR_racing.carBody.joints[0].position)) < 0)
{
/* if the car falls on its roof the center joint may flip to the other
side, here we fix it */
LCR_LOG1("car roof flipped over, fixing")
// LCR_racing.carBody.joints[4].position = TPE_vec3Plus(TPE_vec3Times(carUp,
// LCR_PHYSICS_UNIT / 8),LCR_racing.carBody.joints[4].position);
//tmpVec = TPE_vec3Times(carUp,LCR_PHYSICS_UNIT / 8);
/*
for (int j = 0; j < 4; ++j)
LCR_racing.carBody.joints[j].position = TPE_vec3Minus(
LCR_racing.carBody.joints[j].position,tmpVec);
*/
/*
LCR_racing.carBody.joints[4].position = TPE_vec3Plus(TPE_vec3Times(carUp,
LCR_GAME_UNIT / 4),LCR_racing.carBody.joints[4].position);
LCR_racing.carBody.joints[4].position =
TPE_vec3Plus(LCR_racing.carBody.joints[4],tmpVec);
*/
// TPE_bodyReshape(&(LCR_racing.carBody),
//LCR_racing.physicsWorld.environmentFunction);
}
#endif
LCR_racing.tick++; LCR_racing.tick++;
LCR_LOG2("racing step end"); LCR_LOG2("racing step end");

View file

@ -252,6 +252,9 @@ typedef struct
energy. */ energy. */
#define TPE_BODY_FLAG_NO_BSPHERE 64 /**< Stops quick bounding sphere checks #define TPE_BODY_FLAG_NO_BSPHERE 64 /**< Stops quick bounding sphere checks
against environment. */ against environment. */
#define TPE_BODY_FLAG_UNRESOLVED 128 /**< Set automatically for bodies whose
collision with environment failed
to be resolved. */
/** Function used for defining static environment, working similarly to an SDF /** Function used for defining static environment, working similarly to an SDF
(signed distance function). The parameters are: 3D point P, max distance D. (signed distance function). The parameters are: 3D point P, max distance D.
@ -1913,6 +1916,8 @@ uint8_t TPE_bodyEnvironmentResolveCollision(TPE_Body *body,
TPE_Vec3 c; TPE_Vec3 c;
TPE_Unit d; TPE_Unit d;
body->flags &= ~TPE_BODY_FLAG_UNRESOLVED;
if (!(body->flags & TPE_BODY_FLAG_NO_BSPHERE)) if (!(body->flags & TPE_BODY_FLAG_NO_BSPHERE))
{ {
TPE_bodyGetFastBSphere(body,&c,&d); TPE_bodyGetFastBSphere(body,&c,&d);
@ -1938,6 +1943,9 @@ uint8_t TPE_bodyEnvironmentResolveCollision(TPE_Body *body,
{ {
collision = 1; collision = 1;
if (r == 2)
body->flags |= TPE_BODY_FLAG_UNRESOLVED;
if (body->flags & TPE_BODY_FLAG_NONROTATING) if (body->flags & TPE_BODY_FLAG_NONROTATING)
_TPE_bodyNonrotatingJointCollided(body,i,previousPos,r == 1); _TPE_bodyNonrotatingJointCollided(body,i,previousPos,r == 1);
} }