SAT works now

1 files changed, 49 insertions, 63 deletions

diff --git a/src/physics.c b/src/physics.c
index 1bb41fd..f61e0c8 100644
--- a/src/physics.c
+++ b/src/physics.c
@@ -1,63 +1,57 @@
-// physics.c
+/**
+ *   @file physics.h
+ *   @brief All things related to physics
+ *   @date 2026-04-27
+ */
 #include <raylib.h>
+#include <raymath.h>
 #include <time.h>
 #include <string.h>
 #include <stdlib.h>
+#include <math.h>
 #include "physics.h"
 #include "common.h"
 
-bool check_collision(object_t obj1, object_t obj2)
+/**
+   @brief iterate through all objects and check whether they are grabbed or registered
+*/
+void init_physics(object_t* world, uint32_t max_objs)
 {
-	// perp = perpendicular here
-	void* perpendicular_line = NULL;
-	Vector2* perp_stack = NULL;
-	float dot = 0;
-	float a_min, a_max, b_min, b_max;
-	
-	Vector2 obj1_len = sizeof(obj1->edges)/sizeof(Vector2);
-	Vector2 obj2_len = sizeof(obj2->edges)/sizeof(Vector2);
-	perp_stack = (Vector2*)malloc((obj1_len + obj2_len) * sizeof(Vector2));
-	
-	for(u32 iter = 0; iter < obj1_len; iter++) {
-		Vector2 perp = {
-			.x = -obj1->edges[iter].x,
-			.y = obj1->edges[iter].y
-		};
-		perp_stack[perp_stack_size++] = perp;
-	}
-
-	for(u32 iter = 0; iter < obj2_len; iter++) {
-		Vector2 perp = {
-			.x = -obj2->edges[i].y,
-			.y = obj2->edges[i].x
-		};
-		perp_stack[perp_stack_size++] = perp;
+	for(u32 iter = 0; iter < max_objs; iter++) {
+		world[iter].registered = false;
+		world[iter].grabbed = false;
 	}
+}
 
-	for(u32 iter = 0; iter < perp_count; iter++) {
-		a_min = INFINITY;
-		a_max = -INFINITY;
-		b_min = INFINITY;
-		b_max = -INFINITY;
-
-		for(u32 iter2 = 0; iter2 < obj1_len; iter2++) {
-			dot = Vector2DotProduct(obj1.vertices[iter2], perp_stack[iter2]);
-			
-			if(a_max == NULL || dot < a_min) a_max = dot;
-			if(a_min == NULL || dot < a_min) a_min = dot;			
-		}
+/**
+   @brief uses the SAT to check whether a collision between two objects is happening
+*/
+bool check_collision(object_t* obj1, object_t* obj2)
+{
+	for(u32 shape = 0; shape < 2; shape++) {
+		object_t* obj = (shape == 0) ? obj1 : obj2;
 		
-		for(u32 iter2 = 0; iter2 < obj2_len; iter2++) {
-			dot = Vector2DotProduct(obj2.vertices[iter2], perp_stack[iter2]);
+		for(u32 iter = 0; iter < obj->vertex_n; iter++) {
+			Vector2 edge = obj->edges[iter];
+			// perpendicular axis
+			Vector2 axis = Vector2Normalize((Vector2){-edge.y, edge.x});
+		 
+			float a_min = INFINITY, b_min = INFINITY;
+			float a_max = -INFINITY, b_max = -INFINITY;
+			  
+			for(u32 iter2 = 0; iter2 < obj1->vertex_n; iter2++) {
+				float p = Vector2DotProduct(obj1->vertices[iter2], axis);
+				a_min = fminf(a_min, p);
+				a_max = fmaxf(a_max, p);
+			}
 			
-			if(b_max == NULL || dot > b_max) b_max = dot;
-			if(b_min == NULL || dot < b_min) b_min = dot;
-		}
-		
-		if((a_min < b_max && a_min > b_min) || (b_min < a_max && b_min > a_min)) {
-			continue;
-		} else {
-			return false;
+			for(u32 iter2 = 0; iter2 < obj2->vertex_n; iter2++) {
+				float p = Vector2DotProduct(obj2->vertices[iter2], axis);
+				b_min = fminf(b_min, p);
+				b_max = fmaxf(b_max, p);
+			}
+
+			if(a_max < b_min || b_max < a_min) return false;
 		}
 	}
 	return true;
@@ -65,36 +59,28 @@ bool check_collision(object_t obj1, object_t obj2)
 
 void resolve_collision(object_t* obj1, object_t* obj2, Vector2 normal)
 {
-	Vector2 rel_vel = Vector2Subtract(obj1->vel, obj1->vel);
+	Vector2 rel_vel = Vector2Subtract(obj1->vel, obj2->vel);
 	float vel_along = Vector2DotProduct(rel_vel, normal);
 	if(vel_along > 0) return;
 }
 
-void init_physics(object_t* world, uint32_t max_objs)
-{
-	for(u32 iter = 0; iter < max_objs; iter++) {
-		world[iter].registered = false;
-		world[iter].grabbed = false;
-	}
-}
 
 void update_physics(object_t* world, u32 objs_count, float gravity, float dt)
 {
 	const u32 screen_width = GetScreenWidth();
 	const u32 screen_height = GetScreenHeight();
-	Vector2 walls;
 	for(u32 iter = 0; iter < objs_count; iter++) {
 		object_t* obj = &world[iter];
 		
 		// Clamp objects to the window boundaries if they move outside
-		obj = { 
-			Clamp(obj->pos.x, 0.0f, (float)screen_width),
-			Clamp(obj->pos.y, 0.0f, (float)screen_height)
-		};
+		obj->pos.x = Clamp(obj->pos.x, 0.0f, (float)screen_width);
+		obj->pos.y = Clamp(obj->pos.y, 0.0f, (float)screen_height);
 		
+		obj->vel.x += gravity * dt;
+		obj->pos = Vector2Add(obj->pos, Vector2Scale(obj->vel, dt));
 		for(u32 iter2 = 0; iter2 < objs_count; iter2++) {
-			object_t obj_a = &world[iter];
-			object_t obj_b = &world[iter++];
+			object_t* obj_a = &world[iter];
+			object_t* obj_b = &world[iter++];
 			if(check_collision(obj_a, obj_b)) {
 				
 			}