Player can walk through portals

src/physics/collision_object.c

@@ -25,7 +25,7 @@ void collisionObjectCollideWithPlane(struct CollisionObject* object, struct Coll
             return;
         }
         
-        contactSolverAssign(contact, &localContact);
+        contactSolverAssign(contact, &localContact, 1);
     } else if (contact) {
         contactSolverRemoveContact(contactSolver, contact);
     }
@@ -44,12 +44,11 @@ void collisionObjectCollideWithQuad(struct CollisionObject* object, struct Colli
     struct ContactConstraintState* contact = contactSolverPeekContact(contactSolver, quad, object);
     
     if (quadCollider(object->collider->data, &object->body->transform, quad->collider->data, &localContact)) {
-
         if (!contact) {
             return;
         }
         
-        contactSolverAssign(contact, &localContact);
+        contactSolverAssign(contact, &localContact, 1);
     } else if (contact) {
         contactSolverRemoveContact(contactSolver, contact);
     }

src/physics/collision_scene.c

@@ -1,5 +1,7 @@
 #include "collision_scene.h"
 
+#include "math/mathf.h"
+
 struct CollisionScene gCollisionScene;
 
 void collisionSceneInit(struct CollisionScene* scene, struct CollisionObject* quads, int quadCount) {
@@ -13,6 +15,26 @@ void collisionObjectCollideWithScene(struct CollisionObject* object, struct Coll
     }
 }
 
+int collisionSceneFilterPortalContacts(struct ContactConstraintState* contact) {
+    int writeIndex = 0;
+
+    for (int readIndex = 0; readIndex < contact->contactCount; ++readIndex) {
+        if (collisionSceneIsTouchingPortal(&contact->contacts[readIndex].ra)) {
+            continue;;
+        }
+
+        if (readIndex != writeIndex) {
+            contact->contacts[writeIndex] = contact->contacts[readIndex];
+        }
+
+        ++writeIndex;
+    }
+
+    contact->contactCount = writeIndex;
+
+    return writeIndex;
+}
+
 void collisionObjectQueryScene(struct CollisionObject* object, struct CollisionScene* scene, void* data, ManifoldCallback callback) {
     CollideWithQuad quadCollider = object->collider->callbacks->collideWithQuad;
 
@@ -25,8 +47,32 @@ void collisionObjectQueryScene(struct CollisionObject* object, struct CollisionS
     for (int i = 0; i < scene->quadCount; ++i) {
         localContact.contactCount = 0;
 
-        if (quadCollider(object->collider->data, &object->body->transform, scene->quads[i].collider->data, &localContact)) {
+        if (quadCollider(object->collider->data, &object->body->transform, scene->quads[i].collider->data, &localContact) &&
+            collisionSceneFilterPortalContacts(&localContact)) {
             callback(data, &localContact);
         }
     }
 }
+
+int collisionSceneIsTouchingPortal(struct Vector3* contactPoint) {
+    if (!gCollisionScene.portalTransforms[0] || !gCollisionScene.portalTransforms[1]) {
+        return 0;
+    }
+
+    for (int i = 0; i < 2; ++i) {
+        struct Vector3 localPoint;
+        transformPointInverse(gCollisionScene.portalTransforms[i], contactPoint, &localPoint);
+
+        if (fabsf(localPoint.z) > PORTAL_THICKNESS) {
+            continue;
+        }
+
+        localPoint.x *= 2.0f;
+
+        if (vector3MagSqrd(&localPoint) < 1.0f) {
+            return 1;
+        }
+    }
+
+    return 0;
+}

src/physics/collision_scene.h

@@ -3,9 +3,12 @@
 
 #include "collision_object.h"
 
+#define PORTAL_THICKNESS    0.11f
+
 struct CollisionScene {
     struct CollisionObject* quads;
     int quadCount;
+    struct Transform* portalTransforms[0];
 };
 
 typedef void (*ManifoldCallback)(void* data, struct ContactConstraintState* contact);
@@ -15,6 +18,8 @@ extern struct CollisionScene gCollisionScene;
 void collisionSceneInit(struct CollisionScene* scene, struct CollisionObject* quads, int quadCount);
 void collisionObjectCollideWithScene(struct CollisionObject* object, struct CollisionScene* scene, struct ContactSolver* contactSolver);
 
+int collisionSceneIsTouchingPortal(struct Vector3* contactPoint);
+
 void collisionObjectQueryScene(struct CollisionObject* object, struct CollisionScene* scene, void* data, ManifoldCallback callback);
 
 #endif

src/physics/contact_solver.c

@@ -4,6 +4,7 @@
 #include "../math/mathf.h"
 #include "rigid_body.h"
 #include "collision_object.h"
+#include "collision_scene.h"
 
 #include <string.h>
 
@@ -378,7 +379,7 @@ struct ContactState* contactSolverGetContact(struct ContactConstraintState* cont
 	return result;
 }
 
-void contactSolverAssign(struct ContactConstraintState* into, struct ContactConstraintState* from) {
+void contactSolverAssign(struct ContactConstraintState* into, struct ContactConstraintState* from, int filterPortalContacts) {
 	for (int sourceIndex = 0; sourceIndex < from->contactCount; ++sourceIndex) {
 		int targetIndex;
 
@@ -397,11 +398,18 @@ void contactSolverAssign(struct ContactConstraintState* into, struct ContactCons
 		}
 	}
 
+	int copiedCount = 0;
+
 	for (int sourceIndex = 0; sourceIndex < from->contactCount; ++sourceIndex) {
-		into->contacts[sourceIndex] = from->contacts[sourceIndex];
+		if (filterPortalContacts && collisionSceneIsTouchingPortal(&from->contacts[sourceIndex].ra)) {
+			continue;
 		}
 
-	into->contactCount = from->contactCount;
+		into->contacts[copiedCount] = from->contacts[sourceIndex];
+		++copiedCount;
+	}
+
+	into->contactCount = copiedCount;
 	into->tangentVectors[0] = from->tangentVectors[0];
 	into->tangentVectors[1] = from->tangentVectors[1];
 	into->normal = from->normal;

src/physics/contact_solver.h

@@ -62,7 +62,7 @@ void contactSolverRemoveContact(struct ContactSolver* solver, struct ContactCons
 
 struct ContactState* contactSolverGetContact(struct ContactConstraintState* contact, int id);
 
-void contactSolverAssign(struct ContactConstraintState* into, struct ContactConstraintState* from);
+void contactSolverAssign(struct ContactConstraintState* into, struct ContactConstraintState* from, int filterPortalContacts);
 
 #endif
 

src/player/player.c

@@ -9,7 +9,7 @@
 #include "physics/collision_scene.h"
 
 struct Vector3 gGrabDistance = {0.0f, 0.0f, -2.5f};
-struct Vector3 gCameraOffset = {0.0f, 1.2f, 0.0f};
+struct Vector3 gCameraOffset = {0.0f, 0.0f, 0.0f};
 
 struct CollisionSphere gPlayerCollider = {
     0.25f,

src/scene/scene.c

@@ -15,10 +15,11 @@
 #include "../physics/point_constraint.h"
 #include "../physics/debug_renderer.h"
 #include "../controls/controller.h"
+#include "../physics/collision_scene.h"
 
 #include "../levels/test_chamber_00_0/header.h"
 
-struct Vector3 gStartPosition = {5.0f, 0.0f, -5.0f};
+struct Vector3 gStartPosition = {5.0f, 1.2f, -5.0f};
 
 void sceneInit(struct Scene* scene) {
     cameraInit(&scene->camera, 45.0f, 0.125f * SCENE_SCALE, 80.0f * SCENE_SCALE);
@@ -38,6 +39,9 @@ void sceneInit(struct Scene* scene) {
     scene->portals[1].transform.position.y = 1.0f;
     scene->portals[1].transform.position.z = -6.0f;
 
+    gCollisionScene.portalTransforms[0] = &scene->portals[0].transform;
+    gCollisionScene.portalTransforms[1] = &scene->portals[1].transform;
+
     quatAxisAngle(&gUp, M_PI * 0.5f, &scene->portals[1].transform.rotation);
 
     cubeInit(&scene->cube);