Fix crash around collision of objects

README.md

@@ -134,7 +134,8 @@ make -f Makefile.docker
 - [ ] test chamber 02 needs more light in the first room
 - [ ] pausing while glados is speaking can end her speech early
 - [ ] don't repeat camera destruction speech every time
-- [ ] glitch wall lighting when shooting portals on shaded walls
+- [ ] don't count boxes on buttons until it is released and stable
+- [x] glitch wall lighting when shooting portals on shaded walls
 - [x] Adding y-axis/x-axis inverting options #55
 - [x] Adding look axis sensitivity setting
 - [x] Adding a menu to game #47

src/controls/controller_actions.c

@@ -102,8 +102,8 @@ void controllerActionReadDirection(enum ControllerActionSource source, int contr
         case ControllerActionSourceJoystick:
         {
             OSContPad* pad = controllersGetControllerData(controllerIndex);
-            result.x = controllerCleanupStickInput(pad->stick_x);
-            result.y = controllerCleanupStickInput(pad->stick_y);
+            result.x += controllerCleanupStickInput(pad->stick_x);
+            result.y += controllerCleanupStickInput(pad->stick_y);
             break;
         }
         default:

src/physics/epa.c

@@ -61,6 +61,37 @@ int validateHeap(struct ExpandingSimplex* simplex) {
     return 1;
 }
 
+int validateExpandingSimplex(struct ExpandingSimplex* simplex) {
+    for (int triangleIndex = 0; triangleIndex < simplex->triangleCount; ++triangleIndex) {
+        struct SimplexTriangle* triangle = &simplex->triangles[triangleIndex];
+
+        for (int index = 0; index < 3; ++index) {
+            struct SimplexTriangle* adjacent = &simplex->triangles[triangle->indexData.adjacentFaces[index]];
+
+            int nextFromOpposite = NEXT_FACE(triangle->indexData.oppositePoints[index]);
+
+            // verify the back link
+            if (adjacent->indexData.adjacentFaces[nextFromOpposite] != triangleIndex) {
+                return 0;
+            }
+
+            struct Vector3 offset;
+            vector3Sub(
+                &simplex->points[adjacent->indexData.indices[triangle->indexData.oppositePoints[index]]], 
+                &simplex->points[triangle->indexData.indices[index]], 
+                &offset
+            );
+
+            // verify shape is convex
+            if (vector3Dot(&offset, &triangle->normal) > 0.000001f) {
+                return 0;
+            }
+        }
+    }
+
+    return 1;
+}
+
 void expandingSimplexAddPoint(struct ExpandingSimplex* simplex, struct Vector3* aPoint, struct Vector3* pointDiff, int id) {
     int result = simplex->pointCount;
     simplex->aPoints[result] = *aPoint;
@@ -234,6 +265,17 @@ void expandingSimplexRotateEdge(struct ExpandingSimplex* simplex, struct Simplex
     triangleA->indexData.oppositePoints[1] = relativeIndex1;
     triangleB->indexData.oppositePoints[relativeIndex2] = 0;
 
+    // update back references from adjacent triangles
+    struct SimplexTriangle* adjTriangle = &simplex->triangles[triangleA->indexData.adjacentFaces[0]];
+    int adjIndex = NEXT_FACE(triangleA->indexData.oppositePoints[0]);
+    adjTriangle->indexData.adjacentFaces[adjIndex] = triangleAIndex;
+    adjTriangle->indexData.oppositePoints[adjIndex] = 2;
+
+    adjTriangle = &simplex->triangles[triangleB->indexData.adjacentFaces[relativeIndex1]];
+    adjIndex = NEXT_FACE(triangleB->indexData.oppositePoints[relativeIndex1]);
+    adjTriangle->indexData.adjacentFaces[adjIndex] = triangleBIndex;
+    adjTriangle->indexData.oppositePoints[adjIndex] = relativeIndex0;
+
     expandingSimplexTriangleInitNormal(simplex, triangleA);
     if (!(simplex->flags & SimplexFlagsSkipDistance)) {
         expandingSimplexTriangleDetermineDistance(simplex, triangleA);

tools/debug_simplex.py

@@ -288,19 +288,40 @@ def extract_simplex_data(simplex, closestFace):
             int(input_triangle["indexData"]["indices"][2])
         ))
 
-    return Simplex(output_vertices, output_triangles, Triangle(
-        int(closestFace["indexData"]["indices"][0]),
-        int(closestFace["indexData"]["indices"][1]),
-        int(closestFace["indexData"]["indices"][2])
-    ))
+    if closestFace:
+        closestFaceTriangle = Triangle(
+            int(closestFace["indexData"]["indices"][0]),
+            int(closestFace["indexData"]["indices"][1]),
+            int(closestFace["indexData"]["indices"][2])
+        )
+    else:
+        closestFaceTriangle = None
+
+    return Simplex(output_vertices, output_triangles, closestFaceTriangle)
 
 def main():
     print("main")
     print(gl.glGetString(gl.GL_VENDOR), gl.glGetString(gl.GL_RENDERER))
     frame = gdb.selected_frame()
     print("Getting simplex")
-    simplex = extract_simplex_data(frame.read_var("simplex"), frame.read_var("closestFace"))
-    raycastDir = frame.read_var("raycastDir")
+    try:
+        closestFace = frame.read_var("closestFace")
+    except:
+        closestFace = None
+
+    simplexVar = None
+
+    try:
+        simplexVar = frame.read_var("simplex")
+    except:
+        simplexVar = frame.read_var("expandingSimplex")
+
+    simplex = extract_simplex_data(simplexVar, closestFace)
+
+    try:
+        raycastDir = frame.read_var("raycastDir")
+    except:
+        raycastDir = {"x": 0, "y": 0, "z": 0}
 
 
     with create_main_window() as window: