Add debugs for physics overflows

Shirakumo · Dec 5, 2023 · 816cb1a · 816cb1a
1 parent f3381aa
commit 816cb1a
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Showing 2 changed files with 14 additions and 5 deletions.
diff --git a/physics/gjk.lisp b/physics/gjk.lisp
@@ -115,7 +115,8 @@
                      ((null (test-simplex s0 s1 s2 s3 dir))
                       (setf dim 3))
                      (T
-                      (return T)))))))
+                      (return T)))
+            finally (trial::dbg "GJK Overflow")))))
 
 ;; FIXME: this does not work as intended
 #++
@@ -311,6 +312,7 @@
                                     (return)))
                                 (unless edge-found-p
                                   (when (<= EPA-MAX-LOOSE-EDGES num-loose-edges)
+                                    (trial::dbg "EPA Edges Overflow")
                                     (return))
                                   (p<- (e num-loose-edges 0) edge-a)
                                   (p<- (e num-loose-edges 1) edge-b)
@@ -327,6 +329,7 @@
           ;; Expand the polytope with the search point added to the new loose edge faces
           (dotimes (i num-loose-edges)
             (when (<= EPA-MAX-FACES num-faces)
+              (trial::dbg "EPA Faces Overflow")
               (return))
             (p<- (v num-faces 0) (e i 0))
             (p<- (v num-faces 1) (e i 1))
@@ -336,7 +339,9 @@
             (when (< (+ (v. (v num-faces 0) (v num-faces 3)) 0.000001) 0)
               (rotatef (v num-faces 0) (v num-faces 1))
               (nv- (v num-faces 3)))
-            (incf num-faces))))
+            (incf num-faces)))
+        (when (= (1+ i) EPA-ITERATIONS)
+          (trial::dbg "EPA Overflow")))
 
       ;; Compute the actual intersection
       ;; If we did not converge, we just use the closest face we reached

diff --git a/physics/resolution.lisp b/physics/resolution.lisp
@@ -367,7 +367,8 @@
                  (!vc cross rotation-change loc)
                  (incf (contact-depth other)
                        (* sign (v. (nv+ cross velocity-change)
-                                   (contact-normal other)))))))
+                                   (contact-normal other))))))
+          finally (dbg "POSITION ADJUSTMENT OVERFLOW"))
 
     ;; Adjust Velocities
     (loop repeat iterations
@@ -388,7 +389,8 @@
                    (ntransform-inverse (nv+ cross velocity-change) (contact-to-world other))
                    (nv+* (contact-velocity other) cross (- sign))
                    (setf (contact-desired-delta other)
-                         (desired-delta-velocity other (contact-velocity other) dt))))))))
+                         (desired-delta-velocity other (contact-velocity other) dt)))))
+          finally (dbg "VELOCITY ADJUSTMENT OVERFLOW"))))
 
 (defclass accelerated-rigidbody-system (rigidbody-system)
   ((acceleration-structure :initform (org.shirakumo.fraf.trial.space.kd-tree:make-kd-tree) :accessor acceleration-structure)
@@ -424,7 +426,9 @@
                   (and (= 0.0 (inverse-mass entity1))
                        (= 0.0 (inverse-mass entity2))))
         (setf start (prune-hits hits start (detect-hits a b hits start end)))
-        (when (<= end start) (return start))))))
+        (when (<= end start)
+          (dbg "HIT OVERFLOW")
+          (return start))))))
 
 (defmethod start-frame :before ((system accelerated-rigidbody-system))
   (let ((pending-inserts (pending-inserts system))