improve gjk a bit to reduce some lag

src/Marble.hx

@@ -916,7 +916,7 @@ class Marble extends GameObject {
 			rollVolume = 0;
 
 		var slipVolume = 0.0;
-		if (slipAmount > 0) {
+		if (slipAmount > 1e-4) {
 			slipVolume = slipAmount / 5;
 			if (slipVolume > 1)
 				slipVolume = 1;
@@ -1337,7 +1337,7 @@ class Marble extends GameObject {
 			sph.position = finalPos;
 			sph.radius = _radius;
 
-			var pt = GJK.gjk(sph, chull);
+			var pt = GJK.gjk(sph, chull).epa;
 
 			while (pt != null) {
 				if (pt.lengthSq() < 0.0001) {
@@ -1346,7 +1346,7 @@ class Marble extends GameObject {
 				trace('Separating Vector Len: ${pt.length()}');
 				finalPos = finalPos.sub(pt);
 				sph.position = finalPos;
-				pt = GJK.gjk(sph, chull);
+				pt = GJK.gjk(sph, chull).epa;
 			}
 
 			// if (pt != null) {

src/MarbleWorld.hx

@@ -1518,7 +1518,7 @@ class MarbleWorld extends Scheduler {
 
 		if (this.finishTime == null) {
 			if (spherebounds.collide(this.endPad.finishBounds)) {
-				if (collision.gjk.GJK.gjk(gjkSphere, this.endPad.finishCollider) != null) {
+				if (collision.gjk.GJK.gjk(gjkSphere, this.endPad.finishCollider, false) != null) {
 					if (!endPad.inFinish) {
 						touchFinish();
 						endPad.inFinish = true;
@@ -1527,6 +1527,9 @@ class MarbleWorld extends Scheduler {
 					if (endPad.inFinish)
 						endPad.inFinish = false;
 				}
+			} else {
+				if (endPad.inFinish)
+					endPad.inFinish = false;
 			}
 		}
 	}

src/collision/CollisionHull.hx

@@ -38,7 +38,7 @@ class CollisionHull extends CollisionEntity {
 			newTform.setPosition(newpos);
 			hull.setTransform(newTform);
 
-			var pt = GJK.gjk(sph, this.hull);
+			var pt = GJK.gjk(sph, this.hull).epa;
 			if (pt != null) {
 				var cinfo = new CollisionInfo();
 				cinfo.normal = pt.normalized();

src/collision/gjk/Cylinder.hx

@@ -0,0 +1,23 @@
+package collision.gjk;
+
+import h3d.Vector;
+
+@:publicFields
+class Cylinder implements GJKShape {
+	var p1:Vector;
+	var p2:Vector;
+	var radius:Float;
+
+	public function new() {}
+
+	public function getCenter():Vector {
+		return p1.add(p2).multiply(0.5);
+	}
+
+	public function support(dir:Vector) {
+		var axis = p2.sub(p1);
+		var v = axis.dot(dir) > 0 ? p2 : p1;
+		var rejection = dir.sub(axis.multiply(dir.dot(axis) / (axis.dot(axis) * dir.dot(dir)))).normalized().multiply(radius);
+		return v.add(rejection);
+	}
+}

src/collision/gjk/GJK.hx

@@ -10,7 +10,10 @@ class GJK {
 	public static var maxEpaLooseEdges = 64;
 	public static var maxEpaIterations = 64;
 
-	public static function gjk(s1:GJKShape, s2:GJKShape) {
+	static var epaFaces:Array<Array<Vector>>;
+	static var loose_edges:Array<Array<Vector>>;
+
+	public static function gjk(s1:GJKShape, s2:GJKShape, doEpa:Bool = true) {
 		var searchDir = s1.getCenter().sub(s2.getCenter());
 		var a = new Vector();
 		var b = new Vector();
@@ -21,7 +24,10 @@ class GJK {
 		searchDir = c.multiply(-1);
 		b = s2.support(searchDir).sub(s1.support(searchDir.multiply(-1)));
 		if (b.dot(searchDir) < 0)
-			return null;
+			return {
+				result: false,
+				epa: null
+			};
 
 		searchDir = c.sub(b).cross(b.multiply(-1)).cross(c.sub(b));
 		if (searchDir.length() == 0) {
@@ -35,7 +41,10 @@ class GJK {
 		for (i in 0...maxIterations) {
 			a = s2.support(searchDir).sub(s1.support(searchDir.multiply(-1)));
 			if (a.dot(searchDir) < 0) {
-				return null;
+				return {
+					result: false,
+					epa: null
+				};
 			}
 
 			simpDim++;
@@ -83,44 +92,57 @@ class GJK {
 					b = a;
 					searchDir = adb;
 				} else {
-					return epa(a, b, c, d, s1, s2);
+					if (doEpa)
+						return {
+							result: true,
+							epa: epa(a, b, c, d, s1, s2)
+						};
+					return {
+						result: true,
+						epa: null
+					};
 				}
 			}
 		}
-		return null;
+		return {
+			result: false,
+			epa: null
+		};
 	}
 
 	public static function epa(a:Vector, b:Vector, c:Vector, d:Vector, s1:GJKShape, s2:GJKShape) {
-		var faces = [];
+		if (epaFaces == null) {
+			epaFaces = [];
 			for (i in 0...maxEpaFaces)
-			faces.push([new Vector(), new Vector(), new Vector(), new Vector()]);
+				epaFaces.push([new Vector(), new Vector(), new Vector(), new Vector()]);
+		}
 
-		faces[0][0] = a;
+		epaFaces[0][0] = a;
-		faces[0][1] = b;
+		epaFaces[0][1] = b;
-		faces[0][2] = c;
+		epaFaces[0][2] = c;
-		faces[0][3] = b.sub(a).cross(c.sub(a)).normalized(); // ABC
+		epaFaces[0][3] = b.sub(a).cross(c.sub(a)).normalized(); // ABC
-		faces[1][0] = a;
+		epaFaces[1][0] = a;
-		faces[1][1] = c;
+		epaFaces[1][1] = c;
-		faces[1][2] = d;
+		epaFaces[1][2] = d;
-		faces[1][3] = c.sub(a).cross(d.sub(a)).normalized();
+		epaFaces[1][3] = c.sub(a).cross(d.sub(a)).normalized();
-		faces[2][0] = a;
+		epaFaces[2][0] = a;
-		faces[2][1] = d;
+		epaFaces[2][1] = d;
-		faces[2][2] = b;
+		epaFaces[2][2] = b;
-		faces[2][3] = d.sub(a).cross(b.sub(a)).normalized();
+		epaFaces[2][3] = d.sub(a).cross(b.sub(a)).normalized();
-		faces[3][0] = b;
+		epaFaces[3][0] = b;
-		faces[3][1] = d;
+		epaFaces[3][1] = d;
-		faces[3][2] = c;
+		epaFaces[3][2] = c;
-		faces[3][3] = d.sub(b).cross(c.sub(b)).normalized();
+		epaFaces[3][3] = d.sub(b).cross(c.sub(b)).normalized();
 
 		var numFaces = 4;
 		var closestFace = 0;
 
 		for (iteration in 0...maxEpaIterations) {
 			// Find face that's closest to origin
-			var min_dist = faces[0][0].dot(faces[0][3]);
+			var min_dist = epaFaces[0][0].dot(epaFaces[0][3]);
 			closestFace = 0;
 			for (i in 1...numFaces) {
-				var dist = faces[i][0].dot(faces[i][3]);
+				var dist = epaFaces[i][0].dot(epaFaces[i][3]);
 				if (dist < min_dist) {
 					min_dist = dist;
 					closestFace = i;
@@ -128,28 +150,30 @@ class GJK {
 			}
 
 			// search normal to face that's closest to origin
-			var search_dir = faces[closestFace][3];
+			var search_dir = epaFaces[closestFace][3];
 			var p = s2.support(search_dir).sub(s1.support(search_dir.multiply(-1)));
 			if (p.dot(search_dir) - min_dist < epaTolerance) {
 				// Convergence (new point is not significantly further from origin)
-				return faces[closestFace][3].multiply(p.dot(search_dir)); // dot vertex with normal to resolve collision along normal!
+				return epaFaces[closestFace][3].multiply(p.dot(search_dir)); // dot vertex with normal to resolve collision along normal!
 			}
-			var loose_edges = [];
+			if (loose_edges == null) {
+				loose_edges = [];
 				for (i in 0...maxEpaLooseEdges)
 					loose_edges.push([new Vector(), new Vector()]);
+			}
 
 			var num_loose_edges = 0;
 
 			// Find all triangles that are facing p
 			var i = 0;
 			while (i < numFaces) {
-				if (faces[i][3].dot(p.sub(faces[i][0])) > 0) // triangle i faces p, remove it
+				if (epaFaces[i][3].dot(p.sub(epaFaces[i][0])) > 0) // triangle i faces p, remove it
 				{
 					// Add removed triangle's edges to loose edge list.
 					// If it's already there, remove it (both triangles it belonged to are gone)
 					for (j in 0...3) // Three edges per face
 					{
-						var current_edge = [faces[i][j], faces[i][(j + 1) % 3]];
+						var current_edge = [epaFaces[i][j], epaFaces[i][(j + 1) % 3]];
 						var found_edge = false;
 						for (k in 0...num_loose_edges) // Check if current edge is already in list
 						{
@@ -178,10 +202,10 @@ class GJK {
 					}
 
 					// Remove triangle i from list
-					faces[i][0] = faces[numFaces - 1][0];
+					epaFaces[i][0] = epaFaces[numFaces - 1][0];
-					faces[i][1] = faces[numFaces - 1][1];
+					epaFaces[i][1] = epaFaces[numFaces - 1][1];
-					faces[i][2] = faces[numFaces - 1][2];
+					epaFaces[i][2] = epaFaces[numFaces - 1][2];
-					faces[i][3] = faces[numFaces - 1][3];
+					epaFaces[i][3] = epaFaces[numFaces - 1][3];
 					numFaces--;
 					i--;
 				} // endif p can see triangle i
@@ -194,22 +218,22 @@ class GJK {
 				// assert(num_faces<EPA_MAX_NUM_FACES);
 				if (numFaces >= maxEpaFaces)
 					break;
-				faces[numFaces][0] = loose_edges[i][0];
+				epaFaces[numFaces][0] = loose_edges[i][0];
-				faces[numFaces][1] = loose_edges[i][1];
+				epaFaces[numFaces][1] = loose_edges[i][1];
-				faces[numFaces][2] = p;
+				epaFaces[numFaces][2] = p;
-				faces[numFaces][3] = loose_edges[i][0].sub(loose_edges[i][1]).cross(loose_edges[i][0].sub(p)).normalized();
+				epaFaces[numFaces][3] = loose_edges[i][0].sub(loose_edges[i][1]).cross(loose_edges[i][0].sub(p)).normalized();
 
 				// Check for wrong normal to maintain CCW winding
 				var bias = 0.000001; // in case dot result is only slightly < 0 (because origin is on face)
-				if (faces[numFaces][0].dot(faces[numFaces][3]) + bias < 0) {
+				if (epaFaces[numFaces][0].dot(epaFaces[numFaces][3]) + bias < 0) {
-					var temp = faces[numFaces][0];
+					var temp = epaFaces[numFaces][0];
-					faces[numFaces][0] = faces[numFaces][1];
+					epaFaces[numFaces][0] = epaFaces[numFaces][1];
-					faces[numFaces][1] = temp;
+					epaFaces[numFaces][1] = temp;
-					faces[numFaces][3] = faces[numFaces][3].multiply(-1);
+					epaFaces[numFaces][3] = epaFaces[numFaces][3].multiply(-1);
 				}
 				numFaces++;
 			}
 		}
-		return faces[closestFace][3].multiply(faces[closestFace][0].dot(faces[closestFace][3]));
+		return epaFaces[closestFace][3].multiply(epaFaces[closestFace][0].dot(epaFaces[closestFace][3]));
 	}
 }

src/gui/EnterNameDlg.hx

@@ -82,7 +82,7 @@ class EnterNameDlg extends GuiControl {
 		enterNameText.position = new Vector(37, 23);
 		enterNameText.extent = new Vector(345, 85);
 		// enterNameText.justify = Center;
-		enterNameText.text.text = '<font face="Arial14"><br/></font><p align="center"><font face="DomCasual48">Well Done!<br/></font><font face="DomCasual32">You have the${["", " second", " third", " fourth", "fifth"][place]} top time!</font></p>';
+		enterNameText.text.text = '<font face="Arial14"><br/></font><p align="center"><font face="DomCasual48">Well Done!<br/></font><font face="DomCasual32">You have the${["", " second", " third", " fourth", " fifth"][place]} top time!</font></p>';
 		dlg.addChild(enterNameText);
 
 		dlg.addChild(enterNameEdit);

src/shapes/EndPad.hx

@@ -1,5 +1,7 @@
 package shapes;
 
+import src.MarbleGame;
+import collision.gjk.Cylinder;
 import src.AudioManager;
 import h3d.Quat;
 import h3d.mat.Material;
@@ -25,7 +27,7 @@ import h3d.mat.Texture;
 class EndPad extends DtsObject {
 	var fireworks:Array<Firework> = [];
 
-	var finishCollider:ConvexHull;
+	var finishCollider:Cylinder;
 	var finishBounds:Bounds;
 	var inFinish:Bool = false;
 
@@ -72,7 +74,12 @@ class EndPad extends DtsObject {
 				vertices.push(new Vector(x * radius * this.scaleX, (i != 0 ? 4.8 : 0) * 1, z * radius * this.scaleY));
 			}
 		}
-		finishCollider = new ConvexHull(vertices);
+		finishCollider = new Cylinder();
+		finishCollider.p1 = this.getAbsPos().getPosition();
+		finishCollider.p2 = finishCollider.p1.clone();
+		var vertDir = this.getAbsPos().up();
+		finishCollider.p2 = finishCollider.p2.add(vertDir.multiply(height));
+		finishCollider.radius = radius * this.scaleY;
 
 		finishBounds = new Bounds();
 		for (vert in vertices)
@@ -85,7 +92,7 @@ class EndPad extends DtsObject {
 		var tform = this.getAbsPos().clone();
 		tform.prependRotation(Math.PI / 2, 0, 0);
 
-		finishCollider.transform = tform;
+		// finishCollider.transform = tform;
 
 		finishBounds.transform(tform);