physics_test.h

   1 /*
   2  * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
   3  */
   4
   5 #ifndef PHYSICS_TEST_H
   6 #define PHYSICS_TEST_H
   7
   8 #include "rigidbody.h"
   9 #include "player.h"
  10
  11 rigidbody ground = { .type = k_rb_shape_box,
  12                      .bbx = {{-100.0f,-1.0f,-100.0f},{100.0f,0.0f,100.0f}},
  13                      .co = {0.0f, 0.0f, 0.0f},
  14                      .q = {0.0f,0.0f,0.0f,1.0f},
  15                      .is_world = 1 };
  16
  17 rigidbody blocky =
  18    {
  19       .type = k_rb_shape_box,
  20       .bbx = {{-2.0f,-1.0f,-3.0f},{2.0f,1.0f,2.0f}},
  21       .co = {30.0f,2.0f,30.0f},
  22       .q = {0.0f,0.0f,0.0f,1.0f},
  23       .is_world = 1
  24    };
  25
  26 rigidbody marko =
  27 {
  28    .type = k_rb_shape_box,
  29    .bbx = {{-0.5f,-0.5f,-0.5f},{0.5f,0.5f,0.5f}},
  30    .co = {-36.0f,8.0f,-36.0f},
  31    .q = {0.0f,0.0f,0.0f,1.0f},
  32    .is_world = 0
  33 };
  34
  35 scene epic_scene;
  36
  37 rigidbody epic_scene_rb =
  38 {
  39    .type = k_rb_shape_scene,
  40    .co = {0.0f,0.0f,0.0f},
  41    .q = {0.0f,0.0f,0.0f,1.0f},
  42    .is_world = 1,
  43    .inf.scene = { .pscene = &epic_scene }
  44 };
  45
  46 rigidbody funnel[4] = {
  47    {
  48       .type = k_rb_shape_box,
  49       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  50       .co = {-10.0f,5.0f,0.0f},
  51       .is_world = 1
  52    },
  53    {
  54       .type = k_rb_shape_box,
  55       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  56       .co = { 10.0f,5.0f,0.0f},
  57       .is_world = 1
  58    },
  59    {
  60       .type = k_rb_shape_box,
  61       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  62       .co = { 0.0f,5.0f,10.0f},
  63       .is_world = 1
  64    },
  65    {
  66       .type = k_rb_shape_box,
  67       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  68       .co = {0.0f,5.0f,-10.0f},
  69       .is_world = 1
  70    }
  71 };
  72
  73 rigidbody jeff1 = { .type = k_rb_shape_capsule,
  74                     .inf.capsule = { .radius = 0.75f, .height = 3.0f },
  75                     .co = {30.0f, 4.0f, 30.0f },
  76                     .q = {1.0f,0.0f,0.0f,0.0f}
  77 };
  78
  79 rigidbody ball = { .type = k_rb_shape_sphere,
  80                    .inf.sphere = { .radius = 2.0f },
  81                    .co = {0.0f,20.0f,2.0f},
  82                    .q = {0.0f,0.0f,0.0f,1.0f}},
  83
  84           ball1= { .type = k_rb_shape_sphere,
  85                    .inf.sphere = { .radius = 2.0f },
  86                    .co = {0.1f,25.0f,0.2f},
  87                    .q = {0.0f,0.0f,0.0f,1.0f}};
  88
  89 rigidbody jeffs[16];
  90
  91 static void reorg_jeffs(void)
  92 {
  93    for( int i=0; i<vg_list_size(jeffs); i++ )
  94    {
  95       v3_copy( (v3f){ (vg_randf()-0.5f) * 10.0f,
  96                       (vg_randf()-0.5f) * 10.0f + 17.0f,
  97                       (vg_randf()-0.5f) * 10.0f }, jeffs[i].co );
  98       v4_copy( (v4f){ vg_randf(), vg_randf(), vg_randf(), vg_randf() },
  99                jeffs[i].q );
 100       q_normalize( jeffs[i].q );
 101
 102       jeffs[i].type = k_rb_shape_capsule;
 103       jeffs[i].inf.capsule.radius = 0.75f;
 104       jeffs[i].inf.capsule.height = 3.0f;
 105
 106       rb_init( &jeffs[i] );
 107    }
 108 }
 109
 110 static void physics_test_start(void)
 111 {
 112    q_axis_angle( funnel[0].q, (v3f){1.0f,0.0f,0.0f},  0.6f );
 113    q_axis_angle( funnel[1].q, (v3f){1.0f,0.0f,0.0f}, -0.6f );
 114    q_axis_angle( funnel[2].q, (v3f){0.0f,0.0f,1.0f},  0.6f );
 115    q_axis_angle( funnel[3].q, (v3f){0.0f,0.0f,1.0f}, -0.6f );
 116
 117    for( int i=0; i<4; i++ )
 118       rb_init( &funnel[i] );
 119
 120    reorg_jeffs();
 121
 122    rb_init( &ground );
 123    rb_init( &ball );
 124    rb_init( &ball1 );
 125    rb_init( &jeff1 );
 126    rb_init( &blocky );
 127
 128    scene_init( &epic_scene );
 129
 130    mdl_header *mdl = mdl_load( "models/epic_scene.mdl" );
 131
 132    m4x3f transform;
 133    m4x3_identity( transform );
 134
 135    for( int i=0; i<mdl->node_count; i++ )
 136    {
 137       mdl_node *pnode = mdl_node_from_id( mdl, i );
 138
 139       for( int j=0; j<pnode->submesh_count; j++ )
 140       {
 141          mdl_submesh *sm = mdl_node_submesh( mdl, pnode, j );
 142          scene_add_submesh( &epic_scene, mdl, sm, transform );
 143       }
 144    }
 145
 146    vg_free( mdl );
 147    scene_bh_create( &epic_scene );
 148
 149    rb_init( &epic_scene_rb );
 150    rb_init( &marko );
 151 }
 152
 153 static void physics_test_update(void)
 154 {
 155    player_freecam();
 156    player_camera_update();
 157
 158    for( int i=0; i<4; i++ )
 159       rb_debug( &funnel[i], 0xff0060e0 );
 160    rb_debug( &ground, 0xff00ff00 );
 161    rb_debug( &ball, 0xffe00040 );
 162    rb_debug( &ball1, 0xff00e050 );
 163
 164    rb_debug( &blocky, 0xffcccccc );
 165    rb_debug( &jeff1, 0xff00ffff );
 166
 167    rb_debug( &epic_scene_rb, 0xffcccccc );
 168    rb_debug( &marko, 0xffffcc00 );
 169
 170    {
 171
 172    rb_solver_reset();
 173
 174    for( int i=0; i<4; i++ )
 175    {
 176       rigidbody *fn = &funnel[i];
 177       rb_collide( &ball, fn );
 178       rb_collide( &ball1, fn );
 179       rb_collide( &jeff1, fn );
 180
 181       for( int i=0; i<vg_list_size(jeffs); i++ )
 182          rb_collide( jeffs+i, fn );
 183    }
 184
 185    for( int i=0; i<vg_list_size(jeffs)-1; i++ )
 186    {
 187       for( int j=i+1; j<vg_list_size(jeffs); j++ )
 188       {
 189          rb_collide( jeffs+i, jeffs+j );
 190       }
 191    }
 192
 193    for( int i=0; i<vg_list_size(jeffs); i++ )
 194    {
 195       rb_collide( jeffs+i, &ground );
 196       rb_collide( jeffs+i, &ball );
 197       rb_collide( jeffs+i, &ball1 );
 198       rb_collide( jeffs+i, &jeff1 );
 199    }
 200
 201    rb_collide( &jeff1, &ground );
 202    rb_collide( &jeff1, &blocky );
 203    rb_collide( &jeff1, &ball );
 204    rb_collide( &jeff1, &ball1 );
 205
 206    rb_collide( &ball, &ground );
 207    rb_collide( &ball1, &ground );
 208    rb_collide( &ball1, &ball );
 209    rb_collide( &marko, &epic_scene_rb );
 210
 211    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 212    for( int i=0; i<8; i++ )
 213       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 214
 215
 216    /* ITERATE */
 217    {
 218    for( int i=0; i<vg_list_size(jeffs); i++ )
 219    {
 220       rb_debug( &jeffs[i], (u32[]){ 0xff0000ff, 0xff00ff00, 0xff00ffff,
 221                                    0xffff0000, 0xffff00ff, 0xffffff00,
 222                                    }[i%6] );
 223       rb_iter( jeffs+i );
 224    }
 225
 226    rb_iter( &ball );
 227    rb_iter( &ball1 );
 228    rb_iter( &jeff1 );
 229    rb_iter( &marko );
 230    }
 231
 232    /* POSITION OVERRIDE */
 233    {
 234    if(glfwGetKey( vg.window, GLFW_KEY_L ))
 235    {
 236       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, marko.co );
 237       v3_zero( marko.v );
 238       v3_zero( marko.w );
 239    }
 240    if(glfwGetKey( vg.window, GLFW_KEY_K ))
 241    {
 242       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball.co );
 243       v3_zero( ball.v );
 244       v3_zero( ball.w );
 245    }
 246    if(glfwGetKey( vg.window, GLFW_KEY_J ))
 247    {
 248       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball1.co );
 249       v3_zero( ball1.v );
 250       v3_zero( ball1.w );
 251    }
 252
 253    if(glfwGetKey( vg.window, GLFW_KEY_H ))
 254    {
 255       reorg_jeffs();
 256    }
 257    }
 258
 259    /* UPDATE TRANSFORMS */
 260    for( int i=0; i<vg_list_size(jeffs); i++ )
 261    {
 262       rb_update_transform(jeffs+i);
 263    }
 264
 265    rb_update_transform( &ball );
 266    rb_update_transform( &ball1 );
 267    rb_update_transform( &jeff1 );
 268    rb_update_transform( &marko );
 269
 270    }
 271 }
 272
 273 static void physics_test_render(void)
 274 {
 275    m4x4f world_4x4;
 276    m4x3_expand( player.camera_inverse, world_4x4 );
 277
 278    gpipeline.fov = 60.0f;
 279    m4x4_projection( vg_pv, gpipeline.fov,
 280          (float)vg_window_x / (float)vg_window_y,
 281          0.1f, 2100.0f );
 282
 283    m4x4_mul( vg_pv, world_4x4, vg_pv );
 284    glEnable( GL_DEPTH_TEST );
 285
 286    glDisable( GL_DEPTH_TEST );
 287    vg_lines_drawall( (float *)vg_pv );
 288 }
 289
 290 #endif /* PHYSICS_TEST_H */