physics_test.h

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