2 * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
6 * Resources: Box2D - Erin Catto
16 VG_STATIC
void rb_tangent_basis( v3f n
, v3f tx
, v3f ty
);
17 VG_STATIC bh_system bh_system_rigidbodies
;
25 * -----------------------------------------------------------------------------
27 * -----------------------------------------------------------------------------
31 k_rb_rate
= (1.0/VG_TIMESTEP_FIXED
),
32 k_rb_delta
= (1.0/k_rb_rate
),
34 k_damp_linear
= 0.1f
, /* scale velocity 1/(1+x) */
35 k_damp_angular
= 0.1f
, /* scale angular 1/(1+x) */
36 k_penetration_slop
= 0.01f
,
37 k_inertia_scale
= 8.0f
,
38 k_phys_baumgarte
= 0.2f
,
43 k_joint_correction
= 0.01f
,
44 k_joint_impulse
= 1.0f
,
45 k_joint_bias
= 0.08f
; /* positional joints */
47 VG_STATIC
void rb_register_cvar(void)
49 vg_var_push( (struct vg_var
){
50 .name
= "k_limit_bias", .data
= &k_limit_bias
,
51 .data_type
= k_var_dtype_f32
, .opt_f32
= {.clamp
= 0}, .persistent
= 1
54 vg_var_push( (struct vg_var
){
55 .name
= "k_joint_bias", .data
= &k_joint_bias
,
56 .data_type
= k_var_dtype_f32
, .opt_f32
= {.clamp
= 0}, .persistent
= 1
59 vg_var_push( (struct vg_var
){
60 .name
= "k_joint_correction", .data
= &k_joint_correction
,
61 .data_type
= k_var_dtype_f32
, .opt_f32
= {.clamp
= 0}, .persistent
= 1
64 vg_var_push( (struct vg_var
){
65 .name
= "k_joint_impulse", .data
= &k_joint_impulse
,
66 .data_type
= k_var_dtype_f32
, .opt_f32
= {.clamp
= 0}, .persistent
= 1
71 * -----------------------------------------------------------------------------
72 * structure definitions
73 * -----------------------------------------------------------------------------
76 typedef struct rigidbody rigidbody
;
77 typedef struct contact rb_ct
;
78 typedef struct rb_sphere rb_sphere
;
79 typedef struct rb_capsule rb_capsule
;
80 typedef struct rb_scene rb_scene
;
105 k_rb_shape_sphere
= 1,
106 k_rb_shape_capsule
= 2,
113 struct rb_sphere sphere
;
114 struct rb_capsule capsule
;
115 struct rb_scene scene
;
119 v3f right
, up
, forward
;
126 /* inertia model and inverse world tensor */
130 m4x3f to_world
, to_local
;
133 VG_STATIC
struct contact
135 rigidbody
*rba
, *rbb
;
138 float p
, bias
, norm_impulse
, tangent_impulse
[2],
139 normal_mass
, tangent_mass
[2];
143 enum contact_type type
;
145 rb_contact_buffer
[256];
146 VG_STATIC
int rb_contact_count
= 0;
148 typedef struct rb_constr_pos rb_constr_pos
;
149 typedef struct rb_constr_swingtwist rb_constr_swingtwist
;
153 rigidbody
*rba
, *rbb
;
157 struct rb_constr_swingtwist
159 rigidbody
*rba
, *rbb
;
161 v4f conevx
, conevy
; /* relative to rba */
162 v3f view_offset
, /* relative to rba */
163 coneva
, conevxb
;/* relative to rbb */
165 int tangent_violation
, axis_violation
;
166 v3f axis
, tangent_axis
, tangent_target
, axis_target
;
169 float tangent_mass
, axis_mass
;
173 * -----------------------------------------------------------------------------
175 * -----------------------------------------------------------------------------
178 VG_STATIC
float sphere_volume( float radius
)
180 float r3
= radius
*radius
*radius
;
181 return (4.0f
/3.0f
) * VG_PIf
* r3
;
184 VG_STATIC
void rb_tangent_basis( v3f n
, v3f tx
, v3f ty
)
186 /* Compute tangent basis (box2d) */
187 if( fabsf( n
[0] ) >= 0.57735027f
)
201 v3_cross( n
, tx
, ty
);
205 * -----------------------------------------------------------------------------
207 * -----------------------------------------------------------------------------
210 VG_STATIC
void rb_debug_contact( rb_ct
*ct
)
212 if( ct
->type
!= k_contact_type_disabled
)
215 v3_muladds( ct
->co
, ct
->n
, 0.05f
, p1
);
216 vg_line_pt3( ct
->co
, 0.0025f
, 0xff0000ff );
217 vg_line( ct
->co
, p1
, 0xffffffff );
221 VG_STATIC
void debug_sphere( m4x3f m
, float radius
, u32 colour
)
223 v3f ly
= { 0.0f
, 0.0f
, radius
},
224 lx
= { 0.0f
, radius
, 0.0f
},
225 lz
= { 0.0f
, 0.0f
, radius
};
227 for( int i
=0; i
<16; i
++ )
229 float t
= ((float)(i
+1) * (1.0f
/16.0f
)) * VG_PIf
* 2.0f
,
233 v3f py
= { s
*radius
, 0.0f
, c
*radius
},
234 px
= { s
*radius
, c
*radius
, 0.0f
},
235 pz
= { 0.0f
, s
*radius
, c
*radius
};
237 v3f p0
, p1
, p2
, p3
, p4
, p5
;
238 m4x3_mulv( m
, py
, p0
);
239 m4x3_mulv( m
, ly
, p1
);
240 m4x3_mulv( m
, px
, p2
);
241 m4x3_mulv( m
, lx
, p3
);
242 m4x3_mulv( m
, pz
, p4
);
243 m4x3_mulv( m
, lz
, p5
);
245 vg_line( p0
, p1
, colour
== 0x00? 0xff00ff00: colour
);
246 vg_line( p2
, p3
, colour
== 0x00? 0xff0000ff: colour
);
247 vg_line( p4
, p5
, colour
== 0x00? 0xffff0000: colour
);
255 VG_STATIC
void debug_capsule( m4x3f m
, float radius
, float h
, u32 colour
)
257 v3f ly
= { 0.0f
, 0.0f
, radius
},
258 lx
= { 0.0f
, radius
, 0.0f
},
259 lz
= { 0.0f
, 0.0f
, radius
};
261 float s0
= sinf(0.0f
)*radius
,
262 c0
= cosf(0.0f
)*radius
;
264 v3f p0
, p1
, up
, right
, forward
;
265 m3x3_mulv( m
, (v3f
){0.0f
,1.0f
,0.0f
}, up
);
266 m3x3_mulv( m
, (v3f
){1.0f
,0.0f
,0.0f
}, right
);
267 m3x3_mulv( m
, (v3f
){0.0f
,0.0f
,-1.0f
}, forward
);
268 v3_muladds( m
[3], up
, -h
*0.5f
+radius
, p0
);
269 v3_muladds( m
[3], up
, h
*0.5f
-radius
, p1
);
272 v3_muladds( p0
, right
, radius
, a0
);
273 v3_muladds( p1
, right
, radius
, a1
);
274 v3_muladds( p0
, forward
, radius
, b0
);
275 v3_muladds( p1
, forward
, radius
, b1
);
276 vg_line( a0
, a1
, colour
);
277 vg_line( b0
, b1
, colour
);
279 v3_muladds( p0
, right
, -radius
, a0
);
280 v3_muladds( p1
, right
, -radius
, a1
);
281 v3_muladds( p0
, forward
, -radius
, b0
);
282 v3_muladds( p1
, forward
, -radius
, b1
);
283 vg_line( a0
, a1
, colour
);
284 vg_line( b0
, b1
, colour
);
286 for( int i
=0; i
<16; i
++ )
288 float t
= ((float)(i
+1) * (1.0f
/16.0f
)) * VG_PIf
* 2.0f
,
292 v3f e0
= { s0
, 0.0f
, c0
},
293 e1
= { s1
, 0.0f
, c1
},
294 e2
= { s0
, c0
, 0.0f
},
295 e3
= { s1
, c1
, 0.0f
},
296 e4
= { 0.0f
, c0
, s0
},
297 e5
= { 0.0f
, c1
, s1
};
299 m3x3_mulv( m
, e0
, e0
);
300 m3x3_mulv( m
, e1
, e1
);
301 m3x3_mulv( m
, e2
, e2
);
302 m3x3_mulv( m
, e3
, e3
);
303 m3x3_mulv( m
, e4
, e4
);
304 m3x3_mulv( m
, e5
, e5
);
306 v3_add( p0
, e0
, a0
);
307 v3_add( p0
, e1
, a1
);
308 v3_add( p1
, e0
, b0
);
309 v3_add( p1
, e1
, b1
);
311 vg_line( a0
, a1
, colour
);
312 vg_line( b0
, b1
, colour
);
316 v3_add( p0
, e2
, a0
);
317 v3_add( p0
, e3
, a1
);
318 v3_add( p0
, e4
, b0
);
319 v3_add( p0
, e5
, b1
);
323 v3_add( p1
, e2
, a0
);
324 v3_add( p1
, e3
, a1
);
325 v3_add( p1
, e4
, b0
);
326 v3_add( p1
, e5
, b1
);
329 vg_line( a0
, a1
, colour
);
330 vg_line( b0
, b1
, colour
);
337 VG_STATIC
void rb_debug( rigidbody
*rb
, u32 colour
)
339 if( rb
->type
== k_rb_shape_box
)
342 vg_line_boxf_transformed( rb
->to_world
, rb
->bbx
, colour
);
344 else if( rb
->type
== k_rb_shape_sphere
)
346 debug_sphere( rb
->to_world
, rb
->inf
.sphere
.radius
, colour
);
348 else if( rb
->type
== k_rb_shape_capsule
)
351 float h
= rb
->inf
.capsule
.height
,
352 r
= rb
->inf
.capsule
.radius
;
354 debug_capsule( rb
->to_world
, r
, h
, colour
);
356 else if( rb
->type
== k_rb_shape_scene
)
358 vg_line_boxf( rb
->bbx
, colour
);
363 * -----------------------------------------------------------------------------
365 * -----------------------------------------------------------------------------
369 * Update world space bounding box based on local one
371 VG_STATIC
void rb_update_bounds( rigidbody
*rb
)
373 box_copy( rb
->bbx
, rb
->bbx_world
);
374 m4x3_transform_aabb( rb
->to_world
, rb
->bbx_world
);
378 * Commit transform to rigidbody. Updates matrices
380 VG_STATIC
void rb_update_transform( rigidbody
*rb
)
382 q_normalize( rb
->q
);
383 q_m3x3( rb
->q
, rb
->to_world
);
384 v3_copy( rb
->co
, rb
->to_world
[3] );
386 m4x3_invert_affine( rb
->to_world
, rb
->to_local
);
388 m3x3_mulv( rb
->to_world
, (v3f
){1.0f
,0.0f
, 0.0f
}, rb
->right
);
389 m3x3_mulv( rb
->to_world
, (v3f
){0.0f
,1.0f
, 0.0f
}, rb
->up
);
390 m3x3_mulv( rb
->to_world
, (v3f
){0.0f
,0.0f
,-1.0f
}, rb
->forward
);
392 m3x3_mul( rb
->iI
, rb
->to_local
, rb
->iIw
);
393 m3x3_mul( rb
->to_world
, rb
->iIw
, rb
->iIw
);
395 rb_update_bounds( rb
);
399 * Extrapolate rigidbody into a transform based on vg accumulator.
400 * Useful for rendering
402 VG_STATIC
void rb_extrapolate_transform( rigidbody
*rb
, m4x3f transform
)
404 float substep
= vg_clampf( vg
.accumulator
/ k_rb_delta
, 0.0f
, 1.0f
);
409 v3_muladds( rb
->co
, rb
->v
, k_rb_delta
*substep
, co
);
411 if( v3_length2( rb
->w
) > 0.0f
)
415 v3_copy( rb
->w
, axis
);
417 float mag
= v3_length( axis
);
418 v3_divs( axis
, mag
, axis
);
419 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
*substep
);
420 q_mul( rotation
, rb
->q
, q
);
428 q_m3x3( q
, transform
);
429 v3_copy( co
, transform
[3] );
433 * Initialize rigidbody and calculate masses, inertia
435 VG_STATIC
void rb_init( rigidbody
*rb
)
439 if( rb
->type
== k_rb_shape_box
)
442 v3_sub( rb
->bbx
[1], rb
->bbx
[0], dims
);
443 volume
= dims
[0]*dims
[1]*dims
[2];
445 else if( rb
->type
== k_rb_shape_sphere
)
447 volume
= sphere_volume( rb
->inf
.sphere
.radius
);
448 v3_fill( rb
->bbx
[0], -rb
->inf
.sphere
.radius
);
449 v3_fill( rb
->bbx
[1], rb
->inf
.sphere
.radius
);
451 else if( rb
->type
== k_rb_shape_capsule
)
453 float r
= rb
->inf
.capsule
.radius
,
454 h
= rb
->inf
.capsule
.height
;
455 volume
= sphere_volume( r
) + VG_PIf
* r
*r
* (h
- r
*2.0f
);
457 v3_fill( rb
->bbx
[0], -r
);
458 v3_fill( rb
->bbx
[1], r
);
462 else if( rb
->type
== k_rb_shape_scene
)
465 box_copy( rb
->inf
.scene
.bh_scene
->nodes
[0].bbx
, rb
->bbx
);
476 float mass
= 2.0f
*volume
;
477 rb
->inv_mass
= 1.0f
/mass
;
480 v3_sub( rb
->bbx
[1], rb
->bbx
[0], extent
);
481 v3_muls( extent
, 0.5f
, extent
);
483 /* local intertia tensor */
484 float scale
= k_inertia_scale
;
485 float ex2
= scale
*extent
[0]*extent
[0],
486 ey2
= scale
*extent
[1]*extent
[1],
487 ez2
= scale
*extent
[2]*extent
[2];
489 rb
->I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
490 rb
->I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
491 rb
->I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
493 m3x3_identity( rb
->iI
);
494 rb
->iI
[0][0] = rb
->I
[0];
495 rb
->iI
[1][1] = rb
->I
[1];
496 rb
->iI
[2][2] = rb
->I
[2];
497 m3x3_inv( rb
->iI
, rb
->iI
);
503 rb_update_transform( rb
);
506 VG_STATIC
void rb_iter( rigidbody
*rb
)
508 if( !vg_validf( rb
->v
[0] ) ||
509 !vg_validf( rb
->v
[1] ) ||
510 !vg_validf( rb
->v
[2] ) )
512 vg_fatal_exit_loop( "NaN velocity" );
515 v3f gravity
= { 0.0f
, -9.8f
, 0.0f
};
516 v3_muladds( rb
->v
, gravity
, k_rb_delta
, rb
->v
);
518 /* intergrate velocity */
519 v3_muladds( rb
->co
, rb
->v
, k_rb_delta
, rb
->co
);
520 v3_lerp( rb
->w
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.0025f
, rb
->w
);
522 /* inegrate inertia */
523 if( v3_length2( rb
->w
) > 0.0f
)
527 v3_copy( rb
->w
, axis
);
529 float mag
= v3_length( axis
);
530 v3_divs( axis
, mag
, axis
);
531 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
532 q_mul( rotation
, rb
->q
, rb
->q
);
536 v3_muls( rb
->v
, 1.0f
/(1.0f
+k_rb_delta
*k_damp_linear
), rb
->v
);
537 v3_muls( rb
->w
, 1.0f
/(1.0f
+k_rb_delta
*k_damp_angular
), rb
->w
);
542 * -----------------------------------------------------------------------------
543 * Boolean shape overlap functions
544 * -----------------------------------------------------------------------------
548 * Project AABB, and triangle interval onto axis to check if they overlap
550 VG_STATIC
int rb_box_triangle_interval( v3f extent
, v3f axis
, v3f tri
[3] )
554 r
= extent
[0] * fabsf(axis
[0]) +
555 extent
[1] * fabsf(axis
[1]) +
556 extent
[2] * fabsf(axis
[2]),
558 p0
= v3_dot( axis
, tri
[0] ),
559 p1
= v3_dot( axis
, tri
[1] ),
560 p2
= v3_dot( axis
, tri
[2] ),
562 e
= vg_maxf(-vg_maxf(p0
,vg_maxf(p1
,p2
)), vg_minf(p0
,vg_minf(p1
,p2
)));
564 if( e
> r
) return 0;
569 * Seperating axis test box vs triangle
571 VG_STATIC
int rb_box_triangle_sat( rigidbody
*rba
, v3f tri_src
[3] )
576 v3_sub( rba
->bbx
[1], rba
->bbx
[0], extent
);
577 v3_muls( extent
, 0.5f
, extent
);
578 v3_add( rba
->bbx
[0], extent
, c
);
580 for( int i
=0; i
<3; i
++ )
582 m4x3_mulv( rba
->to_local
, tri_src
[i
], tri
[i
] );
583 v3_sub( tri
[i
], c
, tri
[i
] );
587 if(!rb_box_triangle_interval( extent
, (v3f
){1.0f
,0.0f
,0.0f
}, tri
)) return 0;
588 if(!rb_box_triangle_interval( extent
, (v3f
){0.0f
,1.0f
,0.0f
}, tri
)) return 0;
589 if(!rb_box_triangle_interval( extent
, (v3f
){0.0f
,0.0f
,1.0f
}, tri
)) return 0;
591 v3f v0
,v1
,v2
,n
, e0
,e1
,e2
;
592 v3_sub( tri
[1], tri
[0], v0
);
593 v3_sub( tri
[2], tri
[0], v1
);
594 v3_sub( tri
[2], tri
[1], v2
);
598 v3_cross( v0
, v1
, n
);
599 v3_cross( v0
, n
, e0
);
600 v3_cross( n
, v1
, e1
);
601 v3_cross( v2
, n
, e2
);
604 if(!rb_box_triangle_interval( extent
, n
, tri
)) return 0;
607 v3_cross( e0
, (v3f
){1.0f
,0.0f
,0.0f
}, axis
[0] );
608 v3_cross( e0
, (v3f
){0.0f
,1.0f
,0.0f
}, axis
[1] );
609 v3_cross( e0
, (v3f
){0.0f
,0.0f
,1.0f
}, axis
[2] );
610 v3_cross( e1
, (v3f
){1.0f
,0.0f
,0.0f
}, axis
[3] );
611 v3_cross( e1
, (v3f
){0.0f
,1.0f
,0.0f
}, axis
[4] );
612 v3_cross( e1
, (v3f
){0.0f
,0.0f
,1.0f
}, axis
[5] );
613 v3_cross( e2
, (v3f
){1.0f
,0.0f
,0.0f
}, axis
[6] );
614 v3_cross( e2
, (v3f
){0.0f
,1.0f
,0.0f
}, axis
[7] );
615 v3_cross( e2
, (v3f
){0.0f
,0.0f
,1.0f
}, axis
[8] );
617 for( int i
=0; i
<9; i
++ )
618 if(!rb_box_triangle_interval( extent
, axis
[i
], tri
)) return 0;
624 * -----------------------------------------------------------------------------
626 * -----------------------------------------------------------------------------
629 VG_STATIC
int rb_manifold_apply_filtered( rb_ct
*man
, int len
)
633 for( int i
=0; i
<len
; i
++ )
637 if( ct
->type
== k_contact_type_disabled
)
647 * Merge two contacts if they are within radius(r) of eachother
649 VG_STATIC
void rb_manifold_contact_weld( rb_ct
*ci
, rb_ct
*cj
, float r
)
651 if( v3_dist2( ci
->co
, cj
->co
) < r
*r
)
653 cj
->type
= k_contact_type_disabled
;
654 ci
->p
= (ci
->p
+ cj
->p
) * 0.5f
;
656 v3_add( ci
->co
, cj
->co
, ci
->co
);
657 v3_muls( ci
->co
, 0.5f
, ci
->co
);
660 v3_sub( ci
->rba
->co
, ci
->co
, delta
);
662 float c0
= v3_dot( ci
->n
, delta
),
663 c1
= v3_dot( cj
->n
, delta
);
665 if( c0
< 0.0f
|| c1
< 0.0f
)
668 ci
->type
= k_contact_type_disabled
;
673 v3_muls( ci
->n
, c0
, n
);
674 v3_muladds( n
, cj
->n
, c1
, n
);
684 VG_STATIC
void rb_manifold_filter_joint_edges( rb_ct
*man
, int len
, float r
)
686 for( int i
=0; i
<len
-1; i
++ )
689 if( ci
->type
!= k_contact_type_edge
)
692 for( int j
=i
+1; j
<len
; j
++ )
695 if( cj
->type
!= k_contact_type_edge
)
698 rb_manifold_contact_weld( ci
, cj
, r
);
704 * Resolve overlapping pairs
708 VG_STATIC
void rb_manifold_filter_pairs( rb_ct
*man
, int len
, float r
)
710 for( int i
=0; i
<len
-1; i
++ )
715 if( ci
->type
== k_contact_type_disabled
) continue;
717 for( int j
=i
+1; j
<len
; j
++ )
721 if( cj
->type
== k_contact_type_disabled
) continue;
723 if( v3_dist2( ci
->co
, cj
->co
) < r
*r
)
725 cj
->type
= k_contact_type_disabled
;
726 v3_add( cj
->n
, ci
->n
, ci
->n
);
734 float n
= 1.0f
/((float)similar
+1.0f
);
735 v3_muls( ci
->n
, n
, ci
->n
);
738 if( v3_length2(ci
->n
) < 0.1f
*0.1f
)
739 ci
->type
= k_contact_type_disabled
;
741 v3_normalize( ci
->n
);
747 * Remove contacts that are facing away from A
749 VG_STATIC
void rb_manifold_filter_backface( rb_ct
*man
, int len
)
751 for( int i
=0; i
<len
; i
++ )
754 if( ct
->type
== k_contact_type_disabled
)
758 v3_sub( ct
->co
, ct
->rba
->co
, delta
);
760 if( v3_dot( delta
, ct
->n
) > -0.001f
)
761 ct
->type
= k_contact_type_disabled
;
766 * Filter out duplicate coplanar results. Good for spheres.
768 VG_STATIC
void rb_manifold_filter_coplanar( rb_ct
*man
, int len
, float w
)
770 for( int i
=0; i
<len
; i
++ )
773 if( ci
->type
== k_contact_type_disabled
||
774 ci
->type
== k_contact_type_edge
)
777 float d1
= v3_dot( ci
->co
, ci
->n
);
779 for( int j
=0; j
<len
; j
++ )
785 if( cj
->type
== k_contact_type_disabled
)
788 float d2
= v3_dot( cj
->co
, ci
->n
),
791 if( fabsf( d
) <= w
)
793 cj
->type
= k_contact_type_disabled
;
800 * -----------------------------------------------------------------------------
802 * -----------------------------------------------------------------------------
808 * These do not automatically allocate contacts, an appropriately sized
809 * buffer must be supplied. The function returns the size of the manifold
810 * which was generated.
812 * The values set on the contacts are: n, co, p, rba, rbb
816 * By collecting the minimum(time) and maximum(time) pairs of points, we
817 * build a reduced and stable exact manifold.
820 * rx: minimum distance of these points
821 * dx: the delta between the two points
823 * pairs will only ammend these if they are creating a collision
825 typedef struct capsule_manifold capsule_manifold
;
826 struct capsule_manifold
834 * Expand a line manifold with a new pair. t value is the time along segment
835 * on the oriented object which created this pair.
837 VG_STATIC
void rb_capsule_manifold( v3f pa
, v3f pb
, float t
, float r
,
838 capsule_manifold
*manifold
)
841 v3_sub( pa
, pb
, delta
);
843 if( v3_length2(delta
) < r
*r
)
845 if( t
< manifold
->t0
)
847 v3_copy( delta
, manifold
->d0
);
852 if( t
> manifold
->t1
)
854 v3_copy( delta
, manifold
->d1
);
861 VG_STATIC
void rb_capsule_manifold_init( capsule_manifold
*manifold
)
863 manifold
->t0
= INFINITY
;
864 manifold
->t1
= -INFINITY
;
867 __attribute__ ((deprecated
))
868 VG_STATIC
int rb_capsule_manifold_done( rigidbody
*rba
, rigidbody
*rbb
,
869 capsule_manifold
*manifold
, rb_ct
*buf
)
871 float h
= rba
->inf
.capsule
.height
,
872 ra
= rba
->inf
.capsule
.radius
;
875 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+ra
, p0
);
876 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-ra
, p1
);
879 if( manifold
->t0
<= 1.0f
)
884 v3_muls( p0
, 1.0f
-manifold
->t0
, pa
);
885 v3_muladds( pa
, p1
, manifold
->t0
, pa
);
887 float d
= v3_length( manifold
->d0
);
888 v3_muls( manifold
->d0
, 1.0f
/d
, ct
->n
);
889 v3_muladds( pa
, ct
->n
, -ra
, ct
->co
);
891 ct
->p
= manifold
->r0
- d
;
894 ct
->type
= k_contact_type_default
;
899 if( (manifold
->t1
>= 0.0f
) && (manifold
->t0
!= manifold
->t1
) )
901 rb_ct
*ct
= buf
+count
;
904 v3_muls( p0
, 1.0f
-manifold
->t1
, pa
);
905 v3_muladds( pa
, p1
, manifold
->t1
, pa
);
907 float d
= v3_length( manifold
->d1
);
908 v3_muls( manifold
->d1
, 1.0f
/d
, ct
->n
);
909 v3_muladds( pa
, ct
->n
, -ra
, ct
->co
);
911 ct
->p
= manifold
->r1
- d
;
914 ct
->type
= k_contact_type_default
;
924 vg_line( buf
[0].co
, buf
[1].co
, 0xff0000ff );
929 VG_STATIC
int rb_capsule__manifold_done( m4x3f mtx
, rb_capsule
*c
,
930 capsule_manifold
*manifold
,
934 v3_muladds( mtx
[3], mtx
[1], -c
->height
*0.5f
+c
->radius
, p0
);
935 v3_muladds( mtx
[3], mtx
[1], c
->height
*0.5f
-c
->radius
, p1
);
938 if( manifold
->t0
<= 1.0f
)
943 v3_muls( p0
, 1.0f
-manifold
->t0
, pa
);
944 v3_muladds( pa
, p1
, manifold
->t0
, pa
);
946 float d
= v3_length( manifold
->d0
);
947 v3_muls( manifold
->d0
, 1.0f
/d
, ct
->n
);
948 v3_muladds( pa
, ct
->n
, -c
->radius
, ct
->co
);
950 ct
->p
= manifold
->r0
- d
;
951 ct
->type
= k_contact_type_default
;
955 if( (manifold
->t1
>= 0.0f
) && (manifold
->t0
!= manifold
->t1
) )
957 rb_ct
*ct
= buf
+count
;
960 v3_muls( p0
, 1.0f
-manifold
->t1
, pa
);
961 v3_muladds( pa
, p1
, manifold
->t1
, pa
);
963 float d
= v3_length( manifold
->d1
);
964 v3_muls( manifold
->d1
, 1.0f
/d
, ct
->n
);
965 v3_muladds( pa
, ct
->n
, -c
->radius
, ct
->co
);
967 ct
->p
= manifold
->r1
- d
;
968 ct
->type
= k_contact_type_default
;
978 vg_line( buf
[0].co
, buf
[1].co
, 0xff0000ff );
983 VG_STATIC
int rb_capsule_sphere( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
985 float h
= rba
->inf
.capsule
.height
,
986 ra
= rba
->inf
.capsule
.radius
,
987 rb
= rbb
->inf
.sphere
.radius
;
990 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+ra
, p0
);
991 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-ra
, p1
);
994 closest_point_segment( p0
, p1
, rbb
->co
, c
);
995 v3_sub( c
, rbb
->co
, delta
);
997 float d2
= v3_length2(delta
),
1002 float d
= sqrtf(d2
);
1005 v3_muls( delta
, 1.0f
/d
, ct
->n
);
1009 v3_muladds( c
, ct
->n
, -ra
, p0
);
1010 v3_muladds( rbb
->co
, ct
->n
, rb
, p1
);
1011 v3_add( p0
, p1
, ct
->co
);
1012 v3_muls( ct
->co
, 0.5f
, ct
->co
);
1016 ct
->type
= k_contact_type_default
;
1024 VG_STATIC
int rb_capsule_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1026 if( !box_overlap( rba
->bbx_world
, rbb
->bbx_world
) )
1029 float ha
= rba
->inf
.capsule
.height
,
1030 hb
= rbb
->inf
.capsule
.height
,
1031 ra
= rba
->inf
.capsule
.radius
,
1032 rb
= rbb
->inf
.capsule
.radius
,
1036 v3_muladds( rba
->co
, rba
->up
, -ha
*0.5f
+ra
, p0
);
1037 v3_muladds( rba
->co
, rba
->up
, ha
*0.5f
-ra
, p1
);
1038 v3_muladds( rbb
->co
, rbb
->up
, -hb
*0.5f
+rb
, p2
);
1039 v3_muladds( rbb
->co
, rbb
->up
, hb
*0.5f
-rb
, p3
);
1041 capsule_manifold manifold
;
1042 rb_capsule_manifold_init( &manifold
);
1046 closest_segment_segment( p0
, p1
, p2
, p3
, &ta
, &tb
, pa
, pb
);
1047 rb_capsule_manifold( pa
, pb
, ta
, r
, &manifold
);
1049 ta
= closest_point_segment( p0
, p1
, p2
, pa
);
1050 tb
= closest_point_segment( p0
, p1
, p3
, pb
);
1051 rb_capsule_manifold( pa
, p2
, ta
, r
, &manifold
);
1052 rb_capsule_manifold( pb
, p3
, tb
, r
, &manifold
);
1054 closest_point_segment( p2
, p3
, p0
, pa
);
1055 closest_point_segment( p2
, p3
, p1
, pb
);
1056 rb_capsule_manifold( p0
, pa
, 0.0f
, r
, &manifold
);
1057 rb_capsule_manifold( p1
, pb
, 1.0f
, r
, &manifold
);
1059 return rb_capsule_manifold_done( rba
, rbb
, &manifold
, buf
);
1063 * Generates up to two contacts; optimised for the most stable manifold
1065 VG_STATIC
int rb_capsule_box( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1067 float h
= rba
->inf
.capsule
.height
,
1068 r
= rba
->inf
.capsule
.radius
;
1071 * Solving this in symetric local space of the cube saves us some time and a
1072 * couple branches when it comes to the quad stage.
1075 v3_add( rbb
->bbx
[0], rbb
->bbx
[1], centroid
);
1076 v3_muls( centroid
, 0.5f
, centroid
);
1079 v3_sub( rbb
->bbx
[0], centroid
, bbx
[0] );
1080 v3_sub( rbb
->bbx
[1], centroid
, bbx
[1] );
1082 v3f pc
, p0w
, p1w
, p0
, p1
;
1083 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+r
, p0w
);
1084 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-r
, p1w
);
1086 m4x3_mulv( rbb
->to_local
, p0w
, p0
);
1087 m4x3_mulv( rbb
->to_local
, p1w
, p1
);
1088 v3_sub( p0
, centroid
, p0
);
1089 v3_sub( p1
, centroid
, p1
);
1090 v3_add( p0
, p1
, pc
);
1091 v3_muls( pc
, 0.5f
, pc
);
1094 * Finding an appropriate quad to collide lines with
1097 v3_div( pc
, bbx
[1], region
);
1100 if( (fabsf(region
[0]) > fabsf(region
[1])) &&
1101 (fabsf(region
[0]) > fabsf(region
[2])) )
1103 float px
= vg_signf(region
[0]) * bbx
[1][0];
1104 v3_copy( (v3f
){ px
, bbx
[0][1], bbx
[0][2] }, quad
[0] );
1105 v3_copy( (v3f
){ px
, bbx
[1][1], bbx
[0][2] }, quad
[1] );
1106 v3_copy( (v3f
){ px
, bbx
[1][1], bbx
[1][2] }, quad
[2] );
1107 v3_copy( (v3f
){ px
, bbx
[0][1], bbx
[1][2] }, quad
[3] );
1109 else if( fabsf(region
[1]) > fabsf(region
[2]) )
1111 float py
= vg_signf(region
[1]) * bbx
[1][1];
1112 v3_copy( (v3f
){ bbx
[0][0], py
, bbx
[0][2] }, quad
[0] );
1113 v3_copy( (v3f
){ bbx
[1][0], py
, bbx
[0][2] }, quad
[1] );
1114 v3_copy( (v3f
){ bbx
[1][0], py
, bbx
[1][2] }, quad
[2] );
1115 v3_copy( (v3f
){ bbx
[0][0], py
, bbx
[1][2] }, quad
[3] );
1119 float pz
= vg_signf(region
[2]) * bbx
[1][2];
1120 v3_copy( (v3f
){ bbx
[0][0], bbx
[0][1], pz
}, quad
[0] );
1121 v3_copy( (v3f
){ bbx
[1][0], bbx
[0][1], pz
}, quad
[1] );
1122 v3_copy( (v3f
){ bbx
[1][0], bbx
[1][1], pz
}, quad
[2] );
1123 v3_copy( (v3f
){ bbx
[0][0], bbx
[1][1], pz
}, quad
[3] );
1126 capsule_manifold manifold
;
1127 rb_capsule_manifold_init( &manifold
);
1130 closest_point_aabb( p0
, bbx
, c0
);
1131 closest_point_aabb( p1
, bbx
, c1
);
1134 v3_sub( c0
, p0
, d0
);
1135 v3_sub( c1
, p1
, d1
);
1136 v3_sub( p1
, p0
, da
);
1142 if( v3_dot( da
, d0
) <= 0.01f
)
1143 rb_capsule_manifold( p0
, c0
, 0.0f
, r
, &manifold
);
1145 if( v3_dot( da
, d1
) >= -0.01f
)
1146 rb_capsule_manifold( p1
, c1
, 1.0f
, r
, &manifold
);
1148 for( int i
=0; i
<4; i
++ )
1155 closest_segment_segment( p0
, p1
, quad
[i0
], quad
[i1
], &ta
, &tb
, ca
, cb
);
1156 rb_capsule_manifold( ca
, cb
, ta
, r
, &manifold
);
1160 * Create final contacts based on line manifold
1162 m3x3_mulv( rbb
->to_world
, manifold
.d0
, manifold
.d0
);
1163 m3x3_mulv( rbb
->to_world
, manifold
.d1
, manifold
.d1
);
1170 for( int i
=0; i
<4; i
++ )
1176 v3_add( quad
[i0
], centroid
, q0
);
1177 v3_add( quad
[i1
], centroid
, q1
);
1179 m4x3_mulv( rbb
->to_world
, q0
, q0
);
1180 m4x3_mulv( rbb
->to_world
, q1
, q1
);
1182 vg_line( q0
, q1
, 0xffffffff );
1186 return rb_capsule_manifold_done( rba
, rbb
, &manifold
, buf
);
1189 VG_STATIC
int rb_sphere_box( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1193 closest_point_obb( rba
->co
, rbb
->bbx
, rbb
->to_world
, rbb
->to_local
, co
);
1194 v3_sub( rba
->co
, co
, delta
);
1196 float d2
= v3_length2(delta
),
1197 r
= rba
->inf
.sphere
.radius
;
1206 v3_sub( rba
->co
, rbb
->co
, delta
);
1209 * some extra testing is required to find the best axis to push the
1210 * object back outside the box. Since there isnt a clear seperating
1211 * vector already, especially on really high aspect boxes.
1213 float lx
= v3_dot( rbb
->right
, delta
),
1214 ly
= v3_dot( rbb
->up
, delta
),
1215 lz
= v3_dot( rbb
->forward
, delta
),
1216 px
= rbb
->bbx
[1][0] - fabsf(lx
),
1217 py
= rbb
->bbx
[1][1] - fabsf(ly
),
1218 pz
= rbb
->bbx
[1][2] - fabsf(lz
);
1220 if( px
< py
&& px
< pz
)
1221 v3_muls( rbb
->right
, vg_signf(lx
), ct
->n
);
1223 v3_muls( rbb
->up
, vg_signf(ly
), ct
->n
);
1225 v3_muls( rbb
->forward
, vg_signf(lz
), ct
->n
);
1227 v3_muladds( rba
->co
, ct
->n
, -r
, ct
->co
);
1233 v3_muls( delta
, 1.0f
/d
, ct
->n
);
1235 v3_copy( co
, ct
->co
);
1240 ct
->type
= k_contact_type_default
;
1247 VG_STATIC
int rb_sphere_sphere( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1250 v3_sub( rba
->co
, rbb
->co
, delta
);
1252 float d2
= v3_length2(delta
),
1253 r
= rba
->inf
.sphere
.radius
+ rbb
->inf
.sphere
.radius
;
1257 float d
= sqrtf(d2
);
1260 v3_muls( delta
, 1.0f
/d
, ct
->n
);
1263 v3_muladds( rba
->co
, ct
->n
,-rba
->inf
.sphere
.radius
, p0
);
1264 v3_muladds( rbb
->co
, ct
->n
, rbb
->inf
.sphere
.radius
, p1
);
1265 v3_add( p0
, p1
, ct
->co
);
1266 v3_muls( ct
->co
, 0.5f
, ct
->co
);
1267 ct
->type
= k_contact_type_default
;
1277 //#define RIGIDBODY_DYNAMIC_MESH_EDGES
1279 VG_STATIC
int rb_sphere_triangle( rigidbody
*rba
, rigidbody
*rbb
,
1280 v3f tri
[3], rb_ct
*buf
)
1284 #ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
1285 closest_on_triangle_1( rba
->co
, tri
, co
);
1287 enum contact_type type
= closest_on_triangle_1( rba
->co
, tri
, co
);
1290 v3_sub( rba
->co
, co
, delta
);
1292 float d2
= v3_length2( delta
),
1293 r
= rba
->inf
.sphere
.radius
;
1300 v3_sub( tri
[2], tri
[0], ab
);
1301 v3_sub( tri
[1], tri
[0], ac
);
1302 v3_cross( ac
, ab
, tn
);
1303 v3_copy( tn
, ct
->n
);
1305 if( v3_length2( ct
->n
) <= 0.00001f
)
1307 vg_error( "Zero area triangle!\n" );
1311 v3_normalize( ct
->n
);
1313 float d
= sqrtf(d2
);
1315 v3_copy( co
, ct
->co
);
1327 VG_STATIC
void rb_debug_sharp_scene_edges( rigidbody
*rbb
, float sharp_ang
,
1328 boxf box
, u32 colour
)
1330 sharp_ang
= cosf( sharp_ang
);
1332 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1333 vg_line_boxf( box
, 0xff00ff00 );
1336 bh_iter_init( 0, &it
);
1339 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, box
, &idx
) )
1341 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1344 for( int j
=0; j
<3; j
++ )
1345 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1347 for( int j
=0; j
<3; j
++ )
1351 v3_sub( tri
[(j
+1)%3], tri
[j
], edir
);
1353 if( v3_dot( edir
, (v3f
){ 0.5184758473652127f
,
1354 0.2073903389460850f
,
1355 -0.8295613557843402f
} ) < 0.0f
)
1360 bh_iter_init( 0, &jt
);
1363 float const k_r
= 0.02f
;
1364 v3_add( (v3f
){ k_r
, k_r
, k_r
}, tri
[j
], region
[1] );
1365 v3_add( (v3f
){ -k_r
, -k_r
, -k_r
}, tri
[j
], region
[0] );
1368 while( bh_next( rbb
->inf
.scene
.bh_scene
, &jt
, region
, &jdx
) )
1373 u32
*ptrj
= &sc
->arrindices
[ jdx
*3 ];
1376 for( int k
=0; k
<3; k
++ )
1377 v3_copy( sc
->arrvertices
[ptrj
[k
]].co
, trj
[k
] );
1379 for( int k
=0; k
<3; k
++ )
1381 if( v3_dist2( tri
[j
], trj
[k
] ) <= k_r
*k_r
)
1388 if( v3_dist2( tri
[jp1
], trj
[km1
] ) <= k_r
*k_r
)
1391 v3_sub( tri
[jp1
], tri
[j
], b0
);
1392 v3_sub( tri
[jp2
], tri
[j
], b1
);
1393 v3_sub( trj
[km2
], tri
[j
], b2
);
1396 v3_cross( b0
, b1
, cx0
);
1397 v3_cross( b2
, b0
, cx1
);
1399 float polarity
= v3_dot( cx0
, b2
);
1401 if( polarity
< 0.0f
)
1404 vg_line( tri
[j
], tri
[jp1
], 0xff00ff00 );
1405 float ang
= v3_dot(cx0
,cx1
) /
1406 (v3_length(cx0
)*v3_length(cx1
));
1407 if( ang
< sharp_ang
)
1409 vg_line( tri
[j
], tri
[jp1
], 0xff00ff00 );
1421 VG_STATIC
int rb_sphere_scene( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1423 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1426 bh_iter_init( 0, &it
);
1431 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, rba
->bbx_world
, &idx
) )
1433 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1436 for( int j
=0; j
<3; j
++ )
1437 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1439 buf
[ count
].element_id
= ptri
[0];
1441 vg_line( tri
[0],tri
[1],0x70ff6000 );
1442 vg_line( tri
[1],tri
[2],0x70ff6000 );
1443 vg_line( tri
[2],tri
[0],0x70ff6000 );
1445 int contact
= rb_sphere_triangle( rba
, rbb
, tri
, buf
+count
);
1450 vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
1458 VG_STATIC
int rb_box_scene( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1460 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1465 bh_iter_init( 0, &it
);
1470 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, rba
->bbx_world
, &idx
) )
1472 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1474 for( int j
=0; j
<3; j
++ )
1475 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1477 if( rb_box_triangle_sat( rba
, tri
) )
1479 vg_line(tri
[0],tri
[1],0xff50ff00 );
1480 vg_line(tri
[1],tri
[2],0xff50ff00 );
1481 vg_line(tri
[2],tri
[0],0xff50ff00 );
1485 vg_line(tri
[0],tri
[1],0xff0000ff );
1486 vg_line(tri
[1],tri
[2],0xff0000ff );
1487 vg_line(tri
[2],tri
[0],0xff0000ff );
1493 v3_sub( tri
[1], tri
[0], v0
);
1494 v3_sub( tri
[2], tri
[0], v1
);
1495 v3_cross( v0
, v1
, n
);
1498 /* find best feature */
1499 float best
= v3_dot( rba
->right
, n
);
1502 float cy
= v3_dot( rba
->up
, n
);
1503 if( fabsf(cy
) > fabsf(best
) )
1509 float cz
= -v3_dot( rba
->forward
, n
);
1510 if( fabsf(cz
) > fabsf(best
) )
1520 float px
= best
> 0.0f
? rba
->bbx
[0][0]: rba
->bbx
[1][0];
1521 manifold
[0][0] = px
;
1522 manifold
[0][1] = rba
->bbx
[0][1];
1523 manifold
[0][2] = rba
->bbx
[0][2];
1524 manifold
[1][0] = px
;
1525 manifold
[1][1] = rba
->bbx
[1][1];
1526 manifold
[1][2] = rba
->bbx
[0][2];
1527 manifold
[2][0] = px
;
1528 manifold
[2][1] = rba
->bbx
[1][1];
1529 manifold
[2][2] = rba
->bbx
[1][2];
1530 manifold
[3][0] = px
;
1531 manifold
[3][1] = rba
->bbx
[0][1];
1532 manifold
[3][2] = rba
->bbx
[1][2];
1534 else if( axis
== 1 )
1536 float py
= best
> 0.0f
? rba
->bbx
[0][1]: rba
->bbx
[1][1];
1537 manifold
[0][0] = rba
->bbx
[0][0];
1538 manifold
[0][1] = py
;
1539 manifold
[0][2] = rba
->bbx
[0][2];
1540 manifold
[1][0] = rba
->bbx
[1][0];
1541 manifold
[1][1] = py
;
1542 manifold
[1][2] = rba
->bbx
[0][2];
1543 manifold
[2][0] = rba
->bbx
[1][0];
1544 manifold
[2][1] = py
;
1545 manifold
[2][2] = rba
->bbx
[1][2];
1546 manifold
[3][0] = rba
->bbx
[0][0];
1547 manifold
[3][1] = py
;
1548 manifold
[3][2] = rba
->bbx
[1][2];
1552 float pz
= best
> 0.0f
? rba
->bbx
[0][2]: rba
->bbx
[1][2];
1553 manifold
[0][0] = rba
->bbx
[0][0];
1554 manifold
[0][1] = rba
->bbx
[0][1];
1555 manifold
[0][2] = pz
;
1556 manifold
[1][0] = rba
->bbx
[1][0];
1557 manifold
[1][1] = rba
->bbx
[0][1];
1558 manifold
[1][2] = pz
;
1559 manifold
[2][0] = rba
->bbx
[1][0];
1560 manifold
[2][1] = rba
->bbx
[1][1];
1561 manifold
[2][2] = pz
;
1562 manifold
[3][0] = rba
->bbx
[0][0];
1563 manifold
[3][1] = rba
->bbx
[1][1];
1564 manifold
[3][2] = pz
;
1567 for( int j
=0; j
<4; j
++ )
1568 m4x3_mulv( rba
->to_world
, manifold
[j
], manifold
[j
] );
1570 vg_line( manifold
[0], manifold
[1], 0xffffffff );
1571 vg_line( manifold
[1], manifold
[2], 0xffffffff );
1572 vg_line( manifold
[2], manifold
[3], 0xffffffff );
1573 vg_line( manifold
[3], manifold
[0], 0xffffffff );
1575 for( int j
=0; j
<4; j
++ )
1577 rb_ct
*ct
= buf
+count
;
1579 v3_copy( manifold
[j
], ct
->co
);
1580 v3_copy( n
, ct
->n
);
1582 float l0
= v3_dot( tri
[0], n
),
1583 l1
= v3_dot( manifold
[j
], n
);
1585 ct
->p
= (l0
-l1
)*0.5f
;
1589 ct
->type
= k_contact_type_default
;
1601 VG_STATIC
int rb_capsule__triangle( m4x3f mtxA
, rb_capsule
*c
,
1602 v3f tri
[3], rb_ct
*buf
)
1605 v3_muladds( mtxA
[3], mtxA
[1], -c
->height
*0.5f
+c
->radius
, p0w
);
1606 v3_muladds( mtxA
[3], mtxA
[1], c
->height
*0.5f
-c
->radius
, p1w
);
1608 capsule_manifold manifold
;
1609 rb_capsule_manifold_init( &manifold
);
1612 closest_on_triangle_1( p0w
, tri
, c0
);
1613 closest_on_triangle_1( p1w
, tri
, c1
);
1616 v3_sub( c0
, p0w
, d0
);
1617 v3_sub( c1
, p1w
, d1
);
1618 v3_sub( p1w
, p0w
, da
);
1624 if( v3_dot( da
, d0
) <= 0.01f
)
1625 rb_capsule_manifold( p0w
, c0
, 0.0f
, c
->radius
, &manifold
);
1627 if( v3_dot( da
, d1
) >= -0.01f
)
1628 rb_capsule_manifold( p1w
, c1
, 1.0f
, c
->radius
, &manifold
);
1630 for( int i
=0; i
<3; i
++ )
1637 closest_segment_segment( p0w
, p1w
, tri
[i0
], tri
[i1
], &ta
, &tb
, ca
, cb
);
1638 rb_capsule_manifold( ca
, cb
, ta
, c
->radius
, &manifold
);
1642 v3_sub( tri
[1], tri
[0], v0
);
1643 v3_sub( tri
[2], tri
[0], v1
);
1644 v3_cross( v0
, v1
, n
);
1647 int count
= rb_capsule__manifold_done( mtxA
, c
, &manifold
, buf
);
1648 for( int i
=0; i
<count
; i
++ )
1649 v3_copy( n
, buf
[i
].n
);
1655 * Generates up to two contacts; optimised for the most stable manifold
1657 __attribute__ ((deprecated
))
1658 VG_STATIC
int rb_capsule_triangle( rigidbody
*rba
, rigidbody
*rbb
,
1659 v3f tri
[3], rb_ct
*buf
)
1661 float h
= rba
->inf
.capsule
.height
,
1662 r
= rba
->inf
.capsule
.radius
;
1665 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+r
, p0w
);
1666 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-r
, p1w
);
1668 capsule_manifold manifold
;
1669 rb_capsule_manifold_init( &manifold
);
1672 closest_on_triangle_1( p0w
, tri
, c0
);
1673 closest_on_triangle_1( p1w
, tri
, c1
);
1676 v3_sub( c0
, p0w
, d0
);
1677 v3_sub( c1
, p1w
, d1
);
1678 v3_sub( p1w
, p0w
, da
);
1684 if( v3_dot( da
, d0
) <= 0.01f
)
1685 rb_capsule_manifold( p0w
, c0
, 0.0f
, r
, &manifold
);
1687 if( v3_dot( da
, d1
) >= -0.01f
)
1688 rb_capsule_manifold( p1w
, c1
, 1.0f
, r
, &manifold
);
1690 for( int i
=0; i
<3; i
++ )
1697 closest_segment_segment( p0w
, p1w
, tri
[i0
], tri
[i1
], &ta
, &tb
, ca
, cb
);
1698 rb_capsule_manifold( ca
, cb
, ta
, r
, &manifold
);
1702 v3_sub( tri
[1], tri
[0], v0
);
1703 v3_sub( tri
[2], tri
[0], v1
);
1704 v3_cross( v0
, v1
, n
);
1707 int count
= rb_capsule_manifold_done( rba
, rbb
, &manifold
, buf
);
1708 for( int i
=0; i
<count
; i
++ )
1709 v3_copy( n
, buf
[i
].n
);
1714 /* mtxB is defined only for tradition; it is not used currently */
1715 VG_STATIC
int rb_capsule__scene( m4x3f mtxA
, rb_capsule
*c
,
1716 m4x3f mtxB
, rb_scene
*s
,
1720 bh_iter_init( 0, &it
);
1725 v3_sub( mtxA
[3], (v3f
){ c
->height
, c
->height
, c
->height
}, bbx
[0] );
1726 v3_add( mtxA
[3], (v3f
){ c
->height
, c
->height
, c
->height
}, bbx
[1] );
1728 scene
*sc
= s
->bh_scene
->user
;
1730 while( bh_next( s
->bh_scene
, &it
, bbx
, &idx
) )
1732 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1735 for( int j
=0; j
<3; j
++ )
1736 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1738 buf
[ count
].element_id
= ptri
[0];
1740 int contact
= rb_capsule__triangle( mtxA
, c
, tri
, &buf
[count
] );
1745 vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
1753 __attribute__ ((deprecated
))
1754 VG_STATIC
int rb_capsule_scene( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1756 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1759 bh_iter_init( 0, &it
);
1764 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, rba
->bbx_world
, &idx
) )
1766 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1769 for( int j
=0; j
<3; j
++ )
1770 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1772 buf
[ count
].element_id
= ptri
[0];
1775 vg_line( tri
[0],tri
[1],0x70ff6000 );
1776 vg_line( tri
[1],tri
[2],0x70ff6000 );
1777 vg_line( tri
[2],tri
[0],0x70ff6000 );
1780 int contact
= rb_capsule_triangle( rba
, rbb
, tri
, buf
+count
);
1785 vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
1793 VG_STATIC
int rb_scene_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1795 return rb_capsule_scene( rbb
, rba
, buf
);
1798 VG_STATIC
int RB_MATRIX_ERROR( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1801 vg_error( "Collision type is unimplemented between types %d and %d\n",
1802 rba
->type
, rbb
->type
);
1808 VG_STATIC
int rb_sphere_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1810 return rb_capsule_sphere( rbb
, rba
, buf
);
1813 VG_STATIC
int rb_box_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1815 return rb_capsule_box( rbb
, rba
, buf
);
1818 VG_STATIC
int rb_box_sphere( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1820 return rb_sphere_box( rbb
, rba
, buf
);
1823 VG_STATIC
int rb_scene_box( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1825 return rb_box_scene( rbb
, rba
, buf
);
1828 VG_STATIC
int (*rb_jump_table
[4][4])( rigidbody
*a
, rigidbody
*b
, rb_ct
*buf
) =
1830 /* box */ /* Sphere */ /* Capsule */ /* Mesh */
1831 { RB_MATRIX_ERROR
, rb_box_sphere
, rb_box_capsule
, rb_box_scene
},
1832 { rb_sphere_box
, rb_sphere_sphere
, rb_sphere_capsule
, rb_sphere_scene
},
1833 { rb_capsule_box
, rb_capsule_sphere
, rb_capsule_capsule
, rb_capsule_scene
},
1834 { rb_scene_box
, RB_MATRIX_ERROR
, rb_scene_capsule
, RB_MATRIX_ERROR
}
1837 VG_STATIC
int rb_collide( rigidbody
*rba
, rigidbody
*rbb
)
1839 int (*collider_jump
)(rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1840 = rb_jump_table
[rba
->type
][rbb
->type
];
1843 * 12 is the maximum manifold size we can generate, so we are forced to abort
1844 * potentially checking any more.
1846 if( rb_contact_count
+ 12 > vg_list_size(rb_contact_buffer
) )
1848 vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)",
1849 rb_contact_count
, vg_list_size(rb_contact_buffer
) );
1854 * FUTURE: Replace this with a more dedicated broad phase pass
1856 if( box_overlap( rba
->bbx_world
, rbb
->bbx_world
) )
1858 int count
= collider_jump( rba
, rbb
, rb_contact_buffer
+rb_contact_count
);
1859 rb_contact_count
+= count
;
1867 * -----------------------------------------------------------------------------
1869 * -----------------------------------------------------------------------------
1872 VG_STATIC
void rb_solver_reset(void)
1874 rb_contact_count
= 0;
1877 VG_STATIC rb_ct
*rb_global_ct(void)
1879 return rb_contact_buffer
+ rb_contact_count
;
1882 VG_STATIC
void rb_prepare_contact( rb_ct
*ct
)
1884 ct
->bias
= -0.2f
* k_rb_rate
* vg_minf( 0.0f
, -ct
->p
+k_penetration_slop
);
1885 rb_tangent_basis( ct
->n
, ct
->t
[0], ct
->t
[1] );
1888 ct
->type
= k_contact_type_default
;
1890 ct
->norm_impulse
= 0.0f
;
1891 ct
->tangent_impulse
[0] = 0.0f
;
1892 ct
->tangent_impulse
[1] = 0.0f
;
1896 * Initializing things like tangent vectors
1898 VG_STATIC
void rb_presolve_contacts( rb_ct
*buffer
, int len
)
1900 for( int i
=0; i
<len
; i
++ )
1902 rb_ct
*ct
= &buffer
[i
];
1903 rb_prepare_contact( ct
);
1905 v3f ra
, rb
, raCn
, rbCn
, raCt
, rbCt
;
1906 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
1907 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
1908 v3_cross( ra
, ct
->n
, raCn
);
1909 v3_cross( rb
, ct
->n
, rbCn
);
1911 /* orient inverse inertia tensors */
1913 m3x3_mulv( ct
->rba
->iIw
, raCn
, raCnI
);
1914 m3x3_mulv( ct
->rbb
->iIw
, rbCn
, rbCnI
);
1916 ct
->normal_mass
= ct
->rba
->inv_mass
+ ct
->rbb
->inv_mass
;
1917 ct
->normal_mass
+= v3_dot( raCn
, raCnI
);
1918 ct
->normal_mass
+= v3_dot( rbCn
, rbCnI
);
1919 ct
->normal_mass
= 1.0f
/ct
->normal_mass
;
1921 for( int j
=0; j
<2; j
++ )
1924 v3_cross( ct
->t
[j
], ra
, raCt
);
1925 v3_cross( ct
->t
[j
], rb
, rbCt
);
1926 m3x3_mulv( ct
->rba
->iIw
, raCt
, raCtI
);
1927 m3x3_mulv( ct
->rbb
->iIw
, rbCt
, rbCtI
);
1929 ct
->tangent_mass
[j
] = ct
->rba
->inv_mass
+ ct
->rbb
->inv_mass
;
1930 ct
->tangent_mass
[j
] += v3_dot( raCt
, raCtI
);
1931 ct
->tangent_mass
[j
] += v3_dot( rbCt
, rbCtI
);
1932 ct
->tangent_mass
[j
] = 1.0f
/ct
->tangent_mass
[j
];
1935 rb_debug_contact( ct
);
1940 * Creates relative contact velocity vector
1942 VG_STATIC
void rb_rcv( rigidbody
*rba
, rigidbody
*rbb
, v3f ra
, v3f rb
, v3f rv
)
1945 v3_cross( rba
->w
, ra
, rva
);
1946 v3_add( rba
->v
, rva
, rva
);
1947 v3_cross( rbb
->w
, rb
, rvb
);
1948 v3_add( rbb
->v
, rvb
, rvb
);
1950 v3_sub( rva
, rvb
, rv
);
1954 * Apply impulse to object
1956 VG_STATIC
void rb_linear_impulse( rigidbody
*rb
, v3f delta
, v3f impulse
)
1959 v3_muladds( rb
->v
, impulse
, rb
->inv_mass
, rb
->v
);
1961 /* Angular velocity */
1963 v3_cross( delta
, impulse
, wa
);
1965 m3x3_mulv( rb
->iIw
, wa
, wa
);
1966 v3_add( rb
->w
, wa
, rb
->w
);
1970 * One iteration to solve the contact constraint
1972 VG_STATIC
void rb_solve_contacts( rb_ct
*buf
, int len
)
1974 for( int i
=0; i
<len
; i
++ )
1976 struct contact
*ct
= &buf
[i
];
1979 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
1980 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
1981 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
1984 for( int j
=0; j
<2; j
++ )
1986 float f
= k_friction
* ct
->norm_impulse
,
1987 vt
= v3_dot( rv
, ct
->t
[j
] ),
1988 lambda
= ct
->tangent_mass
[j
] * -vt
;
1990 float temp
= ct
->tangent_impulse
[j
];
1991 ct
->tangent_impulse
[j
] = vg_clampf( temp
+ lambda
, -f
, f
);
1992 lambda
= ct
->tangent_impulse
[j
] - temp
;
1995 v3_muls( ct
->t
[j
], lambda
, impulse
);
1996 rb_linear_impulse( ct
->rba
, ra
, impulse
);
1998 v3_muls( ct
->t
[j
], -lambda
, impulse
);
1999 rb_linear_impulse( ct
->rbb
, rb
, impulse
);
2003 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
2004 float vn
= v3_dot( rv
, ct
->n
),
2005 lambda
= ct
->normal_mass
* (-vn
+ ct
->bias
);
2007 float temp
= ct
->norm_impulse
;
2008 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2009 lambda
= ct
->norm_impulse
- temp
;
2012 v3_muls( ct
->n
, lambda
, impulse
);
2013 rb_linear_impulse( ct
->rba
, ra
, impulse
);
2015 v3_muls( ct
->n
, -lambda
, impulse
);
2016 rb_linear_impulse( ct
->rbb
, rb
, impulse
);
2021 * -----------------------------------------------------------------------------
2023 * -----------------------------------------------------------------------------
2026 VG_STATIC
void rb_debug_position_constraints( rb_constr_pos
*buffer
, int len
)
2028 for( int i
=0; i
<len
; i
++ )
2030 rb_constr_pos
*constr
= &buffer
[i
];
2031 rigidbody
*rba
= constr
->rba
, *rbb
= constr
->rbb
;
2034 m3x3_mulv( rba
->to_world
, constr
->lca
, wca
);
2035 m3x3_mulv( rbb
->to_world
, constr
->lcb
, wcb
);
2038 v3_add( wca
, rba
->co
, p0
);
2039 v3_add( wcb
, rbb
->co
, p1
);
2040 vg_line_pt3( p0
, 0.0025f
, 0xff000000 );
2041 vg_line_pt3( p1
, 0.0025f
, 0xffffffff );
2042 vg_line2( p0
, p1
, 0xff000000, 0xffffffff );
2046 VG_STATIC
void rb_presolve_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2051 for( int i
=0; i
<len
; i
++ )
2053 rb_constr_swingtwist
*st
= &buf
[ i
];
2055 v3f vx
, vy
, va
, vxb
, axis
, center
;
2057 m3x3_mulv( st
->rba
->to_world
, st
->conevx
, vx
);
2058 m3x3_mulv( st
->rbb
->to_world
, st
->conevxb
, vxb
);
2059 m3x3_mulv( st
->rba
->to_world
, st
->conevy
, vy
);
2060 m3x3_mulv( st
->rbb
->to_world
, st
->coneva
, va
);
2061 m4x3_mulv( st
->rba
->to_world
, st
->view_offset
, center
);
2062 v3_cross( vy
, vx
, axis
);
2064 /* Constraint violated ? */
2065 float fx
= v3_dot( vx
, va
), /* projection world */
2066 fy
= v3_dot( vy
, va
),
2067 fn
= v3_dot( va
, axis
),
2069 rx
= st
->conevx
[3], /* elipse radii */
2072 lx
= fx
/rx
, /* projection local (fn==lz) */
2075 st
->tangent_violation
= ((lx
*lx
+ ly
*ly
) > fn
*fn
) || (fn
<= 0.0f
);
2076 if( st
->tangent_violation
)
2078 /* Calculate a good position and the axis to solve on */
2079 v2f closest
, tangent
,
2080 p
= { fx
/fabsf(fn
), fy
/fabsf(fn
) };
2082 closest_point_elipse( p
, (v2f
){rx
,ry
}, closest
);
2083 tangent
[0] = -closest
[1] / (ry
*ry
);
2084 tangent
[1] = closest
[0] / (rx
*rx
);
2085 v2_normalize( tangent
);
2088 v3_muladds( axis
, vx
, closest
[0], v0
);
2089 v3_muladds( v0
, vy
, closest
[1], v0
);
2092 v3_muls( vx
, tangent
[0], v1
);
2093 v3_muladds( v1
, vy
, tangent
[1], v1
);
2095 v3_copy( v0
, st
->tangent_target
);
2096 v3_copy( v1
, st
->tangent_axis
);
2098 /* calculate mass */
2100 m3x3_mulv( st
->rba
->iIw
, st
->tangent_axis
, aIw
);
2101 m3x3_mulv( st
->rbb
->iIw
, st
->tangent_axis
, bIw
);
2102 st
->tangent_mass
= 1.0f
/ (v3_dot( st
->tangent_axis
, aIw
) +
2103 v3_dot( st
->tangent_axis
, bIw
));
2105 float angle
= v3_dot( va
, st
->tangent_target
);
2109 v3_cross( vy
, va
, refaxis
); /* our default rotation */
2110 v3_normalize( refaxis
);
2112 float angle
= v3_dot( refaxis
, vxb
);
2113 st
->axis_violation
= fabsf(angle
) < st
->conet
;
2115 if( st
->axis_violation
)
2118 v3_cross( refaxis
, vxb
, dir_test
);
2120 if( v3_dot(dir_test
, va
) < 0.0f
)
2121 st
->axis_violation
= -st
->axis_violation
;
2123 float newang
= (float)st
->axis_violation
* acosf(st
->conet
-0.0001f
);
2126 v3_cross( va
, refaxis
, refaxis_up
);
2127 v3_muls( refaxis_up
, sinf(newang
), st
->axis_target
);
2128 v3_muladds( st
->axis_target
, refaxis
, -cosf(newang
), st
->axis_target
);
2130 /* calculate mass */
2131 v3_copy( va
, st
->axis
);
2133 m3x3_mulv( st
->rba
->iIw
, st
->axis
, aIw
);
2134 m3x3_mulv( st
->rbb
->iIw
, st
->axis
, bIw
);
2135 st
->axis_mass
= 1.0f
/ (v3_dot( st
->axis
, aIw
) +
2136 v3_dot( st
->axis
, bIw
));
2141 VG_STATIC
void rb_debug_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2146 for( int i
=0; i
<len
; i
++ )
2148 rb_constr_swingtwist
*st
= &buf
[ i
];
2150 v3f vx
, vxb
, vy
, va
, axis
, center
;
2152 m3x3_mulv( st
->rba
->to_world
, st
->conevx
, vx
);
2153 m3x3_mulv( st
->rbb
->to_world
, st
->conevxb
, vxb
);
2154 m3x3_mulv( st
->rba
->to_world
, st
->conevy
, vy
);
2155 m3x3_mulv( st
->rbb
->to_world
, st
->coneva
, va
);
2156 m4x3_mulv( st
->rba
->to_world
, st
->view_offset
, center
);
2157 v3_cross( vy
, vx
, axis
);
2159 float rx
= st
->conevx
[3], /* elipse radii */
2163 v3_muladds( center
, va
, size
, p1
);
2164 vg_line( center
, p1
, 0xffffffff );
2165 vg_line_pt3( p1
, 0.00025f
, 0xffffffff );
2167 if( st
->tangent_violation
)
2169 v3_muladds( center
, st
->tangent_target
, size
, p0
);
2171 vg_line( center
, p0
, 0xff00ff00 );
2172 vg_line_pt3( p0
, 0.00025f
, 0xff00ff00 );
2173 vg_line( p1
, p0
, 0xff000000 );
2176 for( int x
=0; x
<32; x
++ )
2178 float t0
= ((float)x
* (1.0f
/32.0f
)) * VG_TAUf
,
2179 t1
= (((float)x
+1.0f
) * (1.0f
/32.0f
)) * VG_TAUf
,
2186 v3_muladds( axis
, vx
, c0
*rx
, v0
);
2187 v3_muladds( v0
, vy
, s0
*ry
, v0
);
2188 v3_muladds( axis
, vx
, c1
*rx
, v1
);
2189 v3_muladds( v1
, vy
, s1
*ry
, v1
);
2194 v3_muladds( center
, v0
, size
, p0
);
2195 v3_muladds( center
, v1
, size
, p1
);
2197 u32 col0r
= fabsf(c0
) * 255.0f
,
2198 col0g
= fabsf(s0
) * 255.0f
,
2199 col1r
= fabsf(c1
) * 255.0f
,
2200 col1g
= fabsf(s1
) * 255.0f
,
2201 col
= st
->tangent_violation
? 0xff0000ff: 0xff000000,
2202 col0
= col
| (col0r
<<16) | (col0g
<< 8),
2203 col1
= col
| (col1r
<<16) | (col1g
<< 8);
2205 vg_line2( center
, p0
, VG__NONE
, col0
);
2206 vg_line2( p0
, p1
, col0
, col1
);
2210 v3_muladds( center
, va
, size
, p0
);
2211 v3_muladds( p0
, vxb
, size
, p1
);
2213 vg_line( p0
, p1
, 0xff0000ff );
2215 if( st
->axis_violation
)
2217 v3_muladds( p0
, st
->axis_target
, size
*1.25f
, p1
);
2218 vg_line( p0
, p1
, 0xffffff00 );
2219 vg_line_pt3( p1
, 0.0025f
, 0xffffff80 );
2223 v3_cross( vy
, va
, refaxis
); /* our default rotation */
2224 v3_normalize( refaxis
);
2226 v3_cross( va
, refaxis
, refaxis_up
);
2227 float newang
= acosf(st
->conet
-0.0001f
);
2229 v3_muladds( p0
, refaxis_up
, sinf(newang
)*size
, p1
);
2230 v3_muladds( p1
, refaxis
, -cosf(newang
)*size
, p1
);
2231 vg_line( p0
, p1
, 0xff000000 );
2233 v3_muladds( p0
, refaxis_up
, sinf(-newang
)*size
, p1
);
2234 v3_muladds( p1
, refaxis
, -cosf(-newang
)*size
, p1
);
2235 vg_line( p0
, p1
, 0xff404040 );
2240 * Solve a list of positional constraints
2242 VG_STATIC
void rb_solve_position_constraints( rb_constr_pos
*buf
, int len
)
2244 for( int i
=0; i
<len
; i
++ )
2246 rb_constr_pos
*constr
= &buf
[i
];
2247 rigidbody
*rba
= constr
->rba
, *rbb
= constr
->rbb
;
2250 m3x3_mulv( rba
->to_world
, constr
->lca
, wa
);
2251 m3x3_mulv( rbb
->to_world
, constr
->lcb
, wb
);
2253 m3x3f ssra
, ssrat
, ssrb
, ssrbt
;
2255 m3x3_skew_symetric( ssrat
, wa
);
2256 m3x3_skew_symetric( ssrbt
, wb
);
2257 m3x3_transpose( ssrat
, ssra
);
2258 m3x3_transpose( ssrbt
, ssrb
);
2260 v3f b
, b_wa
, b_wb
, b_a
, b_b
;
2261 m3x3_mulv( ssra
, rba
->w
, b_wa
);
2262 m3x3_mulv( ssrb
, rbb
->w
, b_wb
);
2263 v3_add( rba
->v
, b_wa
, b
);
2264 v3_sub( b
, rbb
->v
, b
);
2265 v3_sub( b
, b_wb
, b
);
2266 v3_muls( b
, -1.0f
, b
);
2269 m3x3_diagonal( invMa
, rba
->inv_mass
);
2270 m3x3_diagonal( invMb
, rbb
->inv_mass
);
2273 m3x3_mul( ssra
, rba
->iIw
, ia
);
2274 m3x3_mul( ia
, ssrat
, ia
);
2275 m3x3_mul( ssrb
, rbb
->iIw
, ib
);
2276 m3x3_mul( ib
, ssrbt
, ib
);
2279 m3x3_add( invMa
, ia
, cma
);
2280 m3x3_add( invMb
, ib
, cmb
);
2283 m3x3_add( cma
, cmb
, A
);
2285 /* Solve Ax = b ( A^-1*b = x ) */
2288 m3x3_inv( A
, invA
);
2289 m3x3_mulv( invA
, b
, impulse
);
2291 v3f delta_va
, delta_wa
, delta_vb
, delta_wb
;
2293 m3x3_mul( rba
->iIw
, ssrat
, iwa
);
2294 m3x3_mul( rbb
->iIw
, ssrbt
, iwb
);
2296 m3x3_mulv( invMa
, impulse
, delta_va
);
2297 m3x3_mulv( invMb
, impulse
, delta_vb
);
2298 m3x3_mulv( iwa
, impulse
, delta_wa
);
2299 m3x3_mulv( iwb
, impulse
, delta_wb
);
2301 v3_add( rba
->v
, delta_va
, rba
->v
);
2302 v3_add( rba
->w
, delta_wa
, rba
->w
);
2303 v3_sub( rbb
->v
, delta_vb
, rbb
->v
);
2304 v3_sub( rbb
->w
, delta_wb
, rbb
->w
);
2308 VG_STATIC
void rb_solve_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2313 for( int i
=0; i
<len
; i
++ )
2315 rb_constr_swingtwist
*st
= &buf
[ i
];
2317 if( !st
->axis_violation
)
2320 float rv
= v3_dot( st
->axis
, st
->rbb
->w
) -
2321 v3_dot( st
->axis
, st
->rba
->w
);
2323 if( rv
* (float)st
->axis_violation
> 0.0f
)
2326 v3f impulse
, wa
, wb
;
2327 v3_muls( st
->axis
, rv
*st
->axis_mass
, impulse
);
2328 m3x3_mulv( st
->rba
->iIw
, impulse
, wa
);
2329 v3_add( st
->rba
->w
, wa
, st
->rba
->w
);
2331 v3_muls( impulse
, -1.0f
, impulse
);
2332 m3x3_mulv( st
->rbb
->iIw
, impulse
, wb
);
2333 v3_add( st
->rbb
->w
, wb
, st
->rbb
->w
);
2335 float rv2
= v3_dot( st
->axis
, st
->rbb
->w
) -
2336 v3_dot( st
->axis
, st
->rba
->w
);
2339 for( int i
=0; i
<len
; i
++ )
2341 rb_constr_swingtwist
*st
= &buf
[ i
];
2343 if( !st
->tangent_violation
)
2346 float rv
= v3_dot( st
->tangent_axis
, st
->rbb
->w
) -
2347 v3_dot( st
->tangent_axis
, st
->rba
->w
);
2352 v3f impulse
, wa
, wb
;
2353 v3_muls( st
->tangent_axis
, rv
*st
->tangent_mass
, impulse
);
2354 m3x3_mulv( st
->rba
->iIw
, impulse
, wa
);
2355 v3_add( st
->rba
->w
, wa
, st
->rba
->w
);
2357 v3_muls( impulse
, -1.0f
, impulse
);
2358 m3x3_mulv( st
->rbb
->iIw
, impulse
, wb
);
2359 v3_add( st
->rbb
->w
, wb
, st
->rbb
->w
);
2361 float rv2
= v3_dot( st
->tangent_axis
, st
->rbb
->w
) -
2362 v3_dot( st
->tangent_axis
, st
->rba
->w
);
2366 VG_STATIC
void rb_solve_constr_angle( rigidbody
*rba
, rigidbody
*rbb
,
2369 m3x3f ssra
, ssrb
, ssrat
, ssrbt
;
2372 m3x3_skew_symetric( ssrat
, ra
);
2373 m3x3_skew_symetric( ssrbt
, rb
);
2374 m3x3_transpose( ssrat
, ssra
);
2375 m3x3_transpose( ssrbt
, ssrb
);
2377 m3x3_mul( ssra
, rba
->iIw
, cma
);
2378 m3x3_mul( cma
, ssrat
, cma
);
2379 m3x3_mul( ssrb
, rbb
->iIw
, cmb
);
2380 m3x3_mul( cmb
, ssrbt
, cmb
);
2383 m3x3_add( cma
, cmb
, A
);
2384 m3x3_inv( A
, invA
);
2387 m3x3_mulv( ssra
, rba
->w
, b_wa
);
2388 m3x3_mulv( ssrb
, rbb
->w
, b_wb
);
2389 v3_add( b_wa
, b_wb
, b
);
2393 m3x3_mulv( invA
, b
, impulse
);
2395 v3f delta_wa
, delta_wb
;
2397 m3x3_mul( rba
->iIw
, ssrat
, iwa
);
2398 m3x3_mul( rbb
->iIw
, ssrbt
, iwb
);
2399 m3x3_mulv( iwa
, impulse
, delta_wa
);
2400 m3x3_mulv( iwb
, impulse
, delta_wb
);
2401 v3_add( rba
->w
, delta_wa
, rba
->w
);
2402 v3_sub( rbb
->w
, delta_wb
, rbb
->w
);
2406 * Correct position constraint drift errors
2407 * [ 0.0 <= amt <= 1.0 ]: the correction amount
2409 VG_STATIC
void rb_correct_position_constraints( rb_constr_pos
*buf
, int len
,
2412 for( int i
=0; i
<len
; i
++ )
2414 rb_constr_pos
*constr
= &buf
[i
];
2415 rigidbody
*rba
= constr
->rba
, *rbb
= constr
->rbb
;
2418 m3x3_mulv( rba
->to_world
, constr
->lca
, p0
);
2419 m3x3_mulv( rbb
->to_world
, constr
->lcb
, p1
);
2420 v3_add( rba
->co
, p0
, p0
);
2421 v3_add( rbb
->co
, p1
, p1
);
2422 v3_sub( p1
, p0
, d
);
2424 v3_muladds( rbb
->co
, d
, -1.0f
* amt
, rbb
->co
);
2425 rb_update_transform( rbb
);
2429 VG_STATIC
void rb_correct_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2430 int len
, float amt
)
2432 for( int i
=0; i
<len
; i
++ )
2434 rb_constr_swingtwist
*st
= &buf
[i
];
2436 if( !st
->tangent_violation
)
2440 m3x3_mulv( st
->rbb
->to_world
, st
->coneva
, va
);
2442 float angle
= v3_dot( va
, st
->tangent_target
);
2444 if( fabsf(angle
) < 0.9999f
)
2447 v3_cross( va
, st
->tangent_target
, axis
);
2450 q_axis_angle( correction
, axis
, acosf(angle
) * amt
);
2451 q_mul( correction
, st
->rbb
->q
, st
->rbb
->q
);
2452 rb_update_transform( st
->rbb
);
2456 for( int i
=0; i
<len
; i
++ )
2458 rb_constr_swingtwist
*st
= &buf
[i
];
2460 if( !st
->axis_violation
)
2464 m3x3_mulv( st
->rbb
->to_world
, st
->conevxb
, vxb
);
2466 float angle
= v3_dot( vxb
, st
->axis_target
);
2468 if( fabsf(angle
) < 0.9999f
)
2471 v3_cross( vxb
, st
->axis_target
, axis
);
2474 q_axis_angle( correction
, axis
, acosf(angle
) * amt
);
2475 q_mul( correction
, st
->rbb
->q
, st
->rbb
->q
);
2476 rb_update_transform( st
->rbb
);
2481 VG_STATIC
void rb_correct_contact_constraints( rb_ct
*buf
, int len
, float amt
)
2483 for( int i
=0; i
<len
; i
++ )
2485 rb_ct
*ct
= &buf
[i
];
2486 rigidbody
*rba
= ct
->rba
,
2489 float mass_total
= 1.0f
/ (rba
->inv_mass
+ rbb
->inv_mass
);
2491 v3_muladds( rba
->co
, ct
->n
, -mass_total
* rba
->inv_mass
, rba
->co
);
2492 v3_muladds( rbb
->co
, ct
->n
, mass_total
* rbb
->inv_mass
, rbb
->co
);
2501 VG_STATIC
void rb_effect_simple_bouyency( rigidbody
*ra
, v4f plane
,
2502 float amt
, float drag
)
2505 float depth
= v3_dot( plane
, ra
->co
) - plane
[3],
2506 lambda
= vg_clampf( -depth
, 0.0f
, 1.0f
) * amt
;
2508 v3_muladds( ra
->v
, plane
, lambda
* k_rb_delta
, ra
->v
);
2511 v3_muls( ra
->v
, 1.0f
-(drag
*k_rb_delta
), ra
->v
);
2515 * -----------------------------------------------------------------------------
2516 * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
2518 * -----------------------------------------------------------------------------
2521 VG_STATIC
void rb_bh_expand_bound( void *user
, boxf bound
, u32 item_index
)
2523 rigidbody
*rb
= &((rigidbody
*)user
)[ item_index
];
2524 box_concat( bound
, rb
->bbx_world
);
2527 VG_STATIC
float rb_bh_centroid( void *user
, u32 item_index
, int axis
)
2529 rigidbody
*rb
= &((rigidbody
*)user
)[ item_index
];
2530 return (rb
->bbx_world
[axis
][0] + rb
->bbx_world
[1][axis
]) * 0.5f
;
2533 VG_STATIC
void rb_bh_swap( void *user
, u32 ia
, u32 ib
)
2535 rigidbody temp
, *rba
, *rbb
;
2536 rba
= &((rigidbody
*)user
)[ ia
];
2537 rbb
= &((rigidbody
*)user
)[ ib
];
2544 VG_STATIC
void rb_bh_debug( void *user
, u32 item_index
)
2546 rigidbody
*rb
= &((rigidbody
*)user
)[ item_index
];
2547 rb_debug( rb
, 0xff00ffff );
2550 VG_STATIC bh_system bh_system_rigidbodies
=
2552 .expand_bound
= rb_bh_expand_bound
,
2553 .item_centroid
= rb_bh_centroid
,
2554 .item_swap
= rb_bh_swap
,
2555 .item_debug
= rb_bh_debug
,
2559 #endif /* RIGIDBODY_H */