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
;
172 struct rb_constr_spring
178 * -----------------------------------------------------------------------------
180 * -----------------------------------------------------------------------------
183 VG_STATIC
float sphere_volume( float radius
)
185 float r3
= radius
*radius
*radius
;
186 return (4.0f
/3.0f
) * VG_PIf
* r3
;
189 VG_STATIC
void rb_tangent_basis( v3f n
, v3f tx
, v3f ty
)
191 /* Compute tangent basis (box2d) */
192 if( fabsf( n
[0] ) >= 0.57735027f
)
206 v3_cross( n
, tx
, ty
);
210 * -----------------------------------------------------------------------------
212 * -----------------------------------------------------------------------------
215 VG_STATIC
void rb_debug_contact( rb_ct
*ct
)
218 v3_muladds( ct
->co
, ct
->n
, 0.05f
, p1
);
220 if( ct
->type
== k_contact_type_default
)
222 vg_line_pt3( ct
->co
, 0.0125f
, 0xff0000ff );
223 vg_line( ct
->co
, p1
, 0xffffffff );
225 else if( ct
->type
== k_contact_type_edge
)
227 vg_line_pt3( ct
->co
, 0.0125f
, 0xff00ffc0 );
228 vg_line( ct
->co
, p1
, 0xffffffff );
232 VG_STATIC
void debug_sphere( m4x3f m
, float radius
, u32 colour
)
234 v3f ly
= { 0.0f
, 0.0f
, radius
},
235 lx
= { 0.0f
, radius
, 0.0f
},
236 lz
= { 0.0f
, 0.0f
, radius
};
238 for( int i
=0; i
<16; i
++ )
240 float t
= ((float)(i
+1) * (1.0f
/16.0f
)) * VG_PIf
* 2.0f
,
244 v3f py
= { s
*radius
, 0.0f
, c
*radius
},
245 px
= { s
*radius
, c
*radius
, 0.0f
},
246 pz
= { 0.0f
, s
*radius
, c
*radius
};
248 v3f p0
, p1
, p2
, p3
, p4
, p5
;
249 m4x3_mulv( m
, py
, p0
);
250 m4x3_mulv( m
, ly
, p1
);
251 m4x3_mulv( m
, px
, p2
);
252 m4x3_mulv( m
, lx
, p3
);
253 m4x3_mulv( m
, pz
, p4
);
254 m4x3_mulv( m
, lz
, p5
);
256 vg_line( p0
, p1
, colour
== 0x00? 0xff00ff00: colour
);
257 vg_line( p2
, p3
, colour
== 0x00? 0xff0000ff: colour
);
258 vg_line( p4
, p5
, colour
== 0x00? 0xffff0000: colour
);
266 VG_STATIC
void debug_capsule( m4x3f m
, float radius
, float h
, u32 colour
)
268 v3f ly
= { 0.0f
, 0.0f
, radius
},
269 lx
= { 0.0f
, radius
, 0.0f
},
270 lz
= { 0.0f
, 0.0f
, radius
};
272 float s0
= sinf(0.0f
)*radius
,
273 c0
= cosf(0.0f
)*radius
;
275 v3f p0
, p1
, up
, right
, forward
;
276 m3x3_mulv( m
, (v3f
){0.0f
,1.0f
,0.0f
}, up
);
277 m3x3_mulv( m
, (v3f
){1.0f
,0.0f
,0.0f
}, right
);
278 m3x3_mulv( m
, (v3f
){0.0f
,0.0f
,-1.0f
}, forward
);
279 v3_muladds( m
[3], up
, -h
*0.5f
+radius
, p0
);
280 v3_muladds( m
[3], up
, h
*0.5f
-radius
, p1
);
283 v3_muladds( p0
, right
, radius
, a0
);
284 v3_muladds( p1
, right
, radius
, a1
);
285 v3_muladds( p0
, forward
, radius
, b0
);
286 v3_muladds( p1
, forward
, radius
, b1
);
287 vg_line( a0
, a1
, colour
);
288 vg_line( b0
, b1
, colour
);
290 v3_muladds( p0
, right
, -radius
, a0
);
291 v3_muladds( p1
, right
, -radius
, a1
);
292 v3_muladds( p0
, forward
, -radius
, b0
);
293 v3_muladds( p1
, forward
, -radius
, b1
);
294 vg_line( a0
, a1
, colour
);
295 vg_line( b0
, b1
, colour
);
297 for( int i
=0; i
<16; i
++ )
299 float t
= ((float)(i
+1) * (1.0f
/16.0f
)) * VG_PIf
* 2.0f
,
303 v3f e0
= { s0
, 0.0f
, c0
},
304 e1
= { s1
, 0.0f
, c1
},
305 e2
= { s0
, c0
, 0.0f
},
306 e3
= { s1
, c1
, 0.0f
},
307 e4
= { 0.0f
, c0
, s0
},
308 e5
= { 0.0f
, c1
, s1
};
310 m3x3_mulv( m
, e0
, e0
);
311 m3x3_mulv( m
, e1
, e1
);
312 m3x3_mulv( m
, e2
, e2
);
313 m3x3_mulv( m
, e3
, e3
);
314 m3x3_mulv( m
, e4
, e4
);
315 m3x3_mulv( m
, e5
, e5
);
317 v3_add( p0
, e0
, a0
);
318 v3_add( p0
, e1
, a1
);
319 v3_add( p1
, e0
, b0
);
320 v3_add( p1
, e1
, b1
);
322 vg_line( a0
, a1
, colour
);
323 vg_line( b0
, b1
, colour
);
327 v3_add( p0
, e2
, a0
);
328 v3_add( p0
, e3
, a1
);
329 v3_add( p0
, e4
, b0
);
330 v3_add( p0
, e5
, b1
);
334 v3_add( p1
, e2
, a0
);
335 v3_add( p1
, e3
, a1
);
336 v3_add( p1
, e4
, b0
);
337 v3_add( p1
, e5
, b1
);
340 vg_line( a0
, a1
, colour
);
341 vg_line( b0
, b1
, colour
);
348 VG_STATIC
void rb_debug( rigidbody
*rb
, u32 colour
)
350 if( rb
->type
== k_rb_shape_box
)
353 vg_line_boxf_transformed( rb
->to_world
, rb
->bbx
, colour
);
355 else if( rb
->type
== k_rb_shape_sphere
)
357 debug_sphere( rb
->to_world
, rb
->inf
.sphere
.radius
, colour
);
359 else if( rb
->type
== k_rb_shape_capsule
)
362 float h
= rb
->inf
.capsule
.height
,
363 r
= rb
->inf
.capsule
.radius
;
365 debug_capsule( rb
->to_world
, r
, h
, colour
);
367 else if( rb
->type
== k_rb_shape_scene
)
369 vg_line_boxf( rb
->bbx
, colour
);
374 * -----------------------------------------------------------------------------
376 * -----------------------------------------------------------------------------
380 * Update world space bounding box based on local one
382 VG_STATIC
void rb_update_bounds( rigidbody
*rb
)
384 box_copy( rb
->bbx
, rb
->bbx_world
);
385 m4x3_transform_aabb( rb
->to_world
, rb
->bbx_world
);
389 * Commit transform to rigidbody. Updates matrices
391 VG_STATIC
void rb_update_transform( rigidbody
*rb
)
393 q_normalize( rb
->q
);
394 q_m3x3( rb
->q
, rb
->to_world
);
395 v3_copy( rb
->co
, rb
->to_world
[3] );
397 m4x3_invert_affine( rb
->to_world
, rb
->to_local
);
399 m3x3_mulv( rb
->to_world
, (v3f
){1.0f
,0.0f
, 0.0f
}, rb
->right
);
400 m3x3_mulv( rb
->to_world
, (v3f
){0.0f
,1.0f
, 0.0f
}, rb
->up
);
401 m3x3_mulv( rb
->to_world
, (v3f
){0.0f
,0.0f
,-1.0f
}, rb
->forward
);
403 m3x3_mul( rb
->iI
, rb
->to_local
, rb
->iIw
);
404 m3x3_mul( rb
->to_world
, rb
->iIw
, rb
->iIw
);
406 rb_update_bounds( rb
);
410 * Extrapolate rigidbody into a transform based on vg accumulator.
411 * Useful for rendering
413 __attribute__ ((deprecated
))
414 VG_STATIC
void rb_extrapolate_transform( rigidbody
*rb
, m4x3f transform
)
416 float substep
= vg_clampf( vg
.accumulator
/ k_rb_delta
, 0.0f
, 1.0f
);
421 v3_muladds( rb
->co
, rb
->v
, k_rb_delta
*substep
, co
);
423 if( v3_length2( rb
->w
) > 0.0f
)
427 v3_copy( rb
->w
, axis
);
429 float mag
= v3_length( axis
);
430 v3_divs( axis
, mag
, axis
);
431 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
*substep
);
432 q_mul( rotation
, rb
->q
, q
);
440 q_m3x3( q
, transform
);
441 v3_copy( co
, transform
[3] );
444 VG_STATIC
void rb_extrapolate( rigidbody
*rb
, v3f co
, v4f q
)
446 float substep
= vg_clampf( vg
.accumulator
/ k_rb_delta
, 0.0f
, 1.0f
);
448 v3_muladds( rb
->co
, rb
->v
, k_rb_delta
*substep
, co
);
450 if( v3_length2( rb
->w
) > 0.0f
)
454 v3_copy( rb
->w
, axis
);
456 float mag
= v3_length( axis
);
457 v3_divs( axis
, mag
, axis
);
458 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
*substep
);
459 q_mul( rotation
, rb
->q
, q
);
469 * Initialize rigidbody and calculate masses, inertia
471 VG_STATIC
void rb_init( rigidbody
*rb
)
475 if( rb
->type
== k_rb_shape_box
)
478 v3_sub( rb
->bbx
[1], rb
->bbx
[0], dims
);
479 volume
= dims
[0]*dims
[1]*dims
[2];
481 else if( rb
->type
== k_rb_shape_sphere
)
483 volume
= sphere_volume( rb
->inf
.sphere
.radius
);
484 v3_fill( rb
->bbx
[0], -rb
->inf
.sphere
.radius
);
485 v3_fill( rb
->bbx
[1], rb
->inf
.sphere
.radius
);
487 else if( rb
->type
== k_rb_shape_capsule
)
489 float r
= rb
->inf
.capsule
.radius
,
490 h
= rb
->inf
.capsule
.height
;
491 volume
= sphere_volume( r
) + VG_PIf
* r
*r
* (h
- r
*2.0f
);
493 v3_fill( rb
->bbx
[0], -r
);
494 v3_fill( rb
->bbx
[1], r
);
498 else if( rb
->type
== k_rb_shape_scene
)
501 box_copy( rb
->inf
.scene
.bh_scene
->nodes
[0].bbx
, rb
->bbx
);
512 float mass
= 2.0f
*volume
;
513 rb
->inv_mass
= 1.0f
/mass
;
516 v3_sub( rb
->bbx
[1], rb
->bbx
[0], extent
);
517 v3_muls( extent
, 0.5f
, extent
);
519 /* local intertia tensor */
520 float scale
= k_inertia_scale
;
521 float ex2
= scale
*extent
[0]*extent
[0],
522 ey2
= scale
*extent
[1]*extent
[1],
523 ez2
= scale
*extent
[2]*extent
[2];
525 rb
->I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
526 rb
->I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
527 rb
->I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
529 m3x3_identity( rb
->iI
);
530 rb
->iI
[0][0] = rb
->I
[0];
531 rb
->iI
[1][1] = rb
->I
[1];
532 rb
->iI
[2][2] = rb
->I
[2];
533 m3x3_inv( rb
->iI
, rb
->iI
);
539 rb_update_transform( rb
);
542 VG_STATIC
void rb_iter( rigidbody
*rb
)
544 if( !vg_validf( rb
->v
[0] ) ||
545 !vg_validf( rb
->v
[1] ) ||
546 !vg_validf( rb
->v
[2] ) )
548 vg_fatal_exit_loop( "NaN velocity" );
551 v3f gravity
= { 0.0f
, -9.8f
, 0.0f
};
552 v3_muladds( rb
->v
, gravity
, k_rb_delta
, rb
->v
);
554 /* intergrate velocity */
555 v3_muladds( rb
->co
, rb
->v
, k_rb_delta
, rb
->co
);
556 v3_lerp( rb
->w
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.0025f
, rb
->w
);
558 /* inegrate inertia */
559 if( v3_length2( rb
->w
) > 0.0f
)
563 v3_copy( rb
->w
, axis
);
565 float mag
= v3_length( axis
);
566 v3_divs( axis
, mag
, axis
);
567 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
568 q_mul( rotation
, rb
->q
, rb
->q
);
572 v3_muls( rb
->v
, 1.0f
/(1.0f
+k_rb_delta
*k_damp_linear
), rb
->v
);
573 v3_muls( rb
->w
, 1.0f
/(1.0f
+k_rb_delta
*k_damp_angular
), rb
->w
);
578 * -----------------------------------------------------------------------------
579 * Boolean shape overlap functions
580 * -----------------------------------------------------------------------------
584 * Project AABB, and triangle interval onto axis to check if they overlap
586 VG_STATIC
int rb_box_triangle_interval( v3f extent
, v3f axis
, v3f tri
[3] )
590 r
= extent
[0] * fabsf(axis
[0]) +
591 extent
[1] * fabsf(axis
[1]) +
592 extent
[2] * fabsf(axis
[2]),
594 p0
= v3_dot( axis
, tri
[0] ),
595 p1
= v3_dot( axis
, tri
[1] ),
596 p2
= v3_dot( axis
, tri
[2] ),
598 e
= vg_maxf(-vg_maxf(p0
,vg_maxf(p1
,p2
)), vg_minf(p0
,vg_minf(p1
,p2
)));
600 if( e
> r
) return 0;
605 * Seperating axis test box vs triangle
607 VG_STATIC
int rb_box_triangle_sat( rigidbody
*rba
, v3f tri_src
[3] )
612 v3_sub( rba
->bbx
[1], rba
->bbx
[0], extent
);
613 v3_muls( extent
, 0.5f
, extent
);
614 v3_add( rba
->bbx
[0], extent
, c
);
616 for( int i
=0; i
<3; i
++ )
618 m4x3_mulv( rba
->to_local
, tri_src
[i
], tri
[i
] );
619 v3_sub( tri
[i
], c
, tri
[i
] );
623 if(!rb_box_triangle_interval( extent
, (v3f
){1.0f
,0.0f
,0.0f
}, tri
)) return 0;
624 if(!rb_box_triangle_interval( extent
, (v3f
){0.0f
,1.0f
,0.0f
}, tri
)) return 0;
625 if(!rb_box_triangle_interval( extent
, (v3f
){0.0f
,0.0f
,1.0f
}, tri
)) return 0;
627 v3f v0
,v1
,v2
,n
, e0
,e1
,e2
;
628 v3_sub( tri
[1], tri
[0], v0
);
629 v3_sub( tri
[2], tri
[0], v1
);
630 v3_sub( tri
[2], tri
[1], v2
);
634 v3_cross( v0
, v1
, n
);
635 v3_cross( v0
, n
, e0
);
636 v3_cross( n
, v1
, e1
);
637 v3_cross( v2
, n
, e2
);
640 if(!rb_box_triangle_interval( extent
, n
, tri
)) return 0;
643 v3_cross( e0
, (v3f
){1.0f
,0.0f
,0.0f
}, axis
[0] );
644 v3_cross( e0
, (v3f
){0.0f
,1.0f
,0.0f
}, axis
[1] );
645 v3_cross( e0
, (v3f
){0.0f
,0.0f
,1.0f
}, axis
[2] );
646 v3_cross( e1
, (v3f
){1.0f
,0.0f
,0.0f
}, axis
[3] );
647 v3_cross( e1
, (v3f
){0.0f
,1.0f
,0.0f
}, axis
[4] );
648 v3_cross( e1
, (v3f
){0.0f
,0.0f
,1.0f
}, axis
[5] );
649 v3_cross( e2
, (v3f
){1.0f
,0.0f
,0.0f
}, axis
[6] );
650 v3_cross( e2
, (v3f
){0.0f
,1.0f
,0.0f
}, axis
[7] );
651 v3_cross( e2
, (v3f
){0.0f
,0.0f
,1.0f
}, axis
[8] );
653 for( int i
=0; i
<9; i
++ )
654 if(!rb_box_triangle_interval( extent
, axis
[i
], tri
)) return 0;
660 * -----------------------------------------------------------------------------
662 * -----------------------------------------------------------------------------
665 VG_STATIC
int rb_manifold_apply_filtered( rb_ct
*man
, int len
)
669 for( int i
=0; i
<len
; i
++ )
673 if( ct
->type
== k_contact_type_disabled
)
683 * Merge two contacts if they are within radius(r) of eachother
685 VG_STATIC
void rb_manifold_contact_weld( rb_ct
*ci
, rb_ct
*cj
, float r
)
687 if( v3_dist2( ci
->co
, cj
->co
) < r
*r
)
689 cj
->type
= k_contact_type_disabled
;
690 ci
->p
= (ci
->p
+ cj
->p
) * 0.5f
;
692 v3_add( ci
->co
, cj
->co
, ci
->co
);
693 v3_muls( ci
->co
, 0.5f
, ci
->co
);
696 v3_sub( ci
->rba
->co
, ci
->co
, delta
);
698 float c0
= v3_dot( ci
->n
, delta
),
699 c1
= v3_dot( cj
->n
, delta
);
701 if( c0
< 0.0f
|| c1
< 0.0f
)
704 ci
->type
= k_contact_type_disabled
;
709 v3_muls( ci
->n
, c0
, n
);
710 v3_muladds( n
, cj
->n
, c1
, n
);
720 VG_STATIC
void rb_manifold_filter_joint_edges( rb_ct
*man
, int len
, float r
)
722 for( int i
=0; i
<len
-1; i
++ )
725 if( ci
->type
!= k_contact_type_edge
)
728 for( int j
=i
+1; j
<len
; j
++ )
731 if( cj
->type
!= k_contact_type_edge
)
734 rb_manifold_contact_weld( ci
, cj
, r
);
740 * Resolve overlapping pairs
744 VG_STATIC
void rb_manifold_filter_pairs( rb_ct
*man
, int len
, float r
)
746 for( int i
=0; i
<len
-1; i
++ )
751 if( ci
->type
== k_contact_type_disabled
) continue;
753 for( int j
=i
+1; j
<len
; j
++ )
757 if( cj
->type
== k_contact_type_disabled
) continue;
759 if( v3_dist2( ci
->co
, cj
->co
) < r
*r
)
761 cj
->type
= k_contact_type_disabled
;
762 v3_add( cj
->n
, ci
->n
, ci
->n
);
770 float n
= 1.0f
/((float)similar
+1.0f
);
771 v3_muls( ci
->n
, n
, ci
->n
);
774 if( v3_length2(ci
->n
) < 0.1f
*0.1f
)
775 ci
->type
= k_contact_type_disabled
;
777 v3_normalize( ci
->n
);
783 * Remove contacts that are facing away from A
785 VG_STATIC
void rb_manifold_filter_backface( rb_ct
*man
, int len
)
787 for( int i
=0; i
<len
; i
++ )
790 if( ct
->type
== k_contact_type_disabled
)
794 v3_sub( ct
->co
, ct
->rba
->co
, delta
);
796 if( v3_dot( delta
, ct
->n
) > -0.001f
)
797 ct
->type
= k_contact_type_disabled
;
802 * Filter out duplicate coplanar results. Good for spheres.
804 VG_STATIC
void rb_manifold_filter_coplanar( rb_ct
*man
, int len
, float w
)
806 for( int i
=0; i
<len
; i
++ )
809 if( ci
->type
== k_contact_type_disabled
||
810 ci
->type
== k_contact_type_edge
)
813 float d1
= v3_dot( ci
->co
, ci
->n
);
815 for( int j
=0; j
<len
; j
++ )
821 if( cj
->type
== k_contact_type_disabled
)
824 float d2
= v3_dot( cj
->co
, ci
->n
),
827 if( fabsf( d
) <= w
)
829 cj
->type
= k_contact_type_disabled
;
836 * -----------------------------------------------------------------------------
838 * -----------------------------------------------------------------------------
844 * These do not automatically allocate contacts, an appropriately sized
845 * buffer must be supplied. The function returns the size of the manifold
846 * which was generated.
848 * The values set on the contacts are: n, co, p, rba, rbb
852 * By collecting the minimum(time) and maximum(time) pairs of points, we
853 * build a reduced and stable exact manifold.
856 * rx: minimum distance of these points
857 * dx: the delta between the two points
859 * pairs will only ammend these if they are creating a collision
861 typedef struct capsule_manifold capsule_manifold
;
862 struct capsule_manifold
870 * Expand a line manifold with a new pair. t value is the time along segment
871 * on the oriented object which created this pair.
873 VG_STATIC
void rb_capsule_manifold( v3f pa
, v3f pb
, float t
, float r
,
874 capsule_manifold
*manifold
)
877 v3_sub( pa
, pb
, delta
);
879 if( v3_length2(delta
) < r
*r
)
881 if( t
< manifold
->t0
)
883 v3_copy( delta
, manifold
->d0
);
888 if( t
> manifold
->t1
)
890 v3_copy( delta
, manifold
->d1
);
897 VG_STATIC
void rb_capsule_manifold_init( capsule_manifold
*manifold
)
899 manifold
->t0
= INFINITY
;
900 manifold
->t1
= -INFINITY
;
903 __attribute__ ((deprecated
))
904 VG_STATIC
int rb_capsule_manifold_done( rigidbody
*rba
, rigidbody
*rbb
,
905 capsule_manifold
*manifold
, rb_ct
*buf
)
907 float h
= rba
->inf
.capsule
.height
,
908 ra
= rba
->inf
.capsule
.radius
;
911 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+ra
, p0
);
912 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-ra
, p1
);
915 if( manifold
->t0
<= 1.0f
)
920 v3_muls( p0
, 1.0f
-manifold
->t0
, pa
);
921 v3_muladds( pa
, p1
, manifold
->t0
, pa
);
923 float d
= v3_length( manifold
->d0
);
924 v3_muls( manifold
->d0
, 1.0f
/d
, ct
->n
);
925 v3_muladds( pa
, ct
->n
, -ra
, ct
->co
);
927 ct
->p
= manifold
->r0
- d
;
930 ct
->type
= k_contact_type_default
;
935 if( (manifold
->t1
>= 0.0f
) && (manifold
->t0
!= manifold
->t1
) )
937 rb_ct
*ct
= buf
+count
;
940 v3_muls( p0
, 1.0f
-manifold
->t1
, pa
);
941 v3_muladds( pa
, p1
, manifold
->t1
, pa
);
943 float d
= v3_length( manifold
->d1
);
944 v3_muls( manifold
->d1
, 1.0f
/d
, ct
->n
);
945 v3_muladds( pa
, ct
->n
, -ra
, ct
->co
);
947 ct
->p
= manifold
->r1
- d
;
950 ct
->type
= k_contact_type_default
;
960 vg_line( buf
[0].co
, buf
[1].co
, 0xff0000ff );
965 VG_STATIC
int rb_capsule__manifold_done( m4x3f mtx
, rb_capsule
*c
,
966 capsule_manifold
*manifold
,
970 v3_muladds( mtx
[3], mtx
[1], -c
->height
*0.5f
+c
->radius
, p0
);
971 v3_muladds( mtx
[3], mtx
[1], c
->height
*0.5f
-c
->radius
, p1
);
974 if( manifold
->t0
<= 1.0f
)
979 v3_muls( p0
, 1.0f
-manifold
->t0
, pa
);
980 v3_muladds( pa
, p1
, manifold
->t0
, pa
);
982 float d
= v3_length( manifold
->d0
);
983 v3_muls( manifold
->d0
, 1.0f
/d
, ct
->n
);
984 v3_muladds( pa
, ct
->n
, -c
->radius
, ct
->co
);
986 ct
->p
= manifold
->r0
- d
;
987 ct
->type
= k_contact_type_default
;
991 if( (manifold
->t1
>= 0.0f
) && (manifold
->t0
!= manifold
->t1
) )
993 rb_ct
*ct
= buf
+count
;
996 v3_muls( p0
, 1.0f
-manifold
->t1
, pa
);
997 v3_muladds( pa
, p1
, manifold
->t1
, pa
);
999 float d
= v3_length( manifold
->d1
);
1000 v3_muls( manifold
->d1
, 1.0f
/d
, ct
->n
);
1001 v3_muladds( pa
, ct
->n
, -c
->radius
, ct
->co
);
1003 ct
->p
= manifold
->r1
- d
;
1004 ct
->type
= k_contact_type_default
;
1014 vg_line( buf
[0].co
, buf
[1].co
, 0xff0000ff );
1019 VG_STATIC
int rb_capsule_sphere( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1021 float h
= rba
->inf
.capsule
.height
,
1022 ra
= rba
->inf
.capsule
.radius
,
1023 rb
= rbb
->inf
.sphere
.radius
;
1026 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+ra
, p0
);
1027 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-ra
, p1
);
1030 closest_point_segment( p0
, p1
, rbb
->co
, c
);
1031 v3_sub( c
, rbb
->co
, delta
);
1033 float d2
= v3_length2(delta
),
1038 float d
= sqrtf(d2
);
1041 v3_muls( delta
, 1.0f
/d
, ct
->n
);
1045 v3_muladds( c
, ct
->n
, -ra
, p0
);
1046 v3_muladds( rbb
->co
, ct
->n
, rb
, p1
);
1047 v3_add( p0
, p1
, ct
->co
);
1048 v3_muls( ct
->co
, 0.5f
, ct
->co
);
1052 ct
->type
= k_contact_type_default
;
1060 VG_STATIC
int rb_capsule_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1062 if( !box_overlap( rba
->bbx_world
, rbb
->bbx_world
) )
1065 float ha
= rba
->inf
.capsule
.height
,
1066 hb
= rbb
->inf
.capsule
.height
,
1067 ra
= rba
->inf
.capsule
.radius
,
1068 rb
= rbb
->inf
.capsule
.radius
,
1072 v3_muladds( rba
->co
, rba
->up
, -ha
*0.5f
+ra
, p0
);
1073 v3_muladds( rba
->co
, rba
->up
, ha
*0.5f
-ra
, p1
);
1074 v3_muladds( rbb
->co
, rbb
->up
, -hb
*0.5f
+rb
, p2
);
1075 v3_muladds( rbb
->co
, rbb
->up
, hb
*0.5f
-rb
, p3
);
1077 capsule_manifold manifold
;
1078 rb_capsule_manifold_init( &manifold
);
1082 closest_segment_segment( p0
, p1
, p2
, p3
, &ta
, &tb
, pa
, pb
);
1083 rb_capsule_manifold( pa
, pb
, ta
, r
, &manifold
);
1085 ta
= closest_point_segment( p0
, p1
, p2
, pa
);
1086 tb
= closest_point_segment( p0
, p1
, p3
, pb
);
1087 rb_capsule_manifold( pa
, p2
, ta
, r
, &manifold
);
1088 rb_capsule_manifold( pb
, p3
, tb
, r
, &manifold
);
1090 closest_point_segment( p2
, p3
, p0
, pa
);
1091 closest_point_segment( p2
, p3
, p1
, pb
);
1092 rb_capsule_manifold( p0
, pa
, 0.0f
, r
, &manifold
);
1093 rb_capsule_manifold( p1
, pb
, 1.0f
, r
, &manifold
);
1095 return rb_capsule_manifold_done( rba
, rbb
, &manifold
, buf
);
1099 * Generates up to two contacts; optimised for the most stable manifold
1101 VG_STATIC
int rb_capsule_box( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1103 float h
= rba
->inf
.capsule
.height
,
1104 r
= rba
->inf
.capsule
.radius
;
1107 * Solving this in symetric local space of the cube saves us some time and a
1108 * couple branches when it comes to the quad stage.
1111 v3_add( rbb
->bbx
[0], rbb
->bbx
[1], centroid
);
1112 v3_muls( centroid
, 0.5f
, centroid
);
1115 v3_sub( rbb
->bbx
[0], centroid
, bbx
[0] );
1116 v3_sub( rbb
->bbx
[1], centroid
, bbx
[1] );
1118 v3f pc
, p0w
, p1w
, p0
, p1
;
1119 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+r
, p0w
);
1120 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-r
, p1w
);
1122 m4x3_mulv( rbb
->to_local
, p0w
, p0
);
1123 m4x3_mulv( rbb
->to_local
, p1w
, p1
);
1124 v3_sub( p0
, centroid
, p0
);
1125 v3_sub( p1
, centroid
, p1
);
1126 v3_add( p0
, p1
, pc
);
1127 v3_muls( pc
, 0.5f
, pc
);
1130 * Finding an appropriate quad to collide lines with
1133 v3_div( pc
, bbx
[1], region
);
1136 if( (fabsf(region
[0]) > fabsf(region
[1])) &&
1137 (fabsf(region
[0]) > fabsf(region
[2])) )
1139 float px
= vg_signf(region
[0]) * bbx
[1][0];
1140 v3_copy( (v3f
){ px
, bbx
[0][1], bbx
[0][2] }, quad
[0] );
1141 v3_copy( (v3f
){ px
, bbx
[1][1], bbx
[0][2] }, quad
[1] );
1142 v3_copy( (v3f
){ px
, bbx
[1][1], bbx
[1][2] }, quad
[2] );
1143 v3_copy( (v3f
){ px
, bbx
[0][1], bbx
[1][2] }, quad
[3] );
1145 else if( fabsf(region
[1]) > fabsf(region
[2]) )
1147 float py
= vg_signf(region
[1]) * bbx
[1][1];
1148 v3_copy( (v3f
){ bbx
[0][0], py
, bbx
[0][2] }, quad
[0] );
1149 v3_copy( (v3f
){ bbx
[1][0], py
, bbx
[0][2] }, quad
[1] );
1150 v3_copy( (v3f
){ bbx
[1][0], py
, bbx
[1][2] }, quad
[2] );
1151 v3_copy( (v3f
){ bbx
[0][0], py
, bbx
[1][2] }, quad
[3] );
1155 float pz
= vg_signf(region
[2]) * bbx
[1][2];
1156 v3_copy( (v3f
){ bbx
[0][0], bbx
[0][1], pz
}, quad
[0] );
1157 v3_copy( (v3f
){ bbx
[1][0], bbx
[0][1], pz
}, quad
[1] );
1158 v3_copy( (v3f
){ bbx
[1][0], bbx
[1][1], pz
}, quad
[2] );
1159 v3_copy( (v3f
){ bbx
[0][0], bbx
[1][1], pz
}, quad
[3] );
1162 capsule_manifold manifold
;
1163 rb_capsule_manifold_init( &manifold
);
1166 closest_point_aabb( p0
, bbx
, c0
);
1167 closest_point_aabb( p1
, bbx
, c1
);
1170 v3_sub( c0
, p0
, d0
);
1171 v3_sub( c1
, p1
, d1
);
1172 v3_sub( p1
, p0
, da
);
1178 if( v3_dot( da
, d0
) <= 0.01f
)
1179 rb_capsule_manifold( p0
, c0
, 0.0f
, r
, &manifold
);
1181 if( v3_dot( da
, d1
) >= -0.01f
)
1182 rb_capsule_manifold( p1
, c1
, 1.0f
, r
, &manifold
);
1184 for( int i
=0; i
<4; i
++ )
1191 closest_segment_segment( p0
, p1
, quad
[i0
], quad
[i1
], &ta
, &tb
, ca
, cb
);
1192 rb_capsule_manifold( ca
, cb
, ta
, r
, &manifold
);
1196 * Create final contacts based on line manifold
1198 m3x3_mulv( rbb
->to_world
, manifold
.d0
, manifold
.d0
);
1199 m3x3_mulv( rbb
->to_world
, manifold
.d1
, manifold
.d1
);
1206 for( int i
=0; i
<4; i
++ )
1212 v3_add( quad
[i0
], centroid
, q0
);
1213 v3_add( quad
[i1
], centroid
, q1
);
1215 m4x3_mulv( rbb
->to_world
, q0
, q0
);
1216 m4x3_mulv( rbb
->to_world
, q1
, q1
);
1218 vg_line( q0
, q1
, 0xffffffff );
1222 return rb_capsule_manifold_done( rba
, rbb
, &manifold
, buf
);
1225 VG_STATIC
int rb_sphere_box( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1229 closest_point_obb( rba
->co
, rbb
->bbx
, rbb
->to_world
, rbb
->to_local
, co
);
1230 v3_sub( rba
->co
, co
, delta
);
1232 float d2
= v3_length2(delta
),
1233 r
= rba
->inf
.sphere
.radius
;
1242 v3_sub( rba
->co
, rbb
->co
, delta
);
1245 * some extra testing is required to find the best axis to push the
1246 * object back outside the box. Since there isnt a clear seperating
1247 * vector already, especially on really high aspect boxes.
1249 float lx
= v3_dot( rbb
->right
, delta
),
1250 ly
= v3_dot( rbb
->up
, delta
),
1251 lz
= v3_dot( rbb
->forward
, delta
),
1252 px
= rbb
->bbx
[1][0] - fabsf(lx
),
1253 py
= rbb
->bbx
[1][1] - fabsf(ly
),
1254 pz
= rbb
->bbx
[1][2] - fabsf(lz
);
1256 if( px
< py
&& px
< pz
)
1257 v3_muls( rbb
->right
, vg_signf(lx
), ct
->n
);
1259 v3_muls( rbb
->up
, vg_signf(ly
), ct
->n
);
1261 v3_muls( rbb
->forward
, vg_signf(lz
), ct
->n
);
1263 v3_muladds( rba
->co
, ct
->n
, -r
, ct
->co
);
1269 v3_muls( delta
, 1.0f
/d
, ct
->n
);
1271 v3_copy( co
, ct
->co
);
1276 ct
->type
= k_contact_type_default
;
1283 VG_STATIC
int rb_sphere_sphere( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1286 v3_sub( rba
->co
, rbb
->co
, delta
);
1288 float d2
= v3_length2(delta
),
1289 r
= rba
->inf
.sphere
.radius
+ rbb
->inf
.sphere
.radius
;
1293 float d
= sqrtf(d2
);
1296 v3_muls( delta
, 1.0f
/d
, ct
->n
);
1299 v3_muladds( rba
->co
, ct
->n
,-rba
->inf
.sphere
.radius
, p0
);
1300 v3_muladds( rbb
->co
, ct
->n
, rbb
->inf
.sphere
.radius
, p1
);
1301 v3_add( p0
, p1
, ct
->co
);
1302 v3_muls( ct
->co
, 0.5f
, ct
->co
);
1303 ct
->type
= k_contact_type_default
;
1313 //#define RIGIDBODY_DYNAMIC_MESH_EDGES
1315 __attribute__ ((deprecated
))
1316 VG_STATIC
int rb_sphere_triangle( rigidbody
*rba
, rigidbody
*rbb
,
1317 v3f tri
[3], rb_ct
*buf
)
1321 #ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
1322 closest_on_triangle_1( rba
->co
, tri
, co
);
1324 enum contact_type type
= closest_on_triangle_1( rba
->co
, tri
, co
);
1327 v3_sub( rba
->co
, co
, delta
);
1329 float d2
= v3_length2( delta
),
1330 r
= rba
->inf
.sphere
.radius
;
1337 v3_sub( tri
[2], tri
[0], ab
);
1338 v3_sub( tri
[1], tri
[0], ac
);
1339 v3_cross( ac
, ab
, tn
);
1340 v3_copy( tn
, ct
->n
);
1342 if( v3_length2( ct
->n
) <= 0.00001f
)
1344 vg_error( "Zero area triangle!\n" );
1348 v3_normalize( ct
->n
);
1350 float d
= sqrtf(d2
);
1352 v3_copy( co
, ct
->co
);
1363 VG_STATIC
int rb_sphere__triangle( m4x3f mtxA
, rb_sphere
*b
,
1364 v3f tri
[3], rb_ct
*buf
)
1367 enum contact_type type
= closest_on_triangle_1( mtxA
[3], tri
, co
);
1369 v3_sub( mtxA
[3], co
, delta
);
1371 float d2
= v3_length2( delta
),
1379 v3_sub( tri
[2], tri
[0], ab
);
1380 v3_sub( tri
[1], tri
[0], ac
);
1381 v3_cross( ac
, ab
, tn
);
1382 v3_copy( tn
, ct
->n
);
1384 if( v3_length2( ct
->n
) <= 0.00001f
)
1386 vg_error( "Zero area triangle!\n" );
1390 v3_normalize( ct
->n
);
1392 float d
= sqrtf(d2
);
1394 v3_copy( co
, ct
->co
);
1403 VG_STATIC
void rb_debug_sharp_scene_edges( rigidbody
*rbb
, float sharp_ang
,
1404 boxf box
, u32 colour
)
1406 sharp_ang
= cosf( sharp_ang
);
1408 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1409 vg_line_boxf( box
, 0xff00ff00 );
1412 bh_iter_init( 0, &it
);
1415 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, box
, &idx
) )
1417 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1420 for( int j
=0; j
<3; j
++ )
1421 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1423 for( int j
=0; j
<3; j
++ )
1427 v3_sub( tri
[(j
+1)%3], tri
[j
], edir
);
1429 if( v3_dot( edir
, (v3f
){ 0.5184758473652127f
,
1430 0.2073903389460850f
,
1431 -0.8295613557843402f
} ) < 0.0f
)
1436 bh_iter_init( 0, &jt
);
1439 float const k_r
= 0.02f
;
1440 v3_add( (v3f
){ k_r
, k_r
, k_r
}, tri
[j
], region
[1] );
1441 v3_add( (v3f
){ -k_r
, -k_r
, -k_r
}, tri
[j
], region
[0] );
1444 while( bh_next( rbb
->inf
.scene
.bh_scene
, &jt
, region
, &jdx
) )
1449 u32
*ptrj
= &sc
->arrindices
[ jdx
*3 ];
1452 for( int k
=0; k
<3; k
++ )
1453 v3_copy( sc
->arrvertices
[ptrj
[k
]].co
, trj
[k
] );
1455 for( int k
=0; k
<3; k
++ )
1457 if( v3_dist2( tri
[j
], trj
[k
] ) <= k_r
*k_r
)
1464 if( v3_dist2( tri
[jp1
], trj
[km1
] ) <= k_r
*k_r
)
1467 v3_sub( tri
[jp1
], tri
[j
], b0
);
1468 v3_sub( tri
[jp2
], tri
[j
], b1
);
1469 v3_sub( trj
[km2
], tri
[j
], b2
);
1472 v3_cross( b0
, b1
, cx0
);
1473 v3_cross( b2
, b0
, cx1
);
1475 float polarity
= v3_dot( cx0
, b2
);
1477 if( polarity
< 0.0f
)
1480 vg_line( tri
[j
], tri
[jp1
], 0xff00ff00 );
1481 float ang
= v3_dot(cx0
,cx1
) /
1482 (v3_length(cx0
)*v3_length(cx1
));
1483 if( ang
< sharp_ang
)
1485 vg_line( tri
[j
], tri
[jp1
], 0xff00ff00 );
1497 VG_STATIC
int rb_sphere__scene( m4x3f mtxA
, rb_sphere
*b
,
1498 m4x3f mtxB
, rb_scene
*s
, rb_ct
*buf
)
1500 scene
*sc
= s
->bh_scene
->user
;
1503 bh_iter_init( 0, &it
);
1508 float r
= b
->radius
+ 0.1f
;
1510 v3_sub( mtxA
[3], (v3f
){ r
,r
,r
}, box
[0] );
1511 v3_add( mtxA
[3], (v3f
){ r
,r
,r
}, box
[1] );
1513 while( bh_next( s
->bh_scene
, &it
, box
, &idx
) )
1515 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1518 for( int j
=0; j
<3; j
++ )
1519 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1521 buf
[ count
].element_id
= ptri
[0];
1523 vg_line( tri
[0],tri
[1],0x70ff6000 );
1524 vg_line( tri
[1],tri
[2],0x70ff6000 );
1525 vg_line( tri
[2],tri
[0],0x70ff6000 );
1527 int contact
= rb_sphere__triangle( mtxA
, b
, tri
, &buf
[count
] );
1532 vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
1540 __attribute__ ((deprecated
))
1541 VG_STATIC
int rb_sphere_scene( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1543 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1546 bh_iter_init( 0, &it
);
1551 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, rba
->bbx_world
, &idx
) )
1553 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1556 for( int j
=0; j
<3; j
++ )
1557 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1559 buf
[ count
].element_id
= ptri
[0];
1561 vg_line( tri
[0],tri
[1],0x70ff6000 );
1562 vg_line( tri
[1],tri
[2],0x70ff6000 );
1563 vg_line( tri
[2],tri
[0],0x70ff6000 );
1565 int contact
= rb_sphere_triangle( rba
, rbb
, tri
, buf
+count
);
1570 vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
1578 VG_STATIC
int rb_box_scene( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1580 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1585 bh_iter_init( 0, &it
);
1590 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, rba
->bbx_world
, &idx
) )
1592 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1594 for( int j
=0; j
<3; j
++ )
1595 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1597 if( rb_box_triangle_sat( rba
, tri
) )
1599 vg_line(tri
[0],tri
[1],0xff50ff00 );
1600 vg_line(tri
[1],tri
[2],0xff50ff00 );
1601 vg_line(tri
[2],tri
[0],0xff50ff00 );
1605 vg_line(tri
[0],tri
[1],0xff0000ff );
1606 vg_line(tri
[1],tri
[2],0xff0000ff );
1607 vg_line(tri
[2],tri
[0],0xff0000ff );
1613 v3_sub( tri
[1], tri
[0], v0
);
1614 v3_sub( tri
[2], tri
[0], v1
);
1615 v3_cross( v0
, v1
, n
);
1618 /* find best feature */
1619 float best
= v3_dot( rba
->right
, n
);
1622 float cy
= v3_dot( rba
->up
, n
);
1623 if( fabsf(cy
) > fabsf(best
) )
1629 float cz
= -v3_dot( rba
->forward
, n
);
1630 if( fabsf(cz
) > fabsf(best
) )
1640 float px
= best
> 0.0f
? rba
->bbx
[0][0]: rba
->bbx
[1][0];
1641 manifold
[0][0] = px
;
1642 manifold
[0][1] = rba
->bbx
[0][1];
1643 manifold
[0][2] = rba
->bbx
[0][2];
1644 manifold
[1][0] = px
;
1645 manifold
[1][1] = rba
->bbx
[1][1];
1646 manifold
[1][2] = rba
->bbx
[0][2];
1647 manifold
[2][0] = px
;
1648 manifold
[2][1] = rba
->bbx
[1][1];
1649 manifold
[2][2] = rba
->bbx
[1][2];
1650 manifold
[3][0] = px
;
1651 manifold
[3][1] = rba
->bbx
[0][1];
1652 manifold
[3][2] = rba
->bbx
[1][2];
1654 else if( axis
== 1 )
1656 float py
= best
> 0.0f
? rba
->bbx
[0][1]: rba
->bbx
[1][1];
1657 manifold
[0][0] = rba
->bbx
[0][0];
1658 manifold
[0][1] = py
;
1659 manifold
[0][2] = rba
->bbx
[0][2];
1660 manifold
[1][0] = rba
->bbx
[1][0];
1661 manifold
[1][1] = py
;
1662 manifold
[1][2] = rba
->bbx
[0][2];
1663 manifold
[2][0] = rba
->bbx
[1][0];
1664 manifold
[2][1] = py
;
1665 manifold
[2][2] = rba
->bbx
[1][2];
1666 manifold
[3][0] = rba
->bbx
[0][0];
1667 manifold
[3][1] = py
;
1668 manifold
[3][2] = rba
->bbx
[1][2];
1672 float pz
= best
> 0.0f
? rba
->bbx
[0][2]: rba
->bbx
[1][2];
1673 manifold
[0][0] = rba
->bbx
[0][0];
1674 manifold
[0][1] = rba
->bbx
[0][1];
1675 manifold
[0][2] = pz
;
1676 manifold
[1][0] = rba
->bbx
[1][0];
1677 manifold
[1][1] = rba
->bbx
[0][1];
1678 manifold
[1][2] = pz
;
1679 manifold
[2][0] = rba
->bbx
[1][0];
1680 manifold
[2][1] = rba
->bbx
[1][1];
1681 manifold
[2][2] = pz
;
1682 manifold
[3][0] = rba
->bbx
[0][0];
1683 manifold
[3][1] = rba
->bbx
[1][1];
1684 manifold
[3][2] = pz
;
1687 for( int j
=0; j
<4; j
++ )
1688 m4x3_mulv( rba
->to_world
, manifold
[j
], manifold
[j
] );
1690 vg_line( manifold
[0], manifold
[1], 0xffffffff );
1691 vg_line( manifold
[1], manifold
[2], 0xffffffff );
1692 vg_line( manifold
[2], manifold
[3], 0xffffffff );
1693 vg_line( manifold
[3], manifold
[0], 0xffffffff );
1695 for( int j
=0; j
<4; j
++ )
1697 rb_ct
*ct
= buf
+count
;
1699 v3_copy( manifold
[j
], ct
->co
);
1700 v3_copy( n
, ct
->n
);
1702 float l0
= v3_dot( tri
[0], n
),
1703 l1
= v3_dot( manifold
[j
], n
);
1705 ct
->p
= (l0
-l1
)*0.5f
;
1709 ct
->type
= k_contact_type_default
;
1721 VG_STATIC
int rb_capsule__triangle( m4x3f mtxA
, rb_capsule
*c
,
1722 v3f tri
[3], rb_ct
*buf
)
1725 v3_muladds( mtxA
[3], mtxA
[1], -c
->height
*0.5f
+c
->radius
, p0w
);
1726 v3_muladds( mtxA
[3], mtxA
[1], c
->height
*0.5f
-c
->radius
, p1w
);
1728 capsule_manifold manifold
;
1729 rb_capsule_manifold_init( &manifold
);
1732 closest_on_triangle_1( p0w
, tri
, c0
);
1733 closest_on_triangle_1( p1w
, tri
, c1
);
1736 v3_sub( c0
, p0w
, d0
);
1737 v3_sub( c1
, p1w
, d1
);
1738 v3_sub( p1w
, p0w
, da
);
1744 if( v3_dot( da
, d0
) <= 0.01f
)
1745 rb_capsule_manifold( p0w
, c0
, 0.0f
, c
->radius
, &manifold
);
1747 if( v3_dot( da
, d1
) >= -0.01f
)
1748 rb_capsule_manifold( p1w
, c1
, 1.0f
, c
->radius
, &manifold
);
1750 for( int i
=0; i
<3; i
++ )
1757 closest_segment_segment( p0w
, p1w
, tri
[i0
], tri
[i1
], &ta
, &tb
, ca
, cb
);
1758 rb_capsule_manifold( ca
, cb
, ta
, c
->radius
, &manifold
);
1762 v3_sub( tri
[1], tri
[0], v0
);
1763 v3_sub( tri
[2], tri
[0], v1
);
1764 v3_cross( v0
, v1
, n
);
1767 int count
= rb_capsule__manifold_done( mtxA
, c
, &manifold
, buf
);
1768 for( int i
=0; i
<count
; i
++ )
1769 v3_copy( n
, buf
[i
].n
);
1775 * Generates up to two contacts; optimised for the most stable manifold
1777 __attribute__ ((deprecated
))
1778 VG_STATIC
int rb_capsule_triangle( rigidbody
*rba
, rigidbody
*rbb
,
1779 v3f tri
[3], rb_ct
*buf
)
1781 float h
= rba
->inf
.capsule
.height
,
1782 r
= rba
->inf
.capsule
.radius
;
1785 v3_muladds( rba
->co
, rba
->up
, -h
*0.5f
+r
, p0w
);
1786 v3_muladds( rba
->co
, rba
->up
, h
*0.5f
-r
, p1w
);
1788 capsule_manifold manifold
;
1789 rb_capsule_manifold_init( &manifold
);
1792 closest_on_triangle_1( p0w
, tri
, c0
);
1793 closest_on_triangle_1( p1w
, tri
, c1
);
1796 v3_sub( c0
, p0w
, d0
);
1797 v3_sub( c1
, p1w
, d1
);
1798 v3_sub( p1w
, p0w
, da
);
1804 if( v3_dot( da
, d0
) <= 0.01f
)
1805 rb_capsule_manifold( p0w
, c0
, 0.0f
, r
, &manifold
);
1807 if( v3_dot( da
, d1
) >= -0.01f
)
1808 rb_capsule_manifold( p1w
, c1
, 1.0f
, r
, &manifold
);
1810 for( int i
=0; i
<3; i
++ )
1817 closest_segment_segment( p0w
, p1w
, tri
[i0
], tri
[i1
], &ta
, &tb
, ca
, cb
);
1818 rb_capsule_manifold( ca
, cb
, ta
, r
, &manifold
);
1822 v3_sub( tri
[1], tri
[0], v0
);
1823 v3_sub( tri
[2], tri
[0], v1
);
1824 v3_cross( v0
, v1
, n
);
1827 int count
= rb_capsule_manifold_done( rba
, rbb
, &manifold
, buf
);
1828 for( int i
=0; i
<count
; i
++ )
1829 v3_copy( n
, buf
[i
].n
);
1834 /* mtxB is defined only for tradition; it is not used currently */
1835 VG_STATIC
int rb_capsule__scene( m4x3f mtxA
, rb_capsule
*c
,
1836 m4x3f mtxB
, rb_scene
*s
,
1840 bh_iter_init( 0, &it
);
1845 v3_sub( mtxA
[3], (v3f
){ c
->height
, c
->height
, c
->height
}, bbx
[0] );
1846 v3_add( mtxA
[3], (v3f
){ c
->height
, c
->height
, c
->height
}, bbx
[1] );
1848 scene
*sc
= s
->bh_scene
->user
;
1850 while( bh_next( s
->bh_scene
, &it
, bbx
, &idx
) )
1852 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1855 for( int j
=0; j
<3; j
++ )
1856 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1858 buf
[ count
].element_id
= ptri
[0];
1860 int contact
= rb_capsule__triangle( mtxA
, c
, tri
, &buf
[count
] );
1865 vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
1873 __attribute__ ((deprecated
))
1874 VG_STATIC
int rb_capsule_scene( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1876 scene
*sc
= rbb
->inf
.scene
.bh_scene
->user
;
1879 bh_iter_init( 0, &it
);
1884 while( bh_next( rbb
->inf
.scene
.bh_scene
, &it
, rba
->bbx_world
, &idx
) )
1886 u32
*ptri
= &sc
->arrindices
[ idx
*3 ];
1889 for( int j
=0; j
<3; j
++ )
1890 v3_copy( sc
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
1892 buf
[ count
].element_id
= ptri
[0];
1895 vg_line( tri
[0],tri
[1],0x70ff6000 );
1896 vg_line( tri
[1],tri
[2],0x70ff6000 );
1897 vg_line( tri
[2],tri
[0],0x70ff6000 );
1900 int contact
= rb_capsule_triangle( rba
, rbb
, tri
, buf
+count
);
1905 vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
1913 VG_STATIC
int rb_scene_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1915 return rb_capsule_scene( rbb
, rba
, buf
);
1918 VG_STATIC
int RB_MATRIX_ERROR( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1921 vg_error( "Collision type is unimplemented between types %d and %d\n",
1922 rba
->type
, rbb
->type
);
1928 VG_STATIC
int rb_sphere_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1930 return rb_capsule_sphere( rbb
, rba
, buf
);
1933 VG_STATIC
int rb_box_capsule( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1935 return rb_capsule_box( rbb
, rba
, buf
);
1938 VG_STATIC
int rb_box_sphere( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1940 return rb_sphere_box( rbb
, rba
, buf
);
1943 VG_STATIC
int rb_scene_box( rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1945 return rb_box_scene( rbb
, rba
, buf
);
1948 VG_STATIC
int (*rb_jump_table
[4][4])( rigidbody
*a
, rigidbody
*b
, rb_ct
*buf
) =
1950 /* box */ /* Sphere */ /* Capsule */ /* Mesh */
1951 { RB_MATRIX_ERROR
, rb_box_sphere
, rb_box_capsule
, rb_box_scene
},
1952 { rb_sphere_box
, rb_sphere_sphere
, rb_sphere_capsule
, rb_sphere_scene
},
1953 { rb_capsule_box
, rb_capsule_sphere
, rb_capsule_capsule
, rb_capsule_scene
},
1954 { rb_scene_box
, RB_MATRIX_ERROR
, rb_scene_capsule
, RB_MATRIX_ERROR
}
1957 VG_STATIC
int rb_collide( rigidbody
*rba
, rigidbody
*rbb
)
1959 int (*collider_jump
)(rigidbody
*rba
, rigidbody
*rbb
, rb_ct
*buf
)
1960 = rb_jump_table
[rba
->type
][rbb
->type
];
1963 * 12 is the maximum manifold size we can generate, so we are forced to abort
1964 * potentially checking any more.
1966 if( rb_contact_count
+ 12 > vg_list_size(rb_contact_buffer
) )
1968 vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)",
1969 rb_contact_count
, vg_list_size(rb_contact_buffer
) );
1974 * FUTURE: Replace this with a more dedicated broad phase pass
1976 if( box_overlap( rba
->bbx_world
, rbb
->bbx_world
) )
1978 int count
= collider_jump( rba
, rbb
, rb_contact_buffer
+rb_contact_count
);
1979 rb_contact_count
+= count
;
1987 * -----------------------------------------------------------------------------
1989 * -----------------------------------------------------------------------------
1992 VG_STATIC
void rb_solver_reset(void)
1994 rb_contact_count
= 0;
1997 VG_STATIC rb_ct
*rb_global_ct(void)
1999 return rb_contact_buffer
+ rb_contact_count
;
2002 VG_STATIC
void rb_prepare_contact( rb_ct
*ct
, float timestep
)
2004 ct
->bias
= -0.2f
* (timestep
*3600.0f
)
2005 * vg_minf( 0.0f
, -ct
->p
+k_penetration_slop
);
2007 rb_tangent_basis( ct
->n
, ct
->t
[0], ct
->t
[1] );
2008 ct
->norm_impulse
= 0.0f
;
2009 ct
->tangent_impulse
[0] = 0.0f
;
2010 ct
->tangent_impulse
[1] = 0.0f
;
2013 /* calculate total move. manifold should belong to ONE object only */
2014 VG_STATIC
void rb_depenetrate( rb_ct
*manifold
, int len
, v3f dt
)
2018 for( int j
=0; j
<7; j
++ )
2020 for( int i
=0; i
<len
; i
++ )
2022 struct contact
*ct
= &manifold
[i
];
2024 float resolved_amt
= v3_dot( ct
->n
, dt
),
2025 remaining
= (ct
->p
-k_penetration_slop
) - resolved_amt
,
2026 apply
= vg_maxf( remaining
, 0.0f
) * 0.4f
;
2028 v3_muladds( dt
, ct
->n
, apply
, dt
);
2034 * Initializing things like tangent vectors
2036 VG_STATIC
void rb_presolve_contacts( rb_ct
*buffer
, int len
)
2038 for( int i
=0; i
<len
; i
++ )
2040 rb_ct
*ct
= &buffer
[i
];
2041 rb_prepare_contact( ct
, k_rb_delta
);
2043 v3f ra
, rb
, raCn
, rbCn
, raCt
, rbCt
;
2044 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
2045 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
2046 v3_cross( ra
, ct
->n
, raCn
);
2047 v3_cross( rb
, ct
->n
, rbCn
);
2049 /* orient inverse inertia tensors */
2051 m3x3_mulv( ct
->rba
->iIw
, raCn
, raCnI
);
2052 m3x3_mulv( ct
->rbb
->iIw
, rbCn
, rbCnI
);
2054 ct
->normal_mass
= ct
->rba
->inv_mass
+ ct
->rbb
->inv_mass
;
2055 ct
->normal_mass
+= v3_dot( raCn
, raCnI
);
2056 ct
->normal_mass
+= v3_dot( rbCn
, rbCnI
);
2057 ct
->normal_mass
= 1.0f
/ct
->normal_mass
;
2059 for( int j
=0; j
<2; j
++ )
2062 v3_cross( ct
->t
[j
], ra
, raCt
);
2063 v3_cross( ct
->t
[j
], rb
, rbCt
);
2064 m3x3_mulv( ct
->rba
->iIw
, raCt
, raCtI
);
2065 m3x3_mulv( ct
->rbb
->iIw
, rbCt
, rbCtI
);
2067 ct
->tangent_mass
[j
] = ct
->rba
->inv_mass
+ ct
->rbb
->inv_mass
;
2068 ct
->tangent_mass
[j
] += v3_dot( raCt
, raCtI
);
2069 ct
->tangent_mass
[j
] += v3_dot( rbCt
, rbCtI
);
2070 ct
->tangent_mass
[j
] = 1.0f
/ct
->tangent_mass
[j
];
2073 rb_debug_contact( ct
);
2078 * Creates relative contact velocity vector
2080 VG_STATIC
void rb_rcv( rigidbody
*rba
, rigidbody
*rbb
, v3f ra
, v3f rb
, v3f rv
)
2083 v3_cross( rba
->w
, ra
, rva
);
2084 v3_add( rba
->v
, rva
, rva
);
2085 v3_cross( rbb
->w
, rb
, rvb
);
2086 v3_add( rbb
->v
, rvb
, rvb
);
2088 v3_sub( rva
, rvb
, rv
);
2092 * Apply impulse to object
2094 VG_STATIC
void rb_linear_impulse( rigidbody
*rb
, v3f delta
, v3f impulse
)
2097 v3_muladds( rb
->v
, impulse
, rb
->inv_mass
, rb
->v
);
2099 /* Angular velocity */
2101 v3_cross( delta
, impulse
, wa
);
2103 m3x3_mulv( rb
->iIw
, wa
, wa
);
2104 v3_add( rb
->w
, wa
, rb
->w
);
2108 * One iteration to solve the contact constraint
2110 VG_STATIC
void rb_solve_contacts( rb_ct
*buf
, int len
)
2112 for( int i
=0; i
<len
; i
++ )
2114 struct contact
*ct
= &buf
[i
];
2117 v3_sub( ct
->co
, ct
->rba
->co
, ra
);
2118 v3_sub( ct
->co
, ct
->rbb
->co
, rb
);
2119 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
2122 for( int j
=0; j
<2; j
++ )
2124 float f
= k_friction
* ct
->norm_impulse
,
2125 vt
= v3_dot( rv
, ct
->t
[j
] ),
2126 lambda
= ct
->tangent_mass
[j
] * -vt
;
2128 float temp
= ct
->tangent_impulse
[j
];
2129 ct
->tangent_impulse
[j
] = vg_clampf( temp
+ lambda
, -f
, f
);
2130 lambda
= ct
->tangent_impulse
[j
] - temp
;
2133 v3_muls( ct
->t
[j
], lambda
, impulse
);
2134 rb_linear_impulse( ct
->rba
, ra
, impulse
);
2136 v3_muls( ct
->t
[j
], -lambda
, impulse
);
2137 rb_linear_impulse( ct
->rbb
, rb
, impulse
);
2141 rb_rcv( ct
->rba
, ct
->rbb
, ra
, rb
, rv
);
2142 float vn
= v3_dot( rv
, ct
->n
),
2143 lambda
= ct
->normal_mass
* (-vn
+ ct
->bias
);
2145 float temp
= ct
->norm_impulse
;
2146 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2147 lambda
= ct
->norm_impulse
- temp
;
2150 v3_muls( ct
->n
, lambda
, impulse
);
2151 rb_linear_impulse( ct
->rba
, ra
, impulse
);
2153 v3_muls( ct
->n
, -lambda
, impulse
);
2154 rb_linear_impulse( ct
->rbb
, rb
, impulse
);
2159 * -----------------------------------------------------------------------------
2161 * -----------------------------------------------------------------------------
2164 VG_STATIC
void rb_debug_position_constraints( rb_constr_pos
*buffer
, int len
)
2166 for( int i
=0; i
<len
; i
++ )
2168 rb_constr_pos
*constr
= &buffer
[i
];
2169 rigidbody
*rba
= constr
->rba
, *rbb
= constr
->rbb
;
2172 m3x3_mulv( rba
->to_world
, constr
->lca
, wca
);
2173 m3x3_mulv( rbb
->to_world
, constr
->lcb
, wcb
);
2176 v3_add( wca
, rba
->co
, p0
);
2177 v3_add( wcb
, rbb
->co
, p1
);
2178 vg_line_pt3( p0
, 0.0025f
, 0xff000000 );
2179 vg_line_pt3( p1
, 0.0025f
, 0xffffffff );
2180 vg_line2( p0
, p1
, 0xff000000, 0xffffffff );
2184 VG_STATIC
void rb_presolve_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2189 for( int i
=0; i
<len
; i
++ )
2191 rb_constr_swingtwist
*st
= &buf
[ i
];
2193 v3f vx
, vy
, va
, vxb
, axis
, center
;
2195 m3x3_mulv( st
->rba
->to_world
, st
->conevx
, vx
);
2196 m3x3_mulv( st
->rbb
->to_world
, st
->conevxb
, vxb
);
2197 m3x3_mulv( st
->rba
->to_world
, st
->conevy
, vy
);
2198 m3x3_mulv( st
->rbb
->to_world
, st
->coneva
, va
);
2199 m4x3_mulv( st
->rba
->to_world
, st
->view_offset
, center
);
2200 v3_cross( vy
, vx
, axis
);
2202 /* Constraint violated ? */
2203 float fx
= v3_dot( vx
, va
), /* projection world */
2204 fy
= v3_dot( vy
, va
),
2205 fn
= v3_dot( va
, axis
),
2207 rx
= st
->conevx
[3], /* elipse radii */
2210 lx
= fx
/rx
, /* projection local (fn==lz) */
2213 st
->tangent_violation
= ((lx
*lx
+ ly
*ly
) > fn
*fn
) || (fn
<= 0.0f
);
2214 if( st
->tangent_violation
)
2216 /* Calculate a good position and the axis to solve on */
2217 v2f closest
, tangent
,
2218 p
= { fx
/fabsf(fn
), fy
/fabsf(fn
) };
2220 closest_point_elipse( p
, (v2f
){rx
,ry
}, closest
);
2221 tangent
[0] = -closest
[1] / (ry
*ry
);
2222 tangent
[1] = closest
[0] / (rx
*rx
);
2223 v2_normalize( tangent
);
2226 v3_muladds( axis
, vx
, closest
[0], v0
);
2227 v3_muladds( v0
, vy
, closest
[1], v0
);
2230 v3_muls( vx
, tangent
[0], v1
);
2231 v3_muladds( v1
, vy
, tangent
[1], v1
);
2233 v3_copy( v0
, st
->tangent_target
);
2234 v3_copy( v1
, st
->tangent_axis
);
2236 /* calculate mass */
2238 m3x3_mulv( st
->rba
->iIw
, st
->tangent_axis
, aIw
);
2239 m3x3_mulv( st
->rbb
->iIw
, st
->tangent_axis
, bIw
);
2240 st
->tangent_mass
= 1.0f
/ (v3_dot( st
->tangent_axis
, aIw
) +
2241 v3_dot( st
->tangent_axis
, bIw
));
2243 float angle
= v3_dot( va
, st
->tangent_target
);
2247 v3_cross( vy
, va
, refaxis
); /* our default rotation */
2248 v3_normalize( refaxis
);
2250 float angle
= v3_dot( refaxis
, vxb
);
2251 st
->axis_violation
= fabsf(angle
) < st
->conet
;
2253 if( st
->axis_violation
)
2256 v3_cross( refaxis
, vxb
, dir_test
);
2258 if( v3_dot(dir_test
, va
) < 0.0f
)
2259 st
->axis_violation
= -st
->axis_violation
;
2261 float newang
= (float)st
->axis_violation
* acosf(st
->conet
-0.0001f
);
2264 v3_cross( va
, refaxis
, refaxis_up
);
2265 v3_muls( refaxis_up
, sinf(newang
), st
->axis_target
);
2266 v3_muladds( st
->axis_target
, refaxis
, -cosf(newang
), st
->axis_target
);
2268 /* calculate mass */
2269 v3_copy( va
, st
->axis
);
2271 m3x3_mulv( st
->rba
->iIw
, st
->axis
, aIw
);
2272 m3x3_mulv( st
->rbb
->iIw
, st
->axis
, bIw
);
2273 st
->axis_mass
= 1.0f
/ (v3_dot( st
->axis
, aIw
) +
2274 v3_dot( st
->axis
, bIw
));
2279 VG_STATIC
void rb_debug_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2284 for( int i
=0; i
<len
; i
++ )
2286 rb_constr_swingtwist
*st
= &buf
[ i
];
2288 v3f vx
, vxb
, vy
, va
, axis
, center
;
2290 m3x3_mulv( st
->rba
->to_world
, st
->conevx
, vx
);
2291 m3x3_mulv( st
->rbb
->to_world
, st
->conevxb
, vxb
);
2292 m3x3_mulv( st
->rba
->to_world
, st
->conevy
, vy
);
2293 m3x3_mulv( st
->rbb
->to_world
, st
->coneva
, va
);
2294 m4x3_mulv( st
->rba
->to_world
, st
->view_offset
, center
);
2295 v3_cross( vy
, vx
, axis
);
2297 float rx
= st
->conevx
[3], /* elipse radii */
2301 v3_muladds( center
, va
, size
, p1
);
2302 vg_line( center
, p1
, 0xffffffff );
2303 vg_line_pt3( p1
, 0.00025f
, 0xffffffff );
2305 if( st
->tangent_violation
)
2307 v3_muladds( center
, st
->tangent_target
, size
, p0
);
2309 vg_line( center
, p0
, 0xff00ff00 );
2310 vg_line_pt3( p0
, 0.00025f
, 0xff00ff00 );
2311 vg_line( p1
, p0
, 0xff000000 );
2314 for( int x
=0; x
<32; x
++ )
2316 float t0
= ((float)x
* (1.0f
/32.0f
)) * VG_TAUf
,
2317 t1
= (((float)x
+1.0f
) * (1.0f
/32.0f
)) * VG_TAUf
,
2324 v3_muladds( axis
, vx
, c0
*rx
, v0
);
2325 v3_muladds( v0
, vy
, s0
*ry
, v0
);
2326 v3_muladds( axis
, vx
, c1
*rx
, v1
);
2327 v3_muladds( v1
, vy
, s1
*ry
, v1
);
2332 v3_muladds( center
, v0
, size
, p0
);
2333 v3_muladds( center
, v1
, size
, p1
);
2335 u32 col0r
= fabsf(c0
) * 255.0f
,
2336 col0g
= fabsf(s0
) * 255.0f
,
2337 col1r
= fabsf(c1
) * 255.0f
,
2338 col1g
= fabsf(s1
) * 255.0f
,
2339 col
= st
->tangent_violation
? 0xff0000ff: 0xff000000,
2340 col0
= col
| (col0r
<<16) | (col0g
<< 8),
2341 col1
= col
| (col1r
<<16) | (col1g
<< 8);
2343 vg_line2( center
, p0
, VG__NONE
, col0
);
2344 vg_line2( p0
, p1
, col0
, col1
);
2348 v3_muladds( center
, va
, size
, p0
);
2349 v3_muladds( p0
, vxb
, size
, p1
);
2351 vg_line( p0
, p1
, 0xff0000ff );
2353 if( st
->axis_violation
)
2355 v3_muladds( p0
, st
->axis_target
, size
*1.25f
, p1
);
2356 vg_line( p0
, p1
, 0xffffff00 );
2357 vg_line_pt3( p1
, 0.0025f
, 0xffffff80 );
2361 v3_cross( vy
, va
, refaxis
); /* our default rotation */
2362 v3_normalize( refaxis
);
2364 v3_cross( va
, refaxis
, refaxis_up
);
2365 float newang
= acosf(st
->conet
-0.0001f
);
2367 v3_muladds( p0
, refaxis_up
, sinf(newang
)*size
, p1
);
2368 v3_muladds( p1
, refaxis
, -cosf(newang
)*size
, p1
);
2369 vg_line( p0
, p1
, 0xff000000 );
2371 v3_muladds( p0
, refaxis_up
, sinf(-newang
)*size
, p1
);
2372 v3_muladds( p1
, refaxis
, -cosf(-newang
)*size
, p1
);
2373 vg_line( p0
, p1
, 0xff404040 );
2378 * Solve a list of positional constraints
2380 VG_STATIC
void rb_solve_position_constraints( rb_constr_pos
*buf
, int len
)
2382 for( int i
=0; i
<len
; i
++ )
2384 rb_constr_pos
*constr
= &buf
[i
];
2385 rigidbody
*rba
= constr
->rba
, *rbb
= constr
->rbb
;
2388 m3x3_mulv( rba
->to_world
, constr
->lca
, wa
);
2389 m3x3_mulv( rbb
->to_world
, constr
->lcb
, wb
);
2391 m3x3f ssra
, ssrat
, ssrb
, ssrbt
;
2393 m3x3_skew_symetric( ssrat
, wa
);
2394 m3x3_skew_symetric( ssrbt
, wb
);
2395 m3x3_transpose( ssrat
, ssra
);
2396 m3x3_transpose( ssrbt
, ssrb
);
2398 v3f b
, b_wa
, b_wb
, b_a
, b_b
;
2399 m3x3_mulv( ssra
, rba
->w
, b_wa
);
2400 m3x3_mulv( ssrb
, rbb
->w
, b_wb
);
2401 v3_add( rba
->v
, b_wa
, b
);
2402 v3_sub( b
, rbb
->v
, b
);
2403 v3_sub( b
, b_wb
, b
);
2404 v3_muls( b
, -1.0f
, b
);
2407 m3x3_diagonal( invMa
, rba
->inv_mass
);
2408 m3x3_diagonal( invMb
, rbb
->inv_mass
);
2411 m3x3_mul( ssra
, rba
->iIw
, ia
);
2412 m3x3_mul( ia
, ssrat
, ia
);
2413 m3x3_mul( ssrb
, rbb
->iIw
, ib
);
2414 m3x3_mul( ib
, ssrbt
, ib
);
2417 m3x3_add( invMa
, ia
, cma
);
2418 m3x3_add( invMb
, ib
, cmb
);
2421 m3x3_add( cma
, cmb
, A
);
2423 /* Solve Ax = b ( A^-1*b = x ) */
2426 m3x3_inv( A
, invA
);
2427 m3x3_mulv( invA
, b
, impulse
);
2429 v3f delta_va
, delta_wa
, delta_vb
, delta_wb
;
2431 m3x3_mul( rba
->iIw
, ssrat
, iwa
);
2432 m3x3_mul( rbb
->iIw
, ssrbt
, iwb
);
2434 m3x3_mulv( invMa
, impulse
, delta_va
);
2435 m3x3_mulv( invMb
, impulse
, delta_vb
);
2436 m3x3_mulv( iwa
, impulse
, delta_wa
);
2437 m3x3_mulv( iwb
, impulse
, delta_wb
);
2439 v3_add( rba
->v
, delta_va
, rba
->v
);
2440 v3_add( rba
->w
, delta_wa
, rba
->w
);
2441 v3_sub( rbb
->v
, delta_vb
, rbb
->v
);
2442 v3_sub( rbb
->w
, delta_wb
, rbb
->w
);
2446 VG_STATIC
void rb_solve_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2451 for( int i
=0; i
<len
; i
++ )
2453 rb_constr_swingtwist
*st
= &buf
[ i
];
2455 if( !st
->axis_violation
)
2458 float rv
= v3_dot( st
->axis
, st
->rbb
->w
) -
2459 v3_dot( st
->axis
, st
->rba
->w
);
2461 if( rv
* (float)st
->axis_violation
> 0.0f
)
2464 v3f impulse
, wa
, wb
;
2465 v3_muls( st
->axis
, rv
*st
->axis_mass
, impulse
);
2466 m3x3_mulv( st
->rba
->iIw
, impulse
, wa
);
2467 v3_add( st
->rba
->w
, wa
, st
->rba
->w
);
2469 v3_muls( impulse
, -1.0f
, impulse
);
2470 m3x3_mulv( st
->rbb
->iIw
, impulse
, wb
);
2471 v3_add( st
->rbb
->w
, wb
, st
->rbb
->w
);
2473 float rv2
= v3_dot( st
->axis
, st
->rbb
->w
) -
2474 v3_dot( st
->axis
, st
->rba
->w
);
2477 for( int i
=0; i
<len
; i
++ )
2479 rb_constr_swingtwist
*st
= &buf
[ i
];
2481 if( !st
->tangent_violation
)
2484 float rv
= v3_dot( st
->tangent_axis
, st
->rbb
->w
) -
2485 v3_dot( st
->tangent_axis
, st
->rba
->w
);
2490 v3f impulse
, wa
, wb
;
2491 v3_muls( st
->tangent_axis
, rv
*st
->tangent_mass
, impulse
);
2492 m3x3_mulv( st
->rba
->iIw
, impulse
, wa
);
2493 v3_add( st
->rba
->w
, wa
, st
->rba
->w
);
2495 v3_muls( impulse
, -1.0f
, impulse
);
2496 m3x3_mulv( st
->rbb
->iIw
, impulse
, wb
);
2497 v3_add( st
->rbb
->w
, wb
, st
->rbb
->w
);
2499 float rv2
= v3_dot( st
->tangent_axis
, st
->rbb
->w
) -
2500 v3_dot( st
->tangent_axis
, st
->rba
->w
);
2504 VG_STATIC
void rb_solve_constr_angle( rigidbody
*rba
, rigidbody
*rbb
,
2507 m3x3f ssra
, ssrb
, ssrat
, ssrbt
;
2510 m3x3_skew_symetric( ssrat
, ra
);
2511 m3x3_skew_symetric( ssrbt
, rb
);
2512 m3x3_transpose( ssrat
, ssra
);
2513 m3x3_transpose( ssrbt
, ssrb
);
2515 m3x3_mul( ssra
, rba
->iIw
, cma
);
2516 m3x3_mul( cma
, ssrat
, cma
);
2517 m3x3_mul( ssrb
, rbb
->iIw
, cmb
);
2518 m3x3_mul( cmb
, ssrbt
, cmb
);
2521 m3x3_add( cma
, cmb
, A
);
2522 m3x3_inv( A
, invA
);
2525 m3x3_mulv( ssra
, rba
->w
, b_wa
);
2526 m3x3_mulv( ssrb
, rbb
->w
, b_wb
);
2527 v3_add( b_wa
, b_wb
, b
);
2531 m3x3_mulv( invA
, b
, impulse
);
2533 v3f delta_wa
, delta_wb
;
2535 m3x3_mul( rba
->iIw
, ssrat
, iwa
);
2536 m3x3_mul( rbb
->iIw
, ssrbt
, iwb
);
2537 m3x3_mulv( iwa
, impulse
, delta_wa
);
2538 m3x3_mulv( iwb
, impulse
, delta_wb
);
2539 v3_add( rba
->w
, delta_wa
, rba
->w
);
2540 v3_sub( rbb
->w
, delta_wb
, rbb
->w
);
2544 * Correct position constraint drift errors
2545 * [ 0.0 <= amt <= 1.0 ]: the correction amount
2547 VG_STATIC
void rb_correct_position_constraints( rb_constr_pos
*buf
, int len
,
2550 for( int i
=0; i
<len
; i
++ )
2552 rb_constr_pos
*constr
= &buf
[i
];
2553 rigidbody
*rba
= constr
->rba
, *rbb
= constr
->rbb
;
2556 m3x3_mulv( rba
->to_world
, constr
->lca
, p0
);
2557 m3x3_mulv( rbb
->to_world
, constr
->lcb
, p1
);
2558 v3_add( rba
->co
, p0
, p0
);
2559 v3_add( rbb
->co
, p1
, p1
);
2560 v3_sub( p1
, p0
, d
);
2562 v3_muladds( rbb
->co
, d
, -1.0f
* amt
, rbb
->co
);
2563 rb_update_transform( rbb
);
2567 VG_STATIC
void rb_correct_swingtwist_constraints( rb_constr_swingtwist
*buf
,
2568 int len
, float amt
)
2570 for( int i
=0; i
<len
; i
++ )
2572 rb_constr_swingtwist
*st
= &buf
[i
];
2574 if( !st
->tangent_violation
)
2578 m3x3_mulv( st
->rbb
->to_world
, st
->coneva
, va
);
2580 float angle
= v3_dot( va
, st
->tangent_target
);
2582 if( fabsf(angle
) < 0.9999f
)
2585 v3_cross( va
, st
->tangent_target
, axis
);
2588 q_axis_angle( correction
, axis
, acosf(angle
) * amt
);
2589 q_mul( correction
, st
->rbb
->q
, st
->rbb
->q
);
2590 rb_update_transform( st
->rbb
);
2594 for( int i
=0; i
<len
; i
++ )
2596 rb_constr_swingtwist
*st
= &buf
[i
];
2598 if( !st
->axis_violation
)
2602 m3x3_mulv( st
->rbb
->to_world
, st
->conevxb
, vxb
);
2604 float angle
= v3_dot( vxb
, st
->axis_target
);
2606 if( fabsf(angle
) < 0.9999f
)
2609 v3_cross( vxb
, st
->axis_target
, axis
);
2612 q_axis_angle( correction
, axis
, acosf(angle
) * amt
);
2613 q_mul( correction
, st
->rbb
->q
, st
->rbb
->q
);
2614 rb_update_transform( st
->rbb
);
2619 VG_STATIC
void rb_correct_contact_constraints( rb_ct
*buf
, int len
, float amt
)
2621 for( int i
=0; i
<len
; i
++ )
2623 rb_ct
*ct
= &buf
[i
];
2624 rigidbody
*rba
= ct
->rba
,
2627 float mass_total
= 1.0f
/ (rba
->inv_mass
+ rbb
->inv_mass
);
2629 v3_muladds( rba
->co
, ct
->n
, -mass_total
* rba
->inv_mass
, rba
->co
);
2630 v3_muladds( rbb
->co
, ct
->n
, mass_total
* rbb
->inv_mass
, rbb
->co
);
2639 VG_STATIC
void rb_effect_simple_bouyency( rigidbody
*ra
, v4f plane
,
2640 float amt
, float drag
)
2643 float depth
= v3_dot( plane
, ra
->co
) - plane
[3],
2644 lambda
= vg_clampf( -depth
, 0.0f
, 1.0f
) * amt
;
2646 v3_muladds( ra
->v
, plane
, lambda
* k_rb_delta
, ra
->v
);
2649 v3_muls( ra
->v
, 1.0f
-(drag
*k_rb_delta
), ra
->v
);
2652 /* apply a spring&dampener force to match ra(worldspace) on rigidbody, to
2655 VG_STATIC
void rb_effect_spring_target_vector( rigidbody
*rba
, v3f ra
, v3f rt
,
2656 float spring
, float dampening
,
2659 float a
= acosf( vg_clampf( v3_dot( rt
, ra
), -1.0f
, 1.0f
) );
2662 v3_cross( rt
, ra
, axis
);
2664 float Fs
= -a
* spring
,
2665 Fd
= -v3_dot( rba
->w
, axis
) * dampening
;
2667 v3_muladds( rba
->w
, axis
, (Fs
+Fd
) * timestep
, rba
->w
);
2671 * -----------------------------------------------------------------------------
2672 * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
2674 * -----------------------------------------------------------------------------
2677 VG_STATIC
void rb_bh_expand_bound( void *user
, boxf bound
, u32 item_index
)
2679 rigidbody
*rb
= &((rigidbody
*)user
)[ item_index
];
2680 box_concat( bound
, rb
->bbx_world
);
2683 VG_STATIC
float rb_bh_centroid( void *user
, u32 item_index
, int axis
)
2685 rigidbody
*rb
= &((rigidbody
*)user
)[ item_index
];
2686 return (rb
->bbx_world
[axis
][0] + rb
->bbx_world
[1][axis
]) * 0.5f
;
2689 VG_STATIC
void rb_bh_swap( void *user
, u32 ia
, u32 ib
)
2691 rigidbody temp
, *rba
, *rbb
;
2692 rba
= &((rigidbody
*)user
)[ ia
];
2693 rbb
= &((rigidbody
*)user
)[ ib
];
2700 VG_STATIC
void rb_bh_debug( void *user
, u32 item_index
)
2702 rigidbody
*rb
= &((rigidbody
*)user
)[ item_index
];
2703 rb_debug( rb
, 0xff00ffff );
2706 VG_STATIC bh_system bh_system_rigidbodies
=
2708 .expand_bound
= rb_bh_expand_bound
,
2709 .item_centroid
= rb_bh_centroid
,
2710 .item_swap
= rb_bh_swap
,
2711 .item_debug
= rb_bh_debug
,
2715 #endif /* RIGIDBODY_H */