VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
VG_STATIC bh_system bh_system_rigidbodies;
-
-
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
VG_STATIC void rb_debug_contact( rb_ct *ct )
{
- if( ct->type != k_contact_type_disabled )
+ v3f p1;
+ v3_muladds( ct->co, ct->n, 0.05f, p1 );
+
+ if( ct->type == k_contact_type_default )
{
- v3f p1;
- v3_muladds( ct->co, ct->n, 0.05f, p1 );
vg_line_pt3( ct->co, 0.0125f, 0xff0000ff );
vg_line( ct->co, p1, 0xffffffff );
}
+ else if( ct->type == k_contact_type_edge )
+ {
+ vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 );
+ vg_line( ct->co, p1, 0xffffffff );
+ }
}
VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
float d2 = v3_length2( delta ),
r = b->radius;
- if( d2 < r*r )
+ if( d2 <= r*r )
{
rb_ct *ct = buf;
int count = 0;
- float r = b->radius;
+ float r = b->radius + 0.1f;
boxf box;
v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] );
v3_add( mtxA[3], (v3f){ r,r,r }, box[1] );
return rb_contact_buffer + rb_contact_count;
}
-VG_STATIC void rb_prepare_contact( rb_ct *ct )
+VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep )
{
- ct->bias = -0.2f * k_rb_rate * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+ ct->bias = -0.2f * (timestep*3600.0f)
+ * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+
rb_tangent_basis( ct->n, ct->t[0], ct->t[1] );
-
-#if 0
- ct->type = k_contact_type_default;
-#endif
ct->norm_impulse = 0.0f;
ct->tangent_impulse[0] = 0.0f;
ct->tangent_impulse[1] = 0.0f;
}
+/* calculate total move. manifold should belong to ONE object only */
+VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt )
+{
+ v3_zero( dt );
+
+ for( int j=0; j<7; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ float resolved_amt = v3_dot( ct->n, dt ),
+ remaining = (ct->p-k_penetration_slop) - resolved_amt,
+ apply = vg_maxf( remaining, 0.0f ) * 0.4f;
+
+ v3_muladds( dt, ct->n, apply, dt );
+ }
+ }
+}
+
/*
* Initializing things like tangent vectors
*/
for( int i=0; i<len; i++ )
{
rb_ct *ct = &buffer[i];
- rb_prepare_contact( ct );
+ rb_prepare_contact( ct, k_rb_delta );
v3f ra, rb, raCn, rbCn, raCt, rbCt;
v3_sub( ct->co, ct->rba->co, ra );
v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
}
+/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to
+ * rt(worldspace)
+ */
+VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt,
+ float spring, float dampening,
+ float timestep )
+{
+ float a = acosf( vg_clampf( v3_dot( rt, ra ), -1.0f, 1.0f ) );
+
+ v3f axis;
+ v3_cross( rt, ra, axis );
+
+ float Fs = -a * spring,
+ Fd = -v3_dot( rba->w, axis ) * dampening;
+
+ v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w );
+}
+
/*
* -----------------------------------------------------------------------------
* BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for