#include "bvh.h"
#include "scene.h"
+#include <math.h>
+
VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
VG_STATIC bh_system bh_system_rigidbodies;
VG_STATIC const float
k_rb_rate = (1.0/VG_TIMESTEP_FIXED),
k_rb_delta = (1.0/k_rb_rate),
- k_friction = 0.6f,
- k_damp_linear = 0.05f, /* scale velocity 1/(1+x) */
+ k_friction = 0.4f,
+ k_damp_linear = 0.1f, /* scale velocity 1/(1+x) */
k_damp_angular = 0.1f, /* scale angular 1/(1+x) */
+ k_penetration_slop = 0.01f,
+ k_inertia_scale = 8.0f,
+ k_phys_baumgarte = 0.2f;
+
+VG_STATIC float
k_limit_bias = 0.02f,
- k_joint_bias = 0.08f, /* positional joints */
k_joint_correction = 0.01f,
- k_penetration_slop = 0.01f,
- k_inertia_scale = 4.0f;
+ k_joint_impulse = 1.0f,
+ k_joint_bias = 0.08f; /* positional joints */
+
+VG_STATIC void rb_register_cvar(void)
+{
+ vg_var_push( (struct vg_var){
+ .name = "k_limit_bias", .data = &k_limit_bias,
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ });
+
+ vg_var_push( (struct vg_var){
+ .name = "k_joint_bias", .data = &k_joint_bias,
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ });
+
+ vg_var_push( (struct vg_var){
+ .name = "k_joint_correction", .data = &k_joint_correction,
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ });
+
+ vg_var_push( (struct vg_var){
+ .name = "k_joint_impulse", .data = &k_joint_impulse,
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ });
+}
/*
* -----------------------------------------------------------------------------
normal_mass, tangent_mass[2];
u32 element_id;
- int cluster;
+
+ enum contact_type type;
}
rb_contact_buffer[256];
VG_STATIC int rb_contact_count = 0;
+typedef struct rb_constr_pos rb_constr_pos;
+typedef struct rb_constr_swingtwist rb_constr_swingtwist;
+
+struct rb_constr_pos
+{
+ rigidbody *rba, *rbb;
+ v3f lca, lcb;
+};
+
+struct rb_constr_swingtwist
+{
+ rigidbody *rba, *rbb;
+
+ v4f conevx, conevy; /* relative to rba */
+ v3f view_offset, /* relative to rba */
+ coneva, conevxb;/* relative to rbb */
+
+ int tangent_violation, axis_violation;
+ v3f axis, tangent_axis, tangent_target, axis_target;
+
+ float conet;
+ float tangent_mass, axis_mass;
+};
+
/*
* -----------------------------------------------------------------------------
* Math Utils
VG_STATIC void rb_debug_contact( rb_ct *ct )
{
- v3f p1;
- v3_muladds( ct->co, ct->n, 0.1f, p1 );
- vg_line_pt3( ct->co, 0.025f, 0xff0000ff );
- vg_line( ct->co, p1, 0xffffffff );
+ if( ct->type != k_contact_type_disabled )
+ {
+ v3f p1;
+ v3_muladds( ct->co, ct->n, 0.05f, p1 );
+ vg_line_pt3( ct->co, 0.0025f, 0xff0000ff );
+ vg_line( ct->co, p1, 0xffffffff );
+ }
}
VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
h = rb->inf.capsule.height;
volume = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f);
- v3_fill( rb->bbx[0], -rb->inf.sphere.radius );
- v3_fill( rb->bbx[1], rb->inf.sphere.radius );
+ v3_fill( rb->bbx[0], -r );
+ v3_fill( rb->bbx[1], r );
rb->bbx[0][1] = -h;
rb->bbx[1][1] = h;
}
VG_STATIC void rb_iter( rigidbody *rb )
{
+ if( !vg_validf( rb->v[0] ) ||
+ !vg_validf( rb->v[1] ) ||
+ !vg_validf( rb->v[2] ) )
+ {
+ vg_fatal_exit_loop( "NaN velocity" );
+ }
+
v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
}
-/*
- * -----------------------------------------------------------------------------
- * Closest point functions
- * -----------------------------------------------------------------------------
- */
-
-/*
- * These closest point tests were learned from Real-Time Collision Detection by
- * Christer Ericson
- */
-VG_STATIC float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2,
- float *s, float *t, v3f c1, v3f c2)
-{
- v3f d1,d2,r;
- v3_sub( q1, p1, d1 );
- v3_sub( q2, p2, d2 );
- v3_sub( p1, p2, r );
-
- float a = v3_length2( d1 ),
- e = v3_length2( d2 ),
- f = v3_dot( d2, r );
-
- const float kEpsilon = 0.0001f;
-
- if( a <= kEpsilon && e <= kEpsilon )
- {
- *s = 0.0f;
- *t = 0.0f;
- v3_copy( p1, c1 );
- v3_copy( p2, c2 );
-
- v3f v0;
- v3_sub( c1, c2, v0 );
-
- return v3_length2( v0 );
- }
-
- if( a<= kEpsilon )
- {
- *s = 0.0f;
- *t = vg_clampf( f / e, 0.0f, 1.0f );
- }
- else
- {
- float c = v3_dot( d1, r );
- if( e <= kEpsilon )
- {
- *t = 0.0f;
- *s = vg_clampf( -c / a, 0.0f, 1.0f );
- }
- else
- {
- float b = v3_dot(d1,d2),
- d = a*e-b*b;
-
- if( d != 0.0f )
- {
- *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
- }
- else
- {
- *s = 0.0f;
- }
-
- *t = (b*(*s)+f) / e;
-
- if( *t < 0.0f )
- {
- *t = 0.0f;
- *s = vg_clampf( -c / a, 0.0f, 1.0f );
- }
- else if( *t > 1.0f )
- {
- *t = 1.0f;
- *s = vg_clampf((b-c)/a,0.0f,1.0f);
- }
- }
- }
-
- v3_muladds( p1, d1, *s, c1 );
- v3_muladds( p2, d2, *t, c2 );
-
- v3f v0;
- v3_sub( c1, c2, v0 );
- return v3_length2( v0 );
-}
-
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
- v3_maxv( p, box[0], dest );
- v3_minv( dest, box[1], dest );
-}
-
-VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
-{
- v3f local;
- m4x3_mulv( rb->to_local, p, local );
- closest_point_aabb( local, rb->bbx, local );
- m4x3_mulv( rb->to_world, local, dest );
-}
-
-VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
-{
- v3f v0, v1;
- v3_sub( b, a, v0 );
- v3_sub( point, a, v1 );
-
- float t = v3_dot( v1, v0 ) / v3_length2(v0);
- t = vg_clampf(t,0.0f,1.0f);
- v3_muladds( a, v0, t, dest );
- return t;
-}
-
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
-{
- v3f ab, ac, ap;
- float d1, d2;
-
- /* Region outside A */
- v3_sub( tri[1], tri[0], ab );
- v3_sub( tri[2], tri[0], ac );
- v3_sub( p, tri[0], ap );
-
- d1 = v3_dot(ab,ap);
- d2 = v3_dot(ac,ap);
- if( d1 <= 0.0f && d2 <= 0.0f )
- {
- v3_copy( tri[0], dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region outside B */
- v3f bp;
- float d3, d4;
-
- v3_sub( p, tri[1], bp );
- d3 = v3_dot( ab, bp );
- d4 = v3_dot( ac, bp );
-
- if( d3 >= 0.0f && d4 <= d3 )
- {
- v3_copy( tri[1], dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Edge region of AB */
- float vc = d1*d4 - d3*d2;
- if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
- {
- float v = d1 / (d1-d3);
- v3_muladds( tri[0], ab, v, dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region outside C */
- v3f cp;
- float d5, d6;
- v3_sub( p, tri[2], cp );
- d5 = v3_dot(ab, cp);
- d6 = v3_dot(ac, cp);
-
- if( d6 >= 0.0f && d5 <= d6 )
- {
- v3_copy( tri[2], dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region of AC */
- float vb = d5*d2 - d1*d6;
- if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
- {
- float w = d2 / (d2-d6);
- v3_muladds( tri[0], ac, w, dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region of BC */
- float va = d3*d6 - d5*d4;
- if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
- {
- float w = (d4-d3) / ((d4-d3) + (d5-d6));
- v3f bc;
- v3_sub( tri[2], tri[1], bc );
- v3_muladds( tri[1], bc, w, dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* P inside region, Q via barycentric coordinates uvw */
- float d = 1.0f/(va+vb+vc),
- v = vb*d,
- w = vc*d;
-
- v3_muladds( tri[0], ab, v, dest );
- v3_muladds( dest, ac, w, dest );
-}
-
-VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
-{
- v3f ab, ac, ap;
- float d1, d2;
-
- /* Region outside A */
- v3_sub( tri[1], tri[0], ab );
- v3_sub( tri[2], tri[0], ac );
- v3_sub( p, tri[0], ap );
-
- d1 = v3_dot(ab,ap);
- d2 = v3_dot(ac,ap);
- if( d1 <= 0.0f && d2 <= 0.0f )
- {
- v3_copy( tri[0], dest );
- return;
- }
-
- /* Region outside B */
- v3f bp;
- float d3, d4;
-
- v3_sub( p, tri[1], bp );
- d3 = v3_dot( ab, bp );
- d4 = v3_dot( ac, bp );
-
- if( d3 >= 0.0f && d4 <= d3 )
- {
- v3_copy( tri[1], dest );
- return;
- }
-
- /* Edge region of AB */
- float vc = d1*d4 - d3*d2;
- if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
- {
- float v = d1 / (d1-d3);
- v3_muladds( tri[0], ab, v, dest );
- return;
- }
-
- /* Region outside C */
- v3f cp;
- float d5, d6;
- v3_sub( p, tri[2], cp );
- d5 = v3_dot(ab, cp);
- d6 = v3_dot(ac, cp);
-
- if( d6 >= 0.0f && d5 <= d6 )
- {
- v3_copy( tri[2], dest );
- return;
- }
-
- /* Region of AC */
- float vb = d5*d2 - d1*d6;
- if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
- {
- float w = d2 / (d2-d6);
- v3_muladds( tri[0], ac, w, dest );
- return;
- }
-
- /* Region of BC */
- float va = d3*d6 - d5*d4;
- if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
- {
- float w = (d4-d3) / ((d4-d3) + (d5-d6));
- v3f bc;
- v3_sub( tri[2], tri[1], bc );
- v3_muladds( tri[1], bc, w, dest );
- return;
- }
-
- /* P inside region, Q via barycentric coordinates uvw */
- float d = 1.0f/(va+vb+vc),
- v = vb*d,
- w = vc*d;
-
- v3_muladds( tri[0], ab, v, dest );
- v3_muladds( dest, ac, w, dest );
-}
/*
* -----------------------------------------------------------------------------
return 1;
}
+/*
+ * -----------------------------------------------------------------------------
+ * Manifold
+ * -----------------------------------------------------------------------------
+ */
+
+VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len )
+{
+ int k = 0;
+
+ for( int i=0; i<len; i++ )
+ {
+ rb_ct *ct = &man[i];
+
+ if( ct->type == k_contact_type_disabled )
+ continue;
+
+ man[k ++] = man[i];
+ }
+
+ return k;
+}
+
+/*
+ * Merge two contacts if they are within radius(r) of eachother
+ */
+VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r )
+{
+ if( v3_dist2( ci->co, cj->co ) < r*r )
+ {
+ cj->type = k_contact_type_disabled;
+ ci->p = (ci->p + cj->p) * 0.5f;
+
+ v3_add( ci->co, cj->co, ci->co );
+ v3_muls( ci->co, 0.5f, ci->co );
+
+ v3f delta;
+ v3_sub( ci->rba->co, ci->co, delta );
+
+ float c0 = v3_dot( ci->n, delta ),
+ c1 = v3_dot( cj->n, delta );
+
+ if( c0 < 0.0f || c1 < 0.0f )
+ {
+ /* error */
+ ci->type = k_contact_type_disabled;
+ }
+ else
+ {
+ v3f n;
+ v3_muls( ci->n, c0, n );
+ v3_muladds( n, cj->n, c1, n );
+ v3_normalize( n );
+ v3_copy( n, ci->n );
+ }
+ }
+}
+
+/*
+ *
+ */
+VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r )
+{
+ for( int i=0; i<len-1; i++ )
+ {
+ rb_ct *ci = &man[i];
+ if( ci->type != k_contact_type_edge )
+ continue;
+
+ for( int j=i+1; j<len; j++ )
+ {
+ rb_ct *cj = &man[j];
+ if( cj->type != k_contact_type_edge )
+ continue;
+
+ rb_manifold_contact_weld( ci, cj, r );
+ }
+ }
+}
+
+/*
+ * Resolve overlapping pairs
+ *
+ * TODO: Remove?
+ */
+VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r )
+{
+ for( int i=0; i<len-1; i++ )
+ {
+ rb_ct *ci = &man[i];
+ int similar = 0;
+
+ if( ci->type == k_contact_type_disabled ) continue;
+
+ for( int j=i+1; j<len; j++ )
+ {
+ rb_ct *cj = &man[j];
+
+ if( cj->type == k_contact_type_disabled ) continue;
+
+ if( v3_dist2( ci->co, cj->co ) < r*r )
+ {
+ cj->type = k_contact_type_disabled;
+ v3_add( cj->n, ci->n, ci->n );
+ ci->p += cj->p;
+ similar ++;
+ }
+ }
+
+ if( similar )
+ {
+ float n = 1.0f/((float)similar+1.0f);
+ v3_muls( ci->n, n, ci->n );
+ ci->p *= n;
+
+ if( v3_length2(ci->n) < 0.1f*0.1f )
+ ci->type = k_contact_type_disabled;
+ else
+ v3_normalize( ci->n );
+ }
+ }
+}
+
+/*
+ * Remove contacts that are facing away from A
+ */
+VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len )
+{
+ for( int i=0; i<len; i++ )
+ {
+ rb_ct *ct = &man[i];
+ if( ct->type == k_contact_type_disabled )
+ continue;
+
+ v3f delta;
+ v3_sub( ct->co, ct->rba->co, delta );
+
+ if( v3_dot( delta, ct->n ) > -0.001f )
+ ct->type = k_contact_type_disabled;
+ }
+}
+
+/*
+ * Filter out duplicate coplanar results. Good for spheres.
+ */
+VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w )
+{
+ for( int i=0; i<len; i++ )
+ {
+ rb_ct *ci = &man[i];
+ if( ci->type == k_contact_type_disabled ||
+ ci->type == k_contact_type_edge )
+ continue;
+
+ float d1 = v3_dot( ci->co, ci->n );
+
+ for( int j=0; j<len; j++ )
+ {
+ if( j == i )
+ continue;
+
+ rb_ct *cj = &man[j];
+ if( cj->type == k_contact_type_disabled )
+ continue;
+
+ float d2 = v3_dot( cj->co, ci->n ),
+ d = d2-d1;
+
+ if( fabsf( d ) <= w )
+ {
+ cj->type = k_contact_type_disabled;
+ }
+ }
+ }
+}
+
/*
* -----------------------------------------------------------------------------
* Collision matrix
* on the oriented object which created this pair.
*/
VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
- capsule_manifold *manifold )
+ capsule_manifold *manifold )
{
v3f delta;
v3_sub( pa, pb, delta );
ct->p = manifold->r0 - d;
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
count ++;
}
ct->p = manifold->r1 - d;
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
count ++;
}
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
return 1;
}
VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
+ if( !box_overlap( rba->bbx_world, rbb->bbx_world ) )
+ return 0;
+
float ha = rba->inf.capsule.height,
hb = rbb->inf.capsule.height,
ra = rba->inf.capsule.radius,
{
v3f co, delta;
- closest_point_obb( rba->co, rbb, co );
+ closest_point_obb( rba->co, rbb->bbx, rbb->to_world, rbb->to_local, co );
v3_sub( rba->co, co, delta );
float d2 = v3_length2(delta),
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
return 1;
}
v3_muladds( rbb->co, ct->n, rbb->inf.sphere.radius, p1 );
v3_add( p0, p1, ct->co );
v3_muls( ct->co, 0.5f, ct->co );
+ ct->type = k_contact_type_default;
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
return 0;
}
-#define RIGIDBODY_DYNAMIC_MESH_EDGES
+//#define RIGIDBODY_DYNAMIC_MESH_EDGES
VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
v3f delta, co;
#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- closest_on_triangle( rba->co, tri, co );
-#else
closest_on_triangle_1( rba->co, tri, co );
+#else
+ enum contact_type type = closest_on_triangle_1( rba->co, tri, co );
#endif
v3_sub( rba->co, co, delta );
- vg_line( rba->co, co, 0xffff0000 );
- vg_line_pt3( rba->co, 0.1f, 0xff00ffff );
-
float d2 = v3_length2( delta ),
r = rba->inf.sphere.radius;
v3_sub( tri[1], tri[0], ac );
v3_cross( ac, ab, tn );
v3_copy( tn, ct->n );
+
+ if( v3_length2( ct->n ) <= 0.00001f )
+ {
+ vg_error( "Zero area triangle!\n" );
+ return 0;
+ }
+
v3_normalize( ct->n );
float d = sqrtf(d2);
v3_copy( co, ct->co );
+ ct->type = type;
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
return 0;
}
-VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- scene *sc = rbb->inf.scene.bh_scene->user;
-
- u32 geo[128];
-
- int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
- int count = 0;
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- /* !experimental! build edge array on the fly. time could be improved! */
+VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
+ boxf box, u32 colour )
+{
+ sharp_ang = cosf( sharp_ang );
- v3f co_picture[128*3];
- int unique_cos = 0;
+ scene *sc = rbb->inf.scene.bh_scene->user;
+ vg_line_boxf( box, 0xff00ff00 );
- struct face_info
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, box, &idx ) )
{
- int unique_cos[3]; /* indexes co_picture array */
- int collided;
- v3f normal;
- u32 element_id;
- }
- faces[128];
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
- /* create geometry picture */
- for( int i=0; i<len; i++ )
- {
- u32 *tri_indices = &sc->arrindices[ geo[i]*3 ];
- struct face_info *inf = &faces[i];
- inf->element_id = tri_indices[0];
- inf->collided = 0;
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
for( int j=0; j<3; j++ )
{
- struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]];
+#if 0
+ v3f edir;
+ v3_sub( tri[(j+1)%3], tri[j], edir );
- for( int k=0; k<unique_cos; k++ )
- {
- if( v3_dist( pvert->co, co_picture[k] ) < 0.01f*0.01f )
- {
- inf->unique_cos[j] = k;
- goto next_vert;
- }
- }
-
- inf->unique_cos[j] = unique_cos;
- v3_copy( pvert->co, co_picture[ unique_cos ++ ] );
-next_vert:;
- }
-
- v3f ab, ac;
- v3_sub( co_picture[inf->unique_cos[2]],
- co_picture[inf->unique_cos[0]], ab );
+ if( v3_dot( edir, (v3f){ 0.5184758473652127f,
+ 0.2073903389460850f,
+ -0.8295613557843402f } ) < 0.0f )
+ continue;
+#endif
- v3_sub( co_picture[inf->unique_cos[1]],
- co_picture[inf->unique_cos[0]], ac );
- v3_cross( ac, ab, inf->normal );
- v3_normalize( inf->normal );
- }
+ bh_iter jt;
+ bh_iter_init( 0, &jt );
+ boxf region;
+ float const k_r = 0.02f;
+ v3_add( (v3f){ k_r, k_r, k_r }, tri[j], region[1] );
+ v3_add( (v3f){ -k_r, -k_r, -k_r }, tri[j], region[0] );
- /* build edges brute force */
- int edge_picture[ 128*3 ][4];
- int unique_edges = 0;
+ int jdx;
+ while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) )
+ {
+ if( idx <= jdx )
+ continue;
- for( int i=0; i<len; i++ )
- {
- struct face_info *inf = &faces[i];
-
- for( int j=0; j<3; j++ )
- {
- int i0 = j,
- i1 = (j+1)%3,
- e0 = VG_MIN( inf->unique_cos[i0], inf->unique_cos[i1] ),
- e1 = VG_MAX( inf->unique_cos[i0], inf->unique_cos[i1] ),
- matched = 0;
+ u32 *ptrj = &sc->arrindices[ jdx*3 ];
+ v3f trj[3];
- for( int k=0; k<unique_edges; k ++ )
- {
- int k0 = VG_MIN( edge_picture[k][0], edge_picture[k][1] ),
- k1 = VG_MAX( edge_picture[k][0], edge_picture[k][1] );
+ for( int k=0; k<3; k++ )
+ v3_copy( sc->arrvertices[ptrj[k]].co, trj[k] );
- /* matched ! */
- if( (k0 == e0) && (k1 == e1) )
+ for( int k=0; k<3; k++ )
{
- edge_picture[ k ][3] = i;
- matched = 1;
- break;
+ if( v3_dist2( tri[j], trj[k] ) <= k_r*k_r )
+ {
+ int jp1 = (j+1)%3,
+ jp2 = (j+2)%3,
+ km1 = (k+3-1)%3,
+ km2 = (k+3-2)%3;
+
+ if( v3_dist2( tri[jp1], trj[km1] ) <= k_r*k_r )
+ {
+ v3f b0, b1, b2;
+ v3_sub( tri[jp1], tri[j], b0 );
+ v3_sub( tri[jp2], tri[j], b1 );
+ v3_sub( trj[km2], tri[j], b2 );
+
+ v3f cx0, cx1;
+ v3_cross( b0, b1, cx0 );
+ v3_cross( b2, b0, cx1 );
+
+ float polarity = v3_dot( cx0, b2 );
+
+ if( polarity < 0.0f )
+ {
+#if 0
+ vg_line( tri[j], tri[jp1], 0xff00ff00 );
+ float ang = v3_dot(cx0,cx1) /
+ (v3_length(cx0)*v3_length(cx1));
+ if( ang < sharp_ang )
+ {
+ vg_line( tri[j], tri[jp1], 0xff00ff00 );
+ }
+#endif
+ }
+ }
+ }
}
}
-
- if( !matched )
- {
- /* create new edge */
- edge_picture[ unique_edges ][0] = inf->unique_cos[i0];
- edge_picture[ unique_edges ][1] = inf->unique_cos[i1];
-
- edge_picture[ unique_edges ][2] = i;
- edge_picture[ unique_edges ][3] = -1;
-
- unique_edges ++;
- }
}
}
-#endif
-
- v3f tri[3];
-
- for( int i=0; i<len; i++ )
- {
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- struct face_info *inf = &faces[i];
+}
- float *v0 = co_picture[inf->unique_cos[0]],
- *v1 = co_picture[inf->unique_cos[1]],
- *v2 = co_picture[inf->unique_cos[2]];
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ scene *sc = rbb->inf.scene.bh_scene->user;
- v3_copy( v0, tri[0] );
- v3_copy( v1, tri[1] );
- v3_copy( v2, tri[2] );
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
- buf[count].element_id = inf->element_id;
-#else
- u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
for( int j=0; j<3; j++ )
v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
- buf[count].element_id = ptri[0];
-#endif
+ buf[ count ].element_id = ptri[0];
- vg_line( tri[0],tri[1],0x10ffffff );
- vg_line( tri[1],tri[2],0x10ffffff );
- vg_line( tri[2],tri[0],0x10ffffff );
+ vg_line( tri[0],tri[1],0x70ff6000 );
+ vg_line( tri[1],tri[2],0x70ff6000 );
+ vg_line( tri[2],tri[0],0x70ff6000 );
int contact = rb_sphere_triangle( rba, rbb, tri, buf+count );
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- if( contact )
- inf->collided = 1;
-#endif
count += contact;
- if( count == 12 )
+ if( count == 16 )
{
vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
return count;
}
}
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- for( int i=0; i<unique_edges; i++ )
- {
- int *edge = edge_picture[i];
-
- if( edge[3] == -1 )
- continue;
-
- struct face_info *inf_i = &faces[edge[2]],
- *inf_j = &faces[edge[3]];
-
- if( inf_i->collided || inf_j->collided )
- continue;
-
- v3f co, delta;
- closest_point_segment( co_picture[edge[0]], co_picture[edge[1]],
- rba->co, co );
-
- v3_sub( rba->co, co, delta );
- float d2 = v3_length2( delta ),
- r = rba->inf.sphere.radius;
-
- if( d2 < r*r )
- {
- float d = sqrtf(d2);
-
- v3_muls( delta, 1.0f/d, delta );
- float c0 = v3_dot( inf_i->normal, delta ),
- c1 = v3_dot( inf_j->normal, delta );
-
- if( c0 < 0.0f || c1 < 0.0f )
- continue;
-
- rb_ct *ct = buf+count;
-
- v3_muls( inf_i->normal, c0, ct->n );
- v3_muladds( ct->n, inf_j->normal, c1, ct->n );
- v3_normalize( ct->n );
-
- v3_copy( co, ct->co );
- ct->p = r-d;
- ct->rba = rba;
- ct->rbb = rbb;
- ct->element_id = inf_i->element_id;
-
- count ++;
-
- if( count == 12 )
- {
- vg_warn( "Geometry too dense!\n" );
- return count;
- }
- }
- }
-#endif
-
return count;
}
{
scene *sc = rbb->inf.scene.bh_scene->user;
- u32 geo[128];
v3f tri[3];
- int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
- int count = 0;
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
- for( int i=0; i<len; i++ )
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
{
- u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+ u32 *ptri = &sc->arrindices[ idx*3 ];
for( int j=0; j<3; j++ )
v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
if( ct->p < 0.0f )
continue;
+ ct->type = k_contact_type_default;
ct->rba = rba;
ct->rbb = rbb;
count ++;
return count;
}
+/*
+ * Generates up to two contacts; optimised for the most stable manifold
+ */
+VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb,
+ v3f tri[3], rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ r = rba->inf.capsule.radius;
+
+ v3f pc, p0w, p1w;
+ v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w );
+ v3_muladds( rba->co, rba->up, h*0.5f-r, p1w );
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f c0, c1;
+ closest_on_triangle_1( p0w, tri, c0 );
+ closest_on_triangle_1( p1w, tri, c1 );
+
+ v3f d0, d1, da;
+ v3_sub( c0, p0w, d0 );
+ v3_sub( c1, p1w, d1 );
+ v3_sub( p1w, p0w, da );
+
+ v3_normalize(d0);
+ v3_normalize(d1);
+ v3_normalize(da);
+
+ if( v3_dot( da, d0 ) <= 0.01f )
+ rb_capsule_manifold( p0w, c0, 0.0f, r, &manifold );
+
+ if( v3_dot( da, d1 ) >= -0.01f )
+ rb_capsule_manifold( p1w, c1, 1.0f, r, &manifold );
+
+ for( int i=0; i<3; i++ )
+ {
+ int i0 = i,
+ i1 = (i+1)%3;
+
+ v3f ca, cb;
+ float ta, tb;
+ closest_segment_segment( p0w, p1w, tri[i0], tri[i1], &ta, &tb, ca, cb );
+ rb_capsule_manifold( ca, cb, ta, r, &manifold );
+ }
+
+ v3f v0, v1, n;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_cross( v0, v1, n );
+ v3_normalize( n );
+
+ int count = rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+ for( int i=0; i<count; i++ )
+ v3_copy( n, buf[i].n );
+
+ return count;
+}
+
+VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+#if 0
+ float h = rba->inf.capsule.height,
+ r = rba->inf.capsule.radius,
+ g = 90.8f;
+
+ v3f p[2];
+ v3_muladds( rba->co, rba->up, -h*0.5f+r, p[0] );
+ v3_muladds( rba->co, rba->up, h*0.5f-r, p[1] );
+
+ int count = 0;
+
+
+ for( int i=0; i<2; i++ )
+ {
+ if( p[i][1] < g + r )
+ {
+ rb_ct *ct = &buf[ count ++ ];
+
+ v3_copy( p[i], ct->co );
+ ct->p = r - (p[i][1]-g);
+ ct->co[1] -= r;
+ v3_copy( (v3f){0.0f,1.0f,0.0f}, ct->n );
+ ct->rba = rba;
+ ct->rbb = rbb;
+ ct->type = k_contact_type_default;
+ }
+ }
+
+ return count;
+
+#else
+ scene *sc = rbb->inf.scene.bh_scene->user;
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+
+ buf[ count ].element_id = ptri[0];
+
+#if 0
+ vg_line( tri[0],tri[1],0x70ff6000 );
+ vg_line( tri[1],tri[2],0x70ff6000 );
+ vg_line( tri[2],tri[0],0x70ff6000 );
+#endif
+
+ int contact = rb_capsule_triangle( rba, rbb, tri, buf+count );
+ count += contact;
+
+ if( count == 16 )
+ {
+ vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
+ return count;
+ }
+ }
+
+ return count;
+#endif
+}
+
+VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ return rb_capsule_scene( rbb, rba, buf );
+}
+
VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
+#if 0
vg_error( "Collision type is unimplemented between types %d and %d\n",
rba->type, rbb->type );
+#endif
return 0;
}
/* box */ /* Sphere */ /* Capsule */ /* Mesh */
{ RB_MATRIX_ERROR, rb_box_sphere, rb_box_capsule, rb_box_scene },
{ rb_sphere_box, rb_sphere_sphere, rb_sphere_capsule, rb_sphere_scene },
- { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, RB_MATRIX_ERROR },
- { rb_scene_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR }
+ { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, rb_capsule_scene },
+ { rb_scene_box, RB_MATRIX_ERROR, rb_scene_capsule, RB_MATRIX_ERROR }
};
VG_STATIC int rb_collide( rigidbody *rba, rigidbody *rbb )
for( int i=0; i<len; i++ )
{
rb_ct *ct = &buffer[i];
+
ct->bias = -0.2f * k_rb_rate * 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;
}
/*
- * Creates relative contact velocity vector, and offsets between each body
+ * Creates relative contact velocity vector
*/
-VG_STATIC void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
+VG_STATIC void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv )
{
- rigidbody *rba = ct->rba,
- *rbb = ct->rbb;
-
- v3_sub( ct->co, rba->co, da );
- v3_sub( ct->co, rbb->co, db );
-
v3f rva, rvb;
- v3_cross( rba->w, da, rva );
- v3_add( rba->v, rva, rva );
- v3_cross( rbb->w, db, rvb );
- v3_add( rbb->v, rvb, rvb );
+ v3_cross( rba->w, ra, rva );
+ v3_add( rba->v, rva, rva );
+ v3_cross( rbb->w, rb, rvb );
+ v3_add( rbb->v, rvb, rvb );
v3_sub( rva, rvb, rv );
}
for( int i=0; i<len; i++ )
{
struct contact *ct = &buf[i];
- rigidbody *rb = ct->rba;
- v3f rv, da, db;
- rb_rcv( ct, rv, da, db );
+ v3f rv, ra, rb;
+ v3_sub( ct->co, ct->rba->co, ra );
+ v3_sub( ct->co, ct->rbb->co, rb );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
/* Friction */
for( int j=0; j<2; j++ )
v3f impulse;
v3_muls( ct->t[j], lambda, impulse );
- rb_linear_impulse( ct->rba, da, impulse );
+ rb_linear_impulse( ct->rba, ra, impulse );
v3_muls( ct->t[j], -lambda, impulse );
- rb_linear_impulse( ct->rbb, db, impulse );
+ rb_linear_impulse( ct->rbb, rb, impulse );
}
/* Normal */
- rb_rcv( ct, rv, da, db );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
float vn = v3_dot( rv, ct->n ),
lambda = ct->normal_mass * (-vn + ct->bias);
v3f impulse;
v3_muls( ct->n, lambda, impulse );
- rb_linear_impulse( ct->rba, da, impulse );
+ rb_linear_impulse( ct->rba, ra, impulse );
v3_muls( ct->n, -lambda, impulse );
- rb_linear_impulse( ct->rbb, db, impulse );
+ rb_linear_impulse( ct->rbb, rb, impulse );
}
}
* -----------------------------------------------------------------------------
*/
-VG_STATIC void draw_angle_limit( v3f c, v3f major, v3f minor,
- float amin, float amax, float measured,
- u32 colour )
+VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len )
{
- float f = 0.05f;
- v3f ay, ax;
- v3_muls( major, f, ay );
- v3_muls( minor, f, ax );
-
- for( int x=0; x<16; x++ )
+ for( int i=0; i<len; i++ )
{
- float t0 = (float)x / 16.0f,
- t1 = (float)(x+1) / 16.0f,
- a0 = vg_lerpf( amin, amax, t0 ),
- a1 = vg_lerpf( amin, amax, t1 );
+ rb_constr_pos *constr = &buffer[i];
+ rigidbody *rba = constr->rba, *rbb = constr->rbb;
+
+ v3f wca, wcb;
+ m3x3_mulv( rba->to_world, constr->lca, wca );
+ m3x3_mulv( rbb->to_world, constr->lcb, wcb );
v3f p0, p1;
- v3_muladds( c, ay, cosf(a0), p0 );
- v3_muladds( p0, ax, sinf(a0), p0 );
- v3_muladds( c, ay, cosf(a1), p1 );
- v3_muladds( p1, ax, sinf(a1), p1 );
+ v3_add( wca, rba->co, p0 );
+ v3_add( wcb, rbb->co, p1 );
+ vg_line_pt3( p0, 0.0025f, 0xff000000 );
+ vg_line_pt3( p1, 0.0025f, 0xffffffff );
+ vg_line2( p0, p1, 0xff000000, 0xffffffff );
+ }
+}
+
+VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len )
+{
+ float size = 0.12f;
+
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[ i ];
- vg_line( p0, p1, colour );
+ v3f vx, vy, va, vxb, axis, center;
- if( x == 0 )
- vg_line( c, p0, colour );
- if( x == 15 )
- vg_line( c, p1, colour );
- }
+ m3x3_mulv( st->rba->to_world, st->conevx, vx );
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
+ m3x3_mulv( st->rba->to_world, st->conevy, vy );
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
+ m4x3_mulv( st->rba->to_world, st->view_offset, center );
+ v3_cross( vy, vx, axis );
+
+ /* Constraint violated ? */
+ float fx = v3_dot( vx, va ), /* projection world */
+ fy = v3_dot( vy, va ),
+ fn = v3_dot( va, axis ),
+
+ rx = st->conevx[3], /* elipse radii */
+ ry = st->conevy[3],
+
+ lx = fx/rx, /* projection local (fn==lz) */
+ ly = fy/ry;
+
+ st->tangent_violation = ((lx*lx + ly*ly) > fn*fn) || (fn <= 0.0f);
+ if( st->tangent_violation )
+ {
+ /* Calculate a good position and the axis to solve on */
+ v2f closest, tangent,
+ p = { fx/fabsf(fn), fy/fabsf(fn) };
+
+ closest_point_elipse( p, (v2f){rx,ry}, closest );
+ tangent[0] = -closest[1] / (ry*ry);
+ tangent[1] = closest[0] / (rx*rx);
+ v2_normalize( tangent );
+
+ v3f v0, v1;
+ v3_muladds( axis, vx, closest[0], v0 );
+ v3_muladds( v0, vy, closest[1], v0 );
+ v3_normalize( v0 );
+
+ v3_muls( vx, tangent[0], v1 );
+ v3_muladds( v1, vy, tangent[1], v1 );
+
+ v3_copy( v0, st->tangent_target );
+ v3_copy( v1, st->tangent_axis );
+
+ /* calculate mass */
+ v3f aIw, bIw;
+ m3x3_mulv( st->rba->iIw, st->tangent_axis, aIw );
+ m3x3_mulv( st->rbb->iIw, st->tangent_axis, bIw );
+ st->tangent_mass = 1.0f / (v3_dot( st->tangent_axis, aIw ) +
+ v3_dot( st->tangent_axis, bIw ));
+
+ float angle = v3_dot( va, st->tangent_target );
+ }
+
+ v3f refaxis;
+ v3_cross( vy, va, refaxis ); /* our default rotation */
+ v3_normalize( refaxis );
- v3f p2;
- v3_muladds( c, ay, cosf(measured)*1.2f, p2 );
- v3_muladds( p2, ax, sinf(measured)*1.2f, p2 );
- vg_line( c, p2, colour );
+ float angle = v3_dot( refaxis, vxb );
+ st->axis_violation = fabsf(angle) < st->conet;
+
+ if( st->axis_violation )
+ {
+ v3f dir_test;
+ v3_cross( refaxis, vxb, dir_test );
+
+ if( v3_dot(dir_test, va) < 0.0f )
+ st->axis_violation = -st->axis_violation;
+
+ float newang = (float)st->axis_violation * acosf(st->conet-0.0001f);
+
+ v3f refaxis_up;
+ v3_cross( va, refaxis, refaxis_up );
+ v3_muls( refaxis_up, sinf(newang), st->axis_target );
+ v3_muladds( st->axis_target, refaxis, -cosf(newang), st->axis_target );
+
+ /* calculate mass */
+ v3_copy( va, st->axis );
+ v3f aIw, bIw;
+ m3x3_mulv( st->rba->iIw, st->axis, aIw );
+ m3x3_mulv( st->rbb->iIw, st->axis, bIw );
+ st->axis_mass = 1.0f / (v3_dot( st->axis, aIw ) +
+ v3_dot( st->axis, bIw ));
+ }
+ }
}
-VG_STATIC void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
- v3f limits[2] )
+VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len )
{
- v3f ax, ay, az, bx, by, bz;
- m3x3_mulv( ra->to_world, (v3f){1.0f,0.0f,0.0f}, ax );
- m3x3_mulv( ra->to_world, (v3f){0.0f,1.0f,0.0f}, ay );
- m3x3_mulv( ra->to_world, (v3f){0.0f,0.0f,1.0f}, az );
- m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f,0.0f}, bx );
- m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f,0.0f}, by );
- m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,1.0f}, bz );
+ float size = 0.12f;
- v2f px, py, pz;
- px[0] = v3_dot( ay, by );
- px[1] = v3_dot( az, by );
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[ i ];
+
+ v3f vx, vxb, vy, va, axis, center;
+
+ m3x3_mulv( st->rba->to_world, st->conevx, vx );
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
+ m3x3_mulv( st->rba->to_world, st->conevy, vy );
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
+ m4x3_mulv( st->rba->to_world, st->view_offset, center );
+ v3_cross( vy, vx, axis );
- py[0] = v3_dot( az, bz );
- py[1] = v3_dot( ax, bz );
+ float rx = st->conevx[3], /* elipse radii */
+ ry = st->conevy[3];
- pz[0] = v3_dot( ax, bx );
- pz[1] = v3_dot( ay, bx );
+ v3f p0, p1;
+ v3_muladds( center, va, size, p1 );
+ vg_line( center, p1, 0xffffffff );
+ vg_line_pt3( p1, 0.00025f, 0xffffffff );
+
+ if( st->tangent_violation )
+ {
+ v3_muladds( center, st->tangent_target, size, p0 );
- float r0 = atan2f( px[1], px[0] ),
- r1 = atan2f( py[1], py[0] ),
- r2 = atan2f( pz[1], pz[0] );
+ vg_line( center, p0, 0xff00ff00 );
+ vg_line_pt3( p0, 0.00025f, 0xff00ff00 );
+ vg_line( p1, p0, 0xff000000 );
+ }
+
+ for( int x=0; x<32; x++ )
+ {
+ float t0 = ((float)x * (1.0f/32.0f)) * VG_TAUf,
+ t1 = (((float)x+1.0f) * (1.0f/32.0f)) * VG_TAUf,
+ c0 = cosf( t0 ),
+ s0 = sinf( t0 ),
+ c1 = cosf( t1 ),
+ s1 = sinf( t1 );
+
+ v3f v0, v1;
+ v3_muladds( axis, vx, c0*rx, v0 );
+ v3_muladds( v0, vy, s0*ry, v0 );
+ v3_muladds( axis, vx, c1*rx, v1 );
+ v3_muladds( v1, vy, s1*ry, v1 );
+
+ v3_normalize( v0 );
+ v3_normalize( v1 );
+
+ v3_muladds( center, v0, size, p0 );
+ v3_muladds( center, v1, size, p1 );
+
+ u32 col0r = fabsf(c0) * 255.0f,
+ col0g = fabsf(s0) * 255.0f,
+ col1r = fabsf(c1) * 255.0f,
+ col1g = fabsf(s1) * 255.0f,
+ col = st->tangent_violation? 0xff0000ff: 0xff000000,
+ col0 = col | (col0r<<16) | (col0g << 8),
+ col1 = col | (col1r<<16) | (col1g << 8);
+
+ vg_line2( center, p0, VG__NONE, col0 );
+ vg_line2( p0, p1, col0, col1 );
+ }
- v3f c;
- m4x3_mulv( ra->to_world, lca, c );
- draw_angle_limit( c, ay, az, limits[0][0], limits[1][0], r0, 0xff0000ff );
- draw_angle_limit( c, az, ax, limits[0][1], limits[1][1], r1, 0xff00ff00 );
- draw_angle_limit( c, ax, ay, limits[0][2], limits[1][2], r2, 0xffff0000 );
+ /* Draw twist */
+ v3_muladds( center, va, size, p0 );
+ v3_muladds( p0, vxb, size, p1 );
+
+ vg_line( p0, p1, 0xff0000ff );
+
+ if( st->axis_violation )
+ {
+ v3_muladds( p0, st->axis_target, size*1.25f, p1 );
+ vg_line( p0, p1, 0xffffff00 );
+ vg_line_pt3( p1, 0.0025f, 0xffffff80 );
+ }
+
+ v3f refaxis;
+ v3_cross( vy, va, refaxis ); /* our default rotation */
+ v3_normalize( refaxis );
+ v3f refaxis_up;
+ v3_cross( va, refaxis, refaxis_up );
+ float newang = acosf(st->conet-0.0001f);
+
+ v3_muladds( p0, refaxis_up, sinf(newang)*size, p1 );
+ v3_muladds( p1, refaxis, -cosf(newang)*size, p1 );
+ vg_line( p0, p1, 0xff000000 );
+
+ v3_muladds( p0, refaxis_up, sinf(-newang)*size, p1 );
+ v3_muladds( p1, refaxis, -cosf(-newang)*size, p1 );
+ vg_line( p0, p1, 0xff404040 );
+ }
}
-VG_STATIC void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
+/*
+ * Solve a list of positional constraints
+ */
+VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len )
{
- if( d != 0.0f )
+ for( int i=0; i<len; i++ )
{
- float avx = v3_dot( ra->w, axis ) - v3_dot( rb->w, axis );
- float joint_mass = rb->inv_mass + ra->inv_mass;
- joint_mass = 1.0f/joint_mass;
-
- float bias = (k_limit_bias * k_rb_rate) * d,
- lambda = -(avx + bias) * joint_mass;
+ rb_constr_pos *constr = &buf[i];
+ rigidbody *rba = constr->rba, *rbb = constr->rbb;
- /* Angular velocity */
v3f wa, wb;
- v3_muls( axis, lambda * ra->inv_mass, wa );
- v3_muls( axis, -lambda * rb->inv_mass, wb );
+ m3x3_mulv( rba->to_world, constr->lca, wa );
+ m3x3_mulv( rbb->to_world, constr->lcb, wb );
- v3_add( ra->w, wa, ra->w );
- v3_add( rb->w, wb, rb->w );
+ m3x3f ssra, ssrat, ssrb, ssrbt;
+
+ m3x3_skew_symetric( ssrat, wa );
+ m3x3_skew_symetric( ssrbt, wb );
+ m3x3_transpose( ssrat, ssra );
+ m3x3_transpose( ssrbt, ssrb );
+
+ v3f b, b_wa, b_wb, b_a, b_b;
+ m3x3_mulv( ssra, rba->w, b_wa );
+ m3x3_mulv( ssrb, rbb->w, b_wb );
+ v3_add( rba->v, b_wa, b );
+ v3_sub( b, rbb->v, b );
+ v3_sub( b, b_wb, b );
+ v3_muls( b, -1.0f, b );
+
+ m3x3f invMa, invMb;
+ m3x3_diagonal( invMa, rba->inv_mass );
+ m3x3_diagonal( invMb, rbb->inv_mass );
+
+ m3x3f ia, ib;
+ m3x3_mul( ssra, rba->iIw, ia );
+ m3x3_mul( ia, ssrat, ia );
+ m3x3_mul( ssrb, rbb->iIw, ib );
+ m3x3_mul( ib, ssrbt, ib );
+
+ m3x3f cma, cmb;
+ m3x3_add( invMa, ia, cma );
+ m3x3_add( invMb, ib, cmb );
+
+ m3x3f A;
+ m3x3_add( cma, cmb, A );
+
+ /* Solve Ax = b ( A^-1*b = x ) */
+ v3f impulse;
+ m3x3f invA;
+ m3x3_inv( A, invA );
+ m3x3_mulv( invA, b, impulse );
+
+ v3f delta_va, delta_wa, delta_vb, delta_wb;
+ m3x3f iwa, iwb;
+ m3x3_mul( rba->iIw, ssrat, iwa );
+ m3x3_mul( rbb->iIw, ssrbt, iwb );
+
+ m3x3_mulv( invMa, impulse, delta_va );
+ m3x3_mulv( invMb, impulse, delta_vb );
+ m3x3_mulv( iwa, impulse, delta_wa );
+ m3x3_mulv( iwb, impulse, delta_wb );
+
+ v3_add( rba->v, delta_va, rba->v );
+ v3_add( rba->w, delta_wa, rba->w );
+ v3_sub( rbb->v, delta_vb, rbb->v );
+ v3_sub( rbb->w, delta_wb, rbb->w );
}
}
-VG_STATIC void rb_constraint_limits( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb, v3f limits[2] )
+VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len )
{
- v3f ax, ay, az, bx, by, bz;
- m3x3_mulv( ra->to_world, (v3f){1.0f,0.0f,0.0f}, ax );
- m3x3_mulv( ra->to_world, (v3f){0.0f,1.0f,0.0f}, ay );
- m3x3_mulv( ra->to_world, (v3f){0.0f,0.0f,1.0f}, az );
- m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f,0.0f}, bx );
- m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f,0.0f}, by );
- m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,1.0f}, bz );
+ float size = 0.12f;
+
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[ i ];
+
+ if( !st->axis_violation )
+ continue;
+
+ float rv = v3_dot( st->axis, st->rbb->w ) -
+ v3_dot( st->axis, st->rba->w );
+
+ if( rv * (float)st->axis_violation > 0.0f )
+ continue;
+
+ v3f impulse, wa, wb;
+ v3_muls( st->axis, rv*st->axis_mass, impulse );
+ m3x3_mulv( st->rba->iIw, impulse, wa );
+ v3_add( st->rba->w, wa, st->rba->w );
+
+ v3_muls( impulse, -1.0f, impulse );
+ m3x3_mulv( st->rbb->iIw, impulse, wb );
+ v3_add( st->rbb->w, wb, st->rbb->w );
- v2f px, py, pz;
- px[0] = v3_dot( ay, by );
- px[1] = v3_dot( az, by );
+ float rv2 = v3_dot( st->axis, st->rbb->w ) -
+ v3_dot( st->axis, st->rba->w );
+ }
- py[0] = v3_dot( az, bz );
- py[1] = v3_dot( ax, bz );
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[ i ];
- pz[0] = v3_dot( ax, bx );
- pz[1] = v3_dot( ay, bx );
+ if( !st->tangent_violation )
+ continue;
- float r0 = atan2f( px[1], px[0] ),
- r1 = atan2f( py[1], py[0] ),
- r2 = atan2f( pz[1], pz[0] );
+ float rv = v3_dot( st->tangent_axis, st->rbb->w ) -
+ v3_dot( st->tangent_axis, st->rba->w );
- /* calculate angle deltas */
- float dx = 0.0f, dy = 0.0f, dz = 0.0f;
+ if( rv > 0.0f )
+ continue;
- if( r0 < limits[0][0] ) dx = limits[0][0] - r0;
- if( r0 > limits[1][0] ) dx = limits[1][0] - r0;
- if( r1 < limits[0][1] ) dy = limits[0][1] - r1;
- if( r1 > limits[1][1] ) dy = limits[1][1] - r1;
- if( r2 < limits[0][2] ) dz = limits[0][2] - r2;
- if( r2 > limits[1][2] ) dz = limits[1][2] - r2;
+ v3f impulse, wa, wb;
+ v3_muls( st->tangent_axis, rv*st->tangent_mass, impulse );
+ m3x3_mulv( st->rba->iIw, impulse, wa );
+ v3_add( st->rba->w, wa, st->rba->w );
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+ v3_muls( impulse, -1.0f, impulse );
+ m3x3_mulv( st->rbb->iIw, impulse, wb );
+ v3_add( st->rbb->w, wb, st->rbb->w );
- rb_limit_cure( ra, rb, ax, dx );
- rb_limit_cure( ra, rb, ay, dy );
- rb_limit_cure( ra, rb, az, dz );
+ float rv2 = v3_dot( st->tangent_axis, st->rbb->w ) -
+ v3_dot( st->tangent_axis, st->rba->w );
+ }
}
-VG_STATIC void rb_debug_constraint_position( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb )
+VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
+ v3f ra, v3f rb )
{
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+ m3x3f ssra, ssrb, ssrat, ssrbt;
+ m3x3f cma, cmb;
+
+ m3x3_skew_symetric( ssrat, ra );
+ m3x3_skew_symetric( ssrbt, rb );
+ m3x3_transpose( ssrat, ssra );
+ m3x3_transpose( ssrbt, ssrb );
+
+ m3x3_mul( ssra, rba->iIw, cma );
+ m3x3_mul( cma, ssrat, cma );
+ m3x3_mul( ssrb, rbb->iIw, cmb );
+ m3x3_mul( cmb, ssrbt, cmb );
+
+ m3x3f A, invA;
+ m3x3_add( cma, cmb, A );
+ m3x3_inv( A, invA );
+
+ v3f b_wa, b_wb, b;
+ m3x3_mulv( ssra, rba->w, b_wa );
+ m3x3_mulv( ssrb, rbb->w, b_wb );
+ v3_add( b_wa, b_wb, b );
+ v3_negate( b, b );
+
+ v3f impulse;
+ m3x3_mulv( invA, b, impulse );
+
+ v3f delta_wa, delta_wb;
+ m3x3f iwa, iwb;
+ m3x3_mul( rba->iIw, ssrat, iwa );
+ m3x3_mul( rbb->iIw, ssrbt, iwb );
+ m3x3_mulv( iwa, impulse, delta_wa );
+ m3x3_mulv( iwb, impulse, delta_wb );
+ v3_add( rba->w, delta_wa, rba->w );
+ v3_sub( rbb->w, delta_wb, rbb->w );
+}
- v3f p0, p1;
- v3_add( wca, ra->co, p0 );
- v3_add( wcb, rb->co, p1 );
- vg_line_pt3( p0, 0.005f, 0xffffff00 );
- vg_line_pt3( p1, 0.005f, 0xffffff00 );
- vg_line( p0, p1, 0xffffff00 );
+/*
+ * Correct position constraint drift errors
+ * [ 0.0 <= amt <= 1.0 ]: the correction amount
+ */
+VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len,
+ float amt )
+{
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_pos *constr = &buf[i];
+ rigidbody *rba = constr->rba, *rbb = constr->rbb;
+
+ v3f p0, p1, d;
+ m3x3_mulv( rba->to_world, constr->lca, p0 );
+ m3x3_mulv( rbb->to_world, constr->lcb, p1 );
+ v3_add( rba->co, p0, p0 );
+ v3_add( rbb->co, p1, p1 );
+ v3_sub( p1, p0, d );
+
+ v3_muladds( rbb->co, d, -1.0f * amt, rbb->co );
+ rb_update_transform( rbb );
+ }
}
-VG_STATIC void rb_constraint_position( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb )
+VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len, float amt )
{
- /* C = (COa + Ra*LCa) - (COb + Rb*LCb) = 0 */
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[i];
- v3f rcv;
- v3_sub( ra->v, rb->v, rcv );
+ if( !st->tangent_violation )
+ continue;
- v3f rcv_Ra, rcv_Rb;
- v3_cross( ra->w, wca, rcv_Ra );
- v3_cross( rb->w, wcb, rcv_Rb );
- v3_add( rcv_Ra, rcv, rcv );
- v3_sub( rcv, rcv_Rb, rcv );
+ v3f va;
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
- v3f delta;
- v3f p0, p1;
- v3_add( wca, ra->co, p0 );
- v3_add( wcb, rb->co, p1 );
- v3_sub( p1, p0, delta );
+ float angle = v3_dot( va, st->tangent_target );
+
+ if( fabsf(angle) < 0.9999f )
+ {
+ v3f axis;
+ v3_cross( va, st->tangent_target, axis );
- float dist2 = v3_length2( delta );
+ v4f correction;
+ q_axis_angle( correction, axis, acosf(angle) * amt );
+ q_mul( correction, st->rbb->q, st->rbb->q );
+ rb_update_transform( st->rbb );
+ }
+ }
- if( dist2 > 0.00001f )
+ for( int i=0; i<len; i++ )
{
- float dist = sqrtf(dist2);
- v3_muls( delta, 1.0f/dist, delta );
+ rb_constr_swingtwist *st = &buf[i];
+
+ if( !st->axis_violation )
+ continue;
- float joint_mass = rb->inv_mass + ra->inv_mass;
+ v3f vxb;
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
- v3f raCn, rbCn, raCt, rbCt;
- v3_cross( wca, delta, raCn );
- v3_cross( wcb, delta, rbCn );
-
- /* orient inverse inertia tensors */
- v3f raCnI, rbCnI;
- m3x3_mulv( ra->iIw, raCn, raCnI );
- m3x3_mulv( rb->iIw, rbCn, rbCnI );
- joint_mass += v3_dot( raCn, raCnI );
- joint_mass += v3_dot( rbCn, rbCnI );
- joint_mass = 1.0f/joint_mass;
+ float angle = v3_dot( vxb, st->axis_target );
- float vd = v3_dot( rcv, delta ),
- bias = -(k_joint_bias * k_rb_rate) * dist,
- lambda = -(vd + bias) * joint_mass;
+ if( fabsf(angle) < 0.9999f )
+ {
+ v3f axis;
+ v3_cross( vxb, st->axis_target, axis );
- v3f impulse;
- v3_muls( delta, lambda, impulse );
- rb_linear_impulse( ra, wca, impulse );
- v3_muls( delta, -lambda, impulse );
- rb_linear_impulse( rb, wcb, impulse );
-
- /* 'fake' snap */
- v3_muladds( ra->co, delta, dist * k_joint_correction, ra->co );
- v3_muladds( rb->co, delta, -dist * k_joint_correction, rb->co );
+ v4f correction;
+ q_axis_angle( correction, axis, acosf(angle) * amt );
+ q_mul( correction, st->rbb->q, st->rbb->q );
+ rb_update_transform( st->rbb );
+ }
}
}
+
/*
* Effectors
*/
VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
- float amt, float drag )
+ float amt, float drag )
{
/* float */
float depth = v3_dot( plane, ra->co ) - plane[3],