+#include "common.h"
+#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;
+
+
+
+#ifndef RIGIDBODY_H
+#define RIGIDBODY_H
+
+/*
+ * -----------------------------------------------------------------------------
+ * (K)onstants
+ * -----------------------------------------------------------------------------
+ */
+
+VG_STATIC const float
+ k_rb_rate = (1.0/VG_TIMESTEP_FIXED),
+ k_rb_delta = (1.0/k_rb_rate),
+ 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,
+ k_gravity = 9.6f;
+
+VG_STATIC float
+ k_limit_bias = 0.02f,
+ k_joint_correction = 0.01f,
+ 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
+ });
+}
+
+/*
+ * -----------------------------------------------------------------------------
+ * structure definitions
+ * -----------------------------------------------------------------------------
+ */
+
+typedef struct rigidbody rigidbody;
+typedef struct contact rb_ct;
+typedef struct rb_sphere rb_sphere;
+typedef struct rb_capsule rb_capsule;
+typedef struct rb_scene rb_scene;
+
+struct rb_sphere
+{
+ float radius;
+};
+
+struct rb_capsule
+{
+ float height, radius;
+};
+
+struct rb_scene
+{
+ bh_tree *bh_scene;
+};
+
+struct rigidbody
+{
+ v3f co, v, w;
+ v4f q;
+
+ enum rb_shape
+ {
+ k_rb_shape_box = 0,
+ k_rb_shape_sphere = 1,
+ k_rb_shape_capsule = 2,
+ k_rb_shape_scene = 3
+ }
+ type;
+
+ union
+ {
+ struct rb_sphere sphere;
+ struct rb_capsule capsule;
+ struct rb_scene scene;
+ }
+ inf;
+
+ v3f right, up, forward;
+
+ int is_world;
+
+ boxf bbx, bbx_world;
+ float inv_mass;
+
+ /* inertia model and inverse world tensor */
+ v3f I;
+ m3x3f iI, iIw;
+
+ m4x3f to_world, to_local;
+};
+
+VG_STATIC struct contact
+{
+ rigidbody *rba, *rbb;
+ v3f co, n;
+ v3f t[2];
+ float p, bias, norm_impulse, tangent_impulse[2],
+ normal_mass, tangent_mass[2];
+
+ u32 element_id;
+
+ 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 float sphere_volume( float radius )
+{
+ float r3 = radius*radius*radius;
+ return (4.0f/3.0f) * VG_PIf * r3;
+}
+
+VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
+{
+ /* Compute tangent basis (box2d) */
+ if( fabsf( n[0] ) >= 0.57735027f )
+ {
+ tx[0] = n[1];
+ tx[1] = -n[0];
+ tx[2] = 0.0f;
+ }
+ else
+ {
+ tx[0] = 0.0f;
+ tx[1] = n[2];
+ tx[2] = -n[1];
+ }
+
+ v3_normalize( tx );
+ v3_cross( n, tx, ty );
+}
+
+/*
+ * -----------------------------------------------------------------------------
+ * Debugging
+ * -----------------------------------------------------------------------------
+ */
+
+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 );
+ 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 )
+{
+ v3f ly = { 0.0f, 0.0f, radius },
+ lx = { 0.0f, radius, 0.0f },
+ lz = { 0.0f, 0.0f, radius };
+
+ for( int i=0; i<16; i++ )
+ {
+ float t = ((float)(i+1) * (1.0f/16.0f)) * VG_PIf * 2.0f,
+ s = sinf(t),
+ c = cosf(t);
+
+ v3f py = { s*radius, 0.0f, c*radius },
+ px = { s*radius, c*radius, 0.0f },
+ pz = { 0.0f, s*radius, c*radius };
+
+ v3f p0, p1, p2, p3, p4, p5;
+ m4x3_mulv( m, py, p0 );
+ m4x3_mulv( m, ly, p1 );
+ m4x3_mulv( m, px, p2 );
+ m4x3_mulv( m, lx, p3 );
+ m4x3_mulv( m, pz, p4 );
+ m4x3_mulv( m, lz, p5 );
+
+ vg_line( p0, p1, colour == 0x00? 0xff00ff00: colour );
+ vg_line( p2, p3, colour == 0x00? 0xff0000ff: colour );
+ vg_line( p4, p5, colour == 0x00? 0xffff0000: colour );
+
+ v3_copy( py, ly );
+ v3_copy( px, lx );
+ v3_copy( pz, lz );
+ }
+}
+
+VG_STATIC void debug_capsule( m4x3f m, float radius, float h, u32 colour )
+{
+ v3f ly = { 0.0f, 0.0f, radius },
+ lx = { 0.0f, radius, 0.0f },
+ lz = { 0.0f, 0.0f, radius };
+
+ float s0 = sinf(0.0f)*radius,
+ c0 = cosf(0.0f)*radius;
+
+ v3f p0, p1, up, right, forward;
+ m3x3_mulv( m, (v3f){0.0f,1.0f,0.0f}, up );
+ m3x3_mulv( m, (v3f){1.0f,0.0f,0.0f}, right );
+ m3x3_mulv( m, (v3f){0.0f,0.0f,-1.0f}, forward );
+ v3_muladds( m[3], up, -h*0.5f+radius, p0 );
+ v3_muladds( m[3], up, h*0.5f-radius, p1 );
+
+ v3f a0, a1, b0, b1;
+ v3_muladds( p0, right, radius, a0 );
+ v3_muladds( p1, right, radius, a1 );
+ v3_muladds( p0, forward, radius, b0 );
+ v3_muladds( p1, forward, radius, b1 );
+ vg_line( a0, a1, colour );
+ vg_line( b0, b1, colour );
+
+ v3_muladds( p0, right, -radius, a0 );
+ v3_muladds( p1, right, -radius, a1 );
+ v3_muladds( p0, forward, -radius, b0 );
+ v3_muladds( p1, forward, -radius, b1 );
+ vg_line( a0, a1, colour );
+ vg_line( b0, b1, colour );
+
+ for( int i=0; i<16; i++ )
+ {
+ float t = ((float)(i+1) * (1.0f/16.0f)) * VG_PIf * 2.0f,
+ s1 = sinf(t)*radius,
+ c1 = cosf(t)*radius;
+
+ v3f e0 = { s0, 0.0f, c0 },
+ e1 = { s1, 0.0f, c1 },
+ e2 = { s0, c0, 0.0f },
+ e3 = { s1, c1, 0.0f },
+ e4 = { 0.0f, c0, s0 },
+ e5 = { 0.0f, c1, s1 };
+
+ m3x3_mulv( m, e0, e0 );
+ m3x3_mulv( m, e1, e1 );
+ m3x3_mulv( m, e2, e2 );
+ m3x3_mulv( m, e3, e3 );
+ m3x3_mulv( m, e4, e4 );
+ m3x3_mulv( m, e5, e5 );
+
+ v3_add( p0, e0, a0 );
+ v3_add( p0, e1, a1 );
+ v3_add( p1, e0, b0 );
+ v3_add( p1, e1, b1 );
+
+ vg_line( a0, a1, colour );
+ vg_line( b0, b1, colour );
+
+ if( c0 < 0.0f )
+ {
+ v3_add( p0, e2, a0 );
+ v3_add( p0, e3, a1 );
+ v3_add( p0, e4, b0 );
+ v3_add( p0, e5, b1 );
+ }
+ else
+ {
+ v3_add( p1, e2, a0 );
+ v3_add( p1, e3, a1 );
+ v3_add( p1, e4, b0 );
+ v3_add( p1, e5, b1 );
+ }
+
+ vg_line( a0, a1, colour );
+ vg_line( b0, b1, colour );
+
+ s0 = s1;
+ c0 = c1;
+ }
+}
+
+VG_STATIC void rb_debug( rigidbody *rb, u32 colour )
+{
+ if( rb->type == k_rb_shape_box )
+ {
+ v3f *box = rb->bbx;
+ vg_line_boxf_transformed( rb->to_world, rb->bbx, colour );
+ }
+ else if( rb->type == k_rb_shape_sphere )
+ {
+ debug_sphere( rb->to_world, rb->inf.sphere.radius, colour );
+ }
+ else if( rb->type == k_rb_shape_capsule )
+ {
+ m4x3f m0, m1;
+ float h = rb->inf.capsule.height,
+ r = rb->inf.capsule.radius;
+
+ debug_capsule( rb->to_world, r, h, colour );
+ }
+ else if( rb->type == k_rb_shape_scene )
+ {
+ vg_line_boxf( rb->bbx, colour );
+ }
+}
+
+/*
+ * -----------------------------------------------------------------------------
+ * Integration
+ * -----------------------------------------------------------------------------
+ */
+
+/*
+ * Update world space bounding box based on local one
+ */
+VG_STATIC void rb_update_bounds( rigidbody *rb )
+{
+ box_copy( rb->bbx, rb->bbx_world );
+ m4x3_transform_aabb( rb->to_world, rb->bbx_world );
+}
+
+/*
+ * Commit transform to rigidbody. Updates matrices
+ */
+VG_STATIC void rb_update_transform( rigidbody *rb )
+{
+ q_normalize( rb->q );
+ q_m3x3( rb->q, rb->to_world );
+ v3_copy( rb->co, rb->to_world[3] );
+
+ m4x3_invert_affine( rb->to_world, rb->to_local );
+
+ m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f, 0.0f}, rb->right );
+ m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f, 0.0f}, rb->up );
+ m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,-1.0f}, rb->forward );
+
+ m3x3_mul( rb->iI, rb->to_local, rb->iIw );
+ m3x3_mul( rb->to_world, rb->iIw, rb->iIw );
+
+ rb_update_bounds( rb );
+}
+
+/*
+ * Extrapolate rigidbody into a transform based on vg accumulator.
+ * Useful for rendering
+ */
+VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
+{
+ float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
+
+ v3f co;
+ v4f q;
+
+ v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
+
+ if( v3_length2( rb->w ) > 0.0f )
+ {
+ v4f rotation;
+ v3f axis;
+ v3_copy( rb->w, axis );
+
+ float mag = v3_length( axis );
+ v3_divs( axis, mag, axis );
+ q_axis_angle( rotation, axis, mag*k_rb_delta*substep );
+ q_mul( rotation, rb->q, q );
+ q_normalize( q );
+ }
+ else
+ {
+ v4_copy( rb->q, q );
+ }
+
+ q_m3x3( q, transform );
+ v3_copy( co, transform[3] );
+}
+
+/*
+ * Initialize rigidbody and calculate masses, inertia
+ */
+VG_STATIC void rb_init( rigidbody *rb )
+{
+ float volume = 1.0f;
+
+ if( rb->type == k_rb_shape_box )
+ {
+ v3f dims;
+ v3_sub( rb->bbx[1], rb->bbx[0], dims );
+ volume = dims[0]*dims[1]*dims[2];
+ }
+ else if( rb->type == k_rb_shape_sphere )
+ {
+ volume = sphere_volume( rb->inf.sphere.radius );
+ v3_fill( rb->bbx[0], -rb->inf.sphere.radius );
+ v3_fill( rb->bbx[1], rb->inf.sphere.radius );
+ }
+ else if( rb->type == k_rb_shape_capsule )
+ {
+ float r = rb->inf.capsule.radius,
+ h = rb->inf.capsule.height;
+ volume = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f);
+
+ v3_fill( rb->bbx[0], -r );
+ v3_fill( rb->bbx[1], r );
+ rb->bbx[0][1] = -h;
+ rb->bbx[1][1] = h;
+ }
+ else if( rb->type == k_rb_shape_scene )
+ {
+ rb->is_world = 1;
+ box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx );
+ }
+
+ if( rb->is_world )
+ {
+ rb->inv_mass = 0.0f;
+ v3_zero( rb->I );
+ m3x3_zero(rb->iI);
+ }
+ else
+ {
+ float mass = 2.0f*volume;
+ rb->inv_mass = 1.0f/mass;
+
+ v3f extent;
+ v3_sub( rb->bbx[1], rb->bbx[0], extent );
+ v3_muls( extent, 0.5f, extent );
+
+ /* local intertia tensor */
+ float scale = k_inertia_scale;
+ float ex2 = scale*extent[0]*extent[0],
+ ey2 = scale*extent[1]*extent[1],
+ ez2 = scale*extent[2]*extent[2];
+
+ rb->I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
+ rb->I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
+ rb->I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
+
+ m3x3_identity( rb->iI );
+ rb->iI[0][0] = rb->I[0];
+ rb->iI[1][1] = rb->I[1];
+ rb->iI[2][2] = rb->I[2];
+ m3x3_inv( rb->iI, rb->iI );
+ }
+
+ v3_zero( rb->v );
+ v3_zero( rb->w );
+
+ rb_update_transform( rb );
+}
+
+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 );
+
+ /* intergrate velocity */
+ v3_muladds( rb->co, rb->v, k_rb_delta, rb->co );
+ v3_lerp( rb->w, (v3f){0.0f,0.0f,0.0f}, 0.0025f, rb->w );
+
+ /* inegrate inertia */
+ if( v3_length2( rb->w ) > 0.0f )
+ {
+ v4f rotation;
+ v3f axis;
+ v3_copy( rb->w, axis );
+
+ float mag = v3_length( axis );
+ v3_divs( axis, mag, axis );
+ q_axis_angle( rotation, axis, mag*k_rb_delta );
+ q_mul( rotation, rb->q, rb->q );
+ }
+
+ /* damping */
+ v3_muls( rb->v, 1.0f/(1.0f+k_rb_delta*k_damp_linear), rb->v );
+ v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
+}
+
+
+/*
+ * -----------------------------------------------------------------------------
+ * Boolean shape overlap functions
+ * -----------------------------------------------------------------------------
+ */
+
+/*
+ * Project AABB, and triangle interval onto axis to check if they overlap
+ */
+VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
+{
+ float
+
+ r = extent[0] * fabsf(axis[0]) +
+ extent[1] * fabsf(axis[1]) +
+ extent[2] * fabsf(axis[2]),
+
+ p0 = v3_dot( axis, tri[0] ),
+ p1 = v3_dot( axis, tri[1] ),
+ p2 = v3_dot( axis, tri[2] ),
+
+ e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2)));
+
+ if( e > r ) return 0;
+ else return 1;
+}
+
+/*
+ * Seperating axis test box vs triangle
+ */
+VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
+{
+ v3f tri[3];
+
+ v3f extent, c;
+ v3_sub( rba->bbx[1], rba->bbx[0], extent );
+ v3_muls( extent, 0.5f, extent );
+ v3_add( rba->bbx[0], extent, c );
+
+ for( int i=0; i<3; i++ )
+ {
+ m4x3_mulv( rba->to_local, tri_src[i], tri[i] );
+ v3_sub( tri[i], c, tri[i] );
+ }
+
+ /* u0, u1, u2 */
+ if(!rb_box_triangle_interval( extent, (v3f){1.0f,0.0f,0.0f}, tri )) return 0;
+ if(!rb_box_triangle_interval( extent, (v3f){0.0f,1.0f,0.0f}, tri )) return 0;
+ if(!rb_box_triangle_interval( extent, (v3f){0.0f,0.0f,1.0f}, tri )) return 0;
+
+ v3f v0,v1,v2,n, e0,e1,e2;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_sub( tri[2], tri[1], v2 );
+ v3_normalize( v0 );
+ v3_normalize( v1 );
+ v3_normalize( v2 );
+ v3_cross( v0, v1, n );
+ v3_cross( v0, n, e0 );
+ v3_cross( n, v1, e1 );
+ v3_cross( v2, n, e2 );
+
+ /* normal */
+ if(!rb_box_triangle_interval( extent, n, tri )) return 0;
+
+ v3f axis[9];
+ v3_cross( e0, (v3f){1.0f,0.0f,0.0f}, axis[0] );
+ v3_cross( e0, (v3f){0.0f,1.0f,0.0f}, axis[1] );
+ v3_cross( e0, (v3f){0.0f,0.0f,1.0f}, axis[2] );
+ v3_cross( e1, (v3f){1.0f,0.0f,0.0f}, axis[3] );
+ v3_cross( e1, (v3f){0.0f,1.0f,0.0f}, axis[4] );
+ v3_cross( e1, (v3f){0.0f,0.0f,1.0f}, axis[5] );
+ v3_cross( e2, (v3f){1.0f,0.0f,0.0f}, axis[6] );
+ v3_cross( e2, (v3f){0.0f,1.0f,0.0f}, axis[7] );
+ v3_cross( e2, (v3f){0.0f,0.0f,1.0f}, axis[8] );
+
+ for( int i=0; i<9; i++ )
+ if(!rb_box_triangle_interval( extent, axis[i], tri )) return 0;
+
+ 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
+ * -----------------------------------------------------------------------------
+ */
+
+/*
+ * Contact generators
+ *
+ * These do not automatically allocate contacts, an appropriately sized
+ * buffer must be supplied. The function returns the size of the manifold
+ * which was generated.
+ *
+ * The values set on the contacts are: n, co, p, rba, rbb
+ */
+
+/*
+ * By collecting the minimum(time) and maximum(time) pairs of points, we
+ * build a reduced and stable exact manifold.
+ *
+ * tx: time at point
+ * rx: minimum distance of these points
+ * dx: the delta between the two points
+ *
+ * pairs will only ammend these if they are creating a collision
+ */
+typedef struct capsule_manifold capsule_manifold;
+struct capsule_manifold
+{
+ float t0, t1;
+ float r0, r1;
+ v3f d0, d1;
+};
+
+/*
+ * Expand a line manifold with a new pair. t value is the time along segment
+ * 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 )
+{
+ v3f delta;
+ v3_sub( pa, pb, delta );
+
+ if( v3_length2(delta) < r*r )
+ {
+ if( t < manifold->t0 )
+ {
+ v3_copy( delta, manifold->d0 );
+ manifold->t0 = t;
+ manifold->r0 = r;
+ }
+
+ if( t > manifold->t1 )
+ {
+ v3_copy( delta, manifold->d1 );
+ manifold->t1 = t;
+ manifold->r1 = r;
+ }
+ }
+}
+
+VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold )
+{
+ manifold->t0 = INFINITY;
+ manifold->t1 = -INFINITY;
+}
+
+__attribute__ ((deprecated))
+VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
+ capsule_manifold *manifold, rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ ra = rba->inf.capsule.radius;
+
+ v3f p0, p1;
+ v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 );
+
+ int count = 0;
+ if( manifold->t0 <= 1.0f )
+ {
+ rb_ct *ct = buf;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t0, pa );
+ v3_muladds( pa, p1, manifold->t0, pa );
+
+ float d = v3_length( manifold->d0 );
+ v3_muls( manifold->d0, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -ra, ct->co );
+
+ ct->p = manifold->r0 - d;
+ ct->rba = rba;
+ ct->rbb = rbb;
+ ct->type = k_contact_type_default;
+
+ count ++;
+ }
+
+ if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) )
+ {
+ rb_ct *ct = buf+count;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t1, pa );
+ v3_muladds( pa, p1, manifold->t1, pa );
+
+ float d = v3_length( manifold->d1 );
+ v3_muls( manifold->d1, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -ra, ct->co );
+
+ ct->p = manifold->r1 - d;
+ ct->rba = rba;
+ ct->rbb = rbb;
+ ct->type = k_contact_type_default;
+
+ count ++;
+ }
+
+ /*
+ * Debugging
+ */
+
+ if( count == 2 )
+ vg_line( buf[0].co, buf[1].co, 0xff0000ff );
+
+ return count;
+}
+
+VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
+ capsule_manifold *manifold,
+ rb_ct *buf )
+{
+ v3f p0, p1;
+ v3_muladds( mtx[3], mtx[1], -c->height*0.5f+c->radius, p0 );
+ v3_muladds( mtx[3], mtx[1], c->height*0.5f-c->radius, p1 );
+
+ int count = 0;
+ if( manifold->t0 <= 1.0f )
+ {
+ rb_ct *ct = buf;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t0, pa );
+ v3_muladds( pa, p1, manifold->t0, pa );
+
+ float d = v3_length( manifold->d0 );
+ v3_muls( manifold->d0, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -c->radius, ct->co );
+
+ ct->p = manifold->r0 - d;
+ ct->type = k_contact_type_default;
+ count ++;
+ }
+
+ if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) )
+ {
+ rb_ct *ct = buf+count;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t1, pa );
+ v3_muladds( pa, p1, manifold->t1, pa );
+
+ float d = v3_length( manifold->d1 );
+ v3_muls( manifold->d1, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -c->radius, ct->co );
+
+ ct->p = manifold->r1 - d;
+ ct->type = k_contact_type_default;
+
+ count ++;
+ }
+
+ /*
+ * Debugging
+ */
+
+ if( count == 2 )
+ vg_line( buf[0].co, buf[1].co, 0xff0000ff );
+
+ return count;
+}
+
+VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ ra = rba->inf.capsule.radius,
+ rb = rbb->inf.sphere.radius;
+
+ v3f p0, p1;
+ v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 );
+
+ v3f c, delta;
+ closest_point_segment( p0, p1, rbb->co, c );
+ v3_sub( c, rbb->co, delta );
+
+ float d2 = v3_length2(delta),
+ r = ra + rb;
+
+ if( d2 < r*r )
+ {
+ float d = sqrtf(d2);
+
+ rb_ct *ct = buf;
+ v3_muls( delta, 1.0f/d, ct->n );
+ ct->p = r-d;
+
+ v3f p0, p1;
+ v3_muladds( c, ct->n, -ra, p0 );
+ v3_muladds( rbb->co, ct->n, rb, p1 );
+ v3_add( p0, p1, ct->co );
+ v3_muls( ct->co, 0.5f, ct->co );
+
+ ct->rba = rba;
+ ct->rbb = rbb;
+ ct->type = k_contact_type_default;
+
+ return 1;
+ }
+
+ return 0;
+}
+
+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,
+ rb = rbb->inf.capsule.radius,
+ r = ra+rb;
+
+ v3f p0, p1, p2, p3;
+ v3_muladds( rba->co, rba->up, -ha*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->up, ha*0.5f-ra, p1 );
+ v3_muladds( rbb->co, rbb->up, -hb*0.5f+rb, p2 );
+ v3_muladds( rbb->co, rbb->up, hb*0.5f-rb, p3 );
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f pa, pb;
+ float ta, tb;
+ closest_segment_segment( p0, p1, p2, p3, &ta, &tb, pa, pb );
+ rb_capsule_manifold( pa, pb, ta, r, &manifold );
+
+ ta = closest_point_segment( p0, p1, p2, pa );
+ tb = closest_point_segment( p0, p1, p3, pb );
+ rb_capsule_manifold( pa, p2, ta, r, &manifold );
+ rb_capsule_manifold( pb, p3, tb, r, &manifold );
+
+ closest_point_segment( p2, p3, p0, pa );
+ closest_point_segment( p2, p3, p1, pb );
+ rb_capsule_manifold( p0, pa, 0.0f, r, &manifold );
+ rb_capsule_manifold( p1, pb, 1.0f, r, &manifold );
+
+ return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+}
+
+/*
+ * Generates up to two contacts; optimised for the most stable manifold
+ */
+VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ r = rba->inf.capsule.radius;
+
+ /*
+ * Solving this in symetric local space of the cube saves us some time and a
+ * couple branches when it comes to the quad stage.
+ */
+ v3f centroid;
+ v3_add( rbb->bbx[0], rbb->bbx[1], centroid );
+ v3_muls( centroid, 0.5f, centroid );
+
+ boxf bbx;
+ v3_sub( rbb->bbx[0], centroid, bbx[0] );
+ v3_sub( rbb->bbx[1], centroid, bbx[1] );
+
+ v3f pc, p0w, p1w, p0, p1;
+ v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w );
+ v3_muladds( rba->co, rba->up, h*0.5f-r, p1w );
+
+ m4x3_mulv( rbb->to_local, p0w, p0 );
+ m4x3_mulv( rbb->to_local, p1w, p1 );
+ v3_sub( p0, centroid, p0 );
+ v3_sub( p1, centroid, p1 );
+ v3_add( p0, p1, pc );
+ v3_muls( pc, 0.5f, pc );
+
+ /*
+ * Finding an appropriate quad to collide lines with
+ */
+ v3f region;
+ v3_div( pc, bbx[1], region );
+
+ v3f quad[4];
+ if( (fabsf(region[0]) > fabsf(region[1])) &&
+ (fabsf(region[0]) > fabsf(region[2])) )
+ {
+ float px = vg_signf(region[0]) * bbx[1][0];
+ v3_copy( (v3f){ px, bbx[0][1], bbx[0][2] }, quad[0] );
+ v3_copy( (v3f){ px, bbx[1][1], bbx[0][2] }, quad[1] );
+ v3_copy( (v3f){ px, bbx[1][1], bbx[1][2] }, quad[2] );
+ v3_copy( (v3f){ px, bbx[0][1], bbx[1][2] }, quad[3] );
+ }
+ else if( fabsf(region[1]) > fabsf(region[2]) )
+ {
+ float py = vg_signf(region[1]) * bbx[1][1];
+ v3_copy( (v3f){ bbx[0][0], py, bbx[0][2] }, quad[0] );
+ v3_copy( (v3f){ bbx[1][0], py, bbx[0][2] }, quad[1] );
+ v3_copy( (v3f){ bbx[1][0], py, bbx[1][2] }, quad[2] );
+ v3_copy( (v3f){ bbx[0][0], py, bbx[1][2] }, quad[3] );
+ }
+ else
+ {
+ float pz = vg_signf(region[2]) * bbx[1][2];
+ v3_copy( (v3f){ bbx[0][0], bbx[0][1], pz }, quad[0] );
+ v3_copy( (v3f){ bbx[1][0], bbx[0][1], pz }, quad[1] );
+ v3_copy( (v3f){ bbx[1][0], bbx[1][1], pz }, quad[2] );
+ v3_copy( (v3f){ bbx[0][0], bbx[1][1], pz }, quad[3] );
+ }
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f c0, c1;
+ closest_point_aabb( p0, bbx, c0 );
+ closest_point_aabb( p1, bbx, c1 );
+
+ v3f d0, d1, da;
+ v3_sub( c0, p0, d0 );
+ v3_sub( c1, p1, d1 );
+ v3_sub( p1, p0, da );
+
+ v3_normalize(d0);
+ v3_normalize(d1);
+ v3_normalize(da);
+
+ if( v3_dot( da, d0 ) <= 0.01f )
+ rb_capsule_manifold( p0, c0, 0.0f, r, &manifold );
+
+ if( v3_dot( da, d1 ) >= -0.01f )
+ rb_capsule_manifold( p1, c1, 1.0f, r, &manifold );
+
+ for( int i=0; i<4; i++ )
+ {
+ int i0 = i,
+ i1 = (i+1)%4;
+
+ v3f ca, cb;
+ float ta, tb;
+ closest_segment_segment( p0, p1, quad[i0], quad[i1], &ta, &tb, ca, cb );
+ rb_capsule_manifold( ca, cb, ta, r, &manifold );
+ }
+
+ /*
+ * Create final contacts based on line manifold
+ */
+ m3x3_mulv( rbb->to_world, manifold.d0, manifold.d0 );
+ m3x3_mulv( rbb->to_world, manifold.d1, manifold.d1 );
+
+ /*
+ * Debugging
+ */
+
+#if 0
+ for( int i=0; i<4; i++ )
+ {
+ v3f q0, q1;
+ int i0 = i,
+ i1 = (i+1)%4;
+
+ v3_add( quad[i0], centroid, q0 );
+ v3_add( quad[i1], centroid, q1 );
+
+ m4x3_mulv( rbb->to_world, q0, q0 );
+ m4x3_mulv( rbb->to_world, q1, q1 );
+
+ vg_line( q0, q1, 0xffffffff );
+ }
+#endif
+
+ return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+}
+
+VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ v3f co, delta;
+
+ 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),
+ r = rba->inf.sphere.radius;
+
+ if( d2 <= r*r )
+ {
+ float d;
+
+ rb_ct *ct = buf;
+ if( d2 <= 0.0001f )
+ {
+ v3_sub( rba->co, rbb->co, delta );
+
+ /*
+ * some extra testing is required to find the best axis to push the
+ * object back outside the box. Since there isnt a clear seperating
+ * vector already, especially on really high aspect boxes.
+ */
+ float lx = v3_dot( rbb->right, delta ),
+ ly = v3_dot( rbb->up, delta ),
+ lz = v3_dot( rbb->forward, delta ),
+ px = rbb->bbx[1][0] - fabsf(lx),
+ py = rbb->bbx[1][1] - fabsf(ly),
+ pz = rbb->bbx[1][2] - fabsf(lz);
+
+ if( px < py && px < pz )
+ v3_muls( rbb->right, vg_signf(lx), ct->n );
+ else if( py < pz )
+ v3_muls( rbb->up, vg_signf(ly), ct->n );
+ else
+ v3_muls( rbb->forward, vg_signf(lz), ct->n );
+
+ v3_muladds( rba->co, ct->n, -r, ct->co );
+ ct->p = r;
+ }
+ else
+ {
+ d = sqrtf(d2);
+ v3_muls( delta, 1.0f/d, ct->n );
+ ct->p = r-d;
+ v3_copy( co, ct->co );
+ }
+
+ ct->rba = rba;
+ ct->rbb = rbb;
+ ct->type = k_contact_type_default;
+ return 1;
+ }
+
+ return 0;
+}
+
+VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ v3f delta;
+ v3_sub( rba->co, rbb->co, delta );
+
+ float d2 = v3_length2(delta),
+ r = rba->inf.sphere.radius + rbb->inf.sphere.radius;
+
+ if( d2 < r*r )
+ {
+ float d = sqrtf(d2);
+
+ rb_ct *ct = buf;
+ v3_muls( delta, 1.0f/d, ct->n );
+
+ v3f p0, p1;
+ v3_muladds( rba->co, ct->n,-rba->inf.sphere.radius, p0 );
+ 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 1;
+ }
+
+ return 0;
+}
+
+//#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_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 );
+
+ float d2 = v3_length2( delta ),
+ r = rba->inf.sphere.radius;
+
+ if( d2 < r*r )
+ {
+ rb_ct *ct = buf;
+
+ v3f ab, ac, tn;
+ v3_sub( tri[2], tri[0], ab );
+ 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 1;
+ }
+
+ return 0;
+}
+
+
+VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
+ boxf box, u32 colour )
+{
+ sharp_ang = cosf( sharp_ang );
+
+ scene *sc = rbb->inf.scene.bh_scene->user;
+ vg_line_boxf( box, 0xff00ff00 );
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, box, &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] );
+
+ for( int j=0; j<3; j++ )
+ {
+#if 0
+ v3f edir;
+ v3_sub( tri[(j+1)%3], tri[j], edir );
+
+ if( v3_dot( edir, (v3f){ 0.5184758473652127f,
+ 0.2073903389460850f,
+ -0.8295613557843402f } ) < 0.0f )
+ continue;
+#endif
+
+ 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] );
+
+ int jdx;
+ while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) )
+ {
+ if( idx <= jdx )
+ continue;
+
+ u32 *ptrj = &sc->arrindices[ jdx*3 ];
+ v3f trj[3];
+
+ for( int k=0; k<3; k++ )
+ v3_copy( sc->arrvertices[ptrj[k]].co, trj[k] );
+
+ for( int k=0; k<3; k++ )
+ {
+ 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
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ 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];
+
+ 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 );
+ count += contact;
+
+ if( count == 16 )
+ {
+ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+ return count;
+ }
+ }
+
+ return count;
+}
+
+VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ scene *sc = rbb->inf.scene.bh_scene->user;
+
+ v3f tri[3];
+
+ 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 ];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+
+ if( rb_box_triangle_sat( rba, tri ) )
+ {
+ vg_line(tri[0],tri[1],0xff50ff00 );
+ vg_line(tri[1],tri[2],0xff50ff00 );
+ vg_line(tri[2],tri[0],0xff50ff00 );
+ }
+ else
+ {
+ vg_line(tri[0],tri[1],0xff0000ff );
+ vg_line(tri[1],tri[2],0xff0000ff );
+ vg_line(tri[2],tri[0],0xff0000ff );
+
+ continue;
+ }
+
+ 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 );
+
+ /* find best feature */
+ float best = v3_dot( rba->right, n );
+ int axis = 0;
+
+ float cy = v3_dot( rba->up, n );
+ if( fabsf(cy) > fabsf(best) )
+ {
+ best = cy;
+ axis = 1;
+ }
+
+ float cz = -v3_dot( rba->forward, n );
+ if( fabsf(cz) > fabsf(best) )
+ {
+ best = cz;
+ axis = 2;
+ }
+
+ v3f manifold[4];
+
+ if( axis == 0 )
+ {
+ float px = best > 0.0f? rba->bbx[0][0]: rba->bbx[1][0];
+ manifold[0][0] = px;
+ manifold[0][1] = rba->bbx[0][1];
+ manifold[0][2] = rba->bbx[0][2];
+ manifold[1][0] = px;
+ manifold[1][1] = rba->bbx[1][1];
+ manifold[1][2] = rba->bbx[0][2];
+ manifold[2][0] = px;
+ manifold[2][1] = rba->bbx[1][1];
+ manifold[2][2] = rba->bbx[1][2];
+ manifold[3][0] = px;
+ manifold[3][1] = rba->bbx[0][1];
+ manifold[3][2] = rba->bbx[1][2];
+ }
+ else if( axis == 1 )
+ {
+ float py = best > 0.0f? rba->bbx[0][1]: rba->bbx[1][1];
+ manifold[0][0] = rba->bbx[0][0];
+ manifold[0][1] = py;
+ manifold[0][2] = rba->bbx[0][2];
+ manifold[1][0] = rba->bbx[1][0];
+ manifold[1][1] = py;
+ manifold[1][2] = rba->bbx[0][2];
+ manifold[2][0] = rba->bbx[1][0];
+ manifold[2][1] = py;
+ manifold[2][2] = rba->bbx[1][2];
+ manifold[3][0] = rba->bbx[0][0];
+ manifold[3][1] = py;
+ manifold[3][2] = rba->bbx[1][2];
+ }
+ else
+ {
+ float pz = best > 0.0f? rba->bbx[0][2]: rba->bbx[1][2];
+ manifold[0][0] = rba->bbx[0][0];
+ manifold[0][1] = rba->bbx[0][1];
+ manifold[0][2] = pz;
+ manifold[1][0] = rba->bbx[1][0];
+ manifold[1][1] = rba->bbx[0][1];
+ manifold[1][2] = pz;
+ manifold[2][0] = rba->bbx[1][0];
+ manifold[2][1] = rba->bbx[1][1];
+ manifold[2][2] = pz;
+ manifold[3][0] = rba->bbx[0][0];
+ manifold[3][1] = rba->bbx[1][1];
+ manifold[3][2] = pz;
+ }
+
+ for( int j=0; j<4; j++ )
+ m4x3_mulv( rba->to_world, manifold[j], manifold[j] );
+
+ vg_line( manifold[0], manifold[1], 0xffffffff );
+ vg_line( manifold[1], manifold[2], 0xffffffff );
+ vg_line( manifold[2], manifold[3], 0xffffffff );
+ vg_line( manifold[3], manifold[0], 0xffffffff );
+
+ for( int j=0; j<4; j++ )
+ {
+ rb_ct *ct = buf+count;
+
+ v3_copy( manifold[j], ct->co );
+ v3_copy( n, ct->n );
+
+ float l0 = v3_dot( tri[0], n ),
+ l1 = v3_dot( manifold[j], n );
+
+ ct->p = (l0-l1)*0.5f;
+ if( ct->p < 0.0f )
+ continue;
+
+ ct->type = k_contact_type_default;
+ ct->rba = rba;
+ ct->rbb = rbb;
+ count ++;
+
+ if( count >= 12 )
+ return count;
+ }
+ }
+ return count;
+}
+
+VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
+ v3f tri[3], rb_ct *buf )
+{
+ v3f pc, p0w, p1w;
+ v3_muladds( mtxA[3], mtxA[1], -c->height*0.5f+c->radius, p0w );
+ v3_muladds( mtxA[3], mtxA[1], c->height*0.5f-c->radius, 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, c->radius, &manifold );