+++ /dev/null
-#ifndef PHYSICS_TEST_H
-#define PHYSICS_TEST_H
-
-#include "rigidbody.h"
-#include "player.h"
-
-rigidbody ground = { .type = k_rb_shape_box,
- .bbx = {{-100.0f,-1.0f,-100.0f},{100.0f,0.0f,100.0f}},
- .co = {0.0f, 0.0f, 0.0f},
- .q = {0.0f,0.0f,0.0f,1.0f},
- .is_world = 1 };
-
-rigidbody blocky =
- {
- .type = k_rb_shape_box,
- .bbx = {{-2.0f,-1.0f,-3.0f},{2.0f,1.0f,2.0f}},
- .co = {30.0f,2.0f,30.0f},
- .q = {0.0f,0.0f,0.0f,1.0f},
- .is_world = 1
- };
-
-rigidbody marko =
-{
- .type = k_rb_shape_box,
- .bbx = {{-0.5f,-0.5f,-0.5f},{0.5f,0.5f,0.5f}},
- .co = {-36.0f,8.0f,-36.0f},
- .q = {0.0f,0.0f,0.0f,1.0f},
- .is_world = 0
-};
-
-scene epic_scene;
-
-rigidbody epic_scene_rb =
-{
- .type = k_rb_shape_scene,
- .co = {0.0f,0.0f,0.0f},
- .q = {0.0f,0.0f,0.0f,1.0f},
- .is_world = 1,
- .inf.scene = { .pscene = &epic_scene }
-};
-
-rigidbody funnel[4] = {
- {
- .type = k_rb_shape_box,
- .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
- .co = {-10.0f,5.0f,0.0f},
- .is_world = 1
- },
- {
- .type = k_rb_shape_box,
- .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
- .co = { 10.0f,5.0f,0.0f},
- .is_world = 1
- },
- {
- .type = k_rb_shape_box,
- .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
- .co = { 0.0f,5.0f,10.0f},
- .is_world = 1
- },
- {
- .type = k_rb_shape_box,
- .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
- .co = {0.0f,5.0f,-10.0f},
- .is_world = 1
- }
-};
-
-rigidbody jeff1 = { .type = k_rb_shape_capsule,
- .inf.capsule = { .radius = 0.75f, .height = 3.0f },
- .co = {30.0f, 4.0f, 30.0f },
- .q = {1.0f,0.0f,0.0f,0.0f}
-};
-
-rigidbody ball = { .type = k_rb_shape_sphere,
- .inf.sphere = { .radius = 2.0f },
- .co = {0.0f,20.0f,2.0f},
- .q = {0.0f,0.0f,0.0f,1.0f}},
-
- ball1= { .type = k_rb_shape_sphere,
- .inf.sphere = { .radius = 2.0f },
- .co = {0.1f,25.0f,0.2f},
- .q = {0.0f,0.0f,0.0f,1.0f}};
-
-rigidbody jeffs[16];
-
-static void reorg_jeffs(void)
-{
- for( int i=0; i<vg_list_size(jeffs); i++ )
- {
- v3_copy( (v3f){ (vg_randf()-0.5f) * 10.0f,
- (vg_randf()-0.5f) * 10.0f + 17.0f,
- (vg_randf()-0.5f) * 10.0f }, jeffs[i].co );
- v4_copy( (v4f){ vg_randf(), vg_randf(), vg_randf(), vg_randf() },
- jeffs[i].q );
- q_normalize( jeffs[i].q );
-
- jeffs[i].type = k_rb_shape_capsule;
- jeffs[i].inf.capsule.radius = 0.75f;
- jeffs[i].inf.capsule.height = 3.0f;
-
- rb_init( &jeffs[i] );
- }
-}
-
-static void physics_test_start(void)
-{
- q_axis_angle( funnel[0].q, (v3f){1.0f,0.0f,0.0f}, 0.6f );
- q_axis_angle( funnel[1].q, (v3f){1.0f,0.0f,0.0f}, -0.6f );
- q_axis_angle( funnel[2].q, (v3f){0.0f,0.0f,1.0f}, 0.6f );
- q_axis_angle( funnel[3].q, (v3f){0.0f,0.0f,1.0f}, -0.6f );
-
- for( int i=0; i<4; i++ )
- rb_init( &funnel[i] );
-
- reorg_jeffs();
-
- rb_init( &ground );
- rb_init( &ball );
- rb_init( &ball1 );
- rb_init( &jeff1 );
- rb_init( &blocky );
-
- scene_init( &epic_scene );
-
- mdl_header *mdl = mdl_load( "models/epic_scene.mdl" );
-
- m4x3f transform;
- m4x3_identity( transform );
-
- for( int i=0; i<mdl->node_count; i++ )
- {
- mdl_node *pnode = mdl_node_from_id( mdl, i );
-
- for( int j=0; j<pnode->submesh_count; j++ )
- {
- mdl_submesh *sm = mdl_node_submesh( mdl, pnode, j );
- scene_add_submesh( &epic_scene, mdl, sm, transform );
- }
- }
-
- free( mdl );
- scene_bh_create( &epic_scene );
-
- rb_init( &epic_scene_rb );
- rb_init( &marko );
-}
-
-static void physics_test_update(void)
-{
- player_freecam();
- player_camera_update();
-
- for( int i=0; i<4; i++ )
- rb_debug( &funnel[i], 0xff0060e0 );
- rb_debug( &ground, 0xff00ff00 );
- rb_debug( &ball, 0xffe00040 );
- rb_debug( &ball1, 0xff00e050 );
-
- rb_debug( &blocky, 0xffcccccc );
- rb_debug( &jeff1, 0xff00ffff );
-
- rb_debug( &epic_scene_rb, 0xffcccccc );
- rb_debug( &marko, 0xffffcc00 );
-
- {
-
- rb_solver_reset();
-
- for( int i=0; i<4; i++ )
- {
- rigidbody *fn = &funnel[i];
- rb_collide( &ball, fn );
- rb_collide( &ball1, fn );
- rb_collide( &jeff1, fn );
-
- for( int i=0; i<vg_list_size(jeffs); i++ )
- rb_collide( jeffs+i, fn );
- }
-
- for( int i=0; i<vg_list_size(jeffs)-1; i++ )
- {
- for( int j=i+1; j<vg_list_size(jeffs); j++ )
- {
- rb_collide( jeffs+i, jeffs+j );
- }
- }
-
- for( int i=0; i<vg_list_size(jeffs); i++ )
- {
- rb_collide( jeffs+i, &ground );
- rb_collide( jeffs+i, &ball );
- rb_collide( jeffs+i, &ball1 );
- rb_collide( jeffs+i, &jeff1 );
- }
-
- rb_collide( &jeff1, &ground );
- rb_collide( &jeff1, &blocky );
- rb_collide( &jeff1, &ball );
- rb_collide( &jeff1, &ball1 );
-
- rb_collide( &ball, &ground );
- rb_collide( &ball1, &ground );
- rb_collide( &ball1, &ball );
- rb_collide( &marko, &epic_scene_rb );
-
- rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
- for( int i=0; i<8; i++ )
- rb_solve_contacts( rb_contact_buffer, rb_contact_count );
-
-
- /* ITERATE */
- {
- for( int i=0; i<vg_list_size(jeffs); i++ )
- {
- rb_debug( &jeffs[i], (u32[]){ 0xff0000ff, 0xff00ff00, 0xff00ffff,
- 0xffff0000, 0xffff00ff, 0xffffff00,
- }[i%6] );
- rb_iter( jeffs+i );
- }
-
- rb_iter( &ball );
- rb_iter( &ball1 );
- rb_iter( &jeff1 );
- rb_iter( &marko );
- }
-
- /* POSITION OVERRIDE */
- {
- if(glfwGetKey( vg_window, GLFW_KEY_L ))
- {
- m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, marko.co );
- v3_zero( marko.v );
- v3_zero( marko.w );
- }
- if(glfwGetKey( vg_window, GLFW_KEY_K ))
- {
- m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball.co );
- v3_zero( ball.v );
- v3_zero( ball.w );
- }
- if(glfwGetKey( vg_window, GLFW_KEY_J ))
- {
- m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball1.co );
- v3_zero( ball1.v );
- v3_zero( ball1.w );
- }
-
- if(glfwGetKey( vg_window, GLFW_KEY_H ))
- {
- reorg_jeffs();
- }
- }
-
- /* UPDATE TRANSFORMS */
- for( int i=0; i<vg_list_size(jeffs); i++ )
- {
- rb_update_transform(jeffs+i);
- }
-
- rb_update_transform( &ball );
- rb_update_transform( &ball1 );
- rb_update_transform( &jeff1 );
- rb_update_transform( &marko );
-
- }
-}
-
-static void physics_test_render(void)
-{
- m4x4f world_4x4;
- m4x3_expand( player.camera_inverse, world_4x4 );
-
- gpipeline.fov = 60.0f;
- m4x4_projection( vg_pv, gpipeline.fov,
- (float)vg_window_x / (float)vg_window_y,
- 0.1f, 2100.0f );
-
- m4x4_mul( vg_pv, world_4x4, vg_pv );
- glEnable( GL_DEPTH_TEST );
-
- glDisable( GL_DEPTH_TEST );
- vg_lines_drawall( (float *)vg_pv );
-}
-
-#endif /* PHYSICS_TEST_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff