f

[carveJwlIkooP6JGAAIwe30JlM.git] / physics_test.h

diff --git a/physics_test.h b/physics_test.h
index 8187b914ab39c5ddf5e19c6fed7a28b33212b946..bd8bc073acaf68a392495b40ceac7765a12aa173 100644 (file)
--- a/physics_test.h
+++ b/physics_test.h
@@ -9,6 +9,16 @@ rigidbody ground = { .type = k_rb_shape_box,
                      .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 funnel[4] = {
    {
       .type = k_rb_shape_box,
@@ -36,6 +46,11 @@ rigidbody funnel[4] = {
    }
 };
 
+rigidbody jeff1 = { .type = k_rb_shape_capsule,
+                    .inf.capsule = { .radius = 0.75f, .height = 3.0f },
+                    .co = {30.0f, 4.0f, 30.0f },
+                    .q = {0.0f,0.0f,0.0f,1.0f}
+};
 
 rigidbody ball = { .type = k_rb_shape_sphere,
                    .inf.sphere = { .radius = 2.0f },
@@ -60,6 +75,8 @@ static void physics_test_start(void)
    rb_init( &ground );
    rb_init( &ball );
    rb_init( &ball1 );
+   rb_init( &jeff1 );
+   rb_init( &blocky );
 }
 
 static void physics_test_update(void)
@@ -71,6 +88,7 @@ static void physics_test_update(void)
 
    rb_iter( &ball );
    rb_iter( &ball1 );
+   rb_iter( &jeff1 );
 
    rb_solver_reset();
 
@@ -84,21 +102,25 @@ static void physics_test_update(void)
    rb_contact_count += rb_sphere_vs_box( &ball1, &ground, rb_global_ct() );
    rb_contact_count += rb_sphere_vs_sphere( &ball, &ball1, rb_global_ct() );
 
-   rb_presolve_contacts();
+   rb_contact_count += rb_capsule_vs_box( &jeff1, &ground, rb_global_ct() );
+   rb_contact_count += rb_capsule_vs_box( &jeff1, &blocky, rb_global_ct() );
+
+   rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 
    for( int i=0; i<5; i++ )
-      rb_solve_contacts();
+      rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 
    rb_update_transform( &ball );
    rb_update_transform( &ball1 );
+   rb_update_transform( &jeff1 );
 
    }
 
    if(glfwGetKey( vg_window, GLFW_KEY_L ))
    {
-      v3_copy( player.camera_pos, ball.co );
-      v3_zero( ball.v );
-      v3_zero( ball.w );
+      v3_copy( player.camera_pos, jeff1.co );
+      v3_zero( jeff1.v );
+      v3_zero( jeff1.w );
    }
    
    for( int i=0; i<4; i++ )
@@ -106,6 +128,9 @@ static void physics_test_update(void)
    rb_debug( &ground, 0xff00ff00 );
    rb_debug( &ball, 0xffe00040 );
    rb_debug( &ball1, 0xff00e050 );
+
+   rb_debug( &blocky, 0xffcccccc );
+   rb_debug( &jeff1, 0xff00ffff );
 }
 
 static void physics_test_render(void)
@@ -113,7 +138,7 @@ static void physics_test_render(void)
    m4x4f world_4x4;
    m4x3_expand( player.camera_inverse, world_4x4 );
 
-   gpipeline.fov = freecam? 60.0f: 135.0f; /* 120 */
+   gpipeline.fov = 60.0f;
    m4x4_projection( vg_pv, gpipeline.fov, 
          (float)vg_window_x / (float)vg_window_y, 
          0.1f, 2100.0f );