+/*
+ * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ */
+
/*
* Resources: Box2D - Erin Catto
* qu3e - Randy Gaul
#include "bvh.h"
#include "scene.h"
-static void rb_tangent_basis( v3f n, v3f tx, v3f ty );
-static bh_system bh_system_rigidbodies;
+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
* -----------------------------------------------------------------------------
*/
-static const float
- k_rb_rate = 60.0f,
- k_rb_delta = (1.0f/k_rb_rate),
+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_damp_angular = 0.1f, /* scale angular 1/(1+x) */
- k_limit_bias = 0.04f,
+ k_limit_bias = 0.02f,
k_joint_bias = 0.08f, /* positional joints */
k_joint_correction = 0.01f,
- k_penetration_slop = 0.01f;
+ k_penetration_slop = 0.01f,
+ k_inertia_scale = 4.0f;
/*
* -----------------------------------------------------------------------------
struct rb_scene
{
- scene *pscene;
+ bh_tree *bh_scene;
}
scene;
}
m4x3f to_world, to_local;
};
-static struct contact
+VG_STATIC struct contact
{
rigidbody *rba, *rbb;
v3f co, n;
normal_mass, tangent_mass[2];
u32 element_id;
+ int cluster;
}
rb_contact_buffer[256];
-static int rb_contact_count = 0;
+VG_STATIC int rb_contact_count = 0;
/*
* -----------------------------------------------------------------------------
* -----------------------------------------------------------------------------
*/
-static float sphere_volume( float radius )
+VG_STATIC float sphere_volume( float radius )
{
float r3 = radius*radius*radius;
return (4.0f/3.0f) * VG_PIf * r3;
}
-static void rb_tangent_basis( v3f n, v3f tx, v3f ty )
+VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
{
/* Compute tangent basis (box2d) */
if( fabsf( n[0] ) >= 0.57735027f )
* -----------------------------------------------------------------------------
*/
-static void rb_debug_contact( rb_ct *ct )
+VG_STATIC void rb_debug_contact( rb_ct *ct )
{
v3f p1;
v3_muladds( ct->co, ct->n, 0.1f, p1 );
vg_line( ct->co, p1, 0xffffffff );
}
-static void debug_sphere( m4x3f m, float radius, u32 colour )
+VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
{
v3f ly = { 0.0f, 0.0f, radius },
lx = { 0.0f, radius, 0.0f },
}
}
-static void debug_capsule( m4x3f m, float radius, float h, u32 colour )
+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 },
}
}
-static void rb_debug( rigidbody *rb, u32 colour )
+VG_STATIC void rb_debug( rigidbody *rb, u32 colour )
{
if( rb->type == k_rb_shape_box )
{
/*
* Update world space bounding box based on local one
*/
-static void rb_update_bounds( rigidbody *rb )
+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
*/
-static void rb_update_transform( rigidbody *rb )
+VG_STATIC void rb_update_transform( rigidbody *rb )
{
q_normalize( rb->q );
q_m3x3( rb->q, rb->to_world );
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
*/
-static void rb_init( rigidbody *rb )
+VG_STATIC void rb_init( rigidbody *rb )
{
float volume = 1.0f;
v3f dims;
v3_sub( rb->bbx[1], rb->bbx[0], dims );
volume = dims[0]*dims[1]*dims[2];
-
- if( !rb->is_world )
- vg_info( "Box volume: %f\n", volume );
}
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 );
-
- vg_info( "Sphere volume: %f\n", volume );
}
else if( rb->type == k_rb_shape_capsule )
{
else if( rb->type == k_rb_shape_scene )
{
rb->is_world = 1;
- box_copy( rb->inf.scene.pscene->bbx, rb->bbx );
+ box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx );
}
if( rb->is_world )
v3_muls( extent, 0.5f, extent );
/* local intertia tensor */
- float scale = 4.0f;
+ 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_update_transform( rb );
}
-static void rb_iter( rigidbody *rb )
+VG_STATIC void rb_iter( rigidbody *rb )
{
v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
* These closest point tests were learned from Real-Time Collision Detection by
* Christer Ericson
*/
-static float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2,
+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;
return v3_length2( v0 );
}
-static void closest_point_aabb( v3f p, boxf box, v3f dest )
+VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
{
v3_maxv( p, box[0], dest );
v3_minv( dest, box[1], dest );
}
-static void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
+VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
{
v3f local;
m4x3_mulv( rb->to_local, p, local );
m4x3_mulv( rb->to_world, local, dest );
}
-static float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
+VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
{
v3f v0, v1;
v3_sub( b, a, v0 );
return t;
}
-static void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
+VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
{
v3f ab, ac, ap;
float d1, d2;
v3_muladds( dest, ac, w, dest );
}
-/* TODO */
-static void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
+VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
{
v3f ab, ac, ap;
float d1, d2;
/*
* Project AABB, and triangle interval onto axis to check if they overlap
*/
-static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
+VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
{
float
/*
* Seperating axis test box vs triangle
*/
-static int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
+VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
{
v3f tri[3];
* Expand a line manifold with a new pair. t value is the time along segment
* on the oriented object which created this pair.
*/
-static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
+VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
capsule_manifold *manifold )
{
v3f delta;
}
}
-static void rb_capsule_manifold_init( capsule_manifold *manifold )
+VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold )
{
manifold->t0 = INFINITY;
manifold->t1 = -INFINITY;
}
-static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
+VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
capsule_manifold *manifold, rb_ct *buf )
{
float h = rba->inf.capsule.height,
return count;
}
-static int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float h = rba->inf.capsule.height,
ra = rba->inf.capsule.radius,
return 0;
}
-static int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float ha = rba->inf.capsule.height,
hb = rbb->inf.capsule.height,
/*
* Generates up to two contacts; optimised for the most stable manifold
*/
-static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float h = rba->inf.capsule.height,
r = rba->inf.capsule.radius;
v3_sub( c1, p1, d1 );
v3_sub( p1, p0, da );
- /* TODO: ? */
v3_normalize(d0);
v3_normalize(d1);
v3_normalize(da);
return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
}
-static int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
v3f co, delta;
return 0;
}
-static int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
v3f delta;
v3_sub( rba->co, rbb->co, delta );
return 0;
}
-static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
+#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 );
+#endif
+
v3_sub( rba->co, co, delta );
vg_line( rba->co, co, 0xffff0000 );
return 0;
}
-static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- scene *sc = rbb->inf.scene.pscene;
+ scene *sc = rbb->inf.scene.bh_scene->user;
u32 geo[128];
- v3f tri[3];
- int len = bh_select( &sc->bhtris, rba->bbx_world, 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! */
+
+ v3f co_picture[128*3];
+ int unique_cos = 0;
+
+ struct face_info
+ {
+ int unique_cos[3]; /* indexes co_picture array */
+ int collided;
+ v3f normal;
+ u32 element_id;
+ }
+ faces[128];
+
+ /* create geometry picture */
for( int i=0; i<len; i++ )
{
- u32 *ptri = &sc->indices[ geo[i]*3 ];
+ 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->verts[ptri[j]].co, tri[j] );
+ {
+ struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]];
- vg_line(tri[0],tri[1],0xff00ff00 );
- vg_line(tri[1],tri[2],0xff00ff00 );
- vg_line(tri[2],tri[0],0xff00ff00 );
+ 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 );
+
+ 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 );
+ }
+
+
+ /* build edges brute force */
+ int edge_picture[ 128*3 ][4];
+ int unique_edges = 0;
+
+ 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;
+
+ 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] );
+
+ /* matched ! */
+ if( (k0 == e0) && (k1 == e1) )
+ {
+ edge_picture[ k ][3] = i;
+ matched = 1;
+ break;
+ }
+ }
+
+ 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]];
+
+ v3_copy( v0, tri[0] );
+ v3_copy( v1, tri[1] );
+ v3_copy( v2, tri[2] );
+
+ buf[count].element_id = inf->element_id;
+#else
+ u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
buf[count].element_id = ptri[0];
- count += rb_sphere_triangle( rba, rbb, tri, buf+count );
+#endif
+
+ vg_line( tri[0],tri[1],0x10ffffff );
+ vg_line( tri[1],tri[2],0x10ffffff );
+ vg_line( tri[2],tri[0],0x10ffffff );
+
+ int hits = rb_sphere_triangle( rba, rbb, tri, buf+count );
+#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
+ if( hits )
+ inf->collided = 1;
+#endif
+ count += hits;
if( count == 12 )
{
}
}
+#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;
}
-static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- scene *sc = rbb->inf.scene.pscene;
+ scene *sc = rbb->inf.scene.bh_scene->user;
u32 geo[128];
v3f tri[3];
- int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 );
+ int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
int count = 0;
for( int i=0; i<len; i++ )
{
- u32 *ptri = &sc->indices[ geo[i]*3 ];
+ u32 *ptri = &sc->arrindices[ geo[i]*3 ];
for( int j=0; j<3; j++ )
- v3_copy( sc->verts[ptri[j]].co, tri[j] );
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
if( rb_box_triangle_sat( rba, tri ) )
{
axis = 1;
}
- /* TODO: THIS IS WRONG DIRECTION */
float cz = -v3_dot( rba->forward, n );
if( fabsf(cz) > fabsf(best) )
{
return count;
}
-static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
vg_error( "Collision type is unimplemented between types %d and %d\n",
rba->type, rbb->type );
return 0;
}
-static int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_capsule_sphere( rbb, rba, buf );
}
-static int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_capsule_box( rbb, rba, buf );
}
-static int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_sphere_box( rbb, rba, buf );
}
-static int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_box_scene( rbb, rba, buf );
}
-static int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) =
+VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) =
{
/* box */ /* Sphere */ /* Capsule */ /* Mesh */
{ RB_MATRIX_ERROR, rb_box_sphere, rb_box_capsule, rb_box_scene },
{ rb_scene_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR }
};
-static int rb_collide( rigidbody *rba, rigidbody *rbb )
+VG_STATIC int rb_collide( rigidbody *rba, rigidbody *rbb )
{
int (*collider_jump)(rigidbody *rba, rigidbody *rbb, rb_ct *buf )
= rb_jump_table[rba->type][rbb->type];
}
/*
- * TODO: Replace this with a more dedicated broad phase pass
+ * FUTURE: Replace this with a more dedicated broad phase pass
*/
if( box_overlap( rba->bbx_world, rbb->bbx_world ) )
{
* -----------------------------------------------------------------------------
*/
-static void rb_solver_reset(void)
+VG_STATIC void rb_solver_reset(void)
{
rb_contact_count = 0;
}
-static rb_ct *rb_global_ct(void)
+VG_STATIC rb_ct *rb_global_ct(void)
{
return rb_contact_buffer + rb_contact_count;
}
/*
* Initializing things like tangent vectors
*/
-static void rb_presolve_contacts( rb_ct *buffer, int len )
+VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
{
for( int i=0; i<len; i++ )
{
/*
* Creates relative contact velocity vector, and offsets between each body
*/
-static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
+VG_STATIC void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
{
rigidbody *rba = ct->rba,
*rbb = ct->rbb;
/*
* Apply impulse to object
*/
-static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse )
+VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse )
{
/* linear */
v3_muladds( rb->v, impulse, rb->inv_mass, rb->v );
/*
* One iteration to solve the contact constraint
*/
-static void rb_solve_contacts( rb_ct *buf, int len )
+VG_STATIC void rb_solve_contacts( rb_ct *buf, int len )
{
for( int i=0; i<len; i++ )
{
* -----------------------------------------------------------------------------
*/
-static void draw_angle_limit( v3f c, v3f major, v3f minor,
+VG_STATIC void draw_angle_limit( v3f c, v3f major, v3f minor,
float amin, float amax, float measured,
u32 colour )
{
vg_line( c, p2, colour );
}
-static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
+VG_STATIC void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
v3f limits[2] )
{
v3f ax, ay, az, bx, by, bz;
draw_angle_limit( c, ax, ay, limits[0][2], limits[1][2], r2, 0xffff0000 );
}
-static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
+VG_STATIC void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
{
if( d != 0.0f )
{
}
}
-static void rb_constraint_limits( rigidbody *ra, v3f lca,
+VG_STATIC void rb_constraint_limits( rigidbody *ra, v3f lca,
rigidbody *rb, v3f lcb, v3f limits[2] )
{
- /* TODO: Code dupe remover */
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 );
rb_limit_cure( ra, rb, az, dz );
}
-static void rb_debug_constraint_position( rigidbody *ra, v3f lca,
+VG_STATIC void rb_debug_constraint_position( rigidbody *ra, v3f lca,
rigidbody *rb, v3f lcb )
{
v3f wca, wcb;
vg_line( p0, p1, 0xffffff00 );
}
-static void rb_constraint_position( rigidbody *ra, v3f lca,
+VG_STATIC void rb_constraint_position( rigidbody *ra, v3f lca,
rigidbody *rb, v3f lcb )
{
/* C = (COa + Ra*LCa) - (COb + Rb*LCb) = 0 */
}
}
+/*
+ * Effectors
+ */
+
+VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
+ float amt, float drag )
+{
+ /* float */
+ float depth = v3_dot( plane, ra->co ) - plane[3],
+ lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt;
+
+ v3_muladds( ra->v, plane, lambda * k_rb_delta, ra->v );
+
+ if( depth < 0.0f )
+ v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
+}
+
/*
* -----------------------------------------------------------------------------
- * BVH implementation, this is ONLY for static rigidbodies, its to slow for
+ * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
* realtime use.
* -----------------------------------------------------------------------------
*/
-static void rb_bh_expand_bound( void *user, boxf bound, u32 item_index )
+VG_STATIC void rb_bh_expand_bound( void *user, boxf bound, u32 item_index )
{
rigidbody *rb = &((rigidbody *)user)[ item_index ];
box_concat( bound, rb->bbx_world );
}
-static float rb_bh_centroid( void *user, u32 item_index, int axis )
+VG_STATIC float rb_bh_centroid( void *user, u32 item_index, int axis )
{
rigidbody *rb = &((rigidbody *)user)[ item_index ];
return (rb->bbx_world[axis][0] + rb->bbx_world[1][axis]) * 0.5f;
}
-static void rb_bh_swap( void *user, u32 ia, u32 ib )
+VG_STATIC void rb_bh_swap( void *user, u32 ia, u32 ib )
{
rigidbody temp, *rba, *rbb;
rba = &((rigidbody *)user)[ ia ];
*rbb = temp;
}
-static void rb_bh_debug( void *user, u32 item_index )
+VG_STATIC void rb_bh_debug( void *user, u32 item_index )
{
rigidbody *rb = &((rigidbody *)user)[ item_index ];
rb_debug( rb, 0xff00ffff );
}
-static bh_system bh_system_rigidbodies =
+VG_STATIC bh_system bh_system_rigidbodies =
{
.expand_bound = rb_bh_expand_bound,
.item_centroid = rb_bh_centroid,