#ifndef RIGIDBODY_H
#define RIGIDBODY_H
-//#define RB_DEPR
-#define k_rb_rate 60.0f
-#define k_rb_delta (1.0f/k_rb_rate)
+/*
+ * -----------------------------------------------------------------------------
+ * (K)onstants
+ * -----------------------------------------------------------------------------
+ */
+
+static const float
+ k_rb_rate = 60.0f,
+ k_rb_delta = (1.0f/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 = 0.02f,
+ k_joint_bias = 0.08f, /* positional joints */
+ k_joint_correction = 0.01f,
+ k_penetration_slop = 0.01f,
+ k_inertia_scale = 4.0f;
+
+/*
+ * -----------------------------------------------------------------------------
+ * structure definitions
+ * -----------------------------------------------------------------------------
+ */
typedef struct rigidbody rigidbody;
typedef struct contact rb_ct;
m4x3f to_world, to_local;
};
-#ifdef RB_DEPR
-/*
- * Impulses on static objects get re-routed here
- */
-static rigidbody rb_static_null =
-{
- .co={0.0f,0.0f,0.0f},
- .q={0.0f,0.0f,0.0f,1.0f},
- .v={0.0f,0.0f,0.0f},
- .w={0.0f,0.0f,0.0f},
- .is_world = 1,
- .inv_mass = 0.0f
-};
-#endif
-
-static void rb_debug( rigidbody *rb, u32 colour );
-
static struct contact
{
rigidbody *rba, *rbb;
rb_contact_buffer[256];
static int rb_contact_count = 0;
+/*
+ * -----------------------------------------------------------------------------
+ * Math Utils
+ * -----------------------------------------------------------------------------
+ */
+
+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 )
+{
+ /* 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
+ * -----------------------------------------------------------------------------
+ */
+
+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 );
+}
+
+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 );
+ }
+}
+
+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;
+ }
+}
+
+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
+ */
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 )
{
q_normalize( rb->q );
rb_update_bounds( rb );
}
-static float sphere_volume( float radius )
-{
- float r3 = radius*radius*radius;
- return (4.0f/3.0f) * VG_PIf * r3;
-}
-
+/*
+ * Initialize rigidbody and calculate masses, inertia
+ */
static void rb_init( rigidbody *rb )
{
float volume = 1.0f;
v3_muls( extent, 0.5f, extent );
/* local intertia tensor */
- float ex2 = 4.0f*extent[0]*extent[0],
- ey2 = 4.0f*extent[1]*extent[1],
- ez2 = 4.0f*extent[2]*extent[2];
+ 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));
q_axis_angle( rotation, axis, mag*k_rb_delta );
q_mul( rotation, rb->q, rb->q );
}
-}
-
-static void rb_torque( rigidbody *rb, v3f axis, float mag )
-{
- v3_muladds( rb->w, axis, mag*k_rb_delta, rb->w );
-}
-
-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 );
+ /* 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 );
}
-static void rb_solver_reset(void);
-#ifdef RB_DEPR
-static void rb_build_manifold_terrain( rigidbody *rb );
-static void rb_build_manifold_terrain_sphere( rigidbody *rb );
-#endif
-static void rb_solve_contacts( rb_ct *buf, int len );
-static void rb_presolve_contacts( rb_ct *buffer, int len );
+/*
+ * -----------------------------------------------------------------------------
+ * Closest point functions
+ * -----------------------------------------------------------------------------
+ */
/*
* These closest point tests were learned from Real-Time Collision Detection by
v3_muladds( dest, ac, w, dest );
}
-static int rb_intersect_planes( v4f p0, v4f p1, v4f p2, v3f p )
+/*
+ * -----------------------------------------------------------------------------
+ * Boolean shape overlap functions
+ * -----------------------------------------------------------------------------
+ */
+
+/*
+ * 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] )
{
- v3f u;
- v3_cross( p1, p2, u );
- float d = v3_dot( p0, u );
+ float
- if( fabsf(d) < 0.0001f )
- return 0;
+ r = extent[0] * fabsf(axis[0]) +
+ extent[1] * fabsf(axis[1]) +
+ extent[2] * fabsf(axis[2]),
- v3_muls( u, p0[3], p );
+ p0 = v3_dot( axis, tri[0] ),
+ p1 = v3_dot( axis, tri[1] ),
+ p2 = v3_dot( axis, tri[2] ),
- v3f v0, v1;
- v3_muls( p1, p2[3], v0 );
- v3_muladds( v0, p2, -p1[3], v0 );
- v3_cross( p0, v0, v1 );
- v3_add( v1, p, p );
- v3_muls( p, 1.0f/d, p );
+ e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2)));
- return 1;
+ if( e > r ) return 0;
+ else return 1;
}
-int rb_intersect_planes_1( v4f a, v4f b, v4f c, v3f p )
-{
- float const epsilon = 0.001;
-
- v3f x, bc, ca, ab;
- float d;
-
- v3_cross( a, b, x );
- d = v3_dot( x, c );
-
- if( d < epsilon && d > -epsilon ) return 0;
-
- v3_cross(b,c,bc);
- v3_cross(c,a,ca);
- v3_cross(a,b,ab);
-
- v3_muls( bc, -a[3], p );
- v3_muladds( p, ca, -b[3], p );
- v3_muladds( p, ab, -c[3], p );
-
- v3_negate( p, p );
- v3_divs( p, d, p );
-
- return 1;
-}
+/*
+ * Seperating axis test box vs triangle
+ */
+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;
+}
+
+/*
+ * -----------------------------------------------------------------------------
+ * Collision matrix
+ * -----------------------------------------------------------------------------
+ */
+
/*
* Contact generators
*
* The values set on the contacts are: n, co, p, rba, rbb
*/
-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 );
-}
-
/*
* By collecting the minimum(time) and maximum(time) pairs of points, we
* build a reduced and stable exact manifold.
return count;
}
-static int rb_capsule_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+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_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+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_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float h = rba->inf.capsule.height,
r = rba->inf.capsule.radius;
return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
}
-static int rb_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
v3f co, delta;
return 0;
}
-static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
v3f delta;
v3_sub( rba->co, rbb->co, delta );
return 0;
}
-/* TODO: these guys */
-
-static int rb_capsule_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- u32 geo[128];
- v3f tri[3];
- int len = bh_select( &rbb->inf.scene.pscene->bhtris,
- rba->bbx_world, geo, 128 );
-
- return 0;
-}
-
-static int rb_sphere_vs_triangle( rigidbody *rba, rigidbody *rbb,
+static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
{
v3f delta, co;
return 0;
}
-static int rb_sphere_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
scene *sc = rbb->inf.scene.pscene;
vg_line(tri[2],tri[0],0xff00ff00 );
buf[count].element_id = ptri[0];
- count += rb_sphere_vs_triangle( rba, rbb, tri, buf+count );
+ count += rb_sphere_triangle( rba, rbb, tri, buf+count );
if( count == 12 )
{
return count;
}
-static float rb_box_plane_interval( rigidbody *rba, v4f p )
-{
- /* TODO: Make boxes COG aligned as is every other shape.
- * or create COG vector.
- * TODO: Make forward actually point in the right fucking direction. */
- v3f e,c;
- v3_sub( rba->bbx[1], rba->bbx[0], e );
- v3_muls( e, 0.5f, e );
- v3_add( rba->bbx[0], e, c );
- m4x3_mulv( rba->to_world, c, c );
-
- float r =
- e[0]*fabsf( v3_dot(p, rba->right)) +
- e[1]*fabsf( v3_dot(p, rba->up)) +
- e[2]*fabsf(-v3_dot(p, rba->forward)),
- s = v3_dot( p, c ) - p[3];
-
- return r-s;
-}
-
-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;
-}
-
-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;
-}
-
-static int rb_box_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
scene *sc = rbb->inf.scene.pscene;
return 0;
}
-static int rb_sphere_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- return rb_capsule_vs_sphere( rbb, rba, buf );
+ return rb_capsule_sphere( rbb, rba, buf );
}
-static int rb_box_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- return rb_capsule_vs_box( rbb, rba, buf );
+ return rb_capsule_box( rbb, rba, buf );
}
-static int rb_box_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- return rb_sphere_vs_box( rbb, rba, buf );
+ return rb_sphere_box( rbb, rba, buf );
}
-static int rb_scene_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- return rb_box_vs_scene( rbb, rba, buf );
+ return rb_box_scene( rbb, rba, buf );
}
-static int (*rb_jump_table[4][4])( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-= {
- /* box */ /* Sphere */ /* Capsule */ /* Mesh */
-/*box */ { RB_MATRIX_ERROR, rb_box_vs_sphere, rb_box_vs_capsule, rb_box_vs_scene },
-/*sphere */ { rb_sphere_vs_box, rb_sphere_vs_sphere, rb_sphere_vs_capsule, rb_sphere_vs_scene },
-/*capsule*/ { rb_capsule_vs_box,rb_capsule_vs_sphere,rb_capsule_vs_capsule,RB_MATRIX_ERROR },
-/*mesh */ { rb_scene_vs_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR }
+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_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 }
};
static int rb_collide( rigidbody *rba, rigidbody *rbb )
}
/*
- * Generic functions
- */
-
-#ifdef RB_DEPR
-/*
- * This function does not accept triangle as a dynamic object, it is assumed
- * to always be static.
- *
- * The triangle is also assumed to be one sided for better detection
+ * -----------------------------------------------------------------------------
+ * Dynamics
+ * -----------------------------------------------------------------------------
*/
-static int rb_sphere_vs_triangle( rigidbody *rba, v3f tri[3], rb_ct *buf )
-{
- v3f delta, co;
-
- closest_on_triangle( rba->co, tri, co );
- v3_sub( rba->co, co, delta );
-
- float d2 = v3_length2( delta ),
- r = rba->inf.sphere.radius;
-
- if( d2 < r*r )
- {
- v3f ab, ac, tn;
- v3_sub( tri[1], tri[0], ab );
- v3_sub( tri[2], tri[0], ac );
- v3_cross( ac, ab, tn );
-
- if( v3_dot( delta, tn ) > 0.0f )
- v3_muls( delta, -1.0f, delta );
-
- float d = sqrtf(d2);
-
- rb_ct *ct = buf;
- v3_muls( delta, 1.0f/d, ct->n );
- v3_copy( co, ct->co );
- ct->p = r-d;
- ct->rba = rba;
- ct->rbb = &rb_static_null;
- return 1;
- }
-
- return 0;
-}
-
-static int sphere_vs_triangle( v3f c, float r, v3f tri[3],
- v3f co, v3f norm, float *p )
-{
- v3f delta;
- closest_on_triangle( c, tri, co );
-
- v3_sub( c, co, delta );
-
-
- float d = v3_length2( delta );
- if( d < r*r )
- {
- v3f ab, ac, tn;
- v3_sub( tri[1], tri[0], ab );
- v3_sub( tri[2], tri[0], ac );
- v3_cross( ac, ab, tn );
-
- if( v3_dot( delta, tn ) > 0.0f )
- v3_muls( delta, -1.0f, delta );
-
- vg_line_pt3( co, 0.05f, 0xff00ff00 );
-
- d = sqrtf(d);
- v3_muls( delta, 1.0f/d, norm );
-
- *p = r-d;
- return 1;
- }
-
- return 0;
-}
-
-#include "world.h"
-#endif
static void rb_solver_reset(void)
{
return rb_contact_buffer + rb_contact_count;
}
-#ifdef RB_DEPR
-static struct contact *rb_start_contact(void)
-{
- if( rb_contact_count == vg_list_size(rb_contact_buffer) )
- {
- vg_error( "rigidbody: too many contacts generated (%u)\n",
- rb_contact_count );
- return NULL;
- }
-
- return &rb_contact_buffer[ rb_contact_count ];
-}
-
-static void rb_commit_contact( struct contact *ct, float p )
-{
- ct->bias = -0.2f*k_rb_rate*vg_minf(0.0f,-p+0.04f);
- rb_tangent_basis( ct->n, ct->t[0], ct->t[1] );
-
- ct->norm_impulse = 0.0f;
- ct->tangent_impulse[0] = 0.0f;
- ct->tangent_impulse[1] = 0.0f;
-
- rb_contact_count ++;
-}
-
-static void rb_build_manifold_terrain_sphere( rigidbody *rb )
-{
- u32 geo[256];
- v3f tri[3];
- int len = bh_select( &world.geo.bhtris, rb->bbx_world, geo, 256 );
-
- for( int i=0; i<len; i++ )
- {
- u32 *ptri = &world.geo.indices[ geo[i]*3 ];
-
- for( int j=0; j<3; j++ )
- v3_copy( world.geo.verts[ptri[j]].co, tri[j] );
-
- vg_line(tri[0],tri[1],0xff00ff00 );
- vg_line(tri[1],tri[2],0xff00ff00 );
- vg_line(tri[2],tri[0],0xff00ff00 );
-
- v3f co, norm;
- float p;
-
- for( int j=0; j<2; j++ )
- {
- if( sphere_vs_triangle( rb->co, rb->inf.sphere.radius, tri,co,norm,&p))
- {
- struct contact *ct = rb_start_contact();
-
- if( !ct )
- return;
-
- v3f p1;
- v3_muladds( rb->co, norm, p, p1 );
- vg_line( rb->co, p1, 0xffffffff );
-
- ct->rba = rb;
- v3_copy( co, ct->co );
- v3_copy( norm, ct->n );
- rb_commit_contact( ct, p );
- }
- }
- }
-
-}
-
-static void rb_build_manifold_terrain( rigidbody *rb )
-{
- v3f *box = rb->bbx;
- v3f pts[8];
- float *p000 = pts[0], *p001 = pts[1], *p010 = pts[2], *p011 = pts[3],
- *p100 = pts[4], *p101 = pts[5], *p110 = pts[6], *p111 = pts[7];
-
- p000[0]=box[0][0];p000[1]=box[0][1];p000[2]=box[0][2];
- p001[0]=box[0][0];p001[1]=box[0][1];p001[2]=box[1][2];
- p010[0]=box[0][0];p010[1]=box[1][1];p010[2]=box[0][2];
- p011[0]=box[0][0];p011[1]=box[1][1];p011[2]=box[1][2];
-
- p100[0]=box[1][0];p100[1]=box[0][1];p100[2]=box[0][2];
- p101[0]=box[1][0];p101[1]=box[0][1];p101[2]=box[1][2];
- p110[0]=box[1][0];p110[1]=box[1][1];p110[2]=box[0][2];
- p111[0]=box[1][0];p111[1]=box[1][1];p111[2]=box[1][2];
-
- m4x3_mulv( rb->to_world, p000, p000 );
- m4x3_mulv( rb->to_world, p001, p001 );
- m4x3_mulv( rb->to_world, p010, p010 );
- m4x3_mulv( rb->to_world, p011, p011 );
- m4x3_mulv( rb->to_world, p100, p100 );
- m4x3_mulv( rb->to_world, p101, p101 );
- m4x3_mulv( rb->to_world, p110, p110 );
- m4x3_mulv( rb->to_world, p111, p111 );
-
- int count = 0;
-
- for( int i=0; i<8; i++ )
- {
- float *point = pts[i];
- struct contact *ct = rb_start_contact();
-
- if( !ct )
- return;
-
- ct->rba = rb;
-
- v3f surface;
- v3_copy( point, surface );
- surface[1] += 4.0f;
-
- ray_hit hit;
- hit.dist = INFINITY;
- if( !ray_world( surface, (v3f){0.0f,-1.0f,0.0f}, &hit ))
- continue;
-
- v3_copy( hit.pos, surface );
-
- float p = vg_minf( surface[1] - point[1], 1.0f );
-
- if( p > 0.0f )
- {
- v3_copy( hit.normal, ct->n );
- v3_add( point, surface, ct->co );
- v3_muls( ct->co, 0.5f, ct->co );
-
- rb_commit_contact( ct, p );
- count ++;
- if( count == 4 )
- break;
- }
- }
-}
-#endif
-
/*
* Initializing things like tangent vectors
*/
-
static void rb_presolve_contacts( rb_ct *buffer, int len )
{
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+0.01f);
+ 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] );
ct->norm_impulse = 0.0f;
}
/*
- * Apply regular and angular velocity impulses to objects involved in contact
+ * Apply impulse to object
*/
-static void rb_standard_impulse( rb_ct *ct, v3f da, v3f db, v3f impulse )
+static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse )
{
- rigidbody *rba = ct->rba,
- *rbb = ct->rbb;
-
- v3_muladds( rba->v, impulse, rba->inv_mass, rba->v );
- v3_muladds( rbb->v, impulse, -rbb->inv_mass, rbb->v );
+ /* linear */
+ v3_muladds( rb->v, impulse, rb->inv_mass, rb->v );
/* Angular velocity */
- v3f wa, wb, invim;
- v3_cross( da, impulse, wa );
- v3_negate( impulse, invim );
- v3_cross( db, invim, wb );
-
- m3x3_mulv( ct->rba->iIw, wa, wa );
- m3x3_mulv( ct->rbb->iIw, wb, wb );
- v3_add( rba->w, wa, rba->w );
- v3_add( rbb->w, wb, rbb->w );
+ v3f wa;
+ v3_cross( delta, impulse, wa );
+
+ m3x3_mulv( rb->iIw, wa, wa );
+ v3_add( rb->w, wa, rb->w );
}
/*
*/
static void rb_solve_contacts( rb_ct *buf, int len )
{
- float k_friction = 0.2f;
-
for( int i=0; i<len; i++ )
{
struct contact *ct = &buf[i];
lambda = ct->tangent_impulse[j] - temp;
v3f impulse;
- v3_muls( ct->t[j], lambda, impulse );
- rb_standard_impulse( ct, da, db, impulse );
+ v3_muls( ct->t[j], lambda, impulse );
+ rb_linear_impulse( ct->rba, da, impulse );
+
+ v3_muls( ct->t[j], -lambda, impulse );
+ rb_linear_impulse( ct->rbb, db, impulse );
}
/* Normal */
lambda = ct->norm_impulse - temp;
v3f impulse;
- v3_muls( ct->n, lambda, impulse );
- rb_standard_impulse( ct, da, db, impulse );
+ v3_muls( ct->n, lambda, impulse );
+ rb_linear_impulse( ct->rba, da, impulse );
+
+ v3_muls( ct->n, -lambda, impulse );
+ rb_linear_impulse( ct->rbb, db, impulse );
}
}
/*
- * The following ventures into not really very sophisticated at all maths
+ * -----------------------------------------------------------------------------
+ * Constraints
+ * -----------------------------------------------------------------------------
*/
-struct rb_angle_limit
+static void draw_angle_limit( v3f c, v3f major, v3f minor,
+ float amin, float amax, float measured,
+ u32 colour )
{
- rigidbody *rba, *rbb;
- v3f axis;
- float impulse, bias;
-};
+ float f = 0.05f;
+ v3f ay, ax;
+ v3_muls( major, f, ay );
+ v3_muls( minor, f, ax );
-static int rb_angle_limit_force( rigidbody *rba, v3f va,
- rigidbody *rbb, v3f vb,
- float max )
-{
- v3f wva, wvb;
- m3x3_mulv( rba->to_world, va, wva );
- m3x3_mulv( rbb->to_world, vb, wvb );
-
- float dt = v3_dot(wva,wvb)*0.999f,
- ang = fabsf(dt);
- ang = acosf( dt );
- if( ang > max )
+ for( int x=0; x<16; x++ )
{
- float correction = max-ang;
+ float t0 = (float)x / 16.0f,
+ t1 = (float)(x+1) / 16.0f,
+ a0 = vg_lerpf( amin, amax, t0 ),
+ a1 = vg_lerpf( amin, amax, t1 );
- v3f axis;
- v3_cross( wva, wvb, axis );
+ 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 );
- v4f rotation;
- q_axis_angle( rotation, axis, -correction*0.25f );
- q_mul( rotation, rba->q, rba->q );
-
- q_axis_angle( rotation, axis, correction*0.25f );
- q_mul( rotation, rbb->q, rbb->q );
+ vg_line( p0, p1, colour );
- return 1;
+ if( x == 0 )
+ vg_line( c, p0, colour );
+ if( x == 15 )
+ vg_line( c, p1, colour );
}
- return 0;
+ 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 );
}
-static void rb_constraint_angle_limit( struct rb_angle_limit *limit )
+static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
+ v3f limits[2] )
{
+ 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 );
-}
+ v2f px, py, pz;
+ px[0] = v3_dot( ay, by );
+ px[1] = v3_dot( az, by );
-static void rb_constraint_angle( rigidbody *rba, v3f va,
- rigidbody *rbb, v3f vb,
- float max, float spring )
-{
- v3f wva, wvb;
- m3x3_mulv( rba->to_world, va, wva );
- m3x3_mulv( rbb->to_world, vb, wvb );
+ py[0] = v3_dot( az, bz );
+ py[1] = v3_dot( ax, bz );
- float dt = v3_dot(wva,wvb)*0.999f,
- ang = fabsf(dt);
+ pz[0] = v3_dot( ax, bx );
+ pz[1] = v3_dot( ay, bx );
- v3f axis;
- v3_cross( wva, wvb, axis );
- v3_muladds( rba->w, axis, ang*spring*0.5f, rba->w );
- v3_muladds( rbb->w, axis, -ang*spring*0.5f, rbb->w );
+ float r0 = atan2f( px[1], px[0] ),
+ r1 = atan2f( py[1], py[0] ),
+ r2 = atan2f( pz[1], pz[0] );
- return;
-
- /* TODO: convert max into the dot product value so we dont have to always
- * evaluate acosf, only if its greater than the angle specified */
- ang = acosf( dt );
- if( ang > max )
+ 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 );
+}
+
+static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
+{
+ if( d != 0.0f )
{
- float correction = max-ang;
-
- v4f rotation;
- q_axis_angle( rotation, axis, -correction*0.125f );
- q_mul( rotation, rba->q, rba->q );
+ 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;
- q_axis_angle( rotation, axis, correction*0.125f );
- q_mul( rotation, rbb->q, rbb->q );
+ /* Angular velocity */
+ v3f wa, wb;
+ v3_muls( axis, lambda * ra->inv_mass, wa );
+ v3_muls( axis, -lambda * rb->inv_mass, wb );
+
+ v3_add( ra->w, wa, ra->w );
+ v3_add( rb->w, wb, rb->w );
}
}
-static void rb_relative_velocity( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb, v3f rcv )
+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 );
+ 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 );
+
+ v2f px, py, pz;
+ px[0] = v3_dot( ay, by );
+ px[1] = v3_dot( az, by );
+
+ py[0] = v3_dot( az, bz );
+ py[1] = v3_dot( ax, bz );
+
+ pz[0] = v3_dot( ax, bx );
+ pz[1] = v3_dot( ay, bx );
+
+ float r0 = atan2f( px[1], px[0] ),
+ r1 = atan2f( py[1], py[0] ),
+ r2 = atan2f( pz[1], pz[0] );
+
+ /* calculate angle deltas */
+ float dx = 0.0f, dy = 0.0f, dz = 0.0f;
+
+ 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 wca, wcb;
m3x3_mulv( ra->to_world, lca, wca );
m3x3_mulv( rb->to_world, lcb, wcb );
- v3_sub( ra->v, rb->v, rcv );
+ rb_limit_cure( ra, rb, ax, dx );
+ rb_limit_cure( ra, rb, ay, dy );
+ rb_limit_cure( ra, rb, az, dz );
+}
- 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 );
+static void rb_debug_constraint_position( rigidbody *ra, v3f lca,
+ rigidbody *rb, v3f lcb )
+{
+ v3f wca, wcb;
+ m3x3_mulv( ra->to_world, lca, wca );
+ m3x3_mulv( rb->to_world, lcb, wcb );
+
+ 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 );
}
static void rb_constraint_position( rigidbody *ra, v3f lca,
m3x3_mulv( ra->to_world, lca, wca );
m3x3_mulv( rb->to_world, lcb, wcb );
- v3f delta;
- v3_add( wcb, rb->co, delta );
- v3_sub( delta, wca, delta );
- v3_sub( delta, ra->co, delta );
-
- v3_muladds( ra->co, delta, 0.5f, ra->co );
- v3_muladds( rb->co, delta, -0.5f, rb->co );
-
v3f rcv;
v3_sub( ra->v, rb->v, rcv );
v3_add( rcv_Ra, rcv, rcv );
v3_sub( rcv, rcv_Rb, rcv );
- float nm = 0.5f/(rb->inv_mass + ra->inv_mass);
-
- float mass_a = 1.0f/ra->inv_mass,
- mass_b = 1.0f/rb->inv_mass,
- total_mass = mass_a+mass_b;
-
- v3f impulse;
- v3_muls( rcv, 1.0f, impulse );
- v3_muladds( rb->v, impulse, mass_b/total_mass, rb->v );
- v3_cross( wcb, impulse, impulse );
- v3_add( impulse, rb->w, rb->w );
-
- v3_muls( rcv, -1.0f, impulse );
- v3_muladds( ra->v, impulse, mass_a/total_mass, ra->v );
- v3_cross( wca, impulse, impulse );
- v3_add( impulse, ra->w, ra->w );
-
-#if 0
- /*
- * this could be used for spring joints
- * its not good for position constraint
- */
- v3f impulse;
- v3_muls( delta, 0.5f*spring, impulse );
-
- v3_add( impulse, ra->v, ra->v );
- v3_cross( wca, impulse, impulse );
- v3_add( impulse, ra->w, ra->w );
-
- v3_muls( delta, -0.5f*spring, impulse );
-
- v3_add( impulse, rb->v, rb->v );
- v3_cross( wcb, impulse, impulse );
- v3_add( impulse, rb->w, rb->w );
-#endif
-}
-
-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 );
- }
-}
-
-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;
- }
-}
-
-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 );
- }
-}
+ v3f delta;
+ v3f p0, p1;
+ v3_add( wca, ra->co, p0 );
+ v3_add( wcb, rb->co, p1 );
+ v3_sub( p1, p0, delta );
-#ifdef RB_DEPR
-/*
- * out penetration distance, normal
- */
-static int rb_point_in_body( rigidbody *rb, v3f pos, float *pen, v3f normal )
-{
- v3f local;
- m4x3_mulv( rb->to_local, pos, local );
+ float dist2 = v3_length2( delta );
- if( local[0] > rb->bbx[0][0] && local[0] < rb->bbx[1][0] &&
- local[1] > rb->bbx[0][1] && local[1] < rb->bbx[1][1] &&
- local[2] > rb->bbx[0][2] && local[2] < rb->bbx[1][2] )
+ if( dist2 > 0.00001f )
{
- v3f area, com, comrel;
- v3_add( rb->bbx[0], rb->bbx[1], com );
- v3_muls( com, 0.5f, com );
+ float dist = sqrtf(dist2);
+ v3_muls( delta, 1.0f/dist, delta );
- v3_sub( rb->bbx[1], rb->bbx[0], area );
- v3_sub( local, com, comrel );
- v3_div( comrel, area, comrel );
+ float joint_mass = rb->inv_mass + ra->inv_mass;
- int axis = 0;
- float max_mag = fabsf(comrel[0]);
-
- if( fabsf(comrel[1]) > max_mag )
- {
- axis = 1;
- max_mag = fabsf(comrel[1]);
- }
- if( fabsf(comrel[2]) > max_mag )
- {
- axis = 2;
- max_mag = fabsf(comrel[2]);
- }
+ v3f raCn, rbCn, raCt, rbCt;
+ v3_cross( wca, delta, raCn );
+ v3_cross( wcb, delta, rbCn );
- v3_zero( normal );
- normal[axis] = vg_signf(comrel[axis]);
+ /* 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;
- if( normal[axis] < 0.0f )
- *pen = local[axis] - rb->bbx[0][axis];
- else
- *pen = rb->bbx[1][axis] - local[axis];
+ float vd = v3_dot( rcv, delta ),
+ bias = -(k_joint_bias * k_rb_rate) * dist,
+ lambda = -(vd + bias) * joint_mass;
- m3x3_mulv( rb->to_world, normal, normal );
- return 1;
+ 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 );
}
-
- return 0;
}
/*
+ * -----------------------------------------------------------------------------
* BVH implementation, this is ONLY for static rigidbodies, its to slow for
* realtime use.
+ * -----------------------------------------------------------------------------
*/
static void rb_bh_expand_bound( void *user, boxf bound, u32 item_index )
.cast_ray = NULL
};
-#endif
-
#endif /* RIGIDBODY_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff