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[carveJwlIkooP6JGAAIwe30JlM.git] / rigidbody.h

diff --git a/rigidbody.h b/rigidbody.h
index 5d5ffdfa4290c10ba4b7f692ed5dec0801e717d3..0a95bddf014430f4ac7c53bab13113c4ba6296b0 100644 (file)
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -25,10 +25,11 @@ static const float
    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;
 
 /* 
  * -----------------------------------------------------------------------------
@@ -337,17 +338,12 @@ static void rb_init( rigidbody *rb )
       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 )
    {
@@ -382,7 +378,7 @@ static void rb_init( rigidbody *rb )
       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];
@@ -633,7 +629,6 @@ static void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
    v3_muladds( dest, ac, w, dest );
 }
 
-/* TODO */
 static void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
 {
    v3f ab, ac, ap;
@@ -1077,7 +1072,6 @@ static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    v3_sub( c1, p1, d1 );
    v3_sub( p1, p0, da );
    
-   /* TODO: ? */
    v3_normalize(d0);
    v3_normalize(d1);
    v3_normalize(da);
@@ -1335,7 +1329,6 @@ static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
          axis = 1;
       }
       
-      /* TODO: THIS IS WRONG DIRECTION */
       float cz = -v3_dot( rba->forward, n );
       if( fabsf(cz) > fabsf(best) )
       {
@@ -1481,7 +1474,7 @@ static int rb_collide( rigidbody *rba, rigidbody *rbb )
    }
 
    /*
-    * 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 ) )
    {
@@ -1742,7 +1735,6 @@ static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
 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 );
@@ -1859,6 +1851,23 @@ static void rb_constraint_position( rigidbody *ra, v3f lca,
    }
 }
 
+/* 
+ * Effectors
+ */
+
+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 * ktimestep, ra->v );
+
+   if( depth < 0.0f )
+      v3_muls( ra->v, 1.0f-(drag*ktimestep), ra->v );
+}
+
 /*
  * -----------------------------------------------------------------------------
  * BVH implementation, this is ONLY for static rigidbodies, its to slow for