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
float tangent_mass, axis_mass;
};
+struct rb_constr_spring
+{
+ int nothing;
+};
+
/*
* -----------------------------------------------------------------------------
* Math Utils
VG_STATIC void rb_debug_contact( rb_ct *ct )
{
- if( ct->type != k_contact_type_disabled )
+ v3f p1;
+ v3_muladds( ct->co, ct->n, 0.05f, p1 );
+
+ if( ct->type == k_contact_type_default )
+ {
+ vg_line_pt3( ct->co, 0.0125f, 0xff0000ff );
+ vg_line( ct->co, p1, 0xffffffff );
+ }
+ else if( ct->type == k_contact_type_edge )
{
- v3f p1;
- v3_muladds( ct->co, ct->n, 0.05f, p1 );
- vg_line_pt3( ct->co, 0.0025f, 0xff0000ff );
+ vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 );
vg_line( ct->co, p1, 0xffffffff );
}
}
* Extrapolate rigidbody into a transform based on vg accumulator.
* Useful for rendering
*/
+__attribute__ ((deprecated))
VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
{
float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
v3_copy( co, transform[3] );
}
+VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
+{
+ float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
+
+ 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 );
+ }
+}
+
/*
* Initialize rigidbody and calculate masses, inertia
*/
//#define RIGIDBODY_DYNAMIC_MESH_EDGES
+__attribute__ ((deprecated))
VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
{
return 0;
}
+VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
+ v3f tri[3], rb_ct *buf )
+{
+ v3f delta, co;
+ enum contact_type type = closest_on_triangle_1( mtxA[3], tri, co );
+
+ v3_sub( mtxA[3], co, delta );
+
+ float d2 = v3_length2( delta ),
+ r = b->radius;
+
+ if( d2 <= r*r )
+ {
+ rb_ct *ct = buf;
+
+ v3f ab, ac, tn;
+ v3_sub( tri[2], tri[0], ab );
+ v3_sub( tri[1], tri[0], ac );
+ v3_cross( ac, ab, tn );
+ v3_copy( tn, ct->n );
+
+ if( v3_length2( ct->n ) <= 0.00001f )
+ {
+ vg_error( "Zero area triangle!\n" );
+ return 0;
+ }
+
+ v3_normalize( ct->n );
+
+ float d = sqrtf(d2);
+
+ v3_copy( co, ct->co );
+ ct->type = type;
+ ct->p = r-d;
+ return 1;
+ }
+
+ return 0;
+}
VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
boxf box, u32 colour )
}
}
+VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
+ m4x3f mtxB, rb_scene *s, rb_ct *buf )
+{
+ scene *sc = s->bh_scene->user;
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ int count = 0;
+
+ float r = b->radius + 0.1f;
+ boxf box;
+ v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] );
+ v3_add( mtxA[3], (v3f){ r,r,r }, box[1] );
+
+ while( bh_next( s->bh_scene, &it, box, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+
+ buf[ count ].element_id = ptri[0];
+
+ vg_line( tri[0],tri[1],0x70ff6000 );
+ vg_line( tri[1],tri[2],0x70ff6000 );
+ vg_line( tri[2],tri[0],0x70ff6000 );
+
+ int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] );
+ count += contact;
+
+ if( count == 16 )
+ {
+ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+ return count;
+ }
+ }
+
+ return count;
+}
+
+__attribute__ ((deprecated))
VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
scene *sc = rbb->inf.scene.bh_scene->user;
int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] );
count += contact;
- if( count == 16 )
+ if( count >= 16 )
{
vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
return count;
return rb_contact_buffer + rb_contact_count;
}
-VG_STATIC void rb_prepare_contact( rb_ct *ct )
+VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep )
{
- ct->bias = -0.2f * k_rb_rate * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+ ct->bias = -0.2f * (timestep*3600.0f)
+ * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+
rb_tangent_basis( ct->n, ct->t[0], ct->t[1] );
-
-#if 0
- ct->type = k_contact_type_default;
-#endif
ct->norm_impulse = 0.0f;
ct->tangent_impulse[0] = 0.0f;
ct->tangent_impulse[1] = 0.0f;
}
+/* calculate total move. manifold should belong to ONE object only */
+VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt )
+{
+ v3_zero( dt );
+
+ for( int j=0; j<7; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ float resolved_amt = v3_dot( ct->n, dt ),
+ remaining = (ct->p-k_penetration_slop) - resolved_amt,
+ apply = vg_maxf( remaining, 0.0f ) * 0.4f;
+
+ v3_muladds( dt, ct->n, apply, dt );
+ }
+ }
+}
+
/*
* Initializing things like tangent vectors
*/
for( int i=0; i<len; i++ )
{
rb_ct *ct = &buffer[i];
- rb_prepare_contact( ct );
+ rb_prepare_contact( ct, k_rb_delta );
v3f ra, rb, raCn, rbCn, raCt, rbCt;
v3_sub( ct->co, ct->rba->co, ra );
v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
}
+/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to
+ * rt(worldspace)
+ */
+VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt,
+ float spring, float dampening,
+ float timestep )
+{
+ float a = acosf( vg_clampf( v3_dot( rt, ra ), -1.0f, 1.0f ) );
+
+ v3f axis;
+ v3_cross( rt, ra, axis );
+
+ float Fs = -a * spring,
+ Fd = -v3_dot( rba->w, axis ) * dampening;
+
+ v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w );
+}
+
/*
* -----------------------------------------------------------------------------
* BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff