#include "common.h"
#include "bvh.h"
#include "scene.h"
+#include "distq.h"
VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
VG_STATIC bh_system bh_system_rigidbodies;
normal_mass, tangent_mass[2];
u32 element_id;
- int disabled;
+
+ enum contact_type type;
}
rb_contact_buffer[256];
VG_STATIC int rb_contact_count = 0;
VG_STATIC void rb_debug_contact( rb_ct *ct )
{
- if( !ct->disabled )
+ if( ct->type != k_contact_type_disabled )
{
v3f p1;
v3_muladds( ct->co, ct->n, 0.1f, p1 );
v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
}
-/*
- * -----------------------------------------------------------------------------
- * Closest point functions
- * -----------------------------------------------------------------------------
- */
-
-/*
- * These closest point tests were learned from Real-Time Collision Detection by
- * Christer Ericson
- */
-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;
- v3_sub( q1, p1, d1 );
- v3_sub( q2, p2, d2 );
- v3_sub( p1, p2, r );
-
- float a = v3_length2( d1 ),
- e = v3_length2( d2 ),
- f = v3_dot( d2, r );
-
- const float kEpsilon = 0.0001f;
-
- if( a <= kEpsilon && e <= kEpsilon )
- {
- *s = 0.0f;
- *t = 0.0f;
- v3_copy( p1, c1 );
- v3_copy( p2, c2 );
-
- v3f v0;
- v3_sub( c1, c2, v0 );
-
- return v3_length2( v0 );
- }
-
- if( a<= kEpsilon )
- {
- *s = 0.0f;
- *t = vg_clampf( f / e, 0.0f, 1.0f );
- }
- else
- {
- float c = v3_dot( d1, r );
- if( e <= kEpsilon )
- {
- *t = 0.0f;
- *s = vg_clampf( -c / a, 0.0f, 1.0f );
- }
- else
- {
- float b = v3_dot(d1,d2),
- d = a*e-b*b;
-
- if( d != 0.0f )
- {
- *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
- }
- else
- {
- *s = 0.0f;
- }
-
- *t = (b*(*s)+f) / e;
-
- if( *t < 0.0f )
- {
- *t = 0.0f;
- *s = vg_clampf( -c / a, 0.0f, 1.0f );
- }
- else if( *t > 1.0f )
- {
- *t = 1.0f;
- *s = vg_clampf((b-c)/a,0.0f,1.0f);
- }
- }
- }
-
- v3_muladds( p1, d1, *s, c1 );
- v3_muladds( p2, d2, *t, c2 );
-
- v3f v0;
- v3_sub( c1, c2, v0 );
- return v3_length2( v0 );
-}
-
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
- v3_maxv( p, box[0], dest );
- v3_minv( dest, box[1], dest );
-}
-
-VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
-{
- v3f local;
- m4x3_mulv( rb->to_local, p, local );
- closest_point_aabb( local, rb->bbx, local );
- m4x3_mulv( rb->to_world, local, dest );
-}
-
-VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
-{
- v3f v0, v1;
- v3_sub( b, a, v0 );
- v3_sub( point, a, v1 );
-
- float t = v3_dot( v1, v0 ) / v3_length2(v0);
- t = vg_clampf(t,0.0f,1.0f);
- v3_muladds( a, v0, t, dest );
- return t;
-}
-
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
-{
- v3f ab, ac, ap;
- float d1, d2;
-
- /* Region outside A */
- v3_sub( tri[1], tri[0], ab );
- v3_sub( tri[2], tri[0], ac );
- v3_sub( p, tri[0], ap );
-
- d1 = v3_dot(ab,ap);
- d2 = v3_dot(ac,ap);
- if( d1 <= 0.0f && d2 <= 0.0f )
- {
- v3_copy( tri[0], dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region outside B */
- v3f bp;
- float d3, d4;
-
- v3_sub( p, tri[1], bp );
- d3 = v3_dot( ab, bp );
- d4 = v3_dot( ac, bp );
-
- if( d3 >= 0.0f && d4 <= d3 )
- {
- v3_copy( tri[1], dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Edge region of AB */
- float vc = d1*d4 - d3*d2;
- if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
- {
- float v = d1 / (d1-d3);
- v3_muladds( tri[0], ab, v, dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region outside C */
- v3f cp;
- float d5, d6;
- v3_sub( p, tri[2], cp );
- d5 = v3_dot(ab, cp);
- d6 = v3_dot(ac, cp);
-
- if( d6 >= 0.0f && d5 <= d6 )
- {
- v3_copy( tri[2], dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region of AC */
- float vb = d5*d2 - d1*d6;
- if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
- {
- float w = d2 / (d2-d6);
- v3_muladds( tri[0], ac, w, dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* Region of BC */
- float va = d3*d6 - d5*d4;
- if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
- {
- float w = (d4-d3) / ((d4-d3) + (d5-d6));
- v3f bc;
- v3_sub( tri[2], tri[1], bc );
- v3_muladds( tri[1], bc, w, dest );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
- return;
- }
-
- /* P inside region, Q via barycentric coordinates uvw */
- float d = 1.0f/(va+vb+vc),
- v = vb*d,
- w = vc*d;
-
- v3_muladds( tri[0], ab, v, dest );
- v3_muladds( dest, ac, w, dest );
-}
-
-VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
-{
- v3f ab, ac, ap;
- float d1, d2;
-
- /* Region outside A */
- v3_sub( tri[1], tri[0], ab );
- v3_sub( tri[2], tri[0], ac );
- v3_sub( p, tri[0], ap );
-
- d1 = v3_dot(ab,ap);
- d2 = v3_dot(ac,ap);
- if( d1 <= 0.0f && d2 <= 0.0f )
- {
- v3_copy( tri[0], dest );
- return;
- }
-
- /* Region outside B */
- v3f bp;
- float d3, d4;
-
- v3_sub( p, tri[1], bp );
- d3 = v3_dot( ab, bp );
- d4 = v3_dot( ac, bp );
-
- if( d3 >= 0.0f && d4 <= d3 )
- {
- v3_copy( tri[1], dest );
- return;
- }
-
- /* Edge region of AB */
- float vc = d1*d4 - d3*d2;
- if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
- {
- float v = d1 / (d1-d3);
- v3_muladds( tri[0], ab, v, dest );
- return;
- }
-
- /* Region outside C */
- v3f cp;
- float d5, d6;
- v3_sub( p, tri[2], cp );
- d5 = v3_dot(ab, cp);
- d6 = v3_dot(ac, cp);
-
- if( d6 >= 0.0f && d5 <= d6 )
- {
- v3_copy( tri[2], dest );
- return;
- }
-
- /* Region of AC */
- float vb = d5*d2 - d1*d6;
- if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
- {
- float w = d2 / (d2-d6);
- v3_muladds( tri[0], ac, w, dest );
- return;
- }
-
- /* Region of BC */
- float va = d3*d6 - d5*d4;
- if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
- {
- float w = (d4-d3) / ((d4-d3) + (d5-d6));
- v3f bc;
- v3_sub( tri[2], tri[1], bc );
- v3_muladds( tri[1], bc, w, dest );
- return;
- }
-
- /* P inside region, Q via barycentric coordinates uvw */
- float d = 1.0f/(va+vb+vc),
- v = vb*d,
- w = vc*d;
-
- v3_muladds( tri[0], ab, v, dest );
- v3_muladds( dest, ac, w, dest );
-}
/*
* -----------------------------------------------------------------------------
{
rb_ct *ct = &man[i];
- if( ct->disabled )
+ if( ct->type == k_contact_type_disabled )
continue;
man[k ++] = man[i];
return k;
}
+VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r )
+{
+ for( int i=0; i<len-1; i++ )
+ {
+ rb_ct *ci = &man[i];
+ if( ci->type != k_contact_type_edge )
+ continue;
+
+ for( int j=i+1; j<len; j++ )
+ {
+ rb_ct *cj = &man[j];
+ if( cj->type != k_contact_type_edge )
+ continue;
+
+ if( v3_dist2( ci->co, cj->co ) < r*r )
+ {
+ cj->type = k_contact_type_disabled;
+ ci->p = (ci->p + cj->p) * 0.5f;
+
+ v3_add( ci->co, cj->co, ci->co );
+ v3_muls( ci->co, 0.5f, ci->co );
+
+ v3f delta;
+ v3_sub( ci->rba->co, ci->co, delta );
+
+ float c0 = v3_dot( ci->n, delta ),
+ c1 = v3_dot( cj->n, delta );
+
+ if( c0 < 0.0f || c1 < 0.0f )
+ {
+ /* error */
+ ci->type = k_contact_type_disabled;
+ }
+ else
+ {
+ v3f n;
+ v3_muls( ci->n, c0, n );
+ v3_muladds( n, cj->n, c1, n );
+ v3_normalize( n );
+ v3_copy( n, ci->n );
+ }
+ }
+ }
+ }
+}
+
/*
* Resolve overlapping pairs
*/
rb_ct *ci = &man[i];
int similar = 0;
- if( ci->disabled ) continue;
+ if( ci->type == k_contact_type_disabled ) continue;
for( int j=i+1; j<len; j++ )
{
rb_ct *cj = &man[j];
- if( cj->disabled ) continue;
+ if( cj->type == k_contact_type_disabled ) continue;
if( v3_dist2( ci->co, cj->co ) < r*r )
{
- cj->disabled = 1;
+ cj->type = k_contact_type_disabled;
v3_add( cj->n, ci->n, ci->n );
ci->p += cj->p;
similar ++;
ci->p *= n;
if( v3_length2(ci->n) < 0.1f*0.1f )
- ci->disabled = 1;
+ ci->type = k_contact_type_disabled;
else
v3_normalize( ci->n );
}
for( int i=0; i<len; i++ )
{
rb_ct *ct = &man[i];
- if( ct->disabled ) continue;
+ if( ct->type == k_contact_type_disabled )
+ continue;
v3f delta;
v3_sub( ct->co, ct->rba->co, delta );
if( v3_dot( delta, ct->n ) > -0.001f )
- ct->disabled = 1;
+ ct->type = k_contact_type_disabled;
}
}
*/
VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w )
{
- for( int i=0; i<len-1; i++ )
+ for( int i=0; i<len; i++ )
{
rb_ct *ci = &man[i];
- if( ci->disabled ) continue;
+ if( ci->type == k_contact_type_disabled ||
+ ci->type == k_contact_type_edge )
+ continue;
float d1 = v3_dot( ci->co, ci->n );
- for( int j=i+1; j<len; j++ )
+ for( int j=0; j<len; j++ )
{
+ if( j == i )
+ continue;
+
rb_ct *cj = &man[j];
- if( cj->disabled ) continue;
+ if( cj->type == k_contact_type_disabled )
+ continue;
float d2 = v3_dot( cj->co, ci->n ),
d = d2-d1;
if( fabsf( d ) <= w )
- cj->disabled = 1;
+ {
+ cj->type = k_contact_type_disabled;
+ }
}
}
}
ct->p = manifold->r0 - d;
ct->rba = rba;
ct->rbb = rbb;
- ct->disabled = 0;
+ ct->type = k_contact_type_default;
count ++;
}
ct->p = manifold->r1 - d;
ct->rba = rba;
ct->rbb = rbb;
- ct->disabled = 0;
+ ct->type = k_contact_type_default;
count ++;
}
ct->rba = rba;
ct->rbb = rbb;
- ct->disabled = 0;
+ ct->type = k_contact_type_default;
return 1;
}
{
v3f co, delta;
- closest_point_obb( rba->co, rbb, co );
+ closest_point_obb( rba->co, rbb->bbx, rbb->to_world, rbb->to_local, co );
v3_sub( rba->co, co, delta );
float d2 = v3_length2(delta),
ct->rba = rba;
ct->rbb = rbb;
- ct->disabled = 0;
+ ct->type = k_contact_type_default;
return 1;
}
v3_muladds( rbb->co, ct->n, rbb->inf.sphere.radius, p1 );
v3_add( p0, p1, ct->co );
v3_muls( ct->co, 0.5f, ct->co );
- ct->disabled = 0;
+ ct->type = k_contact_type_default;
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
return 0;
}
-#define RIGIDBODY_DYNAMIC_MESH_EDGES
+//#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 );
+#else
+ enum contact_type type = closest_on_triangle_1( rba->co, tri, co );
#endif
v3_sub( rba->co, co, delta );
- vg_line( rba->co, co, 0xffff0000 );
- vg_line_pt3( rba->co, 0.1f, 0xff00ffff );
-
float d2 = v3_length2( delta ),
r = rba->inf.sphere.radius;
float d = sqrtf(d2);
v3_copy( co, ct->co );
- ct->disabled = 0;
+ ct->type = type;
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
return 0;
}
-VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- scene *sc = rbb->inf.scene.bh_scene->user;
-
- u32 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! */
+VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
+ boxf box, u32 colour )
+{
+ sharp_ang = cosf( sharp_ang );
- v3f co_picture[128*3];
- int unique_cos = 0;
+ scene *sc = rbb->inf.scene.bh_scene->user;
+ vg_line_boxf( box, 0xff00ff00 );
- struct face_info
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, box, &idx ) )
{
- int unique_cos[3]; /* indexes co_picture array */
- int collided;
- v3f normal;
- u32 element_id;
- }
- faces[128];
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
- /* create geometry picture */
- for( int i=0; i<len; i++ )
- {
- 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->arrvertices[ptri[j]].co, tri[j] );
for( int j=0; j<3; j++ )
{
- struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]];
-
- 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:;
- }
+#if 0
+ v3f edir;
+ v3_sub( tri[(j+1)%3], tri[j], edir );
- v3f ab, ac;
- v3_sub( co_picture[inf->unique_cos[2]],
- co_picture[inf->unique_cos[0]], ab );
+ if( v3_dot( edir, (v3f){ 0.5184758473652127f,
+ 0.2073903389460850f,
+ -0.8295613557843402f } ) < 0.0f )
+ continue;
+#endif
- 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 );
- }
+ bh_iter jt;
+ bh_iter_init( 0, &jt );
+ boxf region;
+ float const k_r = 0.02f;
+ v3_add( (v3f){ k_r, k_r, k_r }, tri[j], region[1] );
+ v3_add( (v3f){ -k_r, -k_r, -k_r }, tri[j], region[0] );
- /* build edges brute force */
- int edge_picture[ 128*3 ][4];
- int unique_edges = 0;
+ int jdx;
+ while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) )
+ {
+ if( idx <= jdx )
+ continue;
- 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;
+ u32 *ptrj = &sc->arrindices[ jdx*3 ];
+ v3f trj[3];
- 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] );
+ for( int k=0; k<3; k++ )
+ v3_copy( sc->arrvertices[ptrj[k]].co, trj[k] );
- /* matched ! */
- if( (k0 == e0) && (k1 == e1) )
+ for( int k=0; k<3; k++ )
{
- edge_picture[ k ][3] = i;
- matched = 1;
- break;
+ if( v3_dist2( tri[j], trj[k] ) <= k_r*k_r )
+ {
+ int jp1 = (j+1)%3,
+ jp2 = (j+2)%3,
+ km1 = (k+3-1)%3,
+ km2 = (k+3-2)%3;
+
+ if( v3_dist2( tri[jp1], trj[km1] ) <= k_r*k_r )
+ {
+ v3f b0, b1, b2;
+ v3_sub( tri[jp1], tri[j], b0 );
+ v3_sub( tri[jp2], tri[j], b1 );
+ v3_sub( trj[km2], tri[j], b2 );
+
+ v3f cx0, cx1;
+ v3_cross( b0, b1, cx0 );
+ v3_cross( b2, b0, cx1 );
+
+ float polarity = v3_dot( cx0, b2 );
+
+ if( polarity < 0.0f )
+ {
+#if 0
+ vg_line( tri[j], tri[jp1], 0xff00ff00 );
+ float ang = v3_dot(cx0,cx1) /
+ (v3_length(cx0)*v3_length(cx1));
+ if( ang < sharp_ang )
+ {
+ vg_line( tri[j], tri[jp1], 0xff00ff00 );
+ }
+#endif
+ }
+ }
+ }
}
}
-
- 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]];
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ scene *sc = rbb->inf.scene.bh_scene->user;
- v3_copy( v0, tri[0] );
- v3_copy( v1, tri[1] );
- v3_copy( v2, tri[2] );
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
- buf[count].element_id = inf->element_id;
-#else
- u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &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];
-#endif
+ buf[ count ].element_id = ptri[0];
- vg_line( tri[0],tri[1],0x10ffffff );
- vg_line( tri[1],tri[2],0x10ffffff );
- vg_line( tri[2],tri[0],0x10ffffff );
+ 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( rba, rbb, tri, buf+count );
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- if( contact )
- inf->collided = 1;
-#endif
count += contact;
- if( count == 12 )
+ if( count == 16 )
{
vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
return count;
}
}
-#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->disabled = 0;
- 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;
}
{
scene *sc = rbb->inf.scene.bh_scene->user;
- u32 geo[128];
v3f tri[3];
- int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
- int count = 0;
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
- for( int i=0; i<len; i++ )
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
{
- u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+ u32 *ptri = &sc->arrindices[ idx*3 ];
for( int j=0; j<3; j++ )
v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
if( ct->p < 0.0f )
continue;
- ct->disabled = 0;
+ ct->type = k_contact_type_default;
ct->rba = rba;
ct->rbb = rbb;
count ++;
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->disabled = 0;
+#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;
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff