now we're doing a bunch of them

[carveJwlIkooP6JGAAIwe30JlM.git] / rigidbody.h

diff --git a/rigidbody.h b/rigidbody.h
index 746c684920e98add3572a8c9e1fba7d8590c6f13..2e17120eda4f90439481869df6102b099c8719e7 100644 (file)
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -16,8 +16,6 @@
 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
 
@@ -410,6 +408,7 @@ VG_STATIC void rb_update_transform( rigidbody *rb )
  * Extrapolate rigidbody into a transform based on vg accumulator.
  * Useful for rendering
  */
+#if 0
 __attribute__ ((deprecated))
 VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
 {
@@ -440,6 +439,7 @@ VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
    q_m3x3( q, transform );
    v3_copy( co, transform[3] );
 }
+#endif
 
 VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
 {
@@ -900,6 +900,7 @@ VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold )
    manifold->t1 = -INFINITY;
 }
 
+#if 0
 __attribute__ ((deprecated))
 VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, 
                                      capsule_manifold *manifold, rb_ct *buf )
@@ -961,6 +962,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
 
    return count;
 }
+#endif
 
 VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
                                          capsule_manifold *manifold,
@@ -1057,22 +1059,20 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    return 0;
 }
 
-VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
+                                   m4x3f mtxB, rb_capsule *cb, rb_ct *buf )
 {
-   if( !box_overlap( rba->bbx_world, rbb->bbx_world ) )
-      return 0;
-
-   float ha = rba->inf.capsule.height,
-         hb = rbb->inf.capsule.height,
-         ra = rba->inf.capsule.radius,
-         rb = rbb->inf.capsule.radius,
+   float ha = ca->height,
+         hb = cb->height,
+         ra = ca->radius,
+         rb = cb->radius,
           r = ra+rb;
 
    v3f p0, p1, p2, p3;
-   v3_muladds( rba->co, rba->up, -ha*0.5f+ra, p0 );
-   v3_muladds( rba->co, rba->up,  ha*0.5f-ra, p1 );
-   v3_muladds( rbb->co, rbb->up, -hb*0.5f+rb, p2 );
-   v3_muladds( rbb->co, rbb->up,  hb*0.5f-rb, p3 );
+   v3_muladds( mtxA[3], mtxA[1], -ha*0.5f+ra, p0 );
+   v3_muladds( mtxA[3], mtxA[1],  ha*0.5f-ra, p1 );
+   v3_muladds( mtxB[3], mtxB[1], -hb*0.5f+rb, p2 );
+   v3_muladds( mtxB[3], mtxB[1],  hb*0.5f-rb, p3 );
 
    capsule_manifold manifold;
    rb_capsule_manifold_init( &manifold );
@@ -1092,9 +1092,10 @@ VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    rb_capsule_manifold( p0, pa, 0.0f, r, &manifold );
    rb_capsule_manifold( p1, pb, 1.0f, r, &manifold );
    
-   return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+   return rb_capsule__manifold_done( mtxA, ca, &manifold, buf );
 }
 
+#if 0
 /*
  * Generates up to two contacts; optimised for the most stable manifold
  */
@@ -1221,6 +1222,7 @@ VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
    return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
 }
+#endif
 
 VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
@@ -1312,6 +1314,7 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
 //#define RIGIDBODY_DYNAMIC_MESH_EDGES
 
+#if 0
 __attribute__ ((deprecated))
 VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, 
                                   v3f tri[3], rb_ct *buf )
@@ -1359,6 +1362,7 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
 
    return 0;
 }
+#endif
 
 VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
                                    v3f tri[3], rb_ct *buf )
@@ -1537,6 +1541,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
    return count;
 }
 
+#if 0
 __attribute__ ((deprecated))
 VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
@@ -1574,6 +1579,7 @@ VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
    return count;
 }
+#endif
 
 VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
@@ -1774,6 +1780,7 @@ VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
 /*
  * Generates up to two contacts; optimised for the most stable manifold
  */
+#if 0
 __attribute__ ((deprecated))
 VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, 
                                    v3f tri[3], rb_ct *buf )
@@ -1830,6 +1837,7 @@ VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb,
 
    return count;
 }
+#endif
 
 /* mtxB is defined only for tradition; it is not used currently */
 VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
@@ -1870,6 +1878,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
    return count;
 }
 
+#if 0
 __attribute__ ((deprecated))
 VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
@@ -1914,6 +1923,7 @@ VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    return rb_capsule_scene( rbb, rba, buf );
 }
+#endif
 
 VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
@@ -1930,10 +1940,12 @@ VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    return rb_capsule_sphere( rbb, rba, buf );
 }
 
+#if 0
 VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    return rb_capsule_box( rbb, rba, buf );
 }
+#endif
 
 VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
@@ -1945,6 +1957,7 @@ VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    return rb_box_scene( rbb, rba, buf );
 }
 
+#if 0
 VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) = 
 {
     /* box */        /* Sphere */       /* Capsule */       /* Mesh */
@@ -1982,6 +1995,20 @@ VG_STATIC int rb_collide( rigidbody *rba, rigidbody *rbb )
    else
       return 0;
 }
+#endif
+
+VG_STATIC int rb_global_has_space( void )
+{
+   if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) )
+      return 0;
+
+   return 1;
+}
+
+VG_STATIC rb_ct *rb_global_buffer( void )
+{
+   return &rb_contact_buffer[ rb_contact_count ];
+}
 
 /*
  * -----------------------------------------------------------------------------