#include "common.h"
#include "bvh.h"
+#include "scene.h"
static void rb_tangent_basis( v3f n, v3f tx, v3f ty );
static bh_system bh_system_rigidbodies;
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
-#define RB_DEPR
+//#define RB_DEPR
#define k_rb_rate 60.0f
#define k_rb_delta (1.0f/k_rb_rate)
enum rb_shape
{
- k_rb_shape_box,
- k_rb_shape_sphere,
- k_rb_shape_capsule
+ k_rb_shape_box = 0,
+ k_rb_shape_sphere = 1,
+ k_rb_shape_capsule = 2,
+ k_rb_shape_scene = 3
}
type;
float height, radius;
}
capsule;
+
+ struct rb_scene
+ {
+ scene *pscene;
+ }
+ scene;
}
inf;
boxf bbx, bbx_world;
float inv_mass;
- v3f delta; /* where is the origin of this in relation to a parent body */
+ /* inertia model and inverse world tensor */
+ v3f I;
+ m3x3f iI, iIw;
+
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},
.is_world = 1,
.inv_mass = 0.0f
};
+#endif
static void rb_debug( rigidbody *rb, u32 colour );
rigidbody *rba, *rbb;
v3f co, n;
v3f t[2];
- float mass_total, p, bias, norm_impulse, tangent_impulse[2];
+ float p, bias, norm_impulse, tangent_impulse[2],
+ normal_mass, tangent_mass[2];
+
+ u32 element_id;
}
rb_contact_buffer[256];
static int rb_contact_count = 0;
+static void rb_update_bounds( rigidbody *rb )
+{
+ box_copy( rb->bbx, rb->bbx_world );
+ m4x3_transform_aabb( rb->to_world, rb->bbx_world );
+}
+
static void rb_update_transform( rigidbody *rb )
{
q_normalize( rb->q );
m4x3_invert_affine( rb->to_world, rb->to_local );
- box_copy( rb->bbx, rb->bbx_world );
- m4x3_transform_aabb( rb->to_world, rb->bbx_world );
-
m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f, 0.0f}, rb->right );
m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f, 0.0f}, rb->up );
m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,-1.0f}, rb->forward );
+
+ m3x3_mul( rb->iI, rb->to_local, rb->iIw );
+ m3x3_mul( rb->to_world, rb->iIw, rb->iIw );
+
+ rb_update_bounds( rb );
}
static float sphere_volume( float radius )
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 )
{
rb->bbx[0][1] = -h;
rb->bbx[1][1] = h;
}
+ else if( rb->type == k_rb_shape_scene )
+ {
+ rb->is_world = 1;
+ box_copy( rb->inf.scene.pscene->bbx, rb->bbx );
+ }
if( rb->is_world )
{
rb->inv_mass = 0.0f;
+ v3_zero( rb->I );
+ m3x3_zero(rb->iI);
}
else
{
- rb->inv_mass = 1.0f/(8.0f*volume);
+ float mass = 2.0f*volume;
+ rb->inv_mass = 1.0f/mass;
+
+ v3f extent;
+ v3_sub( rb->bbx[1], rb->bbx[0], extent );
+ 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];
+
+ rb->I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
+ rb->I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
+ rb->I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
+
+ m3x3_identity( rb->iI );
+ rb->iI[0][0] = rb->I[0];
+ rb->iI[1][1] = rb->I[1];
+ rb->iI[2][2] = rb->I[2];
+ m3x3_inv( rb->iI, rb->iI );
}
v3_zero( rb->v );
static void rb_iter( rigidbody *rb )
{
- v3f gravity = { 0.0f, -9.6f, 0.0f };
+ v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
/* intergrate velocity */
}
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 );
-static void rb_solve_contacts(void);
+#endif
+static void rb_solve_contacts( rb_ct *buf, int len );
+static void rb_presolve_contacts( rb_ct *buffer, int len );
/*
* These closest point tests were learned from Real-Time Collision Detection by
m4x3_mulv( rb->to_world, local, dest );
}
-static void closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
+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);
- v3_muladds( a, v0, vg_clampf(t,0.0f,1.0f), dest );
+ t = vg_clampf(t,0.0f,1.0f);
+ v3_muladds( a, v0, t, dest );
+ return t;
}
static void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
return;
}
- /* P inside region, Q via barycentric coordinates uvw */
- float d = 1.0f/(va+vb+vc),
- v = vb*d,
- w = vc*d;
+ /* 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 );
+}
+
+/* TODO */
+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 );
+}
+
+static int rb_intersect_planes( v4f p0, v4f p1, v4f p2, v3f p )
+{
+ v3f u;
+ v3_cross( p1, p2, u );
+ float d = v3_dot( p0, u );
+
+ if( fabsf(d) < 0.0001f )
+ return 0;
+
+ v3_muls( u, p0[3], p );
+
+ 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 );
+
+ 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;
+}
+/*
+ * Contact generators
+ *
+ * These do not automatically allocate contacts, an appropriately sized
+ * buffer must be supplied. The function returns the size of the manifold
+ * which was generated.
+ *
+ * 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.
+ *
+ * tx: time at point
+ * rx: minimum distance of these points
+ * dx: the delta between the two points
+ *
+ * pairs will only ammend these if they are creating a collision
+ */
+typedef struct capsule_manifold capsule_manifold;
+struct capsule_manifold
+{
+ float t0, t1;
+ float r0, r1;
+ v3f d0, d1;
+};
+
+/*
+ * Expand a line manifold with a new pair. t value is the time along segment
+ * on the oriented object which created this pair.
+ */
+static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
+ capsule_manifold *manifold )
+{
+ v3f delta;
+ v3_sub( pa, pb, delta );
+
+ if( v3_length2(delta) < r*r )
+ {
+ if( t < manifold->t0 )
+ {
+ v3_copy( delta, manifold->d0 );
+ manifold->t0 = t;
+ manifold->r0 = r;
+ }
+
+ if( t > manifold->t1 )
+ {
+ v3_copy( delta, manifold->d1 );
+ manifold->t1 = t;
+ manifold->r1 = r;
+ }
+ }
+}
+
+static void rb_capsule_manifold_init( capsule_manifold *manifold )
+{
+ manifold->t0 = INFINITY;
+ manifold->t1 = -INFINITY;
+}
+
+static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
+ capsule_manifold *manifold, rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ ra = rba->inf.capsule.radius;
+
+ v3f p0, p1;
+ v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 );
+
+ int count = 0;
+ if( manifold->t0 <= 1.0f )
+ {
+ rb_ct *ct = buf;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t0, pa );
+ v3_muladds( pa, p1, manifold->t0, pa );
+
+ float d = v3_length( manifold->d0 );
+ v3_muls( manifold->d0, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -ra, ct->co );
+
+ ct->p = manifold->r0 - d;
+ ct->rba = rba;
+ ct->rbb = rbb;
+
+ count ++;
+ }
+
+ if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) )
+ {
+ rb_ct *ct = buf+count;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t1, pa );
+ v3_muladds( pa, p1, manifold->t1, pa );
+
+ float d = v3_length( manifold->d1 );
+ v3_muls( manifold->d1, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -ra, ct->co );
+
+ ct->p = manifold->r1 - d;
+ ct->rba = rba;
+ ct->rbb = rbb;
+
+ count ++;
+ }
+
+ /*
+ * Debugging
+ */
+
+ if( count == 2 )
+ vg_line( buf[0].co, buf[1].co, 0xff0000ff );
+
+ return count;
+}
+
+static int rb_capsule_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ ra = rba->inf.capsule.radius,
+ rb = rbb->inf.sphere.radius;
+
+ v3f p0, p1;
+ v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 );
+
+ v3f c, delta;
+ closest_point_segment( p0, p1, rbb->co, c );
+ v3_sub( c, rbb->co, delta );
+
+ float d2 = v3_length2(delta),
+ r = ra + rb;
+
+ if( d2 < r*r )
+ {
+ float d = sqrtf(d2);
+
+ rb_ct *ct = buf;
+ v3_muls( delta, 1.0f/d, ct->n );
+ ct->p = r-d;
+
+ v3f p0, p1;
+ v3_muladds( c, ct->n, -ra, p0 );
+ v3_muladds( rbb->co, ct->n, rb, p1 );
+ v3_add( p0, p1, ct->co );
+ v3_muls( ct->co, 0.5f, ct->co );
+
+ ct->rba = rba;
+ ct->rbb = rbb;
+
+ return 1;
+ }
+
+ return 0;
+}
+
+static int rb_capsule_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ float ha = rba->inf.capsule.height,
+ hb = rbb->inf.capsule.height,
+ ra = rba->inf.capsule.radius,
+ rb = rbb->inf.capsule.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 );
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f pa, pb;
+ float ta, tb;
+ closest_segment_segment( p0, p1, p2, p3, &ta, &tb, pa, pb );
+ rb_capsule_manifold( pa, pb, ta, r, &manifold );
+
+ ta = closest_point_segment( p0, p1, p2, pa );
+ tb = closest_point_segment( p0, p1, p3, pb );
+ rb_capsule_manifold( pa, p2, ta, r, &manifold );
+ rb_capsule_manifold( pb, p3, tb, r, &manifold );
+
+ closest_point_segment( p2, p3, p0, pa );
+ closest_point_segment( p2, p3, p1, pb );
+ 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 );
+}
+
+/*
+ * Generates up to two contacts; optimised for the most stable manifold
+ */
+static int rb_capsule_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ float h = rba->inf.capsule.height,
+ r = rba->inf.capsule.radius;
+
+ /*
+ * Solving this in symetric local space of the cube saves us some time and a
+ * couple branches when it comes to the quad stage.
+ */
+ v3f centroid;
+ v3_add( rbb->bbx[0], rbb->bbx[1], centroid );
+ v3_muls( centroid, 0.5f, centroid );
+
+ boxf bbx;
+ v3_sub( rbb->bbx[0], centroid, bbx[0] );
+ v3_sub( rbb->bbx[1], centroid, bbx[1] );
+
+ v3f pc, p0w, p1w, p0, p1;
+ v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w );
+ v3_muladds( rba->co, rba->up, h*0.5f-r, p1w );
+
+ m4x3_mulv( rbb->to_local, p0w, p0 );
+ m4x3_mulv( rbb->to_local, p1w, p1 );
+ v3_sub( p0, centroid, p0 );
+ v3_sub( p1, centroid, p1 );
+ v3_add( p0, p1, pc );
+ v3_muls( pc, 0.5f, pc );
+
+ /*
+ * Finding an appropriate quad to collide lines with
+ */
+ v3f region;
+ v3_div( pc, bbx[1], region );
+
+ v3f quad[4];
+ if( (fabsf(region[0]) > fabsf(region[1])) &&
+ (fabsf(region[0]) > fabsf(region[2])) )
+ {
+ float px = vg_signf(region[0]) * bbx[1][0];
+ v3_copy( (v3f){ px, bbx[0][1], bbx[0][2] }, quad[0] );
+ v3_copy( (v3f){ px, bbx[1][1], bbx[0][2] }, quad[1] );
+ v3_copy( (v3f){ px, bbx[1][1], bbx[1][2] }, quad[2] );
+ v3_copy( (v3f){ px, bbx[0][1], bbx[1][2] }, quad[3] );
+ }
+ else if( fabsf(region[1]) > fabsf(region[2]) )
+ {
+ float py = vg_signf(region[1]) * bbx[1][1];
+ v3_copy( (v3f){ bbx[0][0], py, bbx[0][2] }, quad[0] );
+ v3_copy( (v3f){ bbx[1][0], py, bbx[0][2] }, quad[1] );
+ v3_copy( (v3f){ bbx[1][0], py, bbx[1][2] }, quad[2] );
+ v3_copy( (v3f){ bbx[0][0], py, bbx[1][2] }, quad[3] );
+ }
+ else
+ {
+ float pz = vg_signf(region[2]) * bbx[1][2];
+ v3_copy( (v3f){ bbx[0][0], bbx[0][1], pz }, quad[0] );
+ v3_copy( (v3f){ bbx[1][0], bbx[0][1], pz }, quad[1] );
+ v3_copy( (v3f){ bbx[1][0], bbx[1][1], pz }, quad[2] );
+ v3_copy( (v3f){ bbx[0][0], bbx[1][1], pz }, quad[3] );
+ }
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f c0, c1;
+ closest_point_aabb( p0, bbx, c0 );
+ closest_point_aabb( p1, bbx, c1 );
+
+ v3f d0, d1, da;
+ v3_sub( c0, p0, d0 );
+ v3_sub( c1, p1, d1 );
+ v3_sub( p1, p0, da );
+
+ /* TODO: ? */
+ v3_normalize(d0);
+ v3_normalize(d1);
+ v3_normalize(da);
+
+ if( v3_dot( da, d0 ) <= 0.01f )
+ rb_capsule_manifold( p0, c0, 0.0f, r, &manifold );
+
+ if( v3_dot( da, d1 ) >= -0.01f )
+ rb_capsule_manifold( p1, c1, 1.0f, r, &manifold );
+
+ for( int i=0; i<4; i++ )
+ {
+ int i0 = i,
+ i1 = (i+1)%4;
+
+ v3f ca, cb;
+ float ta, tb;
+ closest_segment_segment( p0, p1, quad[i0], quad[i1], &ta, &tb, ca, cb );
+ rb_capsule_manifold( ca, cb, ta, r, &manifold );
+ }
+
+ /*
+ * Create final contacts based on line manifold
+ */
+ m3x3_mulv( rbb->to_world, manifold.d0, manifold.d0 );
+ m3x3_mulv( rbb->to_world, manifold.d1, manifold.d1 );
+
+ /*
+ * Debugging
+ */
+
+#if 0
+ for( int i=0; i<4; i++ )
+ {
+ v3f q0, q1;
+ int i0 = i,
+ i1 = (i+1)%4;
+
+ v3_add( quad[i0], centroid, q0 );
+ v3_add( quad[i1], centroid, q1 );
+
+ m4x3_mulv( rbb->to_world, q0, q0 );
+ m4x3_mulv( rbb->to_world, q1, q1 );
+
+ vg_line( q0, q1, 0xffffffff );
+ }
+#endif
+
+ return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+}
+
+static int rb_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ v3f co, delta;
+
+ closest_point_obb( rba->co, rbb, co );
+ v3_sub( rba->co, co, delta );
+
+ float d2 = v3_length2(delta),
+ r = rba->inf.sphere.radius;
+
+ if( d2 <= r*r )
+ {
+ float d;
+
+ rb_ct *ct = buf;
+ if( d2 <= 0.0001f )
+ {
+ v3_sub( rba->co, rbb->co, delta );
+
+ /*
+ * some extra testing is required to find the best axis to push the
+ * object back outside the box. Since there isnt a clear seperating
+ * vector already, especially on really high aspect boxes.
+ */
+ float lx = v3_dot( rbb->right, delta ),
+ ly = v3_dot( rbb->up, delta ),
+ lz = v3_dot( rbb->forward, delta ),
+ px = rbb->bbx[1][0] - fabsf(lx),
+ py = rbb->bbx[1][1] - fabsf(ly),
+ pz = rbb->bbx[1][2] - fabsf(lz);
+
+ if( px < py && px < pz )
+ v3_muls( rbb->right, vg_signf(lx), ct->n );
+ else if( py < pz )
+ v3_muls( rbb->up, vg_signf(ly), ct->n );
+ else
+ v3_muls( rbb->forward, vg_signf(lz), ct->n );
+
+ v3_muladds( rba->co, ct->n, -r, ct->co );
+ ct->p = r;
+ }
+ else
+ {
+ d = sqrtf(d2);
+ v3_muls( delta, 1.0f/d, ct->n );
+ ct->p = r-d;
+ v3_copy( co, ct->co );
+ }
+
+ ct->rba = rba;
+ ct->rbb = rbb;
+ return 1;
+ }
+
+ return 0;
+}
+
+static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ v3f delta;
+ v3_sub( rba->co, rbb->co, delta );
+
+ float d2 = v3_length2(delta),
+ r = rba->inf.sphere.radius + rbb->inf.sphere.radius;
+
+ if( d2 < r*r )
+ {
+ float d = sqrtf(d2);
+
+ rb_ct *ct = buf;
+ v3_muls( delta, 1.0f/d, ct->n );
+
+ v3f p0, p1;
+ v3_muladds( rba->co, ct->n,-rba->inf.sphere.radius, p0 );
+ 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->p = r-d;
+ ct->rba = rba;
+ ct->rbb = rbb;
+ return 1;
+ }
+
+ 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,
+ v3f tri[3], rb_ct *buf )
+{
+ v3f delta, co;
+
+ closest_on_triangle( rba->co, tri, co );
+ 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;
+
+ 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 );
+ v3_normalize( ct->n );
+
+ float d = sqrtf(d2);
+
+ v3_copy( co, ct->co );
+ ct->p = r-d;
+ ct->rba = rba;
+ ct->rbb = rbb;
+ return 1;
+ }
+
+ return 0;
+}
+
+static int rb_sphere_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ scene *sc = rbb->inf.scene.pscene;
+
+ u32 geo[128];
+ v3f tri[3];
+ int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 );
+
+ int count = 0;
+
+ for( int i=0; i<len; i++ )
+ {
+ u32 *ptri = &sc->indices[ geo[i]*3 ];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->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 );
+
+ buf[count].element_id = ptri[0];
+ count += rb_sphere_vs_triangle( rba, rbb, tri, buf+count );
+
+ if( count == 12 )
+ {
+ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+ return count;
+ }
+ }
- v3_muladds( tri[0], ab, v, dest );
- v3_muladds( dest, ac, w, dest );
+ return count;
}
-/*
- * Contact generators
- *
- * These do not automatically allocate contacts, an appropriately sized
- * buffer must be supplied. The function returns the size of the manifold
- * which was generated.
- *
- * The values set on the contacts are: n, co, p, rba, rbb
- */
-
-static void rb_debug_contact( rb_ct *ct )
+static float rb_box_plane_interval( rigidbody *rba, v4f p )
{
- v3f p1;
- v3_muladds( ct->co, ct->n, 0.2f, p1 );
- vg_line_pt3( ct->co, 0.1f, 0xff0000ff );
- vg_line( ct->co, p1, 0xffffffff );
+ /* 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_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
{
- v3f co, delta;
+ float
- closest_point_obb( rba->co, rbb, co );
- v3_sub( rba->co, co, delta );
+ r = extent[0] * fabsf(axis[0]) +
+ extent[1] * fabsf(axis[1]) +
+ extent[2] * fabsf(axis[2]),
- float d2 = v3_length2(delta),
- r = rba->inf.sphere.radius;
+ p0 = v3_dot( axis, tri[0] ),
+ p1 = v3_dot( axis, tri[1] ),
+ p2 = v3_dot( axis, tri[2] ),
- if( d2 <= r*r )
- {
- float d;
- if( d2 <= 0.0001f )
- {
- v3_sub( rbb->co, rba->co, delta );
- d2 = v3_length2(delta);
- }
+ e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2)));
- d = sqrtf(d2);
+ if( e > r ) return 0;
+ else return 1;
+}
- 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 = rbb;
- 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] );
}
- return 0;
+ /* 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_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_box_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- v3f delta;
- v3_sub( rba->co, rbb->co, delta );
+ scene *sc = rbb->inf.scene.pscene;
+
+ u32 geo[128];
+ v3f tri[3];
+ int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 );
- float d2 = v3_length2(delta),
- r = rba->inf.sphere.radius + rbb->inf.sphere.radius;
+ int count = 0;
- if( d2 < r*r )
+ for( int i=0; i<len; i++ )
{
- float d = sqrtf(d2);
+ u32 *ptri = &sc->indices[ geo[i]*3 ];
- rb_ct *ct = buf;
- v3_muls( delta, -1.0f/d, ct->n );
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->verts[ptri[j]].co, tri[j] );
- v3f p0, p1;
- v3_muladds( rba->co, ct->n, rba->inf.sphere.radius, p0 );
- 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->p = r-d;
- ct->rba = rba;
- ct->rbb = rbb;
- return 1;
+ if( rb_box_triangle_sat( rba, tri ) )
+ {
+ vg_line(tri[0],tri[1],0xff50ff00 );
+ vg_line(tri[1],tri[2],0xff50ff00 );
+ vg_line(tri[2],tri[0],0xff50ff00 );
+ }
+ else
+ {
+ vg_line(tri[0],tri[1],0xff0000ff );
+ vg_line(tri[1],tri[2],0xff0000ff );
+ vg_line(tri[2],tri[0],0xff0000ff );
+
+ continue;
+ }
+
+ v3f v0,v1,n;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_cross( v0, v1, n );
+ v3_normalize( n );
+
+ /* find best feature */
+ float best = v3_dot( rba->right, n );
+ int axis = 0;
+
+ float cy = v3_dot( rba->up, n );
+ if( fabsf(cy) > fabsf(best) )
+ {
+ best = cy;
+ axis = 1;
+ }
+
+ /* TODO: THIS IS WRONG DIRECTION */
+ float cz = -v3_dot( rba->forward, n );
+ if( fabsf(cz) > fabsf(best) )
+ {
+ best = cz;
+ axis = 2;
+ }
+
+ v3f manifold[4];
+
+ if( axis == 0 )
+ {
+ float px = best > 0.0f? rba->bbx[0][0]: rba->bbx[1][0];
+ manifold[0][0] = px;
+ manifold[0][1] = rba->bbx[0][1];
+ manifold[0][2] = rba->bbx[0][2];
+ manifold[1][0] = px;
+ manifold[1][1] = rba->bbx[1][1];
+ manifold[1][2] = rba->bbx[0][2];
+ manifold[2][0] = px;
+ manifold[2][1] = rba->bbx[1][1];
+ manifold[2][2] = rba->bbx[1][2];
+ manifold[3][0] = px;
+ manifold[3][1] = rba->bbx[0][1];
+ manifold[3][2] = rba->bbx[1][2];
+ }
+ else if( axis == 1 )
+ {
+ float py = best > 0.0f? rba->bbx[0][1]: rba->bbx[1][1];
+ manifold[0][0] = rba->bbx[0][0];
+ manifold[0][1] = py;
+ manifold[0][2] = rba->bbx[0][2];
+ manifold[1][0] = rba->bbx[1][0];
+ manifold[1][1] = py;
+ manifold[1][2] = rba->bbx[0][2];
+ manifold[2][0] = rba->bbx[1][0];
+ manifold[2][1] = py;
+ manifold[2][2] = rba->bbx[1][2];
+ manifold[3][0] = rba->bbx[0][0];
+ manifold[3][1] = py;
+ manifold[3][2] = rba->bbx[1][2];
+ }
+ else
+ {
+ float pz = best > 0.0f? rba->bbx[0][2]: rba->bbx[1][2];
+ manifold[0][0] = rba->bbx[0][0];
+ manifold[0][1] = rba->bbx[0][1];
+ manifold[0][2] = pz;
+ manifold[1][0] = rba->bbx[1][0];
+ manifold[1][1] = rba->bbx[0][1];
+ manifold[1][2] = pz;
+ manifold[2][0] = rba->bbx[1][0];
+ manifold[2][1] = rba->bbx[1][1];
+ manifold[2][2] = pz;
+ manifold[3][0] = rba->bbx[0][0];
+ manifold[3][1] = rba->bbx[1][1];
+ manifold[3][2] = pz;
+ }
+
+ for( int j=0; j<4; j++ )
+ m4x3_mulv( rba->to_world, manifold[j], manifold[j] );
+
+ vg_line( manifold[0], manifold[1], 0xffffffff );
+ vg_line( manifold[1], manifold[2], 0xffffffff );
+ vg_line( manifold[2], manifold[3], 0xffffffff );
+ vg_line( manifold[3], manifold[0], 0xffffffff );
+
+ for( int j=0; j<4; j++ )
+ {
+ rb_ct *ct = buf+count;
+
+ v3_copy( manifold[j], ct->co );
+ v3_copy( n, ct->n );
+
+ float l0 = v3_dot( tri[0], n ),
+ l1 = v3_dot( manifold[j], n );
+
+ ct->p = (l0-l1)*0.5f;
+ if( ct->p < 0.0f )
+ continue;
+
+ ct->rba = rba;
+ ct->rbb = rbb;
+ count ++;
+
+ if( count >= 12 )
+ return count;
+ }
}
+ return count;
+}
+
+static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ vg_error( "Collision type is unimplemented between types %d and %d\n",
+ rba->type, rbb->type );
return 0;
}
+static int rb_sphere_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ return rb_capsule_vs_sphere( rbb, rba, buf );
+}
+
+static int rb_box_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ return rb_capsule_vs_box( rbb, rba, buf );
+}
+
static int rb_box_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_sphere_vs_box( rbb, rba, buf );
}
-static int rb_box_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+static int rb_scene_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- /* TODO: Generating a stable quad manifold, lots of clipping */
- return 0;
+ return rb_box_vs_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_collide( rigidbody *rba, rigidbody *rbb )
+{
+ int (*collider_jump)(rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+ = rb_jump_table[rba->type][rbb->type];
+
+ /*
+ * 12 is the maximum manifold size we can generate, so we are forced to abort
+ * potentially checking any more.
+ */
+ if( rb_contact_count + 12 > vg_list_size(rb_contact_buffer) )
+ {
+ vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)",
+ rb_contact_count, vg_list_size(rb_contact_buffer) );
+ return 0;
+ }
+
+ /*
+ * TODO: Replace this with a more dedicated broad phase pass
+ */
+ if( box_overlap( rba->bbx_world, rbb->bbx_world ) )
+ {
+ int count = collider_jump( rba, rbb, rb_contact_buffer+rb_contact_count);
+ rb_contact_count += count;
+ return count;
+ }
+ else
+ return 0;
}
+/*
+ * Generic functions
+ */
+
+#ifdef RB_DEPR
/*
* This function does not accept triangle as a dynamic object, it is assumed
* to always be static.
return 0;
}
-
-/*
- * Generic functions
- */
-
-RB_DEPR
static int sphere_vs_triangle( v3f c, float r, v3f tri[3],
v3f co, v3f norm, float *p )
{
}
#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) )
}
-RB_DEPR
static void rb_build_manifold_terrain( rigidbody *rb )
{
v3f *box = rb->bbx;
}
}
}
+#endif
/*
* Initializing things like tangent vectors
*/
-static void rb_presolve_contacts(void)
+
+static void rb_presolve_contacts( rb_ct *buffer, int len )
{
- for( int i=0; i<rb_contact_count; i++ )
+ for( int i=0; i<len; i++ )
{
- rb_ct *ct = &rb_contact_buffer[i];
-
- ct->bias = -0.2f * k_rb_rate * vg_minf(0.0f,-ct->p+0.04f);
+ rb_ct *ct = &buffer[i];
+ ct->bias = -0.2f * k_rb_rate * vg_minf(0.0f,-ct->p+0.01f);
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;
- ct->mass_total = 1.0f/(ct->rba->inv_mass + ct->rbb->inv_mass);
+
+ v3f ra, rb, raCn, rbCn, raCt, rbCt;
+ v3_sub( ct->co, ct->rba->co, ra );
+ v3_sub( ct->co, ct->rbb->co, rb );
+ v3_cross( ra, ct->n, raCn );
+ v3_cross( rb, ct->n, rbCn );
+
+ /* orient inverse inertia tensors */
+ v3f raCnI, rbCnI;
+ m3x3_mulv( ct->rba->iIw, raCn, raCnI );
+ m3x3_mulv( ct->rbb->iIw, rbCn, rbCnI );
+
+ ct->normal_mass = ct->rba->inv_mass + ct->rbb->inv_mass;
+ ct->normal_mass += v3_dot( raCn, raCnI );
+ ct->normal_mass += v3_dot( rbCn, rbCnI );
+ ct->normal_mass = 1.0f/ct->normal_mass;
+
+ for( int j=0; j<2; j++ )
+ {
+ v3f raCtI, rbCtI;
+ v3_cross( ct->t[j], ra, raCt );
+ v3_cross( ct->t[j], rb, rbCt );
+ m3x3_mulv( ct->rba->iIw, raCt, raCtI );
+ m3x3_mulv( ct->rbb->iIw, rbCt, rbCtI );
+
+ ct->tangent_mass[j] = ct->rba->inv_mass + ct->rbb->inv_mass;
+ ct->tangent_mass[j] += v3_dot( raCt, raCtI );
+ ct->tangent_mass[j] += v3_dot( rbCt, rbCtI );
+ ct->tangent_mass[j] = 1.0f/ct->tangent_mass[j];
+ }
rb_debug_contact( ct );
}
}
/*
- * Creates relative contact velocity vector, and offsets between each body */
+ * Creates relative contact velocity vector, and offsets between each body
+ */
static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
{
rigidbody *rba = ct->rba,
*rbb = ct->rbb;
- v3_sub( rba->co, ct->co, da );
- v3_sub( rbb->co, ct->co, db );
+ v3_sub( ct->co, rba->co, da );
+ v3_sub( ct->co, rbb->co, db );
v3f rva, rvb;
v3_cross( rba->w, da, rva );
v3_add( rba->v, rva, rva );
-
v3_cross( rbb->w, db, rvb );
v3_add( rbb->v, rvb, rvb );
- v3_add( rva, rvb, rv );
+
+ v3_sub( rva, rvb, rv );
}
+/*
+ * Apply regular and angular velocity impulses to objects involved in contact
+ */
static void rb_standard_impulse( rb_ct *ct, v3f da, v3f db, v3f impulse )
{
rigidbody *rba = ct->rba,
*rbb = ct->rbb;
- /* response */
- v3_muladds( rba->v, impulse, ct->mass_total * rba->inv_mass, rba->v );
- v3_muladds( rbb->v, impulse, ct->mass_total * rbb->inv_mass, rbb->v );
+ v3_muladds( rba->v, impulse, rba->inv_mass, rba->v );
+ v3_muladds( rbb->v, impulse, -rbb->inv_mass, rbb->v );
/* Angular velocity */
- v3f wa, wb;
+ v3f wa, wb, invim;
v3_cross( da, impulse, wa );
- v3_cross( db, impulse, wb );
- v3_muladds( rba->w, wa, ct->mass_total * rba->inv_mass, rba->w );
- v3_muladds( rbb->w, wb, ct->mass_total * rbb->inv_mass, rbb->w );
+ 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 );
}
-static void rb_solve_contacts(void)
+/*
+ * One iteration to solve the contact constraint
+ */
+static void rb_solve_contacts( rb_ct *buf, int len )
{
- float k_friction = 0.1f;
+ float k_friction = 0.2f;
- /* TODO: second object
- * Static objects route to static element */
-
- /* Friction Impulse */
- for( int i=0; i<rb_contact_count; i++ )
+ for( int i=0; i<len; i++ )
{
- struct contact *ct = &rb_contact_buffer[i];
+ struct contact *ct = &buf[i];
rigidbody *rb = ct->rba;
v3f rv, da, db;
rb_rcv( ct, rv, da, db );
+ /* Friction */
for( int j=0; j<2; j++ )
{
- float f = k_friction * ct->norm_impulse,
- vt = -v3_dot( rv, ct->t[j] );
+ float f = k_friction * ct->norm_impulse,
+ vt = v3_dot( rv, ct->t[j] ),
+ lambda = ct->tangent_mass[j] * -vt;
float temp = ct->tangent_impulse[j];
- ct->tangent_impulse[j] = vg_clampf( temp+vt, -f, f );
- vt = ct->tangent_impulse[j] - temp;
+ ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f );
+ lambda = ct->tangent_impulse[j] - temp;
v3f impulse;
- v3_muls( ct->t[j], vt, impulse );
+ v3_muls( ct->t[j], lambda, impulse );
rb_standard_impulse( ct, da, db, impulse );
}
- }
-
- /* Normal Impulse */
- for( int i=0; i<rb_contact_count; i++ )
- {
- struct contact *ct = &rb_contact_buffer[i];
- rigidbody *rba = ct->rba,
- *rbb = ct->rbb;
- v3f rv, da, db;
+ /* Normal */
rb_rcv( ct, rv, da, db );
-
- float vn = -v3_dot( rv, ct->n );
- vn += ct->bias;
+ float vn = v3_dot( rv, ct->n ),
+ lambda = ct->normal_mass * (-vn + ct->bias);
float temp = ct->norm_impulse;
- ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
- vn = ct->norm_impulse - temp;
+ ct->norm_impulse = vg_maxf( temp + lambda, 0.0f );
+ lambda = ct->norm_impulse - temp;
v3f impulse;
- v3_muls( ct->n, vn, impulse );
+ v3_muls( ct->n, lambda, impulse );
rb_standard_impulse( ct, da, db, impulse );
}
}
+/*
+ * The following ventures into not really very sophisticated at all maths
+ */
+
struct rb_angle_limit
{
rigidbody *rba, *rbb;
}
-RB_DEPR
static void rb_constraint_angle( rigidbody *rba, v3f va,
rigidbody *rbb, v3f vb,
float max, float spring )
}
}
+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 )
{
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 );
+ }
}
+#ifdef RB_DEPR
/*
* out penetration distance, normal
*/
return 0;
}
-#if 0
-static void rb_build_manifold_rb_static( rigidbody *ra, rigidbody *rb_static )
-{
- v3f verts[8];
-
- v3f a, b;
- v3_copy( ra->bbx[0], a );
- v3_copy( ra->bbx[1], b );
-
- m4x3_mulv( ra->to_world, (v3f){ a[0], a[1], a[2] }, verts[0] );
- m4x3_mulv( ra->to_world, (v3f){ a[0], b[1], a[2] }, verts[1] );
- m4x3_mulv( ra->to_world, (v3f){ b[0], b[1], a[2] }, verts[2] );
- m4x3_mulv( ra->to_world, (v3f){ b[0], a[1], a[2] }, verts[3] );
- m4x3_mulv( ra->to_world, (v3f){ a[0], a[1], b[2] }, verts[4] );
- m4x3_mulv( ra->to_world, (v3f){ a[0], b[1], b[2] }, verts[5] );
- m4x3_mulv( ra->to_world, (v3f){ b[0], b[1], b[2] }, verts[6] );
- m4x3_mulv( ra->to_world, (v3f){ b[0], a[1], b[2] }, verts[7] );
-
- vg_line_boxf_transformed( rb_static->to_world, rb_static->bbx, 0xff0000ff );
-
- int count = 0;
-
- for( int i=0; i<8; i++ )
- {
- if( ra->manifold_count == vg_list_size(ra->manifold) )
- return;
-
- struct contact *ct = &ra->manifold[ ra->manifold_count ];
-
- float p;
- v3f normal;
-
- if( rb_point_in_body( rb_static, verts[i], &p, normal ))
- {
- v3_copy( normal, ct->n );
- v3_muladds( verts[i], ct->n, p*0.5f, ct->co );
- v3_sub( ct->co, ra->co, ct->delta );
-
- vg_line_pt3( ct->co, 0.0125f, 0xffff00ff );
-
- ct->bias = -0.2f * (1.0f/k_rb_delta) * 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;
-
- ra->manifold_count ++;
- count ++;
- if( count == 4 )
- return;
- }
- }
-}
-#endif
-
-/*
- * Capsule phyics
- */
-
-static void debug_capsule( m4x3f m, float height, float radius, u32 colour )
-{
- v3f last = { 0.0f, 0.0f, radius };
- m4x3f lower, upper;
- m3x3_copy( m, lower );
- m3x3_copy( m, upper );
- m4x3_mulv( m, (v3f){0.0f,-height*0.5f+radius,0.0f}, lower[3] );
- m4x3_mulv( m, (v3f){0.0f, height*0.5f-radius,0.0f}, upper[3] );
-
- 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 p = { s*radius, 0.0f, c*radius };
-
- v3f p0, p1;
- m4x3_mulv( lower, p, p0 );
- m4x3_mulv( lower, last, p1 );
- vg_line( p0, p1, colour );
-
- m4x3_mulv( upper, p, p0 );
- m4x3_mulv( upper, last, p1 );
- vg_line( p0, p1, colour );
-
- v3_copy( p, last );
- }
-
- for( int i=0; i<4; i++ )
- {
- float t = ((float)(i) * (1.0f/4.0f)) * VG_PIf * 2.0f,
- s = sinf(t),
- c = cosf(t);
-
- v3f p = { s*radius, 0.0f, c*radius };
-
- v3f p0, p1;
- m4x3_mulv( lower, p, p0 );
- m4x3_mulv( upper, p, p1 );
- vg_line( p0, p1, colour );
-
- m4x3_mulv( lower, (v3f){0.0f,-radius,0.0f}, p0 );
- m4x3_mulv( upper, (v3f){0.0f, radius,0.0f}, p1 );
- vg_line( p0, p1, colour );
- }
-}
-
/*
* BVH implementation, this is ONLY for static rigidbodies, its to slow for
* realtime use.
.cast_ray = NULL
};
+#endif
+
#endif /* RIGIDBODY_H */