text3d

[carveJwlIkooP6JGAAIwe30JlM.git] / rigidbody.h

diff --git a/rigidbody.h b/rigidbody.h
index fe8197569e689f87d316905f2ce4244b5b351e69..398791341b592459f3b1e922ebfdb46a2fcf88a5 100644 (file)
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -1509,8 +1509,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
    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 ) )
-   {
+   while( bh_next( s->bh_scene, &it, box, &idx ) ){
       u32 *ptri = &sc->arrindices[ idx*3 ];
       v3f tri[3];
 
@@ -1526,8 +1525,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
       int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] );
       count += contact;
 
-      if( count == 16 )
-      {
+      if( count == 16 ){
          vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
          return count;
       }
@@ -1999,8 +1997,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
    
    scene *sc = s->bh_scene->user;
    
-   while( bh_next( s->bh_scene, &it, bbx, &idx ) )
-   {
+   while( bh_next( s->bh_scene, &it, bbx, &idx ) ){
       u32 *ptri = &sc->arrindices[ idx*3 ];
       v3f tri[3];
 
@@ -2012,8 +2009,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
       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;
       }
@@ -2208,8 +2204,7 @@ VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt )
  */
 VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
 {
-   for( int i=0; i<len; i++ )
-   {
+   for( int i=0; i<len; i++ ){
       rb_ct *ct = &buffer[i];
       rb_prepare_contact( ct, k_rb_delta );
 
@@ -2229,8 +2224,7 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
       ct->normal_mass += v3_dot( rbCn, rbCnI );
       ct->normal_mass  = 1.0f/ct->normal_mass;
 
-      for( int j=0; j<2; j++ )
-      {
+      for( int j=0; j<2; j++ ){
          v3f raCtI, rbCtI;
          v3_cross( ct->t[j], ra, raCt );
          v3_cross( ct->t[j], rb, rbCt );
@@ -2282,8 +2276,7 @@ VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse )
  */
 VG_STATIC void rb_solve_contacts( rb_ct *buf, int len )
 {
-   for( int i=0; i<len; i++ )
-   {
+   for( int i=0; i<len; i++ ){
       struct contact *ct = &buf[i];
 
       v3f rv, ra, rb;
@@ -2292,8 +2285,7 @@ VG_STATIC void rb_solve_contacts( rb_ct *buf, int len )
       rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
       
       /* Friction */
-      for( int j=0; j<2; j++ )
-      {
+      for( int j=0; j<2; j++ ){
          float     f = k_friction * ct->norm_impulse,
                   vt = v3_dot( rv, ct->t[j] ),
               lambda = ct->tangent_mass[j] * -vt;
@@ -2829,7 +2821,8 @@ 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 ) );
+   float d = v3_dot( rt, ra );
+   float a = vg_signf( d ) * acosf( vg_clampf( d, -1.0f, 1.0f ) );
 
    v3f axis;
    v3_cross( rt, ra, axis );