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
k_damp_angular = 0.1f, /* scale angular 1/(1+x) */
k_penetration_slop = 0.01f,
k_inertia_scale = 8.0f,
- k_phys_baumgarte = 0.2f;
+ k_phys_baumgarte = 0.2f,
+ k_gravity = 9.6f;
VG_STATIC float
k_limit_bias = 0.02f,
VG_STATIC void rb_register_cvar(void)
{
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_limit_bias", .data = &k_limit_bias,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_joint_bias", .data = &k_joint_bias,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_joint_correction", .data = &k_joint_correction,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_joint_impulse", .data = &k_joint_impulse,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
}
typedef struct rigidbody rigidbody;
typedef struct contact rb_ct;
+typedef struct rb_sphere rb_sphere;
+typedef struct rb_capsule rb_capsule;
+typedef struct rb_scene rb_scene;
+
+struct rb_sphere
+{
+ float radius;
+};
+
+struct rb_capsule
+{
+ float height, radius;
+};
+
+struct rb_scene
+{
+ bh_tree *bh_scene;
+};
struct rigidbody
{
union
{
- struct rb_sphere
- {
- float radius;
- }
- sphere;
-
- struct rb_capsule
- {
- float height, radius;
- }
- capsule;
-
- struct rb_scene
- {
- bh_tree *bh_scene;
- }
- scene;
+ struct rb_sphere sphere;
+ struct rb_capsule capsule;
+ struct rb_scene scene;
}
inf;
float tangent_mass, axis_mass;
};
+struct rb_constr_spring
+{
+ int nothing;
+};
+
/*
* -----------------------------------------------------------------------------
* Math Utils
{
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, 0xff0000ff );
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
*/
manifold->t1 = -INFINITY;
}
+__attribute__ ((deprecated))
VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
capsule_manifold *manifold, rb_ct *buf )
{
return count;
}
+VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
+ capsule_manifold *manifold,
+ rb_ct *buf )
+{
+ v3f p0, p1;
+ v3_muladds( mtx[3], mtx[1], -c->height*0.5f+c->radius, p0 );
+ v3_muladds( mtx[3], mtx[1], c->height*0.5f-c->radius, 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, -c->radius, ct->co );
+
+ ct->p = manifold->r0 - d;
+ ct->type = k_contact_type_default;
+ 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, -c->radius, ct->co );
+
+ ct->p = manifold->r1 - d;
+ ct->type = k_contact_type_default;
+
+ count ++;
+ }
+
+ /*
+ * Debugging
+ */
+
+ if( count == 2 )
+ vg_line( buf[0].co, buf[1].co, 0xff0000ff );
+
+ return count;
+}
+
VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float h = rba->inf.capsule.height,
//#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;
+ 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;
return count;
}
+VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
+ v3f tri[3], rb_ct *buf )
+{
+ v3f pc, p0w, p1w;
+ v3_muladds( mtxA[3], mtxA[1], -c->height*0.5f+c->radius, p0w );
+ v3_muladds( mtxA[3], mtxA[1], c->height*0.5f-c->radius, p1w );
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f c0, c1;
+ closest_on_triangle_1( p0w, tri, c0 );
+ closest_on_triangle_1( p1w, tri, c1 );
+
+ v3f d0, d1, da;
+ v3_sub( c0, p0w, d0 );
+ v3_sub( c1, p1w, d1 );
+ v3_sub( p1w, p0w, da );
+
+ v3_normalize(d0);
+ v3_normalize(d1);
+ v3_normalize(da);
+
+ if( v3_dot( da, d0 ) <= 0.01f )
+ rb_capsule_manifold( p0w, c0, 0.0f, c->radius, &manifold );
+
+ if( v3_dot( da, d1 ) >= -0.01f )
+ rb_capsule_manifold( p1w, c1, 1.0f, c->radius, &manifold );
+
+ for( int i=0; i<3; i++ )
+ {
+ int i0 = i,
+ i1 = (i+1)%3;
+
+ v3f ca, cb;
+ float ta, tb;
+ closest_segment_segment( p0w, p1w, tri[i0], tri[i1], &ta, &tb, ca, cb );
+ rb_capsule_manifold( ca, cb, ta, c->radius, &manifold );
+ }
+
+ 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 );
+
+ int count = rb_capsule__manifold_done( mtxA, c, &manifold, buf );
+ for( int i=0; i<count; i++ )
+ v3_copy( n, buf[i].n );
+
+ return count;
+}
+
/*
* Generates up to two contacts; optimised for the most stable manifold
*/
+__attribute__ ((deprecated))
VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
{
return count;
}
-VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+/* mtxB is defined only for tradition; it is not used currently */
+VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
+ m4x3f mtxB, rb_scene *s,
+ rb_ct *buf )
{
-#if 0
- float h = rba->inf.capsule.height,
- r = rba->inf.capsule.radius,
- g = 90.8f;
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+ int count = 0;
+
+ boxf bbx;
+ v3_sub( mtxA[3], (v3f){ c->height, c->height, c->height }, bbx[0] );
+ v3_add( mtxA[3], (v3f){ c->height, c->height, c->height }, bbx[1] );
- v3f p[2];
- v3_muladds( rba->co, rba->up, -h*0.5f+r, p[0] );
- v3_muladds( rba->co, rba->up, h*0.5f-r, p[1] );
+ scene *sc = s->bh_scene->user;
+
+ while( bh_next( s->bh_scene, &it, bbx, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
- int count = 0;
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+
+ buf[ count ].element_id = ptri[0];
+ int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] );
+ count += contact;
- for( int i=0; i<2; i++ )
- {
- if( p[i][1] < g + r )
+ if( count >= 16 )
{
- rb_ct *ct = &buf[ count ++ ];
-
- v3_copy( p[i], ct->co );
- ct->p = r - (p[i][1]-g);
- ct->co[1] -= r;
- v3_copy( (v3f){0.0f,1.0f,0.0f}, ct->n );
- ct->rba = rba;
- ct->rbb = rbb;
- ct->type = k_contact_type_default;
+ vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
+ return count;
}
}
return count;
+}
-#else
+__attribute__ ((deprecated))
+VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
scene *sc = rbb->inf.scene.bh_scene->user;
bh_iter it;
}
return count;
-#endif
}
VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
return rb_contact_buffer + rb_contact_count;
}
+VG_STATIC void rb_prepare_contact( rb_ct *ct )
+{
+ 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] );
+
+#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;
+}
+
/*
* Initializing things like tangent vectors
*/
for( int i=0; i<len; i++ )
{
rb_ct *ct = &buffer[i];
-
- 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] );
-
-#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;
+ rb_prepare_contact( ct );
v3f ra, rb, raCn, rbCn, raCt, rbCt;
v3_sub( ct->co, ct->rba->co, ra );
}
}
+VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt )
+{
+ for( int i=0; i<len; i++ )
+ {
+ rb_ct *ct = &buf[i];
+ rigidbody *rba = ct->rba,
+ *rbb = ct->rbb;
+
+ float mass_total = 1.0f / (rba->inv_mass + rbb->inv_mass);
+
+ v3_muladds( rba->co, ct->n, -mass_total * rba->inv_mass, rba->co );
+ v3_muladds( rbb->co, ct->n, mass_total * rbb->inv_mass, rbb->co );
+ }
+}
+
/*
* Effectors
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff