added scene_vert struct, result is good

[carveJwlIkooP6JGAAIwe30JlM.git] / rigidbody.h

diff --git a/rigidbody.h b/rigidbody.h
index d2ce94922cf494335774e918681562f1a40aaab2..746c684920e98add3572a8c9e1fba7d8590c6f13 100644 (file)
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -214,13 +214,19 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
 
 VG_STATIC void rb_debug_contact( rb_ct *ct )
 {
-   if( ct->type != k_contact_type_disabled )
+   v3f p1;
+   v3_muladds( ct->co, ct->n, 0.05f, p1 );
+
+   if( ct->type == k_contact_type_default )
    {
-      v3f p1;
-      v3_muladds( ct->co, ct->n, 0.05f, p1 );
       vg_line_pt3( ct->co, 0.0125f, 0xff0000ff );
       vg_line( ct->co, p1, 0xffffffff );
    }
+   else if( ct->type == k_contact_type_edge )
+   {
+      vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 );
+      vg_line( ct->co, p1, 0xffffffff );
+   }
 }
 
 VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
@@ -404,6 +410,7 @@ VG_STATIC void rb_update_transform( rigidbody *rb )
  * 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 );
@@ -434,6 +441,30 @@ VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
    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
  */
@@ -1340,7 +1371,7 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
    float d2 = v3_length2( delta ),
           r = b->radius;
 
-   if( d2 < r*r )
+   if( d2 <= r*r )
    {
       rb_ct *ct = buf;
 
@@ -1474,7 +1505,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
 
    int count = 0;
 
-   float r = b->radius;
+   float r = b->radius + 0.1f;
    boxf box;
    v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] );
    v3_add( mtxA[3], (v3f){ r,r,r }, box[1] );
@@ -1829,7 +1860,7 @@ 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;
@@ -1968,19 +1999,37 @@ VG_STATIC rb_ct *rb_global_ct(void)
    return rb_contact_buffer + rb_contact_count;
 }
 
-VG_STATIC void rb_prepare_contact( rb_ct *ct )
+VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep )
 {
-   ct->bias = -0.2f * k_rb_rate * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+   ct->bias = -0.2f * (timestep*3600.0f) 
+               * 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;
 }
 
+/* calculate total move. manifold should belong to ONE object only */
+VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt )
+{
+   v3_zero( dt );
+
+   for( int j=0; j<7; j++ )
+   {
+      for( int i=0; i<len; i++ )
+      {
+         struct contact *ct = &manifold[i];
+
+         float resolved_amt = v3_dot( ct->n, dt ),
+               remaining    = (ct->p-k_penetration_slop) - resolved_amt,
+               apply        = vg_maxf( remaining, 0.0f ) * 0.4f;
+
+         v3_muladds( dt, ct->n, apply, dt );
+      }
+   }
+}
+
 /*
  * Initializing things like tangent vectors
  */
@@ -1989,7 +2038,7 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
    for( int i=0; i<len; i++ )
    {
       rb_ct *ct = &buffer[i];
-      rb_prepare_contact( ct );
+      rb_prepare_contact( ct, k_rb_delta );
 
       v3f ra, rb, raCn, rbCn, raCt, rbCt;
       v3_sub( ct->co, ct->rba->co, ra );
@@ -2600,6 +2649,24 @@ VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
       v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
 }
 
+/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to 
+ * rt(worldspace)
+ */
+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 ) );
+
+   v3f axis;
+   v3_cross( rt, ra, axis );
+
+   float Fs = -a * spring,
+         Fd = -v3_dot( rba->w, axis ) * dampening;
+
+   v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w );
+}
+
 /*
  * -----------------------------------------------------------------------------
  * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for