#include <math.h>
-static bh_system bh_system_rigidbodies;
-
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
k_damp_linear = 0.1f, /* scale velocity 1/(1+x) */
k_damp_angular = 0.1f, /* scale angular 1/(1+x) */
k_penetration_slop = 0.01f,
- k_inertia_scale = 8.0f,
+ k_inertia_scale = 4.0f,
k_phys_baumgarte = 0.2f,
- k_gravity = 9.6f;
+ k_gravity = 9.6f,
+ k_rb_density = 8.0f;
static float
k_limit_bias = 0.02f,
VG_VAR_F32( k_joint_impulse, flags=VG_VAR_CHEAT );
}
+enum rb_shape {
+ k_rb_shape_none = 0,
+ k_rb_shape_box = 1,
+ k_rb_shape_sphere = 2,
+ k_rb_shape_capsule = 3,
+};
+
/*
* -----------------------------------------------------------------------------
* structure definitions
*/
typedef struct rigidbody rigidbody;
-typedef struct rb_object rb_object;
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;
+ f32 h, r;
};
struct rigidbody{
v3f co, v, w;
v4f q;
- boxf bbx, bbx_world;
- float inv_mass;
+ f32 inv_mass;
- /* inertia model and inverse world tensor */
- v3f I;
- m3x3f iI, iIw;
+ m3x3f iI, iIw; /* inertia model and inverse world tensor */
m4x3f to_world, to_local;
};
-/* simple objects */
-struct rb_object{
- rigidbody rb;
- enum rb_shape{
- k_rb_shape_box = 0,
- k_rb_shape_sphere = 1,
- k_rb_shape_capsule = 2,
- k_rb_shape_scene = 3
- }
- type;
-
- union{
- struct rb_sphere sphere;
- struct rb_capsule capsule;
- struct rb_scene scene;
- }
- inf;
-};
-
-VG_STATIC struct contact{
+static struct contact{
rigidbody *rba, *rbb;
v3f co, n;
v3f t[2];
enum contact_type type;
}
rb_contact_buffer[256];
-VG_STATIC int rb_contact_count = 0;
+static int rb_contact_count = 0;
typedef struct rb_constr_pos rb_constr_pos;
typedef struct rb_constr_swingtwist rb_constr_swingtwist;
float conet;
float tangent_mass, axis_mass;
+
+ f32 conv_tangent, conv_axis;
};
/*
* -----------------------------------------------------------------------------
*/
-VG_STATIC void rb_debug_contact( rb_ct *ct ){
+static void rb_debug_contact( rb_ct *ct ){
v3f p1;
v3_muladds( ct->co, ct->n, 0.05f, p1 );
}
}
-
-VG_STATIC void rb_object_debug( rb_object *obj, u32 colour ){
- if( obj->type == k_rb_shape_box ){
- v3f *box = obj->rb.bbx;
- vg_line_boxf_transformed( obj->rb.to_world, obj->rb.bbx, colour );
- }
- else if( obj->type == k_rb_shape_sphere ){
- vg_line_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour );
- }
- else if( obj->type == k_rb_shape_capsule ){
- m4x3f m0, m1;
- float h = obj->inf.capsule.height,
- r = obj->inf.capsule.radius;
-
- vg_line_capsule( obj->rb.to_world, r, h, colour );
- }
- else if( obj->type == k_rb_shape_scene ){
- vg_line_boxf( obj->rb.bbx, colour );
- }
-}
-
/*
* -----------------------------------------------------------------------------
* Integration
*/
/*
- * Update world space bounding box based on local one
- */
-VG_STATIC void rb_update_bounds( rigidbody *rb ){
- box_init_inf( rb->bbx_world );
- m4x3_expand_aabb_aabb( rb->to_world, rb->bbx_world, rb->bbx );
-}
-
-/*
- * Commit transform to rigidbody. Updates matrices
+ * Update ALL matrices and tensors on rigidbody
*/
-VG_STATIC void rb_update_transform( rigidbody *rb )
-{
- q_normalize( rb->q );
+static void rb_update_matrices( rigidbody *rb ){
+ //q_normalize( rb->q );
q_m3x3( rb->q, rb->to_world );
v3_copy( rb->co, rb->to_world[3] );
-
m4x3_invert_affine( rb->to_world, rb->to_local );
- m3x3_mul( rb->iI, rb->to_local, rb->iIw );
- m3x3_mul( rb->to_world, rb->iIw, rb->iIw );
- rb_update_bounds( rb );
+ /* I = R I_0 R^T */
+ m3x3_mul( rb->to_world, rb->iI, rb->iIw );
+ m3x3_mul( rb->iIw, rb->to_local, rb->iIw );
}
/*
* Extrapolate rigidbody into a transform based on vg accumulator.
* Useful for rendering
*/
-VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
-{
+static void rb_extrapolate( rigidbody *rb, v3f co, v4f q ){
float substep = vg.time_fixed_extrapolate;
v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
}
/*
- * Initialize rigidbody and calculate masses, inertia
+ * Inertia
+ * -----------------------------------------------------------------------------
*/
-VG_STATIC void rb_init_object( rb_object *obj ){
- float volume = 1.0f;
- int inert = 0;
-
- if( obj->type == k_rb_shape_box ){
- v3f dims;
- v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], dims );
- volume = dims[0]*dims[1]*dims[2];
- }
- else if( obj->type == k_rb_shape_sphere ){
- volume = vg_sphere_volume( obj->inf.sphere.radius );
- v3_fill( obj->rb.bbx[0], -obj->inf.sphere.radius );
- v3_fill( obj->rb.bbx[1], obj->inf.sphere.radius );
- }
- else if( obj->type == k_rb_shape_capsule ){
- float r = obj->inf.capsule.radius,
- h = obj->inf.capsule.height;
- volume = vg_sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f);
-
- v3_fill( obj->rb.bbx[0], -r );
- v3_fill( obj->rb.bbx[1], r );
- obj->rb.bbx[0][1] = -h;
- obj->rb.bbx[1][1] = h;
- }
- else if( obj->type == k_rb_shape_scene ){
- inert = 1;
- box_copy( obj->inf.scene.bh_scene->nodes[0].bbx, obj->rb.bbx );
- }
- if( inert ){
- obj->rb.inv_mass = 0.0f;
- v3_zero( obj->rb.I );
- m3x3_zero( obj->rb.iI );
- }
- else{
- float mass = 2.0f*volume;
- obj->rb.inv_mass = 1.0f/mass;
-
- v3f extent;
- v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], extent );
- v3_muls( extent, 0.5f, extent );
-
- /* local intertia tensor */
- float scale = k_inertia_scale;
- float ex2 = scale*extent[0]*extent[0],
- ey2 = scale*extent[1]*extent[1],
- ez2 = scale*extent[2]*extent[2];
-
- obj->rb.I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
- obj->rb.I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
- obj->rb.I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
-
- m3x3_identity( obj->rb.iI );
- obj->rb.iI[0][0] = obj->rb.I[0];
- obj->rb.iI[1][1] = obj->rb.I[1];
- obj->rb.iI[2][2] = obj->rb.I[2];
- m3x3_inv( obj->rb.iI, obj->rb.iI );
- }
+/*
+ * Translate existing inertia tensor
+ */
+static void rb_translate_inertia( m3x3f inout_inertia, f32 mass, v3f d ){
+ /*
+ * I = I_0 + m*[(d.d)E_3 - d(X)d]
+ *
+ * I: updated tensor
+ * I_0: original tensor
+ * m: scalar mass
+ * d: translation vector
+ * (X): outer product
+ * E_3: identity matrix
+ */
+ m3x3f t, outer, scale;
+ m3x3_diagonal( t, v3_dot(d,d) );
+ m3x3_outer_product( outer, d, d );
+ m3x3_sub( t, outer, t );
+ m3x3_diagonal( scale, mass );
+ m3x3_mul( scale, t, t );
+ m3x3_add( inout_inertia, t, inout_inertia );
+}
- rb_update_transform( &obj->rb );
+/*
+ * Rotate existing inertia tensor
+ */
+static void rb_rotate_inertia( m3x3f inout_inertia, m3x3f rotation ){
+ /*
+ * I = R I_0 R^T
+ *
+ * I: updated tensor
+ * I_0: original tensor
+ * R: rotation matrix
+ * R^T: tranposed rotation matrix
+ */
+
+ m3x3f Rt;
+ m3x3_transpose( rotation, Rt );
+ m3x3_mul( rotation, inout_inertia, inout_inertia );
+ m3x3_mul( inout_inertia, Rt, inout_inertia );
+}
+/*
+ * Create inertia tensor for box
+ */
+static void rb_box_inertia( boxf box, f32 mass, m3x3f out_inertia ){
+ v3f e, com;
+ v3_sub( box[1], box[0], e );
+ v3_muladds( box[0], e, 0.5f, com );
+
+ f32 ex2 = e[0]*e[0],
+ ey2 = e[1]*e[1],
+ ez2 = e[2]*e[2],
+ ix = (ey2+ez2) * mass * (1.0f/12.0f),
+ iy = (ex2+ez2) * mass * (1.0f/12.0f),
+ iz = (ex2+ey2) * mass * (1.0f/12.0f);
+
+ m3x3_identity( out_inertia );
+ m3x3_setdiagonalv3( out_inertia, (v3f){ ix, iy, iz } );
+ rb_translate_inertia( out_inertia, mass, com );
+}
+
+/*
+ * Create inertia tensor for sphere
+ */
+static void rb_sphere_inertia( f32 r, f32 mass, m3x3f out_inertia ){
+ f32 ixyz = r*r * mass * (2.0f/5.0f);
+
+ m3x3_identity( out_inertia );
+ m3x3_setdiagonalv3( out_inertia, (v3f){ ixyz, ixyz, ixyz } );
+}
+
+/*
+ * Create inertia tensor for capsule
+ *
+ * TODO: UNTESTED
+ */
+static void rb_capsule_inertia( f32 r, f32 h, f32 mass, m3x3f out_inertia ){
+ f32 density = mass / vg_capsule_volume( r, h ),
+ ch = h-r*2.0f, /* cylinder height */
+ cm = VG_PIf * ch*r*r * density, /* cylinder mass */
+ hm = VG_TAUf * (1.0f/3.0f) * r*r*r * density, /* hemisphere mass */
+
+ iy = r*r*cm * 0.5f,
+ ixz = iy * 0.5f + cm*ch*ch*(1.0f/12.0f),
+
+ aux0= (hm*2.0f*r*r)/5.0f;
+
+ iy += aux0 * 2.0f;
+
+ f32 aux1= ch*0.5f,
+ aux2= aux0 + hm*(aux1*aux1 + 3.0f*(1.0f/8.0f)*ch*r);
+
+ ixz += aux2*2.0f;
+
+ m3x3_identity( out_inertia );
+ m3x3_setdiagonalv3( out_inertia, (v3f){ ixz, iy, ixz } );
+}
+
+static void rb_setbody_capsule( rigidbody *rb, f32 r, f32 h,
+ f32 density, f32 inertia_scale ){
+ f32 vol = vg_capsule_volume( r, h ),
+ mass = vol*density;
+
+ rb->inv_mass = 1.0f/mass;
+
+ m3x3f I;
+ rb_capsule_inertia( r, h, mass * inertia_scale, I );
+ m3x3_inv( I, rb->iI );
}
-VG_STATIC void rb_iter( rigidbody *rb ){
+static void rb_setbody_box( rigidbody *rb, boxf box,
+ f32 density, f32 inertia_scale ){
+ f32 vol = vg_box_volume( box ),
+ mass = vol*density;
+
+ rb->inv_mass = 1.0f/mass;
+
+ m3x3f I;
+ rb_box_inertia( box, mass * inertia_scale, I );
+ m3x3_inv( I, rb->iI );
+}
+
+static void rb_setbody_sphere( rigidbody *rb, f32 r,
+ f32 density, f32 inertia_scale ){
+ f32 vol = vg_sphere_volume( r ),
+ mass = vol*density;
+
+ rb->inv_mass = 1.0f/mass;
+ m3x3f I;
+ rb_sphere_inertia( r, mass * inertia_scale, I );
+ m3x3_inv( I, rb->iI );
+}
+
+static void rb_iter( rigidbody *rb ){
if( !vg_validf( rb->v[0] ) ||
!vg_validf( rb->v[1] ) ||
!vg_validf( rb->v[2] ) )
v3_lerp( rb->w, (v3f){0.0f,0.0f,0.0f}, 0.0025f, rb->w );
/* inegrate inertia */
- if( v3_length2( rb->w ) > 0.0f )
- {
+ if( v3_length2( rb->w ) > 0.0f ){
v4f rotation;
v3f axis;
v3_copy( rb->w, axis );
v3_divs( axis, mag, axis );
q_axis_angle( rotation, axis, mag*k_rb_delta );
q_mul( rotation, rb->q, rb->q );
+ q_normalize( rb->q );
}
-
- /* damping */
- v3_muls( rb->v, 1.0f/(1.0f+k_rb_delta*k_damp_linear), rb->v );
- v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
}
-
/*
* -----------------------------------------------------------------------------
* Boolean shape overlap functions
/*
* Project AABB, and triangle interval onto axis to check if they overlap
*/
-VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){
+static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){
float
r = extent[0] * fabsf(axis[0]) +
/*
* Seperating axis test box vs triangle
*/
-VG_STATIC int rb_box_triangle_sat( v3f extent, v3f center,
+static int rb_box_triangle_sat( v3f extent, v3f center,
m4x3f to_local, v3f tri_src[3] ){
v3f tri[3];
* -----------------------------------------------------------------------------
*/
-VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ){
+static int rb_manifold_apply_filtered( rb_ct *man, int len ){
int k = 0;
for( int i=0; i<len; i++ ){
/*
* Merge two contacts if they are within radius(r) of eachother
*/
-VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ){
+static void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ){
if( v3_dist2( ci->co, cj->co ) < r*r ){
cj->type = k_contact_type_disabled;
ci->p = (ci->p + cj->p) * 0.5f;
/*
*
*/
-VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ){
+static void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ){
for( int i=0; i<len-1; i++ ){
rb_ct *ci = &man[i];
if( ci->type != k_contact_type_edge )
/*
* Resolve overlapping pairs
*/
-VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ){
+static void rb_manifold_filter_pairs( rb_ct *man, int len, float r ){
for( int i=0; i<len-1; i++ ){
rb_ct *ci = &man[i];
int similar = 0;
/*
* Remove contacts that are facing away from A
*/
-VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ){
+static void rb_manifold_filter_backface( rb_ct *man, int len ){
for( int i=0; i<len; i++ ){
rb_ct *ct = &man[i];
if( ct->type == k_contact_type_disabled )
/*
* Filter out duplicate coplanar results. Good for spheres.
*/
-VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ){
+static void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ){
for( int i=0; i<len; i++ ){
rb_ct *ci = &man[i];
if( ci->type == k_contact_type_disabled ||
* Expand a line manifold with a new pair. t value is the time along segment
* on the oriented object which created this pair.
*/
-VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
+static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
capsule_manifold *manifold ){
v3f delta;
v3_sub( pa, pb, delta );
}
}
-VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold ){
+static void rb_capsule_manifold_init( capsule_manifold *manifold ){
manifold->t0 = INFINITY;
manifold->t1 = -INFINITY;
}
-VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
- capsule_manifold *manifold,
- rb_ct *buf ){
+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 );
+ v3_muladds( mtx[3], mtx[1], -c->h*0.5f+c->r, p0 );
+ v3_muladds( mtx[3], mtx[1], c->h*0.5f-c->r, p1 );
int count = 0;
if( manifold->t0 <= 1.0f ){
float d = v3_length( manifold->d0 );
v3_muls( manifold->d0, 1.0f/d, ct->n );
- v3_muladds( pa, ct->n, -c->radius, ct->co );
+ v3_muladds( pa, ct->n, -c->r, ct->co );
ct->p = manifold->r0 - d;
ct->type = k_contact_type_default;
float d = v3_length( manifold->d1 );
v3_muls( manifold->d1, 1.0f/d, ct->n );
- v3_muladds( pa, ct->n, -c->radius, ct->co );
+ v3_muladds( pa, ct->n, -c->r, ct->co );
ct->p = manifold->r1 - d;
ct->type = k_contact_type_default;
return count;
}
-VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
+#if 0
+static int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
rigidbody *rba = &obja->rb, *rbb = &objb->rb;
- float h = obja->inf.capsule.height,
- ra = obja->inf.capsule.radius,
- rb = objb->inf.sphere.radius;
+ float h = obja->inf.capsule.h,
+ ra = obja->inf.capsule.r,
+ rb = objb->inf.sphere.r;
v3f p0, p1;
v3_muladds( rba->co, rba->to_world[1], -h*0.5f+ra, p0 );
return 0;
}
+#endif
-VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
- m4x3f mtxB, rb_capsule *cb, rb_ct *buf ){
- float ha = ca->height,
- hb = cb->height,
- ra = ca->radius,
- rb = cb->radius,
- r = ra+rb;
+static int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
+ m4x3f mtxB, rb_capsule *cb, rb_ct *buf ){
+ f32 ha = ca->h,
+ hb = cb->h,
+ ra = ca->r,
+ rb = cb->r,
+ r = ra+rb;
v3f p0, p1, p2, p3;
v3_muladds( mtxA[3], mtxA[1], -ha*0.5f+ra, p0 );
rb_capsule_manifold_init( &manifold );
v3f pa, pb;
- float ta, tb;
+ f32 ta, tb;
closest_segment_segment( p0, p1, p2, p3, &ta, &tb, pa, pb );
rb_capsule_manifold( pa, pb, ta, r, &manifold );
return rb_capsule__manifold_done( mtxA, ca, &manifold, buf );
}
-VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf ){
+#if 0
+static int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf ){
v3f co, delta;
rigidbody *rba = &obja->rb, *rbb = &objb->rb;
return 0;
}
+#endif
-VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
+#if 0
+static int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
rigidbody *rba = &obja->rb, *rbb = &objb->rb;
v3f delta;
v3_sub( rba->co, rbb->co, delta );
return 0;
}
+#endif
-VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
- v3f tri[3], rb_ct *buf ){
+static int rb_sphere__triangle( m4x3f mtxA, f32 r,
+ 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;
+ f32 d2 = v3_length2( delta );
if( d2 <= r*r ){
rb_ct *ct = buf;
return 0;
}
-VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
- m4x3f mtxB, rb_scene *s, rb_ct *buf,
- u16 ignore ){
- scene_context *sc = s->bh_scene->user;
+static int rb_sphere__scene( m4x3f mtxA, f32 r,
+ m4x3f mtxB, bh_tree *scene_bh, rb_ct *buf,
+ u16 ignore ){
+ scene_context *sc = scene_bh->user;
int count = 0;
- 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] );
i32 idx;
bh_iter_init_box( 0, &it, box );
- while( bh_next( s->bh_scene, &it, &idx ) ){
+ while( bh_next( scene_bh, &it, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
v3f tri[3];
vg_line( tri[1],tri[2],0x70ff6000 );
vg_line( tri[2],tri[0],0x70ff6000 );
- int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] );
+ int contact = rb_sphere__triangle( mtxA, r, tri, &buf[count] );
count += contact;
if( count == 16 ){
return count;
}
-VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
- m4x3f mtxB, rb_scene *s, rb_ct *buf, u16 ignore ){
- scene_context *sc = s->bh_scene->user;
+static int rb_box__scene( m4x3f mtxA, boxf bbx,
+ m4x3f mtxB, bh_tree *scene_bh,
+ rb_ct *buf, u16 ignore ){
+ scene_context *sc = scene_bh->user;
v3f tri[3];
v3f extent, center;
vg_line_boxf( world_bbx, VG__RED );
- while( bh_next( s->bh_scene, &it, &idx ) ){
+ while( bh_next( scene_bh, &it, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
return count;
}
-VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
+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 );
+ v3_muladds( mtxA[3], mtxA[1], -c->h*0.5f+c->r, p0w );
+ v3_muladds( mtxA[3], mtxA[1], c->h*0.5f-c->r, p1w );
capsule_manifold manifold;
rb_capsule_manifold_init( &manifold );
+
+ v3f v0, v1, n;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_cross( v0, v1, n );
+
+ if( v3_length2( n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
+ vg_error( "Zero area triangle!\n" );
+#endif
+ return 0;
+ }
+
+ v3_normalize( n );
+
+#if 1
+ /* deep penetration recovery. for when we clip through the triangles. so its
+ * not very 'correct' */
+ f32 dist;
+ if( ray_tri( tri, p0w, mtxA[1], &dist, 1 ) ){
+ f32 l = c->h - c->r*2.0f;
+ if( (dist >= 0.0f) && (dist < l) ){
+ v3f co;
+ v3_muladds( p0w, mtxA[1], dist, co );
+ vg_line_point( co, 0.02f, 0xffffff00 );
+
+ v3f d0, d1;
+ v3_sub( p0w, co, d0 );
+ v3_sub( p1w, co, d1 );
+
+ f32 p = vg_minf( v3_dot( n, d0 ), v3_dot( n, d1 ) ) - c->r;
+
+ rb_ct *ct = buf;
+ ct->p = -p;
+ ct->type = k_contact_type_default;
+ v3_copy( n, ct->n );
+ v3_muladds( co, n, p, ct->co );
+
+ return 1;
+ }
+ }
+#endif
v3f c0, c1;
closest_on_triangle_1( p0w, tri, c0 );
v3_normalize(d1);
v3_normalize(da);
+ /* the two balls at the ends */
if( v3_dot( da, d0 ) <= 0.01f )
- rb_capsule_manifold( p0w, c0, 0.0f, c->radius, &manifold );
-
+ rb_capsule_manifold( p0w, c0, 0.0f, c->r, &manifold );
if( v3_dot( da, d1 ) >= -0.01f )
- rb_capsule_manifold( p1w, c1, 1.0f, c->radius, &manifold );
+ rb_capsule_manifold( p1w, c1, 1.0f, c->r, &manifold );
+ /* the edges to edges */
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 );
+ rb_capsule_manifold( ca, cb, ta, c->r, &manifold );
}
- v3f v0, v1, n;
- v3_sub( tri[1], tri[0], v0 );
- v3_sub( tri[2], tri[0], v1 );
- v3_cross( v0, v1, n );
-
- if( v3_length2( n ) <= 0.00001f ){
-#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
- vg_error( "Zero area triangle!\n" );
-#endif
- return 0;
- }
-
- 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 );
}
/* 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, u16 ignore ){
+static int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
+ m4x3f mtxB, bh_tree *scene_bh,
+ rb_ct *buf, u16 ignore ){
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] );
+ v3_sub( mtxA[3], (v3f){ c->h, c->h, c->h }, bbx[0] );
+ v3_add( mtxA[3], (v3f){ c->h, c->h, c->h }, bbx[1] );
- scene_context *sc = s->bh_scene->user;
+ scene_context *sc = scene_bh->user;
bh_iter it;
bh_iter_init_box( 0, &it, bbx );
i32 idx;
- while( bh_next( s->bh_scene, &it, &idx ) ){
+ while( bh_next( scene_bh, &it, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
return count;
}
-VG_STATIC int rb_global_has_space( void ){
+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 ){
+static rb_ct *rb_global_buffer( void ){
return &rb_contact_buffer[ rb_contact_count ];
}
* -----------------------------------------------------------------------------
*/
-VG_STATIC void rb_solver_reset(void){
+static void rb_solver_reset(void){
rb_contact_count = 0;
}
-VG_STATIC rb_ct *rb_global_ct(void){
+static rb_ct *rb_global_ct(void){
return rb_contact_buffer + rb_contact_count;
}
-VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep ){
- ct->bias = -0.2f * (timestep*3600.0f)
+static void rb_prepare_contact( rb_ct *ct, float timestep ){
+ ct->bias = -k_phys_baumgarte * (timestep*3600.0f)
* vg_minf( 0.0f, -ct->p+k_penetration_slop );
v3_tangent_basis( ct->n, ct->t[0], ct->t[1] );
}
/* calculate total move. manifold should belong to ONE object only */
-VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){
+static void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){
v3_zero( dt );
for( int j=0; j<7; j++ )
/*
* Initializing things like tangent vectors
*/
-VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ){
+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, k_rb_delta );
/*
* Creates relative contact velocity vector
*/
-VG_STATIC void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ){
+static void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ){
v3f rva, rvb;
v3_cross( rba->w, ra, rva );
v3_add( rba->v, rva, rva );
v3_sub( rva, rvb, rv );
}
-VG_STATIC void rb_contact_restitution( rb_ct *ct, float cr ){
+static void rb_contact_restitution( rb_ct *ct, float cr ){
v3f rv, ra, rb;
v3_sub( ct->co, ct->rba->co, ra );
v3_sub( ct->co, ct->rbb->co, rb );
/*
* Apply impulse to object
*/
-VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){
+static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){
/* linear */
v3_muladds( rb->v, impulse, rb->inv_mass, rb->v );
/*
* One iteration to solve the contact constraint
*/
-VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ){
+static void rb_solve_contacts( rb_ct *buf, int len ){
for( int i=0; i<len; i++ ){
struct contact *ct = &buf[i];
* -----------------------------------------------------------------------------
*/
-VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len ){
+static void rb_debug_position_constraints( rb_constr_pos *buffer, int len ){
for( int i=0; i<len; i++ ){
rb_constr_pos *constr = &buffer[i];
rigidbody *rba = constr->rba, *rbb = constr->rbb;
}
}
-VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
+static void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
int len ){
- float size = 0.12f;
-
for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
}
}
-VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
+static void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
int len ){
float size = 0.12f;
/*
* Solve a list of positional constraints
*/
-VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ){
+static void rb_solve_position_constraints( rb_constr_pos *buf, int len ){
for( int i=0; i<len; i++ ){
rb_constr_pos *constr = &buf[i];
rigidbody *rba = constr->rba, *rbb = constr->rbb;
}
}
-VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf,
+static void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf,
int len ){
- float size = 0.12f;
-
for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
}
}
-VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
+/* debugging */
+static void rb_postsolve_swingtwist_constraints( rb_constr_swingtwist *buf,
+ u32 len ){
+ for( int i=0; i<len; i++ ){
+ rb_constr_swingtwist *st = &buf[ i ];
+
+ if( !st->axis_violation ){
+ st->conv_axis = 0.0f;
+ continue;
+ }
+
+ f32 rv = v3_dot( st->axis, st->rbb->w ) -
+ v3_dot( st->axis, st->rba->w );
+
+ if( rv * (f32)st->axis_violation > 0.0f )
+ st->conv_axis = 0.0f;
+ else
+ st->conv_axis = rv;
+ }
+
+ for( int i=0; i<len; i++ ){
+ rb_constr_swingtwist *st = &buf[ i ];
+
+ if( !st->tangent_violation ){
+ st->conv_tangent = 0.0f;
+ continue;
+ }
+
+ f32 rv = v3_dot( st->tangent_axis, st->rbb->w ) -
+ v3_dot( st->tangent_axis, st->rba->w );
+
+ if( rv > 0.0f )
+ st->conv_tangent = 0.0f;
+ else
+ st->conv_tangent = rv;
+ }
+}
+
+static void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
v3f ra, v3f rb ){
m3x3f ssra, ssrb, ssrat, ssrbt;
m3x3f cma, cmb;
* Correct position constraint drift errors
* [ 0.0 <= amt <= 1.0 ]: the correction amount
*/
-VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len,
+static void rb_correct_position_constraints( rb_constr_pos *buf, int len,
float amt ){
for( int i=0; i<len; i++ ){
rb_constr_pos *constr = &buf[i];
v3_add( rbb->co, p1, p1 );
v3_sub( p1, p0, d );
+#if 1
v3_muladds( rbb->co, d, -1.0f * amt, rbb->co );
- rb_update_transform( rbb );
+ rb_update_matrices( rbb );
+#else
+ f32 mt = 1.0f/(rba->inv_mass+rbb->inv_mass),
+ a = mt * (k_phys_baumgarte/k_rb_delta);
+
+ v3_muladds( rba->v, d, a* rba->inv_mass, rba->v );
+ v3_muladds( rbb->v, d, a*-rbb->inv_mass, rbb->v );
+#endif
}
}
-VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf,
+static void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf,
int len, float amt ){
for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[i];
v3f va;
m3x3_mulv( st->rbb->to_world, st->coneva, va );
- float angle = v3_dot( va, st->tangent_target );
+ f32 angle = v3_dot( va, st->tangent_target );
if( fabsf(angle) < 0.9999f ){
v3f axis;
v3_cross( va, st->tangent_target, axis );
-
+#if 1
+ angle = acosf(angle) * amt;
v4f correction;
- q_axis_angle( correction, axis, acosf(angle) * amt );
+ q_axis_angle( correction, axis, angle );
q_mul( correction, st->rbb->q, st->rbb->q );
- rb_update_transform( st->rbb );
+ q_normalize( st->rbb->q );
+ rb_update_matrices( st->rbb );
+#else
+ f32 mt = 1.0f/(st->rba->inv_mass+st->rbb->inv_mass),
+ wa = mt * acosf(angle) * (k_phys_baumgarte/k_rb_delta);
+ //v3_muladds( st->rba->w, axis, wa*-st->rba->inv_mass, st->rba->w );
+ v3_muladds( st->rbb->w, axis, wa* st->rbb->inv_mass, st->rbb->w );
+#endif
}
}
v3f vxb;
m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
- float angle = v3_dot( vxb, st->axis_target );
+ f32 angle = v3_dot( vxb, st->axis_target );
if( fabsf(angle) < 0.9999f ){
v3f axis;
v3_cross( vxb, st->axis_target, axis );
+#if 1
+ angle = acosf(angle) * amt;
v4f correction;
- q_axis_angle( correction, axis, acosf(angle) * amt );
+ q_axis_angle( correction, axis, angle );
q_mul( correction, st->rbb->q, st->rbb->q );
- rb_update_transform( st->rbb );
+ q_normalize( st->rbb->q );
+ rb_update_matrices( st->rbb );
+#else
+ f32 mt = 1.0f/(st->rba->inv_mass+st->rbb->inv_mass),
+ wa = mt * acosf(angle) * (k_phys_baumgarte/k_rb_delta);
+ //v3_muladds( st->rba->w, axis, wa*-0.5f, st->rba->w );
+ v3_muladds( st->rbb->w, axis, wa* st->rbb->inv_mass, st->rbb->w );
+#endif
}
}
}
-VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ){
+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);
+ f32 mass_total = 1.0f / (rba->inv_mass + rbb->inv_mass),
+ d = ct->p*mass_total*amt;
- 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 );
+ v3_muladds( rba->co, ct->n, -d * rba->inv_mass, rba->co );
+ v3_muladds( rbb->co, ct->n, d * rbb->inv_mass, rbb->co );
}
}
* Effectors
*/
-VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
+static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
float amt, float drag ){
/* float */
float depth = v3_dot( plane, ra->co ) - plane[3],
/* 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,
+static void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt,
float spring, float dampening,
float timestep ){
float d = v3_dot( rt, ra );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff