#include "common.h"
#include "bvh.h"
#include "scene.h"
+#include "distq.h"
-static void rb_tangent_basis( v3f n, v3f tx, v3f ty );
-static bh_system bh_system_rigidbodies;
+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
* -----------------------------------------------------------------------------
*/
-static const float
+VG_STATIC const float
k_rb_rate = (1.0/VG_TIMESTEP_FIXED),
k_rb_delta = (1.0/k_rb_rate),
k_friction = 0.6f,
struct rb_scene
{
- scene *pscene;
+ bh_tree *bh_scene;
}
scene;
}
m4x3f to_world, to_local;
};
-static struct contact
+VG_STATIC struct contact
{
rigidbody *rba, *rbb;
v3f co, n;
normal_mass, tangent_mass[2];
u32 element_id;
+
+ enum contact_type type;
}
rb_contact_buffer[256];
-static int rb_contact_count = 0;
+VG_STATIC int rb_contact_count = 0;
/*
* -----------------------------------------------------------------------------
* -----------------------------------------------------------------------------
*/
-static float sphere_volume( float radius )
+VG_STATIC float sphere_volume( float radius )
{
float r3 = radius*radius*radius;
return (4.0f/3.0f) * VG_PIf * r3;
}
-static void rb_tangent_basis( v3f n, v3f tx, v3f ty )
+VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
{
/* Compute tangent basis (box2d) */
if( fabsf( n[0] ) >= 0.57735027f )
* -----------------------------------------------------------------------------
*/
-static void rb_debug_contact( rb_ct *ct )
+VG_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 );
+ if( ct->type != k_contact_type_disabled )
+ {
+ 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 );
+ }
}
-static void debug_sphere( m4x3f m, float radius, u32 colour )
+VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
{
v3f ly = { 0.0f, 0.0f, radius },
lx = { 0.0f, radius, 0.0f },
}
}
-static void debug_capsule( m4x3f m, float radius, float h, u32 colour )
+VG_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 },
}
}
-static void rb_debug( rigidbody *rb, u32 colour )
+VG_STATIC void rb_debug( rigidbody *rb, u32 colour )
{
if( rb->type == k_rb_shape_box )
{
/*
* Update world space bounding box based on local one
*/
-static void rb_update_bounds( rigidbody *rb )
+VG_STATIC void rb_update_bounds( rigidbody *rb )
{
box_copy( rb->bbx, rb->bbx_world );
m4x3_transform_aabb( rb->to_world, rb->bbx_world );
/*
* Commit transform to rigidbody. Updates matrices
*/
-static void rb_update_transform( rigidbody *rb )
+VG_STATIC void rb_update_transform( rigidbody *rb )
{
q_normalize( rb->q );
q_m3x3( rb->q, rb->to_world );
* Extrapolate rigidbody into a transform based on vg accumulator.
* Useful for rendering
*/
-static void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
+VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
{
float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
/*
* Initialize rigidbody and calculate masses, inertia
*/
-static void rb_init( rigidbody *rb )
+VG_STATIC void rb_init( rigidbody *rb )
{
float volume = 1.0f;
else if( rb->type == k_rb_shape_scene )
{
rb->is_world = 1;
- box_copy( rb->inf.scene.pscene->bbx, rb->bbx );
+ box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx );
}
if( rb->is_world )
rb_update_transform( rb );
}
-static void rb_iter( rigidbody *rb )
+VG_STATIC void rb_iter( rigidbody *rb )
{
+ if( isnanf( rb->v[0] ) ||
+ isnanf( rb->v[1] ) ||
+ isnanf( rb->v[2] ) )
+ {
+ vg_fatal_exit_loop( "NaN velocity" );
+ }
+
v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
}
-/*
- * -----------------------------------------------------------------------------
- * Closest point functions
- * -----------------------------------------------------------------------------
- */
-
-/*
- * These closest point tests were learned from Real-Time Collision Detection by
- * Christer Ericson
- */
-static float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2,
- float *s, float *t, v3f c1, v3f c2)
-{
- v3f d1,d2,r;
- v3_sub( q1, p1, d1 );
- v3_sub( q2, p2, d2 );
- v3_sub( p1, p2, r );
-
- float a = v3_length2( d1 ),
- e = v3_length2( d2 ),
- f = v3_dot( d2, r );
-
- const float kEpsilon = 0.0001f;
-
- if( a <= kEpsilon && e <= kEpsilon )
- {
- *s = 0.0f;
- *t = 0.0f;
- v3_copy( p1, c1 );
- v3_copy( p2, c2 );
-
- v3f v0;
- v3_sub( c1, c2, v0 );
-
- return v3_length2( v0 );
- }
-
- if( a<= kEpsilon )
- {
- *s = 0.0f;
- *t = vg_clampf( f / e, 0.0f, 1.0f );
- }
- else
- {
- float c = v3_dot( d1, r );
- if( e <= kEpsilon )
- {
- *t = 0.0f;
- *s = vg_clampf( -c / a, 0.0f, 1.0f );
- }
- else
- {
- float b = v3_dot(d1,d2),
- d = a*e-b*b;
-
- if( d != 0.0f )
- {
- *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
- }
- else
- {
- *s = 0.0f;
- }
-
- *t = (b*(*s)+f) / e;
-
- if( *t < 0.0f )
- {
- *t = 0.0f;
- *s = vg_clampf( -c / a, 0.0f, 1.0f );
- }
- else if( *t > 1.0f )
- {
- *t = 1.0f;
- *s = vg_clampf((b-c)/a,0.0f,1.0f);
- }
- }
- }
-
- v3_muladds( p1, d1, *s, c1 );
- v3_muladds( p2, d2, *t, c2 );
-
- v3f v0;
- v3_sub( c1, c2, v0 );
- return v3_length2( v0 );
-}
-
-static void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
- v3_maxv( p, box[0], dest );
- v3_minv( dest, box[1], dest );
-}
-
-static void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
-{
- v3f local;
- m4x3_mulv( rb->to_local, p, local );
- closest_point_aabb( local, rb->bbx, local );
- m4x3_mulv( rb->to_world, local, 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);
- 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 )
-{
- 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 );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
- v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 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 );
-}
/*
* -----------------------------------------------------------------------------
/*
* Project AABB, and triangle interval onto axis to check if they overlap
*/
-static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
+VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
{
float
/*
* Seperating axis test box vs triangle
*/
-static int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
+VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
{
v3f tri[3];
return 1;
}
+/*
+ * -----------------------------------------------------------------------------
+ * Manifold
+ * -----------------------------------------------------------------------------
+ */
+
+VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len )
+{
+ int k = 0;
+
+ for( int i=0; i<len; i++ )
+ {
+ rb_ct *ct = &man[i];
+
+ if( ct->type == k_contact_type_disabled )
+ continue;
+
+ man[k ++] = man[i];
+ }
+
+ return k;
+}
+
+VG_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 )
+ continue;
+
+ for( int j=i+1; j<len; j++ )
+ {
+ rb_ct *cj = &man[j];
+ if( cj->type != k_contact_type_edge )
+ continue;
+
+ if( v3_dist2( ci->co, cj->co ) < r*r )
+ {
+ cj->type = k_contact_type_disabled;
+ ci->p = (ci->p + cj->p) * 0.5f;
+
+ v3_add( ci->co, cj->co, ci->co );
+ v3_muls( ci->co, 0.5f, ci->co );
+
+ v3f delta;
+ v3_sub( ci->rba->co, ci->co, delta );
+
+ float c0 = v3_dot( ci->n, delta ),
+ c1 = v3_dot( cj->n, delta );
+
+ if( c0 < 0.0f || c1 < 0.0f )
+ {
+ /* error */
+ ci->type = k_contact_type_disabled;
+ }
+ else
+ {
+ v3f n;
+ v3_muls( ci->n, c0, n );
+ v3_muladds( n, cj->n, c1, n );
+ v3_normalize( n );
+ v3_copy( n, ci->n );
+ }
+ }
+ }
+ }
+}
+
+/*
+ * Resolve overlapping pairs
+ */
+VG_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;
+
+ if( ci->type == k_contact_type_disabled ) continue;
+
+ for( int j=i+1; j<len; j++ )
+ {
+ rb_ct *cj = &man[j];
+
+ if( cj->type == k_contact_type_disabled ) continue;
+
+ if( v3_dist2( ci->co, cj->co ) < r*r )
+ {
+ cj->type = k_contact_type_disabled;
+ v3_add( cj->n, ci->n, ci->n );
+ ci->p += cj->p;
+ similar ++;
+ }
+ }
+
+ if( similar )
+ {
+ float n = 1.0f/((float)similar+1.0f);
+ v3_muls( ci->n, n, ci->n );
+ ci->p *= n;
+
+ if( v3_length2(ci->n) < 0.1f*0.1f )
+ ci->type = k_contact_type_disabled;
+ else
+ v3_normalize( ci->n );
+ }
+ }
+}
+
+/*
+ * Remove contacts that are facing away from A
+ */
+VG_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 )
+ continue;
+
+ v3f delta;
+ v3_sub( ct->co, ct->rba->co, delta );
+
+ if( v3_dot( delta, ct->n ) > -0.001f )
+ 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 )
+{
+ for( int i=0; i<len; i++ )
+ {
+ rb_ct *ci = &man[i];
+ if( ci->type == k_contact_type_disabled ||
+ ci->type == k_contact_type_edge )
+ continue;
+
+ float d1 = v3_dot( ci->co, ci->n );
+
+ for( int j=0; j<len; j++ )
+ {
+ if( j == i )
+ continue;
+
+ rb_ct *cj = &man[j];
+ if( cj->type == k_contact_type_disabled )
+ continue;
+
+ float d2 = v3_dot( cj->co, ci->n ),
+ d = d2-d1;
+
+ if( fabsf( d ) <= w )
+ {
+ cj->type = k_contact_type_disabled;
+ }
+ }
+ }
+}
+
/*
* -----------------------------------------------------------------------------
* Collision matrix
* 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,
+VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
capsule_manifold *manifold )
{
v3f delta;
}
}
-static void rb_capsule_manifold_init( capsule_manifold *manifold )
+VG_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,
+VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
capsule_manifold *manifold, rb_ct *buf )
{
float h = rba->inf.capsule.height,
ct->p = manifold->r0 - d;
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
count ++;
}
ct->p = manifold->r1 - d;
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
count ++;
}
return count;
}
-static int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float h = rba->inf.capsule.height,
ra = rba->inf.capsule.radius,
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
return 1;
}
return 0;
}
-static int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float ha = rba->inf.capsule.height,
hb = rbb->inf.capsule.height,
/*
* Generates up to two contacts; optimised for the most stable manifold
*/
-static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
float h = rba->inf.capsule.height,
r = rba->inf.capsule.radius;
return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
}
-static int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
v3f co, delta;
- closest_point_obb( rba->co, rbb, co );
+ closest_point_obb( rba->co, rbb->bbx, rbb->to_world, rbb->to_local, co );
v3_sub( rba->co, co, delta );
float d2 = v3_length2(delta),
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
return 1;
}
return 0;
}
-static int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
v3f delta;
v3_sub( rba->co, rbb->co, delta );
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->type = k_contact_type_default;
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
return 0;
}
-static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
+//#define RIGIDBODY_DYNAMIC_MESH_EDGES
+
+VG_STATIC int rb_sphere_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 );
+#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
+ closest_on_triangle_1( rba->co, tri, co );
+#else
+ enum contact_type type = closest_on_triangle_1( rba->co, tri, co );
+#endif
- vg_line( rba->co, co, 0xffff0000 );
- vg_line_pt3( rba->co, 0.1f, 0xff00ffff );
+ v3_sub( rba->co, co, delta );
float d2 = v3_length2( delta ),
r = rba->inf.sphere.radius;
float d = sqrtf(d2);
v3_copy( co, ct->co );
+ ct->type = type;
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
return 0;
}
-static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+
+VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
+ boxf box, u32 colour )
{
- scene *sc = rbb->inf.scene.pscene;
-
- u32 geo[128];
- v3f tri[3];
- int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 );
+ sharp_ang = cosf( sharp_ang );
- int count = 0;
+ scene *sc = rbb->inf.scene.bh_scene->user;
+ vg_line_boxf( box, 0xff00ff00 );
- for( int i=0; i<len; i++ )
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, box, &idx ) )
{
- u32 *ptri = &sc->indices[ geo[i]*3 ];
+ 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] );
for( int j=0; j<3; j++ )
- v3_copy( sc->verts[ptri[j]].co, tri[j] );
+ {
+#if 0
+ v3f edir;
+ v3_sub( tri[(j+1)%3], tri[j], edir );
+
+ if( v3_dot( edir, (v3f){ 0.5184758473652127f,
+ 0.2073903389460850f,
+ -0.8295613557843402f } ) < 0.0f )
+ continue;
+#endif
+
+ bh_iter jt;
+ bh_iter_init( 0, &jt );
- vg_line(tri[0],tri[1],0xff00ff00 );
- vg_line(tri[1],tri[2],0xff00ff00 );
- vg_line(tri[2],tri[0],0xff00ff00 );
+ boxf region;
+ float const k_r = 0.02f;
+ v3_add( (v3f){ k_r, k_r, k_r }, tri[j], region[1] );
+ v3_add( (v3f){ -k_r, -k_r, -k_r }, tri[j], region[0] );
+
+ int jdx;
+ while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) )
+ {
+ if( idx <= jdx )
+ continue;
+
+ u32 *ptrj = &sc->arrindices[ jdx*3 ];
+ v3f trj[3];
+
+ for( int k=0; k<3; k++ )
+ v3_copy( sc->arrvertices[ptrj[k]].co, trj[k] );
+
+ for( int k=0; k<3; k++ )
+ {
+ if( v3_dist2( tri[j], trj[k] ) <= k_r*k_r )
+ {
+ int jp1 = (j+1)%3,
+ jp2 = (j+2)%3,
+ km1 = (k+3-1)%3,
+ km2 = (k+3-2)%3;
+
+ if( v3_dist2( tri[jp1], trj[km1] ) <= k_r*k_r )
+ {
+ v3f b0, b1, b2;
+ v3_sub( tri[jp1], tri[j], b0 );
+ v3_sub( tri[jp2], tri[j], b1 );
+ v3_sub( trj[km2], tri[j], b2 );
+
+ v3f cx0, cx1;
+ v3_cross( b0, b1, cx0 );
+ v3_cross( b2, b0, cx1 );
+
+ float polarity = v3_dot( cx0, b2 );
+
+ if( polarity < 0.0f )
+ {
+#if 0
+ vg_line( tri[j], tri[jp1], 0xff00ff00 );
+ float ang = v3_dot(cx0,cx1) /
+ (v3_length(cx0)*v3_length(cx1));
+ if( ang < sharp_ang )
+ {
+ vg_line( tri[j], tri[jp1], 0xff00ff00 );
+ }
+#endif
+ }
+ }
+ }
+ }
+ }
+ }
+ }
+}
+
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ scene *sc = rbb->inf.scene.bh_scene->user;
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &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];
- count += rb_sphere_triangle( rba, rbb, tri, buf+count );
+ buf[ count ].element_id = ptri[0];
- if( count == 12 )
+ 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( rba, rbb, tri, buf+count );
+ count += contact;
+
+ if( count == 16 )
{
vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
return count;
return count;
}
-static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
- scene *sc = rbb->inf.scene.pscene;
+ scene *sc = rbb->inf.scene.bh_scene->user;
- u32 geo[128];
v3f tri[3];
- int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 );
- int count = 0;
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
- for( int i=0; i<len; i++ )
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
{
- u32 *ptri = &sc->indices[ geo[i]*3 ];
+ u32 *ptri = &sc->arrindices[ idx*3 ];
for( int j=0; j<3; j++ )
- v3_copy( sc->verts[ptri[j]].co, tri[j] );
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
if( rb_box_triangle_sat( rba, tri ) )
{
if( ct->p < 0.0f )
continue;
+ ct->type = k_contact_type_default;
ct->rba = rba;
ct->rbb = rbb;
count ++;
return count;
}
-static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_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_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_capsule_sphere( rbb, rba, buf );
}
-static int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_capsule_box( rbb, rba, buf );
}
-static int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_sphere_box( rbb, rba, buf );
}
-static int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_box_scene( rbb, rba, buf );
}
-static int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) =
+VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) =
{
/* box */ /* Sphere */ /* Capsule */ /* Mesh */
{ RB_MATRIX_ERROR, rb_box_sphere, rb_box_capsule, rb_box_scene },
{ rb_scene_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR }
};
-static int rb_collide( rigidbody *rba, rigidbody *rbb )
+VG_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];
* -----------------------------------------------------------------------------
*/
-static void rb_solver_reset(void)
+VG_STATIC void rb_solver_reset(void)
{
rb_contact_count = 0;
}
-static rb_ct *rb_global_ct(void)
+VG_STATIC rb_ct *rb_global_ct(void)
{
return rb_contact_buffer + rb_contact_count;
}
/*
* Initializing things like tangent vectors
*/
-static void rb_presolve_contacts( rb_ct *buffer, int len )
+VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
{
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;
/*
* Creates relative contact velocity vector, and offsets between each body
*/
-static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
+VG_STATIC void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
{
rigidbody *rba = ct->rba,
*rbb = ct->rbb;
/*
* Apply impulse to object
*/
-static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse )
+VG_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
*/
-static void rb_solve_contacts( rb_ct *buf, int len )
+VG_STATIC void rb_solve_contacts( rb_ct *buf, int len )
{
for( int i=0; i<len; i++ )
{
struct contact *ct = &buf[i];
+
rigidbody *rb = ct->rba;
v3f rv, da, db;
* -----------------------------------------------------------------------------
*/
-static void draw_angle_limit( v3f c, v3f major, v3f minor,
+VG_STATIC void draw_angle_limit( v3f c, v3f major, v3f minor,
float amin, float amax, float measured,
u32 colour )
{
vg_line( c, p2, colour );
}
-static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
+VG_STATIC void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
v3f limits[2] )
{
v3f ax, ay, az, bx, by, bz;
draw_angle_limit( c, ax, ay, limits[0][2], limits[1][2], r2, 0xffff0000 );
}
-static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
+VG_STATIC void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
{
if( d != 0.0f )
{
}
}
-static void rb_constraint_limits( rigidbody *ra, v3f lca,
+VG_STATIC void rb_constraint_limits( rigidbody *ra, v3f lca,
rigidbody *rb, v3f lcb, v3f limits[2] )
{
v3f ax, ay, az, bx, by, bz;
rb_limit_cure( ra, rb, az, dz );
}
-static void rb_debug_constraint_position( rigidbody *ra, v3f lca,
+VG_STATIC void rb_debug_constraint_position( rigidbody *ra, v3f lca,
rigidbody *rb, v3f lcb )
{
v3f wca, wcb;
vg_line( p0, p1, 0xffffff00 );
}
-static void rb_constraint_position( rigidbody *ra, v3f lca,
+VG_STATIC void rb_constraint_position( rigidbody *ra, v3f lca,
rigidbody *rb, v3f lcb )
{
/* C = (COa + Ra*LCa) - (COb + Rb*LCb) = 0 */
* Effectors
*/
-static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
+VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
float amt, float drag )
{
/* float */
/*
* -----------------------------------------------------------------------------
- * BVH implementation, this is ONLY for static rigidbodies, its to slow for
+ * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
* realtime use.
* -----------------------------------------------------------------------------
*/
-static void rb_bh_expand_bound( void *user, boxf bound, u32 item_index )
+VG_STATIC void rb_bh_expand_bound( void *user, boxf bound, u32 item_index )
{
rigidbody *rb = &((rigidbody *)user)[ item_index ];
box_concat( bound, rb->bbx_world );
}
-static float rb_bh_centroid( void *user, u32 item_index, int axis )
+VG_STATIC float rb_bh_centroid( void *user, u32 item_index, int axis )
{
rigidbody *rb = &((rigidbody *)user)[ item_index ];
return (rb->bbx_world[axis][0] + rb->bbx_world[1][axis]) * 0.5f;
}
-static void rb_bh_swap( void *user, u32 ia, u32 ib )
+VG_STATIC void rb_bh_swap( void *user, u32 ia, u32 ib )
{
rigidbody temp, *rba, *rbb;
rba = &((rigidbody *)user)[ ia ];
*rbb = temp;
}
-static void rb_bh_debug( void *user, u32 item_index )
+VG_STATIC void rb_bh_debug( void *user, u32 item_index )
{
rigidbody *rb = &((rigidbody *)user)[ item_index ];
rb_debug( rb, 0xff00ffff );
}
-static bh_system bh_system_rigidbodies =
+VG_STATIC bh_system bh_system_rigidbodies =
{
.expand_bound = rb_bh_expand_bound,
.item_centroid = rb_bh_centroid,
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff