*/
#include "common.h"
+#include "bvh.h"
+
static void rb_tangent_basis( v3f n, v3f tx, v3f ty );
+static bh_system bh_system_rigidbodies;
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
-#include "bvh.h"
-
#define RB_DEPR
-
#define k_rb_delta (1.0f/60.0f)
typedef struct rigidbody rigidbody;
}
-
RB_DEPR
static void rb_constraint_angle( rigidbody *rba, v3f va,
rigidbody *rbb, v3f vb,
v3_add( impulse, ra->I, ra->I );
#if 0
+ /*
+ * this could be used for spring joints
+ * its not good for position constraint
+ */
v3f impulse;
v3_muls( delta, 0.5f*spring, impulse );