#include "bvh.h"
#include "scene.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;
u32 element_id;
}
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( 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 )
{
v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
* 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,
+VG_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;
return v3_length2( v0 );
}
-static void closest_point_aabb( v3f p, boxf box, v3f dest )
+VG_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 )
+VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
{
v3f local;
m4x3_mulv( rb->to_local, p, local );
m4x3_mulv( rb->to_world, local, dest );
}
-static float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
+VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
{
v3f v0, v1;
v3_sub( b, a, v0 );
return t;
}
-static void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
+VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
{
v3f ab, ac, ap;
float d1, d2;
v3_muladds( dest, ac, w, dest );
}
-static void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
+VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
{
v3f ab, ac, ap;
float d1, d2;
/*
* 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];
* 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,
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,
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;
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 );
return 0;
}
-static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
+VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
{
v3f delta, co;
return 0;
}
-static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_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 len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
int count = 0;
for( int i=0; i<len; i++ )
{
- u32 *ptri = &sc->indices[ geo[i]*3 ];
+ u32 *ptri = &sc->arrindices[ geo[i]*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] );
vg_line(tri[0],tri[1],0xff00ff00 );
vg_line(tri[1],tri[2],0xff00ff00 );
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 len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
int count = 0;
for( int i=0; i<len; i++ )
{
- u32 *ptri = &sc->indices[ geo[i]*3 ];
+ u32 *ptri = &sc->arrindices[ geo[i]*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 ) )
{
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++ )
{
/*
* 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++ )
{
* -----------------------------------------------------------------------------
*/
-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,
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