/*
- * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved
*/
/*
* qu3e - Randy Gaul
*/
-#include "common.h"
+#include "vg/vg_console.h"
#include "bvh.h"
#include "scene.h"
#include <math.h>
-VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
-VG_STATIC bh_system bh_system_rigidbodies;
+static bh_system bh_system_rigidbodies;
#ifndef RIGIDBODY_H
#define RIGIDBODY_H
* -----------------------------------------------------------------------------
*/
-VG_STATIC const float
+static const float
k_rb_rate = (1.0/VG_TIMESTEP_FIXED),
k_rb_delta = (1.0/k_rb_rate),
k_friction = 0.4f,
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;
-VG_STATIC float
+static float
k_limit_bias = 0.02f,
k_joint_correction = 0.01f,
k_joint_impulse = 1.0f,
k_joint_bias = 0.08f; /* positional joints */
-VG_STATIC void rb_register_cvar(void)
-{
+static void rb_register_cvar(void){
VG_VAR_F32( k_limit_bias, flags=VG_VAR_CHEAT );
VG_VAR_F32( k_joint_bias, flags=VG_VAR_CHEAT );
VG_VAR_F32( k_joint_correction, flags=VG_VAR_CHEAT );
float inv_mass;
/* inertia model and inverse world tensor */
- v3f I;
m3x3f iI, iIw;
m4x3f to_world, to_local;
};
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;
-};
-struct rb_constr_spring{
- int nothing;
+ f32 conv_tangent, conv_axis;
};
-/*
- * -----------------------------------------------------------------------------
- * Math Utils
- * -----------------------------------------------------------------------------
- */
-
-VG_STATIC float sphere_volume( float radius )
-{
- float r3 = radius*radius*radius;
- return (4.0f/3.0f) * VG_PIf * r3;
-}
-
-VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
-{
- /* Compute tangent basis (box2d) */
- if( fabsf( n[0] ) >= 0.57735027f ){
- tx[0] = n[1];
- tx[1] = -n[0];
- tx[2] = 0.0f;
- }
- else{
- tx[0] = 0.0f;
- tx[1] = n[2];
- tx[2] = -n[1];
- }
-
- v3_normalize( tx );
- v3_cross( n, tx, ty );
-}
-
/*
* -----------------------------------------------------------------------------
* Debugging
* -----------------------------------------------------------------------------
*/
-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 );
if( ct->type == k_contact_type_default ){
- vg_line_pt3( ct->co, 0.0125f, 0xff0000ff );
+ vg_line_point( 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_point( ct->co, 0.0125f, 0xff00ffc0 );
vg_line( ct->co, p1, 0xffffffff );
}
}
-VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
-{
- v3f ly = { 0.0f, 0.0f, radius },
- lx = { 0.0f, radius, 0.0f },
- lz = { 0.0f, 0.0f, radius };
-
- for( int i=0; i<16; i++ ){
- float t = ((float)(i+1) * (1.0f/16.0f)) * VG_PIf * 2.0f,
- s = sinf(t),
- c = cosf(t);
-
- v3f py = { s*radius, 0.0f, c*radius },
- px = { s*radius, c*radius, 0.0f },
- pz = { 0.0f, s*radius, c*radius };
-
- v3f p0, p1, p2, p3, p4, p5;
- m4x3_mulv( m, py, p0 );
- m4x3_mulv( m, ly, p1 );
- m4x3_mulv( m, px, p2 );
- m4x3_mulv( m, lx, p3 );
- m4x3_mulv( m, pz, p4 );
- m4x3_mulv( m, lz, p5 );
-
- vg_line( p0, p1, colour == 0x00? 0xff00ff00: colour );
- vg_line( p2, p3, colour == 0x00? 0xff0000ff: colour );
- vg_line( p4, p5, colour == 0x00? 0xffff0000: colour );
-
- v3_copy( py, ly );
- v3_copy( px, lx );
- v3_copy( pz, lz );
- }
-}
-
-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 },
- lz = { 0.0f, 0.0f, radius };
-
- float s0 = sinf(0.0f)*radius,
- c0 = cosf(0.0f)*radius;
-
- v3f p0, p1, up, right, forward;
- m3x3_mulv( m, (v3f){0.0f,1.0f,0.0f}, up );
- m3x3_mulv( m, (v3f){1.0f,0.0f,0.0f}, right );
- m3x3_mulv( m, (v3f){0.0f,0.0f,-1.0f}, forward );
- v3_muladds( m[3], up, -h*0.5f+radius, p0 );
- v3_muladds( m[3], up, h*0.5f-radius, p1 );
-
- v3f a0, a1, b0, b1;
- v3_muladds( p0, right, radius, a0 );
- v3_muladds( p1, right, radius, a1 );
- v3_muladds( p0, forward, radius, b0 );
- v3_muladds( p1, forward, radius, b1 );
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- v3_muladds( p0, right, -radius, a0 );
- v3_muladds( p1, right, -radius, a1 );
- v3_muladds( p0, forward, -radius, b0 );
- v3_muladds( p1, forward, -radius, b1 );
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- for( int i=0; i<16; i++ ){
- float t = ((float)(i+1) * (1.0f/16.0f)) * VG_PIf * 2.0f,
- s1 = sinf(t)*radius,
- c1 = cosf(t)*radius;
-
- v3f e0 = { s0, 0.0f, c0 },
- e1 = { s1, 0.0f, c1 },
- e2 = { s0, c0, 0.0f },
- e3 = { s1, c1, 0.0f },
- e4 = { 0.0f, c0, s0 },
- e5 = { 0.0f, c1, s1 };
-
- m3x3_mulv( m, e0, e0 );
- m3x3_mulv( m, e1, e1 );
- m3x3_mulv( m, e2, e2 );
- m3x3_mulv( m, e3, e3 );
- m3x3_mulv( m, e4, e4 );
- m3x3_mulv( m, e5, e5 );
-
- v3_add( p0, e0, a0 );
- v3_add( p0, e1, a1 );
- v3_add( p1, e0, b0 );
- v3_add( p1, e1, b1 );
-
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- if( c0 < 0.0f ){
- v3_add( p0, e2, a0 );
- v3_add( p0, e3, a1 );
- v3_add( p0, e4, b0 );
- v3_add( p0, e5, b1 );
- }
- else{
- v3_add( p1, e2, a0 );
- v3_add( p1, e3, a1 );
- v3_add( p1, e4, b0 );
- v3_add( p1, e5, b1 );
- }
-
- vg_line( a0, a1, colour );
- vg_line( b0, b1, colour );
-
- s0 = s1;
- c0 = c1;
- }
-}
-VG_STATIC void rb_object_debug( rb_object *obj, u32 colour )
-{
+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 ){
- debug_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour );
+ 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;
- debug_capsule( obj->rb.to_world, r, h, colour );
+ 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 );
/*
* Update world space bounding box based on local one
*/
-VG_STATIC void rb_update_bounds( rigidbody *rb )
-{
- box_copy( rb->bbx, rb->bbx_world );
- m4x3_transform_aabb( rb->to_world, rb->bbx_world );
+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
*/
-VG_STATIC void rb_update_transform( rigidbody *rb )
+static void rb_update_transform( rigidbody *rb )
{
q_normalize( rb->q );
q_m3x3( rb->q, rb->to_world );
m4x3_invert_affine( rb->to_world, rb->to_local );
-#if 0
- m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f, 0.0f}, rb->right );
- m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f, 0.0f}, rb->up );
- m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,-1.0f}, rb->forward );
-#endif
-
- m3x3_mul( rb->iI, rb->to_local, rb->iIw );
- m3x3_mul( rb->to_world, rb->iIw, rb->iIw );
+ /* I = R I_0 R^T */
+ m3x3_mul( rb->to_world, rb->iI, rb->iIw );
+ m3x3_mul( rb->iIw, rb->to_local, rb->iIw );
rb_update_bounds( rb );
}
* 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_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
-
+ float substep = vg.time_fixed_extrapolate;
v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
if( v3_length2( rb->w ) > 0.0f ){
/*
* Initialize rigidbody and calculate masses, inertia
*/
-VG_STATIC void rb_init_object( rb_object *obj )
-{
+static void rb_init_object( rb_object *obj, f32 inertia_scale ){
float volume = 1.0f;
int inert = 0;
volume = dims[0]*dims[1]*dims[2];
}
else if( obj->type == k_rb_shape_sphere ){
- volume = sphere_volume( obj->inf.sphere.radius );
+ 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 = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f);
+ 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 );
if( inert ){
obj->rb.inv_mass = 0.0f;
- v3_zero( obj->rb.I );
m3x3_zero( obj->rb.iI );
}
else{
- float mass = 2.0f*volume;
+ f32 mass = 8.0f*volume;
obj->rb.inv_mass = 1.0f/mass;
- v3f extent;
+ v3f extent, com;
v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], extent );
- v3_muls( extent, 0.5f, extent );
+ v3_muladds( obj->rb.bbx[0], extent, 0.5f, com );
/* 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 );
+ f32 ex2 = extent[0]*extent[0],
+ ey2 = extent[1]*extent[1],
+ ez2 = extent[2]*extent[2];
+
+ /* compute inertia tensor */
+ v3f I;
+
+ if( obj->type == k_rb_shape_box ){
+ I[0] = inertia_scale * (ey2+ez2) * mass * (1.0f/12.0f);
+ I[1] = inertia_scale * (ex2+ez2) * mass * (1.0f/12.0f);
+ I[2] = inertia_scale * (ex2+ey2) * mass * (1.0f/12.0f);
+ }
+ else if( obj->type == k_rb_shape_sphere ){
+ f32 r = obj->inf.sphere.radius;
+ v3_fill( I, inertia_scale * r*r * mass * (2.0f/5.0f) );
+ }
+ else if( obj->type == k_rb_shape_capsule ){
+ f32 r = obj->inf.capsule.radius;
+ I[1] = inertia_scale * r*r * mass * (2.0f/5.0f);
+ I[0] = inertia_scale * (ey2+ez2) * mass * (1.0f/12.0f);
+ I[2] = inertia_scale * (ey2+ex2) * mass * (1.0f/12.0f);
+ }
+ else {
+ vg_fatal_error( "" );
+ }
+
+ m3x3f i;
+ m3x3_identity( i );
+ m3x3_setdiagonalv3( i, I );
+
+ /* compute translation */
+ m3x3f i_t, i_t_outer, i_t_scale;
+ m3x3_diagonal( i_t, v3_dot(com,com) );
+ m3x3_outer_product( i_t_outer, com, com );
+ m3x3_sub( i_t, i_t_outer, i_t );
+ m3x3_diagonal( i_t_scale, mass );
+ m3x3_mul( i_t_scale, i_t, i_t );
+
+ /* TODO: compute rotation */
+
+ /* add Ic and Ict */
+ m3x3_add( i, i_t, i );
+
+ /* store as inverted */
+ m3x3_inv( i, obj->rb.iI );
}
rb_update_transform( &obj->rb );
}
-VG_STATIC void rb_iter( rigidbody *rb )
-{
+static void rb_iter( rigidbody *rb ){
if( !vg_validf( rb->v[0] ) ||
!vg_validf( rb->v[1] ) ||
!vg_validf( rb->v[2] ) )
{
- vg_fatal_exit_loop( "NaN velocity" );
+ vg_fatal_error( "NaN velocity" );
}
v3f gravity = { 0.0f, -9.8f, 0.0f };
q_mul( rotation, rb->q, rb->q );
}
+#if 0
/* 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 );
+#endif
}
/*
* 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,
- m4x3f to_local, v3f tri_src[3] )
-{
+static int rb_box_triangle_sat( v3f extent, v3f center,
+ m4x3f to_local, v3f tri_src[3] ){
v3f tri[3];
for( int i=0; i<3; i++ ){
* -----------------------------------------------------------------------------
*/
-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
- *
- * TODO: Remove?
*/
-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 ||
* pairs will only ammend these if they are creating a collision
*/
typedef struct capsule_manifold capsule_manifold;
-struct capsule_manifold
-{
+struct capsule_manifold{
float t0, t1;
float r0, r1;
v3f d0, d1;
* 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,
- capsule_manifold *manifold )
-{
+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,
+static int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
capsule_manifold *manifold,
- rb_ct *buf )
-{
+ 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 );
return count;
}
-VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf )
-{
+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,
return 0;
}
-VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
- m4x3f mtxB, rb_capsule *cb, rb_ct *buf )
-{
+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,
return rb_capsule__manifold_done( mtxA, ca, &manifold, buf );
}
-#if 0
-/*
- * Generates up to two contacts; optimised for the most stable manifold
- */
-VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- float h = rba->inf.capsule.height,
- r = rba->inf.capsule.radius;
-
- /*
- * Solving this in symetric local space of the cube saves us some time and a
- * couple branches when it comes to the quad stage.
- */
- v3f centroid;
- v3_add( rbb->bbx[0], rbb->bbx[1], centroid );
- v3_muls( centroid, 0.5f, centroid );
-
- boxf bbx;
- v3_sub( rbb->bbx[0], centroid, bbx[0] );
- v3_sub( rbb->bbx[1], centroid, bbx[1] );
-
- v3f pc, p0w, p1w, p0, p1;
- v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w );
- v3_muladds( rba->co, rba->up, h*0.5f-r, p1w );
-
- m4x3_mulv( rbb->to_local, p0w, p0 );
- m4x3_mulv( rbb->to_local, p1w, p1 );
- v3_sub( p0, centroid, p0 );
- v3_sub( p1, centroid, p1 );
- v3_add( p0, p1, pc );
- v3_muls( pc, 0.5f, pc );
-
- /*
- * Finding an appropriate quad to collide lines with
- */
- v3f region;
- v3_div( pc, bbx[1], region );
-
- v3f quad[4];
- if( (fabsf(region[0]) > fabsf(region[1])) &&
- (fabsf(region[0]) > fabsf(region[2])) )
- {
- float px = vg_signf(region[0]) * bbx[1][0];
- v3_copy( (v3f){ px, bbx[0][1], bbx[0][2] }, quad[0] );
- v3_copy( (v3f){ px, bbx[1][1], bbx[0][2] }, quad[1] );
- v3_copy( (v3f){ px, bbx[1][1], bbx[1][2] }, quad[2] );
- v3_copy( (v3f){ px, bbx[0][1], bbx[1][2] }, quad[3] );
- }
- else if( fabsf(region[1]) > fabsf(region[2]) )
- {
- float py = vg_signf(region[1]) * bbx[1][1];
- v3_copy( (v3f){ bbx[0][0], py, bbx[0][2] }, quad[0] );
- v3_copy( (v3f){ bbx[1][0], py, bbx[0][2] }, quad[1] );
- v3_copy( (v3f){ bbx[1][0], py, bbx[1][2] }, quad[2] );
- v3_copy( (v3f){ bbx[0][0], py, bbx[1][2] }, quad[3] );
- }
- else
- {
- float pz = vg_signf(region[2]) * bbx[1][2];
- v3_copy( (v3f){ bbx[0][0], bbx[0][1], pz }, quad[0] );
- v3_copy( (v3f){ bbx[1][0], bbx[0][1], pz }, quad[1] );
- v3_copy( (v3f){ bbx[1][0], bbx[1][1], pz }, quad[2] );
- v3_copy( (v3f){ bbx[0][0], bbx[1][1], pz }, quad[3] );
- }
-
- capsule_manifold manifold;
- rb_capsule_manifold_init( &manifold );
-
- v3f c0, c1;
- closest_point_aabb( p0, bbx, c0 );
- closest_point_aabb( p1, bbx, c1 );
-
- v3f d0, d1, da;
- v3_sub( c0, p0, d0 );
- v3_sub( c1, p1, d1 );
- v3_sub( p1, p0, da );
-
- v3_normalize(d0);
- v3_normalize(d1);
- v3_normalize(da);
-
- if( v3_dot( da, d0 ) <= 0.01f )
- rb_capsule_manifold( p0, c0, 0.0f, r, &manifold );
-
- if( v3_dot( da, d1 ) >= -0.01f )
- rb_capsule_manifold( p1, c1, 1.0f, r, &manifold );
-
- for( int i=0; i<4; i++ )
- {
- int i0 = i,
- i1 = (i+1)%4;
-
- v3f ca, cb;
- float ta, tb;
- closest_segment_segment( p0, p1, quad[i0], quad[i1], &ta, &tb, ca, cb );
- rb_capsule_manifold( ca, cb, ta, r, &manifold );
- }
-
- /*
- * Create final contacts based on line manifold
- */
- m3x3_mulv( rbb->to_world, manifold.d0, manifold.d0 );
- m3x3_mulv( rbb->to_world, manifold.d1, manifold.d1 );
-
- /*
- * Debugging
- */
-
-#if 0
- for( int i=0; i<4; i++ )
- {
- v3f q0, q1;
- int i0 = i,
- i1 = (i+1)%4;
-
- v3_add( quad[i0], centroid, q0 );
- v3_add( quad[i1], centroid, q1 );
-
- m4x3_mulv( rbb->to_world, q0, q0 );
- m4x3_mulv( rbb->to_world, q1, q1 );
-
- vg_line( q0, q1, 0xffffffff );
- }
-#endif
-
- return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
-}
-#endif
-
-VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf )
-{
+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;
}
-VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf )
-{
+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;
}
-//#define RIGIDBODY_DYNAMIC_MESH_EDGES
-
-#if 0
-__attribute__ ((deprecated))
-VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
- v3f tri[3], rb_ct *buf )
-{
- v3f delta, co;
-
-#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
-
- v3_sub( rba->co, co, delta );
-
- float d2 = v3_length2( delta ),
- r = rba->inf.sphere.radius;
-
- if( d2 < r*r )
- {
- rb_ct *ct = buf;
-
- v3f ab, ac, tn;
- v3_sub( tri[2], tri[0], ab );
- v3_sub( tri[1], tri[0], ac );
- v3_cross( ac, ab, tn );
- v3_copy( tn, ct->n );
-
- if( v3_length2( ct->n ) <= 0.00001f )
- {
- vg_error( "Zero area triangle!\n" );
- return 0;
- }
-
- v3_normalize( ct->n );
-
- float d = sqrtf(d2);
-
- v3_copy( co, ct->co );
- ct->type = type;
- ct->p = r-d;
- ct->rba = rba;
- ct->rbb = rbb;
- return 1;
- }
-
- 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, rb_sphere *b,
+ v3f tri[3], rb_ct *buf ){
v3f delta, co;
enum contact_type type = closest_on_triangle_1( mtxA[3], tri, co );
v3_copy( tn, ct->n );
if( v3_length2( ct->n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
vg_error( "Zero area triangle!\n" );
+#endif
return 0;
}
return 0;
}
-VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
- m4x3f mtxB, rb_scene *s, rb_ct *buf )
-{
- scene *sc = s->bh_scene->user;
-
- bh_iter it;
- bh_iter_init( 0, &it );
- int idx;
+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;
int count = 0;
boxf box;
v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] );
v3_add( mtxA[3], (v3f){ r,r,r }, box[1] );
+
+ bh_iter it;
+ i32 idx;
+ bh_iter_init_box( 0, &it, box );
- while( bh_next( s->bh_scene, &it, box, &idx ) ){
+ while( bh_next( s->bh_scene, &it, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
v3f tri[3];
+ if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
+
for( int j=0; j<3; j++ )
v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
return count;
}
-VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
- m4x3f mtxB, rb_scene *s, rb_ct *buf )
-{
-#if 1
- scene *sc = s->bh_scene->user;
+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;
v3f tri[3];
v3f extent, center;
m4x3_invert_affine( mtxA, to_local );
bh_iter it;
- bh_iter_init( 0, &it );
+ bh_iter_init_box( 0, &it, world_bbx );
int idx;
int count = 0;
vg_line_boxf( world_bbx, VG__RED );
- while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){
+ while( bh_next( s->bh_scene, &it, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
+ if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
for( int j=0; j<3; j++ )
v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
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 );
/* find best feature */
}
}
return count;
-#else
-
- scene *sc = s->bh_scene->user;
- v3f tri[3];
-
- v3f extent, center;
- v3_sub( bbx[1], bbx[0], extent );
- v3_muls( extent, 0.5f, extent );
- v3_add( bbx[0], extent, center );
+}
- float r = v3_length(extent);
- boxf world_bbx;
- v3_fill( world_bbx[0], -r );
- v3_fill( world_bbx[1], r );
- for( int i=0; i<2; i++ ){
- v3_add( center, world_bbx[i], world_bbx[i] );
- v3_add( mtxA[3], world_bbx[i], world_bbx[i] );
- }
+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 );
- m4x3f to_local;
- m4x3_invert_affine( mtxA, to_local );
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
- bh_iter it;
- bh_iter_init( 0, &it );
- int idx;
- int count = 0;
+ v3f v0, v1, n;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_cross( v0, v1, n );
- vg_line_boxf( world_bbx, VG__RED );
-
- while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){
- u32 *ptri = &sc->arrindices[ idx*3 ];
+ if( v3_length2( n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
+ vg_error( "Zero area triangle!\n" );
+#endif
+ return 0;
+ }
- for( int j=0; j<3; j++ )
- v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+ v3_normalize( n );
- vg_line( tri[0],tri[1],VG__BLACK );
- vg_line( tri[1],tri[2],VG__BLACK );
- vg_line( tri[2],tri[0],VG__BLACK );
+#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->height - c->radius*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->radius;
+
+ 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 );
- v3f clip[2][8];
- u32 clip_length = 0;
+ return 1;
+ }
}
-
#endif
-}
-
-VG_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 );
-
- capsule_manifold manifold;
- rb_capsule_manifold_init( &manifold );
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 );
-
if( v3_dot( da, d1 ) >= -0.01f )
rb_capsule_manifold( p1w, c1, 1.0f, c->radius, &manifold );
+ /* the edges to edges */
for( int i=0; i<3; i++ ){
int i0 = i,
i1 = (i+1)%3;
rb_capsule_manifold( ca, cb, ta, c->radius, &manifold );
}
- v3f v0, v1, n;
- v3_sub( tri[1], tri[0], v0 );
- v3_sub( tri[2], tri[0], v1 );
- v3_cross( v0, v1, n );
- 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,
+static int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
m4x3f mtxB, rb_scene *s,
- rb_ct *buf )
-{
- bh_iter it;
- bh_iter_init( 0, &it );
- int idx;
+ 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] );
- scene *sc = s->bh_scene->user;
+ scene_context *sc = s->bh_scene->user;
- while( bh_next( s->bh_scene, &it, bbx, &idx ) ){
+ bh_iter it;
+ bh_iter_init_box( 0, &it, bbx );
+ i32 idx;
+ while( bh_next( s->bh_scene, &it, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
- v3f tri[3];
+ if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
+ v3f tri[3];
for( int j=0; j<3; j++ )
v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
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 );
- rb_tangent_basis( ct->n, ct->t[0], ct->t[1] );
+ v3_tangent_basis( ct->n, ct->t[0], ct->t[1] );
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 )
-{
+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;
v3f p0, p1;
v3_add( wca, rba->co, p0 );
v3_add( wcb, rbb->co, p1 );
- vg_line_pt3( p0, 0.0025f, 0xff000000 );
- vg_line_pt3( p1, 0.0025f, 0xffffffff );
+ vg_line_point( p0, 0.0025f, 0xff000000 );
+ vg_line_point( p1, 0.0025f, 0xffffffff );
vg_line2( p0, p1, 0xff000000, 0xffffffff );
}
}
-VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
- int len )
-{
- float size = 0.12f;
-
+static void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len ){
for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
}
}
-VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
- int len )
-{
+static void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len ){
float size = 0.12f;
for( int i=0; i<len; i++ ){
v3f p0, p1;
v3_muladds( center, va, size, p1 );
vg_line( center, p1, 0xffffffff );
- vg_line_pt3( p1, 0.00025f, 0xffffffff );
+ vg_line_point( p1, 0.00025f, 0xffffffff );
if( st->tangent_violation ){
v3_muladds( center, st->tangent_target, size, p0 );
vg_line( center, p0, 0xff00ff00 );
- vg_line_pt3( p0, 0.00025f, 0xff00ff00 );
+ vg_line_point( p0, 0.00025f, 0xff00ff00 );
vg_line( p1, p0, 0xff000000 );
}
if( st->axis_violation ){
v3_muladds( p0, st->axis_target, size*1.25f, p1 );
vg_line( p0, p1, 0xffffff00 );
- vg_line_pt3( p1, 0.0025f, 0xffffff80 );
+ vg_line_point( p1, 0.0025f, 0xffffff80 );
}
v3f refaxis;
/*
* 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,
- int len )
-{
- float size = 0.12f;
-
+static void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len ){
for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
}
}
-VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
- v3f ra, v3f rb )
-{
+/* 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,
- float amt )
-{
+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];
rigidbody *rba = constr->rba, *rbb = constr->rbb;
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 );
+#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,
- int len, float amt )
-{
+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 );
+#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 );
+#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,
- float amt, float drag )
-{
+static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
+ float amt, float drag ){
/* float */
float depth = v3_dot( plane, ra->co ) - plane[3],
lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt;
/* 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 timestep ){
float d = v3_dot( rt, ra );
- float a = vg_signf( d ) * acosf( vg_clampf( d, -1.0f, 1.0f ) );
+ float a = acosf( vg_clampf( d, -1.0f, 1.0f ) );
v3f axis;
v3_cross( rt, ra, axis );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff