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;
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;
+
+ 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 ){
+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 );
/*
* 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 );
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 );
+
+ /* 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.time_fixed_extrapolate;
v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
/*
* 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;
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] ) )
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,
+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,
+static int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
capsule_manifold *manifold,
rb_ct *buf ){
v3f p0, 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,
+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,
return rb_capsule__manifold_done( mtxA, ca, &manifold, buf );
}
-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;
}
-VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
+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 ){
+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;
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 ){
+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];
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;
}
-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 );
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->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 );
+
+ 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 );
-
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 );
-
- if( v3_length2( n ) <= 0.00001f ){
- vg_error( "Zero area triangle!\n" );
- 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,
+static int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
m4x3f mtxB, rb_scene *s,
- rb_ct *buf ){
+ rb_ct *buf, u16 ignore ){
int count = 0;
boxf 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 );
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 );
+#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 );
+#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,
+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