/*
- * 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"
-VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
-VG_STATIC bh_system bh_system_rigidbodies;
+#include <math.h>
+
+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 = 0.6f,
- k_damp_linear = 0.05f, /* scale velocity 1/(1+x) */
+ 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_phys_baumgarte = 0.2f,
+ k_gravity = 9.6f;
+
+static float
k_limit_bias = 0.02f,
- k_joint_bias = 0.08f, /* positional joints */
k_joint_correction = 0.01f,
- k_penetration_slop = 0.01f,
- k_inertia_scale = 4.0f;
+ k_joint_impulse = 1.0f,
+ k_joint_bias = 0.08f; /* positional joints */
+
+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 );
+ VG_VAR_F32( k_joint_impulse, flags=VG_VAR_CHEAT );
+}
/*
* -----------------------------------------------------------------------------
*/
typedef struct rigidbody rigidbody;
+typedef struct rb_object rb_object;
typedef struct contact rb_ct;
+typedef struct rb_sphere rb_sphere;
+typedef struct rb_capsule rb_capsule;
+typedef struct rb_scene rb_scene;
-struct rigidbody
-{
+struct rb_sphere{
+ float radius;
+};
+
+struct rb_capsule{
+ float height, radius;
+};
+
+struct rb_scene{
+ bh_tree *bh_scene;
+};
+
+struct rigidbody{
v3f co, v, w;
v4f q;
- enum rb_shape
- {
+ boxf bbx, bbx_world;
+ float inv_mass;
+
+ /* inertia model and inverse world tensor */
+ v3f I;
+ m3x3f iI, iIw;
+ m4x3f to_world, to_local;
+};
+
+/* simple objects */
+struct rb_object{
+ rigidbody rb;
+ enum rb_shape{
k_rb_shape_box = 0,
k_rb_shape_sphere = 1,
k_rb_shape_capsule = 2,
}
type;
- union
- {
- struct rb_sphere
- {
- float radius;
- }
- sphere;
-
- struct rb_capsule
- {
- float height, radius;
- }
- capsule;
-
- struct rb_scene
- {
- bh_tree *bh_scene;
- }
- scene;
+ union{
+ struct rb_sphere sphere;
+ struct rb_capsule capsule;
+ struct rb_scene scene;
}
inf;
-
- v3f right, up, forward;
-
- int is_world;
-
- boxf bbx, bbx_world;
- float inv_mass;
-
- /* inertia model and inverse world tensor */
- v3f I;
- m3x3f iI, iIw;
-
- m4x3f to_world, to_local;
};
-VG_STATIC struct contact
-{
+static struct contact{
rigidbody *rba, *rbb;
v3f co, n;
v3f t[2];
normal_mass, tangent_mass[2];
u32 element_id;
- int cluster;
+
+ enum contact_type type;
}
rb_contact_buffer[256];
-VG_STATIC int rb_contact_count = 0;
+static int rb_contact_count = 0;
-/*
- * -----------------------------------------------------------------------------
- * Math Utils
- * -----------------------------------------------------------------------------
- */
+typedef struct rb_constr_pos rb_constr_pos;
+typedef struct rb_constr_swingtwist rb_constr_swingtwist;
-VG_STATIC float sphere_volume( float radius )
-{
- float r3 = radius*radius*radius;
- return (4.0f/3.0f) * VG_PIf * r3;
-}
+struct rb_constr_pos{
+ rigidbody *rba, *rbb;
+ v3f lca, lcb;
+};
-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];
- }
+struct rb_constr_swingtwist{
+ rigidbody *rba, *rbb;
- v3_normalize( tx );
- v3_cross( n, tx, ty );
-}
+ v4f conevx, conevy; /* relative to rba */
+ v3f view_offset, /* relative to rba */
+ coneva, conevxb;/* relative to rbb */
+
+ int tangent_violation, axis_violation;
+ v3f axis, tangent_axis, tangent_target, axis_target;
+
+ float conet;
+ float tangent_mass, axis_mass;
+};
/*
* -----------------------------------------------------------------------------
* -----------------------------------------------------------------------------
*/
-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, 0.1f, p1 );
- vg_line_pt3( ct->co, 0.025f, 0xff0000ff );
- vg_line( ct->co, p1, 0xffffffff );
-}
+ v3_muladds( ct->co, ct->n, 0.05f, p1 );
-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 );
+ if( ct->type == k_contact_type_default ){
+ vg_line_point( ct->co, 0.0125f, 0xff0000ff );
+ vg_line( ct->co, p1, 0xffffffff );
}
-}
-
-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;
+ else if( ct->type == k_contact_type_edge ){
+ vg_line_point( ct->co, 0.0125f, 0xff00ffc0 );
+ vg_line( ct->co, p1, 0xffffffff );
}
}
-VG_STATIC void rb_debug( rigidbody *rb, u32 colour )
-{
- if( rb->type == k_rb_shape_box )
- {
- v3f *box = rb->bbx;
- vg_line_boxf_transformed( rb->to_world, rb->bbx, 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( rb->type == k_rb_shape_sphere )
- {
- debug_sphere( rb->to_world, rb->inf.sphere.radius, colour );
+ else if( obj->type == k_rb_shape_sphere ){
+ vg_line_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour );
}
- else if( rb->type == k_rb_shape_capsule )
- {
+ else if( obj->type == k_rb_shape_capsule ){
m4x3f m0, m1;
- float h = rb->inf.capsule.height,
- r = rb->inf.capsule.radius;
+ float h = obj->inf.capsule.height,
+ r = obj->inf.capsule.radius;
- debug_capsule( rb->to_world, r, h, colour );
+ vg_line_capsule( obj->rb.to_world, r, h, colour );
}
- else if( rb->type == k_rb_shape_scene )
- {
- vg_line_boxf( rb->bbx, 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 );
v3_copy( rb->co, rb->to_world[3] );
m4x3_invert_affine( rb->to_world, rb->to_local );
-
- 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 );
-
m3x3_mul( rb->iI, rb->to_local, rb->iIw );
m3x3_mul( rb->to_world, rb->iIw, rb->iIw );
* Extrapolate rigidbody into a transform based on vg accumulator.
* Useful for rendering
*/
-VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
+static void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
{
- float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
-
- v3f co;
- v4f q;
-
+ float substep = vg.time_fixed_extrapolate;
v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
- if( v3_length2( rb->w ) > 0.0f )
- {
+ if( v3_length2( rb->w ) > 0.0f ){
v4f rotation;
v3f axis;
v3_copy( rb->w, axis );
q_mul( rotation, rb->q, q );
q_normalize( q );
}
- else
- {
+ else{
v4_copy( rb->q, q );
}
-
- q_m3x3( q, transform );
- v3_copy( co, transform[3] );
}
/*
* Initialize rigidbody and calculate masses, inertia
*/
-VG_STATIC void rb_init( rigidbody *rb )
-{
+static void rb_init_object( rb_object *obj ){
float volume = 1.0f;
+ int inert = 0;
- if( rb->type == k_rb_shape_box )
- {
+ if( obj->type == k_rb_shape_box ){
v3f dims;
- v3_sub( rb->bbx[1], rb->bbx[0], dims );
+ v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], dims );
volume = dims[0]*dims[1]*dims[2];
}
- else if( rb->type == k_rb_shape_sphere )
- {
- volume = sphere_volume( rb->inf.sphere.radius );
- v3_fill( rb->bbx[0], -rb->inf.sphere.radius );
- v3_fill( rb->bbx[1], rb->inf.sphere.radius );
+ else if( obj->type == k_rb_shape_sphere ){
+ 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( rb->type == k_rb_shape_capsule )
- {
- float r = rb->inf.capsule.radius,
- h = rb->inf.capsule.height;
- volume = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f);
-
- v3_fill( rb->bbx[0], -rb->inf.sphere.radius );
- v3_fill( rb->bbx[1], rb->inf.sphere.radius );
- rb->bbx[0][1] = -h;
- rb->bbx[1][1] = h;
+ else if( obj->type == k_rb_shape_capsule ){
+ float r = obj->inf.capsule.radius,
+ h = obj->inf.capsule.height;
+ 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 );
+ obj->rb.bbx[0][1] = -h;
+ obj->rb.bbx[1][1] = h;
}
- else if( rb->type == k_rb_shape_scene )
- {
- rb->is_world = 1;
- box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx );
+ else if( obj->type == k_rb_shape_scene ){
+ inert = 1;
+ box_copy( obj->inf.scene.bh_scene->nodes[0].bbx, obj->rb.bbx );
}
- if( rb->is_world )
- {
- rb->inv_mass = 0.0f;
- v3_zero( rb->I );
- m3x3_zero(rb->iI);
+ if( inert ){
+ obj->rb.inv_mass = 0.0f;
+ v3_zero( obj->rb.I );
+ m3x3_zero( obj->rb.iI );
}
- else
- {
+ else{
float mass = 2.0f*volume;
- rb->inv_mass = 1.0f/mass;
+ obj->rb.inv_mass = 1.0f/mass;
v3f extent;
- v3_sub( rb->bbx[1], rb->bbx[0], extent );
+ v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], extent );
v3_muls( extent, 0.5f, extent );
/* local intertia tensor */
ey2 = scale*extent[1]*extent[1],
ez2 = scale*extent[2]*extent[2];
- rb->I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
- rb->I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
- rb->I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
+ 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( rb->iI );
- rb->iI[0][0] = rb->I[0];
- rb->iI[1][1] = rb->I[1];
- rb->iI[2][2] = rb->I[2];
- m3x3_inv( rb->iI, rb->iI );
+ 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 );
}
- v3_zero( rb->v );
- v3_zero( rb->w );
-
- rb_update_transform( rb );
+ 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_error( "NaN velocity" );
+ }
+
v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
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
}
+
/*
* -----------------------------------------------------------------------------
- * Closest point functions
+ * Boolean shape overlap functions
* -----------------------------------------------------------------------------
*/
/*
- * These closest point tests were learned from Real-Time Collision Detection by
- * Christer Ericson
+ * Project AABB, and triangle interval onto axis to check if they overlap
*/
-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;
- 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;
+static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){
+ float
- if( a <= kEpsilon && e <= kEpsilon )
- {
- *s = 0.0f;
- *t = 0.0f;
- v3_copy( p1, c1 );
- v3_copy( p2, c2 );
+ r = extent[0] * fabsf(axis[0]) +
+ extent[1] * fabsf(axis[1]) +
+ extent[2] * fabsf(axis[2]),
- v3f v0;
- v3_sub( c1, c2, v0 );
+ p0 = v3_dot( axis, tri[0] ),
+ p1 = v3_dot( axis, tri[1] ),
+ p2 = v3_dot( axis, tri[2] ),
- 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;
+ e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2)));
- if( d != 0.0f )
- {
- *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
- }
- else
- {
- *s = 0.0f;
- }
+ if( e > r ) return 0;
+ else return 1;
+}
- *t = (b*(*s)+f) / e;
+/*
+ * Seperating axis test box vs triangle
+ */
+static int rb_box_triangle_sat( v3f extent, v3f center,
+ m4x3f to_local, v3f tri_src[3] ){
+ v3f tri[3];
- 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);
- }
- }
+ for( int i=0; i<3; i++ ){
+ m4x3_mulv( to_local, tri_src[i], tri[i] );
+ v3_sub( tri[i], center, tri[i] );
}
- v3_muladds( p1, d1, *s, c1 );
- v3_muladds( p2, d2, *t, c2 );
+ v3f f0,f1,f2,n;
+ v3_sub( tri[1], tri[0], f0 );
+ v3_sub( tri[2], tri[1], f1 );
+ v3_sub( tri[0], tri[2], f2 );
- v3f v0;
- v3_sub( c1, c2, v0 );
- return v3_length2( v0 );
-}
-
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
- v3_maxv( p, box[0], dest );
- v3_minv( dest, box[1], dest );
-}
-
-VG_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 );
-}
-VG_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;
-}
+ v3f axis[9];
+ v3_cross( (v3f){1.0f,0.0f,0.0f}, f0, axis[0] );
+ v3_cross( (v3f){1.0f,0.0f,0.0f}, f1, axis[1] );
+ v3_cross( (v3f){1.0f,0.0f,0.0f}, f2, axis[2] );
+ v3_cross( (v3f){0.0f,1.0f,0.0f}, f0, axis[3] );
+ v3_cross( (v3f){0.0f,1.0f,0.0f}, f1, axis[4] );
+ v3_cross( (v3f){0.0f,1.0f,0.0f}, f2, axis[5] );
+ v3_cross( (v3f){0.0f,0.0f,1.0f}, f0, axis[6] );
+ v3_cross( (v3f){0.0f,0.0f,1.0f}, f1, axis[7] );
+ v3_cross( (v3f){0.0f,0.0f,1.0f}, f2, axis[8] );
+
+ for( int i=0; i<9; i++ )
+ if(!rb_box_triangle_interval( extent, axis[i], tri )) return 0;
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
-{
- v3f ab, ac, ap;
- float d1, d2;
+ /* u0, u1, u2 */
+ if(!rb_box_triangle_interval( extent, (v3f){1.0f,0.0f,0.0f}, tri )) return 0;
+ if(!rb_box_triangle_interval( extent, (v3f){0.0f,1.0f,0.0f}, tri )) return 0;
+ if(!rb_box_triangle_interval( extent, (v3f){0.0f,0.0f,1.0f}, tri )) return 0;
- /* 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;
- }
+ /* normal */
+ v3_cross( f0, f1, n );
+ if(!rb_box_triangle_interval( extent, n, tri )) return 0;
- /* Region outside B */
- v3f bp;
- float d3, d4;
+ return 1;
+}
- v3_sub( p, tri[1], bp );
- d3 = v3_dot( ab, bp );
- d4 = v3_dot( ac, bp );
+/*
+ * -----------------------------------------------------------------------------
+ * Manifold
+ * -----------------------------------------------------------------------------
+ */
- 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;
- }
+static int rb_manifold_apply_filtered( rb_ct *man, int len ){
+ int k = 0;
- /* 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;
- }
+ for( int i=0; i<len; i++ ){
+ rb_ct *ct = &man[i];
- /* 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;
- }
+ if( ct->type == k_contact_type_disabled )
+ continue;
- /* 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;
+ man[k ++] = man[i];
}
- /* 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 );
+ return k;
}
-VG_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;
- }
+/*
+ * Merge two contacts if they are within radius(r) of eachother
+ */
+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;
- /* Region outside B */
- v3f bp;
- float d3, d4;
+ v3_add( ci->co, cj->co, ci->co );
+ v3_muls( ci->co, 0.5f, ci->co );
- v3_sub( p, tri[1], bp );
- d3 = v3_dot( ab, bp );
- d4 = v3_dot( ac, bp );
+ v3f delta;
+ v3_sub( ci->rba->co, ci->co, delta );
- 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;
- }
+ float c0 = v3_dot( ci->n, delta ),
+ c1 = v3_dot( cj->n, delta );
- /* 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;
+ 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 );
+ }
}
+}
- /* 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;
- }
+/*
+ *
+ */
+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;
- /* 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;
+ for( int j=i+1; j<len; j++ ){
+ rb_ct *cj = &man[j];
+ if( cj->type != k_contact_type_edge )
+ continue;
+
+ rb_manifold_contact_weld( ci, cj, r );
+ }
}
-
- /* 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 );
}
/*
- * -----------------------------------------------------------------------------
- * Boolean shape overlap functions
- * -----------------------------------------------------------------------------
+ * Resolve overlapping pairs
*/
+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;
-/*
- * 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] )
-{
- float
+ if( ci->type == k_contact_type_disabled ) continue;
- r = extent[0] * fabsf(axis[0]) +
- extent[1] * fabsf(axis[1]) +
- extent[2] * fabsf(axis[2]),
+ for( int j=i+1; j<len; j++ ){
+ rb_ct *cj = &man[j];
- p0 = v3_dot( axis, tri[0] ),
- p1 = v3_dot( axis, tri[1] ),
- p2 = v3_dot( axis, tri[2] ),
+ if( cj->type == k_contact_type_disabled ) continue;
- e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2)));
+ 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( e > r ) return 0;
- else return 1;
+ 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 );
+ }
+ }
}
-/*
- * Seperating axis test box vs triangle
+/*
+ * Remove contacts that are facing away from A
*/
-VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
-{
- v3f tri[3];
-
- v3f extent, c;
- v3_sub( rba->bbx[1], rba->bbx[0], extent );
- v3_muls( extent, 0.5f, extent );
- v3_add( rba->bbx[0], extent, c );
+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;
- for( int i=0; i<3; i++ )
- {
- m4x3_mulv( rba->to_local, tri_src[i], tri[i] );
- v3_sub( tri[i], c, tri[i] );
+ v3f delta;
+ v3_sub( ct->co, ct->rba->co, delta );
+
+ if( v3_dot( delta, ct->n ) > -0.001f )
+ ct->type = k_contact_type_disabled;
}
+}
- /* u0, u1, u2 */
- if(!rb_box_triangle_interval( extent, (v3f){1.0f,0.0f,0.0f}, tri )) return 0;
- if(!rb_box_triangle_interval( extent, (v3f){0.0f,1.0f,0.0f}, tri )) return 0;
- if(!rb_box_triangle_interval( extent, (v3f){0.0f,0.0f,1.0f}, tri )) return 0;
+/*
+ * Filter out duplicate coplanar results. Good for spheres.
+ */
+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;
- v3f v0,v1,v2,n, e0,e1,e2;
- v3_sub( tri[1], tri[0], v0 );
- v3_sub( tri[2], tri[0], v1 );
- v3_sub( tri[2], tri[1], v2 );
- v3_normalize( v0 );
- v3_normalize( v1 );
- v3_normalize( v2 );
- v3_cross( v0, v1, n );
- v3_cross( v0, n, e0 );
- v3_cross( n, v1, e1 );
- v3_cross( v2, n, e2 );
+ float d1 = v3_dot( ci->co, ci->n );
- /* normal */
- if(!rb_box_triangle_interval( extent, n, tri )) return 0;
+ for( int j=0; j<len; j++ ){
+ if( j == i )
+ continue;
- v3f axis[9];
- v3_cross( e0, (v3f){1.0f,0.0f,0.0f}, axis[0] );
- v3_cross( e0, (v3f){0.0f,1.0f,0.0f}, axis[1] );
- v3_cross( e0, (v3f){0.0f,0.0f,1.0f}, axis[2] );
- v3_cross( e1, (v3f){1.0f,0.0f,0.0f}, axis[3] );
- v3_cross( e1, (v3f){0.0f,1.0f,0.0f}, axis[4] );
- v3_cross( e1, (v3f){0.0f,0.0f,1.0f}, axis[5] );
- v3_cross( e2, (v3f){1.0f,0.0f,0.0f}, axis[6] );
- v3_cross( e2, (v3f){0.0f,1.0f,0.0f}, axis[7] );
- v3_cross( e2, (v3f){0.0f,0.0f,1.0f}, axis[8] );
-
- for( int i=0; i<9; i++ )
- if(!rb_box_triangle_interval( extent, axis[i], tri )) return 0;
+ rb_ct *cj = &man[j];
+ if( cj->type == k_contact_type_disabled )
+ continue;
+
+ float d2 = v3_dot( cj->co, ci->n ),
+ d = d2-d1;
- return 1;
+ if( fabsf( d ) <= w ){
+ cj->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 );
- if( v3_length2(delta) < r*r )
- {
- if( t < manifold->t0 )
- {
+ if( v3_length2(delta) < r*r ){
+ if( t < manifold->t0 ){
v3_copy( delta, manifold->d0 );
manifold->t0 = t;
manifold->r0 = r;
}
- if( t > manifold->t1 )
- {
+ if( t > manifold->t1 ){
v3_copy( delta, manifold->d1 );
manifold->t1 = t;
manifold->r1 = r;
}
}
-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( rigidbody *rba, rigidbody *rbb,
- capsule_manifold *manifold, rb_ct *buf )
-{
- float h = rba->inf.capsule.height,
- ra = rba->inf.capsule.radius;
-
+static int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
+ capsule_manifold *manifold,
+ rb_ct *buf ){
v3f p0, p1;
- v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
- v3_muladds( rba->co, rba->up, h*0.5f-ra, 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 );
int count = 0;
- if( manifold->t0 <= 1.0f )
- {
+ if( manifold->t0 <= 1.0f ){
rb_ct *ct = buf;
v3f pa;
float d = v3_length( manifold->d0 );
v3_muls( manifold->d0, 1.0f/d, ct->n );
- v3_muladds( pa, ct->n, -ra, ct->co );
+ v3_muladds( pa, ct->n, -c->radius, ct->co );
ct->p = manifold->r0 - d;
- ct->rba = rba;
- ct->rbb = rbb;
-
+ ct->type = k_contact_type_default;
count ++;
}
- if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) )
- {
+ if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) ){
rb_ct *ct = buf+count;
v3f pa;
float d = v3_length( manifold->d1 );
v3_muls( manifold->d1, 1.0f/d, ct->n );
- v3_muladds( pa, ct->n, -ra, ct->co );
+ v3_muladds( pa, ct->n, -c->radius, ct->co );
ct->p = manifold->r1 - d;
- ct->rba = rba;
- ct->rbb = rbb;
+ ct->type = k_contact_type_default;
count ++;
}
return count;
}
-VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- float h = rba->inf.capsule.height,
- ra = rba->inf.capsule.radius,
- rb = rbb->inf.sphere.radius;
+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,
+ rb = objb->inf.sphere.radius;
v3f p0, p1;
- v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
- v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 );
+ v3_muladds( rba->co, rba->to_world[1], -h*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->to_world[1], h*0.5f-ra, p1 );
v3f c, delta;
closest_point_segment( p0, p1, rbb->co, c );
float d2 = v3_length2(delta),
r = ra + rb;
- if( d2 < r*r )
- {
+ if( d2 < r*r ){
float d = sqrtf(d2);
rb_ct *ct = buf;
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
return 1;
}
return 0;
}
-VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- float ha = rba->inf.capsule.height,
- hb = rbb->inf.capsule.height,
- ra = rba->inf.capsule.radius,
- rb = rbb->inf.capsule.radius,
+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,
+ rb = cb->radius,
r = ra+rb;
v3f p0, p1, p2, p3;
- v3_muladds( rba->co, rba->up, -ha*0.5f+ra, p0 );
- v3_muladds( rba->co, rba->up, ha*0.5f-ra, p1 );
- v3_muladds( rbb->co, rbb->up, -hb*0.5f+rb, p2 );
- v3_muladds( rbb->co, rbb->up, hb*0.5f-rb, p3 );
+ v3_muladds( mtxA[3], mtxA[1], -ha*0.5f+ra, p0 );
+ v3_muladds( mtxA[3], mtxA[1], ha*0.5f-ra, p1 );
+ v3_muladds( mtxB[3], mtxB[1], -hb*0.5f+rb, p2 );
+ v3_muladds( mtxB[3], mtxB[1], hb*0.5f-rb, p3 );
capsule_manifold manifold;
rb_capsule_manifold_init( &manifold );
rb_capsule_manifold( p0, pa, 0.0f, r, &manifold );
rb_capsule_manifold( p1, pb, 1.0f, r, &manifold );
- return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+ return rb_capsule__manifold_done( mtxA, ca, &manifold, buf );
}
-/*
- * 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 );
-}
-
-VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, 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;
- 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),
- r = rba->inf.sphere.radius;
+ r = obja->inf.sphere.radius;
- if( d2 <= r*r )
- {
+ if( d2 <= r*r ){
float d;
rb_ct *ct = buf;
- if( d2 <= 0.0001f )
- {
+ if( d2 <= 0.0001f ){
v3_sub( rba->co, rbb->co, delta );
/*
* object back outside the box. Since there isnt a clear seperating
* vector already, especially on really high aspect boxes.
*/
- float lx = v3_dot( rbb->right, delta ),
- ly = v3_dot( rbb->up, delta ),
- lz = v3_dot( rbb->forward, delta ),
+ float lx = v3_dot( rbb->to_world[0], delta ),
+ ly = v3_dot( rbb->to_world[1], delta ),
+ lz = v3_dot( rbb->to_world[2], delta ),
px = rbb->bbx[1][0] - fabsf(lx),
py = rbb->bbx[1][1] - fabsf(ly),
pz = rbb->bbx[1][2] - fabsf(lz);
if( px < py && px < pz )
- v3_muls( rbb->right, vg_signf(lx), ct->n );
+ v3_muls( rbb->to_world[0], vg_signf(lx), ct->n );
else if( py < pz )
- v3_muls( rbb->up, vg_signf(ly), ct->n );
+ v3_muls( rbb->to_world[1], vg_signf(ly), ct->n );
else
- v3_muls( rbb->forward, vg_signf(lz), ct->n );
+ v3_muls( rbb->to_world[2], vg_signf(lz), ct->n );
v3_muladds( rba->co, ct->n, -r, ct->co );
ct->p = r;
}
- else
- {
+ else{
d = sqrtf(d2);
v3_muls( delta, 1.0f/d, ct->n );
ct->p = r-d;
ct->rba = rba;
ct->rbb = rbb;
+ ct->type = k_contact_type_default;
return 1;
}
return 0;
}
-VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, 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 );
float d2 = v3_length2(delta),
- r = rba->inf.sphere.radius + rbb->inf.sphere.radius;
+ r = obja->inf.sphere.radius + objb->inf.sphere.radius;
- if( d2 < r*r )
- {
+ if( d2 < r*r ){
float d = sqrtf(d2);
rb_ct *ct = buf;
v3_muls( delta, 1.0f/d, ct->n );
v3f p0, p1;
- v3_muladds( rba->co, ct->n,-rba->inf.sphere.radius, p0 );
- v3_muladds( rbb->co, ct->n, rbb->inf.sphere.radius, p1 );
+ v3_muladds( rba->co, ct->n,-obja->inf.sphere.radius, p0 );
+ v3_muladds( rbb->co, ct->n, objb->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;
}
-#define RIGIDBODY_DYNAMIC_MESH_EDGES
-
-VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
- 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 );
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- closest_on_triangle( rba->co, tri, co );
-#else
- closest_on_triangle_1( rba->co, tri, co );
-#endif
-
- v3_sub( rba->co, co, delta );
-
- vg_line( rba->co, co, 0xffff0000 );
- vg_line_pt3( rba->co, 0.1f, 0xff00ffff );
+ v3_sub( mtxA[3], co, delta );
float d2 = v3_length2( delta ),
- r = rba->inf.sphere.radius;
+ r = b->radius;
- if( d2 < r*r )
- {
+ if( d2 <= r*r ){
rb_ct *ct = buf;
v3f ab, ac, tn;
v3_sub( tri[1], tri[0], ac );
v3_cross( ac, ab, tn );
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;
+ }
+
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;
}
-VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- scene *sc = rbb->inf.scene.bh_scene->user;
-
- u32 geo[128];
-
- int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
- int count = 0;
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- /* !experimental! build edge array on the fly. time could be improved! */
-
- v3f co_picture[128*3];
- int unique_cos = 0;
-
- struct face_info
- {
- int unique_cos[3]; /* indexes co_picture array */
- int collided;
- v3f normal;
- u32 element_id;
- }
- faces[128];
-
- /* create geometry picture */
- for( int i=0; i<len; i++ )
- {
- u32 *tri_indices = &sc->arrindices[ geo[i]*3 ];
- struct face_info *inf = &faces[i];
- inf->element_id = tri_indices[0];
- inf->collided = 0;
-
- for( int j=0; j<3; j++ )
- {
- struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]];
-
- for( int k=0; k<unique_cos; k++ )
- {
- if( v3_dist( pvert->co, co_picture[k] ) < 0.01f*0.01f )
- {
- inf->unique_cos[j] = k;
- goto next_vert;
- }
- }
-
- inf->unique_cos[j] = unique_cos;
- v3_copy( pvert->co, co_picture[ unique_cos ++ ] );
-next_vert:;
- }
-
- v3f ab, ac;
- v3_sub( co_picture[inf->unique_cos[2]],
- co_picture[inf->unique_cos[0]], ab );
-
- v3_sub( co_picture[inf->unique_cos[1]],
- co_picture[inf->unique_cos[0]], ac );
- v3_cross( ac, ab, inf->normal );
- v3_normalize( inf->normal );
- }
-
-
- /* build edges brute force */
- int edge_picture[ 128*3 ][4];
- int unique_edges = 0;
-
- for( int i=0; i<len; i++ )
- {
- struct face_info *inf = &faces[i];
-
- for( int j=0; j<3; j++ )
- {
- int i0 = j,
- i1 = (j+1)%3,
- e0 = VG_MIN( inf->unique_cos[i0], inf->unique_cos[i1] ),
- e1 = VG_MAX( inf->unique_cos[i0], inf->unique_cos[i1] ),
- matched = 0;
-
- for( int k=0; k<unique_edges; k ++ )
- {
- int k0 = VG_MIN( edge_picture[k][0], edge_picture[k][1] ),
- k1 = VG_MAX( edge_picture[k][0], edge_picture[k][1] );
-
- /* matched ! */
- if( (k0 == e0) && (k1 == e1) )
- {
- edge_picture[ k ][3] = i;
- matched = 1;
- break;
- }
- }
-
- if( !matched )
- {
- /* create new edge */
- edge_picture[ unique_edges ][0] = inf->unique_cos[i0];
- edge_picture[ unique_edges ][1] = inf->unique_cos[i1];
-
- edge_picture[ unique_edges ][2] = i;
- edge_picture[ unique_edges ][3] = -1;
-
- unique_edges ++;
- }
- }
- }
-#endif
-
- v3f tri[3];
-
- for( int i=0; i<len; i++ )
- {
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- struct face_info *inf = &faces[i];
-
- float *v0 = co_picture[inf->unique_cos[0]],
- *v1 = co_picture[inf->unique_cos[1]],
- *v2 = co_picture[inf->unique_cos[2]];
-
- v3_copy( v0, tri[0] );
- v3_copy( v1, tri[1] );
- v3_copy( v2, tri[2] );
+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;
- buf[count].element_id = inf->element_id;
-#else
- u32 *ptri = &sc->arrindices[ geo[i]*3 ];
-
- for( int j=0; j<3; j++ )
- v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
-
- buf[count].element_id = ptri[0];
-#endif
-
- vg_line( tri[0],tri[1],0x10ffffff );
- vg_line( tri[1],tri[2],0x10ffffff );
- vg_line( tri[2],tri[0],0x10ffffff );
-
- int contact = rb_sphere_triangle( rba, rbb, tri, buf+count );
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- if( contact )
- inf->collided = 1;
-#endif
- count += contact;
-
- if( count == 12 )
- {
- vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
- return count;
- }
- }
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
- for( int i=0; i<unique_edges; i++ )
- {
- int *edge = edge_picture[i];
-
- if( edge[3] == -1 )
- continue;
-
- struct face_info *inf_i = &faces[edge[2]],
- *inf_j = &faces[edge[3]];
-
- if( inf_i->collided || inf_j->collided )
- continue;
-
- v3f co, delta;
- closest_point_segment( co_picture[edge[0]], co_picture[edge[1]],
- rba->co, co );
-
- v3_sub( rba->co, co, delta );
- float d2 = v3_length2( delta ),
- r = rba->inf.sphere.radius;
-
- if( d2 < r*r )
- {
- float d = sqrtf(d2);
+ int count = 0;
- v3_muls( delta, 1.0f/d, delta );
- float c0 = v3_dot( inf_i->normal, delta ),
- c1 = v3_dot( inf_j->normal, delta );
+ float r = b->radius + 0.1f;
+ boxf box;
+ v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] );
+ v3_add( mtxA[3], (v3f){ r,r,r }, box[1] );
- if( c0 < 0.0f || c1 < 0.0f )
- continue;
+ bh_iter it;
+ i32 idx;
+ bh_iter_init_box( 0, &it, box );
+
+ while( bh_next( s->bh_scene, &it, &idx ) ){
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
- rb_ct *ct = buf+count;
+ if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
- v3_muls( inf_i->normal, c0, ct->n );
- v3_muladds( ct->n, inf_j->normal, c1, ct->n );
- v3_normalize( ct->n );
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+
+ buf[ count ].element_id = ptri[0];
- v3_copy( co, ct->co );
- ct->p = r-d;
- ct->rba = rba;
- ct->rbb = rbb;
- ct->element_id = inf_i->element_id;
+ vg_line( tri[0],tri[1],0x70ff6000 );
+ vg_line( tri[1],tri[2],0x70ff6000 );
+ vg_line( tri[2],tri[0],0x70ff6000 );
- count ++;
+ int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] );
+ count += contact;
- if( count == 12 )
- {
- vg_warn( "Geometry too dense!\n" );
- return count;
- }
+ if( count == 16 ){
+ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+ return count;
}
}
-#endif
return count;
}
-VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- scene *sc = rbb->inf.scene.bh_scene->user;
-
- u32 geo[128];
+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];
- int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
+ 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] );
+ }
+
+ m4x3f to_local;
+ m4x3_invert_affine( mtxA, to_local );
+
+ bh_iter it;
+ bh_iter_init_box( 0, &it, world_bbx );
+ int idx;
int count = 0;
- for( int i=0; i<len; i++ )
- {
- u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+ vg_line_boxf( world_bbx, VG__RED );
+
+ 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] );
- if( rb_box_triangle_sat( rba, tri ) )
- {
+ if( rb_box_triangle_sat( extent, center, to_local, tri ) ){
vg_line(tri[0],tri[1],0xff50ff00 );
vg_line(tri[1],tri[2],0xff50ff00 );
vg_line(tri[2],tri[0],0xff50ff00 );
}
- else
- {
+ else{
vg_line(tri[0],tri[1],0xff0000ff );
vg_line(tri[1],tri[2],0xff0000ff );
vg_line(tri[2],tri[0],0xff0000ff );
-
continue;
}
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 */
- float best = v3_dot( rba->right, n );
+ float best = v3_dot( mtxA[0], n );
int axis = 0;
-
- float cy = v3_dot( rba->up, n );
- if( fabsf(cy) > fabsf(best) )
- {
- best = cy;
- axis = 1;
- }
-
- float cz = -v3_dot( rba->forward, n );
- if( fabsf(cz) > fabsf(best) )
- {
- best = cz;
- axis = 2;
+
+ for( int i=1; i<3; i++ ){
+ float c = v3_dot( mtxA[i], n );
+
+ if( fabsf(c) > fabsf(best) ){
+ best = c;
+ axis = i;
+ }
}
v3f manifold[4];
- if( axis == 0 )
- {
- float px = best > 0.0f? rba->bbx[0][0]: rba->bbx[1][0];
+ if( axis == 0 ){
+ float px = best > 0.0f? bbx[0][0]: bbx[1][0];
manifold[0][0] = px;
- manifold[0][1] = rba->bbx[0][1];
- manifold[0][2] = rba->bbx[0][2];
+ manifold[0][1] = bbx[0][1];
+ manifold[0][2] = bbx[0][2];
manifold[1][0] = px;
- manifold[1][1] = rba->bbx[1][1];
- manifold[1][2] = rba->bbx[0][2];
+ manifold[1][1] = bbx[1][1];
+ manifold[1][2] = bbx[0][2];
manifold[2][0] = px;
- manifold[2][1] = rba->bbx[1][1];
- manifold[2][2] = rba->bbx[1][2];
+ manifold[2][1] = bbx[1][1];
+ manifold[2][2] = bbx[1][2];
manifold[3][0] = px;
- manifold[3][1] = rba->bbx[0][1];
- manifold[3][2] = rba->bbx[1][2];
+ manifold[3][1] = bbx[0][1];
+ manifold[3][2] = bbx[1][2];
}
- else if( axis == 1 )
- {
- float py = best > 0.0f? rba->bbx[0][1]: rba->bbx[1][1];
- manifold[0][0] = rba->bbx[0][0];
+ else if( axis == 1 ){
+ float py = best > 0.0f? bbx[0][1]: bbx[1][1];
+ manifold[0][0] = bbx[0][0];
manifold[0][1] = py;
- manifold[0][2] = rba->bbx[0][2];
- manifold[1][0] = rba->bbx[1][0];
+ manifold[0][2] = bbx[0][2];
+ manifold[1][0] = bbx[1][0];
manifold[1][1] = py;
- manifold[1][2] = rba->bbx[0][2];
- manifold[2][0] = rba->bbx[1][0];
+ manifold[1][2] = bbx[0][2];
+ manifold[2][0] = bbx[1][0];
manifold[2][1] = py;
- manifold[2][2] = rba->bbx[1][2];
- manifold[3][0] = rba->bbx[0][0];
+ manifold[2][2] = bbx[1][2];
+ manifold[3][0] = bbx[0][0];
manifold[3][1] = py;
- manifold[3][2] = rba->bbx[1][2];
+ manifold[3][2] = bbx[1][2];
}
- else
- {
- float pz = best > 0.0f? rba->bbx[0][2]: rba->bbx[1][2];
- manifold[0][0] = rba->bbx[0][0];
- manifold[0][1] = rba->bbx[0][1];
+ else{
+ float pz = best > 0.0f? bbx[0][2]: bbx[1][2];
+ manifold[0][0] = bbx[0][0];
+ manifold[0][1] = bbx[0][1];
manifold[0][2] = pz;
- manifold[1][0] = rba->bbx[1][0];
- manifold[1][1] = rba->bbx[0][1];
+ manifold[1][0] = bbx[1][0];
+ manifold[1][1] = bbx[0][1];
manifold[1][2] = pz;
- manifold[2][0] = rba->bbx[1][0];
- manifold[2][1] = rba->bbx[1][1];
+ manifold[2][0] = bbx[1][0];
+ manifold[2][1] = bbx[1][1];
manifold[2][2] = pz;
- manifold[3][0] = rba->bbx[0][0];
- manifold[3][1] = rba->bbx[1][1];
+ manifold[3][0] = bbx[0][0];
+ manifold[3][1] = bbx[1][1];
manifold[3][2] = pz;
}
for( int j=0; j<4; j++ )
- m4x3_mulv( rba->to_world, manifold[j], manifold[j] );
+ m4x3_mulv( mtxA, manifold[j], manifold[j] );
vg_line( manifold[0], manifold[1], 0xffffffff );
vg_line( manifold[1], manifold[2], 0xffffffff );
vg_line( manifold[2], manifold[3], 0xffffffff );
vg_line( manifold[3], manifold[0], 0xffffffff );
- for( int j=0; j<4; j++ )
- {
+ for( int j=0; j<4; j++ ){
rb_ct *ct = buf+count;
v3_copy( manifold[j], ct->co );
if( ct->p < 0.0f )
continue;
- ct->rba = rba;
- ct->rbb = rbb;
+ ct->type = k_contact_type_default;
count ++;
if( count >= 12 )
return count;
}
-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 );
+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 );
- return 0;
-}
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
-VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- return rb_capsule_sphere( rbb, rba, buf );
-}
+ v3f v0, v1, n;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_cross( v0, v1, n );
-VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- return rb_capsule_box( rbb, rba, buf );
-}
+ if( v3_length2( n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
+ vg_error( "Zero area triangle!\n" );
+#endif
+ return 0;
+ }
-VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- return rb_sphere_box( rbb, rba, buf );
-}
+ v3_normalize( n );
-VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
- return rb_box_scene( rbb, rba, buf );
-}
+#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 );
-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_sphere_box, rb_sphere_sphere, rb_sphere_capsule, rb_sphere_scene },
- { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, RB_MATRIX_ERROR },
- { rb_scene_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR }
-};
+ v3f d0, d1;
+ v3_sub( p0w, co, d0 );
+ v3_sub( p1w, co, d1 );
-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];
+ 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 );
- /*
- * 12 is the maximum manifold size we can generate, so we are forced to abort
- * potentially checking any more.
- */
- if( rb_contact_count + 12 > vg_list_size(rb_contact_buffer) )
- {
- vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)",
- rb_contact_count, vg_list_size(rb_contact_buffer) );
- return 0;
+ return 1;
+ }
}
+#endif
+
+ v3f c0, c1;
+ closest_on_triangle_1( p0w, tri, c0 );
+ closest_on_triangle_1( p1w, tri, c1 );
- /*
- * FUTURE: Replace this with a more dedicated broad phase pass
- */
- if( box_overlap( rba->bbx_world, rbb->bbx_world ) )
- {
- int count = collider_jump( rba, rbb, rb_contact_buffer+rb_contact_count);
- rb_contact_count += count;
- return count;
+ v3f d0, d1, da;
+ v3_sub( c0, p0w, d0 );
+ v3_sub( c1, p1w, d1 );
+ v3_sub( p1w, p0w, da );
+
+ v3_normalize(d0);
+ 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;
+
+ v3f ca, cb;
+ float ta, tb;
+ closest_segment_segment( p0w, p1w, tri[i0], tri[i1], &ta, &tb, ca, cb );
+ rb_capsule_manifold( ca, cb, ta, c->radius, &manifold );
+ }
+
+ int count = rb_capsule__manifold_done( mtxA, c, &manifold, buf );
+ for( int i=0; i<count; i++ )
+ v3_copy( n, buf[i].n );
+
+ return count;
+}
+
+/* mtxB is defined only for tradition; it is not used currently */
+static int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
+ m4x3f mtxB, rb_scene *s,
+ 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_context *sc = s->bh_scene->user;
+
+ 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 ];
+ 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] );
+
+ buf[ count ].element_id = ptri[0];
+
+ int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] );
+ count += contact;
+
+ if( count >= 16 ){
+ vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
+ return count;
+ }
}
- else
+
+ return count;
+}
+
+static int rb_global_has_space( void ){
+ if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) )
return 0;
+
+ return 1;
+}
+
+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;
}
+static void rb_prepare_contact( rb_ct *ct, float timestep ){
+ ct->bias = -0.2f * (timestep*3600.0f)
+ * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+
+ 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 */
+static void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){
+ v3_zero( dt );
+
+ for( int j=0; j<7; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ float resolved_amt = v3_dot( ct->n, dt ),
+ remaining = (ct->p-k_penetration_slop) - resolved_amt,
+ apply = vg_maxf( remaining, 0.0f ) * 0.4f;
+
+ v3_muladds( dt, ct->n, apply, dt );
+ }
+ }
+}
+
/*
* Initializing things like tangent vectors
*/
-VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
-{
- for( int i=0; i<len; i++ )
- {
+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] );
-
- ct->norm_impulse = 0.0f;
- ct->tangent_impulse[0] = 0.0f;
- ct->tangent_impulse[1] = 0.0f;
+ rb_prepare_contact( ct, k_rb_delta );
v3f ra, rb, raCn, rbCn, raCt, rbCt;
v3_sub( ct->co, ct->rba->co, ra );
ct->normal_mass += v3_dot( rbCn, rbCnI );
ct->normal_mass = 1.0f/ct->normal_mass;
- for( int j=0; j<2; j++ )
- {
+ for( int j=0; j<2; j++ ){
v3f raCtI, rbCtI;
v3_cross( ct->t[j], ra, raCt );
v3_cross( ct->t[j], rb, rbCt );
}
/*
- * Creates relative contact velocity vector, and offsets between each body
+ * Creates relative contact velocity vector
*/
-VG_STATIC void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db )
-{
- rigidbody *rba = ct->rba,
- *rbb = ct->rbb;
-
- v3_sub( ct->co, rba->co, da );
- v3_sub( ct->co, rbb->co, db );
-
+static void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ){
v3f rva, rvb;
- v3_cross( rba->w, da, rva );
- v3_add( rba->v, rva, rva );
- v3_cross( rbb->w, db, rvb );
- v3_add( rbb->v, rvb, rvb );
+ v3_cross( rba->w, ra, rva );
+ v3_add( rba->v, rva, rva );
+ v3_cross( rbb->w, rb, rvb );
+ v3_add( rbb->v, rvb, rvb );
v3_sub( rva, rvb, rv );
}
+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 );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
+
+ float v = v3_dot( rv, ct->n );
+
+ if( v < -1.0f ){
+ ct->bias += -cr * v;
+ }
+}
+
/*
* 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 )
-{
- for( int i=0; i<len; i++ )
- {
+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;
- rb_rcv( ct, rv, da, db );
+ v3f rv, ra, rb;
+ v3_sub( ct->co, ct->rba->co, ra );
+ v3_sub( ct->co, ct->rbb->co, rb );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
/* Friction */
- for( int j=0; j<2; j++ )
- {
+ for( int j=0; j<2; j++ ){
float f = k_friction * ct->norm_impulse,
vt = v3_dot( rv, ct->t[j] ),
lambda = ct->tangent_mass[j] * -vt;
v3f impulse;
v3_muls( ct->t[j], lambda, impulse );
- rb_linear_impulse( ct->rba, da, impulse );
+ rb_linear_impulse( ct->rba, ra, impulse );
v3_muls( ct->t[j], -lambda, impulse );
- rb_linear_impulse( ct->rbb, db, impulse );
+ rb_linear_impulse( ct->rbb, rb, impulse );
}
/* Normal */
- rb_rcv( ct, rv, da, db );
+ rb_rcv( ct->rba, ct->rbb, ra, rb, rv );
float vn = v3_dot( rv, ct->n ),
lambda = ct->normal_mass * (-vn + ct->bias);
v3f impulse;
v3_muls( ct->n, lambda, impulse );
- rb_linear_impulse( ct->rba, da, impulse );
+ rb_linear_impulse( ct->rba, ra, impulse );
v3_muls( ct->n, -lambda, impulse );
- rb_linear_impulse( ct->rbb, db, impulse );
+ rb_linear_impulse( ct->rbb, rb, impulse );
}
}
* -----------------------------------------------------------------------------
*/
-VG_STATIC void draw_angle_limit( v3f c, v3f major, v3f minor,
- float amin, float amax, float measured,
- u32 colour )
-{
- float f = 0.05f;
- v3f ay, ax;
- v3_muls( major, f, ay );
- v3_muls( minor, f, ax );
+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;
- for( int x=0; x<16; x++ )
- {
- float t0 = (float)x / 16.0f,
- t1 = (float)(x+1) / 16.0f,
- a0 = vg_lerpf( amin, amax, t0 ),
- a1 = vg_lerpf( amin, amax, t1 );
+ v3f wca, wcb;
+ m3x3_mulv( rba->to_world, constr->lca, wca );
+ m3x3_mulv( rbb->to_world, constr->lcb, wcb );
v3f p0, p1;
- v3_muladds( c, ay, cosf(a0), p0 );
- v3_muladds( p0, ax, sinf(a0), p0 );
- v3_muladds( c, ay, cosf(a1), p1 );
- v3_muladds( p1, ax, sinf(a1), p1 );
+ v3_add( wca, rba->co, p0 );
+ v3_add( wcb, rbb->co, p1 );
+ vg_line_point( p0, 0.0025f, 0xff000000 );
+ vg_line_point( p1, 0.0025f, 0xffffffff );
+ vg_line2( p0, p1, 0xff000000, 0xffffffff );
+ }
+}
+
+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_line( p0, p1, colour );
+ v3f vx, vy, va, vxb, axis, center;
+
+ m3x3_mulv( st->rba->to_world, st->conevx, vx );
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
+ m3x3_mulv( st->rba->to_world, st->conevy, vy );
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
+ m4x3_mulv( st->rba->to_world, st->view_offset, center );
+ v3_cross( vy, vx, axis );
+
+ /* Constraint violated ? */
+ float fx = v3_dot( vx, va ), /* projection world */
+ fy = v3_dot( vy, va ),
+ fn = v3_dot( va, axis ),
+
+ rx = st->conevx[3], /* elipse radii */
+ ry = st->conevy[3],
+
+ lx = fx/rx, /* projection local (fn==lz) */
+ ly = fy/ry;
+
+ st->tangent_violation = ((lx*lx + ly*ly) > fn*fn) || (fn <= 0.0f);
+ if( st->tangent_violation ){
+ /* Calculate a good position and the axis to solve on */
+ v2f closest, tangent,
+ p = { fx/fabsf(fn), fy/fabsf(fn) };
+
+ closest_point_elipse( p, (v2f){rx,ry}, closest );
+ tangent[0] = -closest[1] / (ry*ry);
+ tangent[1] = closest[0] / (rx*rx);
+ v2_normalize( tangent );
+
+ v3f v0, v1;
+ v3_muladds( axis, vx, closest[0], v0 );
+ v3_muladds( v0, vy, closest[1], v0 );
+ v3_normalize( v0 );
+
+ v3_muls( vx, tangent[0], v1 );
+ v3_muladds( v1, vy, tangent[1], v1 );
+
+ v3_copy( v0, st->tangent_target );
+ v3_copy( v1, st->tangent_axis );
+
+ /* calculate mass */
+ v3f aIw, bIw;
+ m3x3_mulv( st->rba->iIw, st->tangent_axis, aIw );
+ m3x3_mulv( st->rbb->iIw, st->tangent_axis, bIw );
+ st->tangent_mass = 1.0f / (v3_dot( st->tangent_axis, aIw ) +
+ v3_dot( st->tangent_axis, bIw ));
+
+ float angle = v3_dot( va, st->tangent_target );
+ }
- if( x == 0 )
- vg_line( c, p0, colour );
- if( x == 15 )
- vg_line( c, p1, colour );
- }
+ v3f refaxis;
+ v3_cross( vy, va, refaxis ); /* our default rotation */
+ v3_normalize( refaxis );
- v3f p2;
- v3_muladds( c, ay, cosf(measured)*1.2f, p2 );
- v3_muladds( p2, ax, sinf(measured)*1.2f, p2 );
- vg_line( c, p2, colour );
-}
+ float angle = v3_dot( refaxis, vxb );
+ st->axis_violation = fabsf(angle) < st->conet;
-VG_STATIC void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
- v3f limits[2] )
-{
- v3f ax, ay, az, bx, by, bz;
- m3x3_mulv( ra->to_world, (v3f){1.0f,0.0f,0.0f}, ax );
- m3x3_mulv( ra->to_world, (v3f){0.0f,1.0f,0.0f}, ay );
- m3x3_mulv( ra->to_world, (v3f){0.0f,0.0f,1.0f}, az );
- m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f,0.0f}, bx );
- m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f,0.0f}, by );
- m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,1.0f}, bz );
-
- v2f px, py, pz;
- px[0] = v3_dot( ay, by );
- px[1] = v3_dot( az, by );
-
- py[0] = v3_dot( az, bz );
- py[1] = v3_dot( ax, bz );
-
- pz[0] = v3_dot( ax, bx );
- pz[1] = v3_dot( ay, bx );
-
- float r0 = atan2f( px[1], px[0] ),
- r1 = atan2f( py[1], py[0] ),
- r2 = atan2f( pz[1], pz[0] );
-
- v3f c;
- m4x3_mulv( ra->to_world, lca, c );
- draw_angle_limit( c, ay, az, limits[0][0], limits[1][0], r0, 0xff0000ff );
- draw_angle_limit( c, az, ax, limits[0][1], limits[1][1], r1, 0xff00ff00 );
- draw_angle_limit( c, ax, ay, limits[0][2], limits[1][2], r2, 0xffff0000 );
+ if( st->axis_violation ){
+ v3f dir_test;
+ v3_cross( refaxis, vxb, dir_test );
+
+ if( v3_dot(dir_test, va) < 0.0f )
+ st->axis_violation = -st->axis_violation;
+
+ float newang = (float)st->axis_violation * acosf(st->conet-0.0001f);
+
+ v3f refaxis_up;
+ v3_cross( va, refaxis, refaxis_up );
+ v3_muls( refaxis_up, sinf(newang), st->axis_target );
+ v3_muladds( st->axis_target, refaxis, -cosf(newang), st->axis_target );
+
+ /* calculate mass */
+ v3_copy( va, st->axis );
+ v3f aIw, bIw;
+ m3x3_mulv( st->rba->iIw, st->axis, aIw );
+ m3x3_mulv( st->rbb->iIw, st->axis, bIw );
+ st->axis_mass = 1.0f / (v3_dot( st->axis, aIw ) +
+ v3_dot( st->axis, bIw ));
+ }
+ }
}
-VG_STATIC void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
-{
- if( d != 0.0f )
- {
- float avx = v3_dot( ra->w, axis ) - v3_dot( rb->w, axis );
- float joint_mass = rb->inv_mass + ra->inv_mass;
- joint_mass = 1.0f/joint_mass;
+static void rb_debug_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 ];
+
+ v3f vx, vxb, vy, va, axis, center;
+
+ m3x3_mulv( st->rba->to_world, st->conevx, vx );
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
+ m3x3_mulv( st->rba->to_world, st->conevy, vy );
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
+ m4x3_mulv( st->rba->to_world, st->view_offset, center );
+ v3_cross( vy, vx, axis );
+
+ float rx = st->conevx[3], /* elipse radii */
+ ry = st->conevy[3];
+
+ v3f p0, p1;
+ v3_muladds( center, va, size, p1 );
+ vg_line( center, p1, 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_point( p0, 0.00025f, 0xff00ff00 );
+ vg_line( p1, p0, 0xff000000 );
+ }
+
+ for( int x=0; x<32; x++ ){
+ float t0 = ((float)x * (1.0f/32.0f)) * VG_TAUf,
+ t1 = (((float)x+1.0f) * (1.0f/32.0f)) * VG_TAUf,
+ c0 = cosf( t0 ),
+ s0 = sinf( t0 ),
+ c1 = cosf( t1 ),
+ s1 = sinf( t1 );
+
+ v3f v0, v1;
+ v3_muladds( axis, vx, c0*rx, v0 );
+ v3_muladds( v0, vy, s0*ry, v0 );
+ v3_muladds( axis, vx, c1*rx, v1 );
+ v3_muladds( v1, vy, s1*ry, v1 );
+
+ v3_normalize( v0 );
+ v3_normalize( v1 );
+
+ v3_muladds( center, v0, size, p0 );
+ v3_muladds( center, v1, size, p1 );
+
+ u32 col0r = fabsf(c0) * 255.0f,
+ col0g = fabsf(s0) * 255.0f,
+ col1r = fabsf(c1) * 255.0f,
+ col1g = fabsf(s1) * 255.0f,
+ col = st->tangent_violation? 0xff0000ff: 0xff000000,
+ col0 = col | (col0r<<16) | (col0g << 8),
+ col1 = col | (col1r<<16) | (col1g << 8);
+
+ vg_line2( center, p0, VG__NONE, col0 );
+ vg_line2( p0, p1, col0, col1 );
+ }
+
+ /* Draw twist */
+ v3_muladds( center, va, size, p0 );
+ v3_muladds( p0, vxb, size, p1 );
+
+ vg_line( p0, p1, 0xff0000ff );
+
+ if( st->axis_violation ){
+ v3_muladds( p0, st->axis_target, size*1.25f, p1 );
+ vg_line( p0, p1, 0xffffff00 );
+ vg_line_point( p1, 0.0025f, 0xffffff80 );
+ }
+
+ v3f refaxis;
+ v3_cross( vy, va, refaxis ); /* our default rotation */
+ v3_normalize( refaxis );
+ v3f refaxis_up;
+ v3_cross( va, refaxis, refaxis_up );
+ float newang = acosf(st->conet-0.0001f);
- float bias = (k_limit_bias * k_rb_rate) * d,
- lambda = -(avx + bias) * joint_mass;
+ v3_muladds( p0, refaxis_up, sinf(newang)*size, p1 );
+ v3_muladds( p1, refaxis, -cosf(newang)*size, p1 );
+ vg_line( p0, p1, 0xff000000 );
+
+ v3_muladds( p0, refaxis_up, sinf(-newang)*size, p1 );
+ v3_muladds( p1, refaxis, -cosf(-newang)*size, p1 );
+ vg_line( p0, p1, 0xff404040 );
+ }
+}
+
+/*
+ * Solve a list of positional constraints
+ */
+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;
- /* Angular velocity */
v3f wa, wb;
- v3_muls( axis, lambda * ra->inv_mass, wa );
- v3_muls( axis, -lambda * rb->inv_mass, wb );
+ m3x3_mulv( rba->to_world, constr->lca, wa );
+ m3x3_mulv( rbb->to_world, constr->lcb, wb );
- v3_add( ra->w, wa, ra->w );
- v3_add( rb->w, wb, rb->w );
+ m3x3f ssra, ssrat, ssrb, ssrbt;
+
+ m3x3_skew_symetric( ssrat, wa );
+ m3x3_skew_symetric( ssrbt, wb );
+ m3x3_transpose( ssrat, ssra );
+ m3x3_transpose( ssrbt, ssrb );
+
+ v3f b, b_wa, b_wb, b_a, b_b;
+ m3x3_mulv( ssra, rba->w, b_wa );
+ m3x3_mulv( ssrb, rbb->w, b_wb );
+ v3_add( rba->v, b_wa, b );
+ v3_sub( b, rbb->v, b );
+ v3_sub( b, b_wb, b );
+ v3_muls( b, -1.0f, b );
+
+ m3x3f invMa, invMb;
+ m3x3_diagonal( invMa, rba->inv_mass );
+ m3x3_diagonal( invMb, rbb->inv_mass );
+
+ m3x3f ia, ib;
+ m3x3_mul( ssra, rba->iIw, ia );
+ m3x3_mul( ia, ssrat, ia );
+ m3x3_mul( ssrb, rbb->iIw, ib );
+ m3x3_mul( ib, ssrbt, ib );
+
+ m3x3f cma, cmb;
+ m3x3_add( invMa, ia, cma );
+ m3x3_add( invMb, ib, cmb );
+
+ m3x3f A;
+ m3x3_add( cma, cmb, A );
+
+ /* Solve Ax = b ( A^-1*b = x ) */
+ v3f impulse;
+ m3x3f invA;
+ m3x3_inv( A, invA );
+ m3x3_mulv( invA, b, impulse );
+
+ v3f delta_va, delta_wa, delta_vb, delta_wb;
+ m3x3f iwa, iwb;
+ m3x3_mul( rba->iIw, ssrat, iwa );
+ m3x3_mul( rbb->iIw, ssrbt, iwb );
+
+ m3x3_mulv( invMa, impulse, delta_va );
+ m3x3_mulv( invMb, impulse, delta_vb );
+ m3x3_mulv( iwa, impulse, delta_wa );
+ m3x3_mulv( iwb, impulse, delta_wb );
+
+ v3_add( rba->v, delta_va, rba->v );
+ v3_add( rba->w, delta_wa, rba->w );
+ v3_sub( rbb->v, delta_vb, rbb->v );
+ v3_sub( rbb->w, delta_wb, rbb->w );
}
}
-VG_STATIC void rb_constraint_limits( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb, v3f limits[2] )
-{
- v3f ax, ay, az, bx, by, bz;
- m3x3_mulv( ra->to_world, (v3f){1.0f,0.0f,0.0f}, ax );
- m3x3_mulv( ra->to_world, (v3f){0.0f,1.0f,0.0f}, ay );
- m3x3_mulv( ra->to_world, (v3f){0.0f,0.0f,1.0f}, az );
- m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f,0.0f}, bx );
- m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f,0.0f}, by );
- m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,1.0f}, bz );
-
- v2f px, py, pz;
- px[0] = v3_dot( ay, by );
- px[1] = v3_dot( az, by );
-
- py[0] = v3_dot( az, bz );
- py[1] = v3_dot( ax, bz );
-
- pz[0] = v3_dot( ax, bx );
- pz[1] = v3_dot( ay, bx );
-
- float r0 = atan2f( px[1], px[0] ),
- r1 = atan2f( py[1], py[0] ),
- r2 = atan2f( pz[1], pz[0] );
-
- /* calculate angle deltas */
- float dx = 0.0f, dy = 0.0f, dz = 0.0f;
-
- if( r0 < limits[0][0] ) dx = limits[0][0] - r0;
- if( r0 > limits[1][0] ) dx = limits[1][0] - r0;
- if( r1 < limits[0][1] ) dy = limits[0][1] - r1;
- if( r1 > limits[1][1] ) dy = limits[1][1] - r1;
- if( r2 < limits[0][2] ) dz = limits[0][2] - r2;
- if( r2 > limits[1][2] ) dz = limits[1][2] - r2;
-
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
-
- rb_limit_cure( ra, rb, ax, dx );
- rb_limit_cure( ra, rb, ay, dy );
- rb_limit_cure( ra, rb, az, dz );
+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 ];
+
+ if( !st->axis_violation )
+ continue;
+
+ float rv = v3_dot( st->axis, st->rbb->w ) -
+ v3_dot( st->axis, st->rba->w );
+
+ if( rv * (float)st->axis_violation > 0.0f )
+ continue;
+
+ v3f impulse, wa, wb;
+ v3_muls( st->axis, rv*st->axis_mass, impulse );
+ m3x3_mulv( st->rba->iIw, impulse, wa );
+ v3_add( st->rba->w, wa, st->rba->w );
+
+ v3_muls( impulse, -1.0f, impulse );
+ m3x3_mulv( st->rbb->iIw, impulse, wb );
+ v3_add( st->rbb->w, wb, st->rbb->w );
+
+ float rv2 = v3_dot( st->axis, st->rbb->w ) -
+ v3_dot( st->axis, st->rba->w );
+ }
+
+ for( int i=0; i<len; i++ ){
+ rb_constr_swingtwist *st = &buf[ i ];
+
+ if( !st->tangent_violation )
+ continue;
+
+ float rv = v3_dot( st->tangent_axis, st->rbb->w ) -
+ v3_dot( st->tangent_axis, st->rba->w );
+
+ if( rv > 0.0f )
+ continue;
+
+ v3f impulse, wa, wb;
+ v3_muls( st->tangent_axis, rv*st->tangent_mass, impulse );
+ m3x3_mulv( st->rba->iIw, impulse, wa );
+ v3_add( st->rba->w, wa, st->rba->w );
+
+ v3_muls( impulse, -1.0f, impulse );
+ m3x3_mulv( st->rbb->iIw, impulse, wb );
+ v3_add( st->rbb->w, wb, st->rbb->w );
+
+ float rv2 = v3_dot( st->tangent_axis, st->rbb->w ) -
+ v3_dot( st->tangent_axis, st->rba->w );
+ }
}
-VG_STATIC void rb_debug_constraint_position( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb )
-{
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+static void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
+ v3f ra, v3f rb ){
+ m3x3f ssra, ssrb, ssrat, ssrbt;
+ m3x3f cma, cmb;
+
+ m3x3_skew_symetric( ssrat, ra );
+ m3x3_skew_symetric( ssrbt, rb );
+ m3x3_transpose( ssrat, ssra );
+ m3x3_transpose( ssrbt, ssrb );
+
+ m3x3_mul( ssra, rba->iIw, cma );
+ m3x3_mul( cma, ssrat, cma );
+ m3x3_mul( ssrb, rbb->iIw, cmb );
+ m3x3_mul( cmb, ssrbt, cmb );
+
+ m3x3f A, invA;
+ m3x3_add( cma, cmb, A );
+ m3x3_inv( A, invA );
+
+ v3f b_wa, b_wb, b;
+ m3x3_mulv( ssra, rba->w, b_wa );
+ m3x3_mulv( ssrb, rbb->w, b_wb );
+ v3_add( b_wa, b_wb, b );
+ v3_negate( b, b );
+
+ v3f impulse;
+ m3x3_mulv( invA, b, impulse );
+
+ v3f delta_wa, delta_wb;
+ m3x3f iwa, iwb;
+ m3x3_mul( rba->iIw, ssrat, iwa );
+ m3x3_mul( rbb->iIw, ssrbt, iwb );
+ m3x3_mulv( iwa, impulse, delta_wa );
+ m3x3_mulv( iwb, impulse, delta_wb );
+ v3_add( rba->w, delta_wa, rba->w );
+ v3_sub( rbb->w, delta_wb, rbb->w );
+}
- v3f p0, p1;
- v3_add( wca, ra->co, p0 );
- v3_add( wcb, rb->co, p1 );
- vg_line_pt3( p0, 0.005f, 0xffffff00 );
- vg_line_pt3( p1, 0.005f, 0xffffff00 );
- vg_line( p0, p1, 0xffffff00 );
+/*
+ * Correct position constraint drift errors
+ * [ 0.0 <= amt <= 1.0 ]: the correction amount
+ */
+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;
+
+ v3f p0, p1, d;
+ m3x3_mulv( rba->to_world, constr->lca, p0 );
+ m3x3_mulv( rbb->to_world, constr->lcb, p1 );
+ v3_add( rba->co, p0, p0 );
+ v3_add( rbb->co, p1, p1 );
+ v3_sub( p1, p0, d );
+
+ v3_muladds( rbb->co, d, -1.0f * amt, rbb->co );
+ rb_update_transform( rbb );
+ }
}
-VG_STATIC void rb_constraint_position( rigidbody *ra, v3f lca,
- rigidbody *rb, v3f lcb )
-{
- /* C = (COa + Ra*LCa) - (COb + Rb*LCb) = 0 */
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+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 rcv;
- v3_sub( ra->v, rb->v, rcv );
+ if( !st->tangent_violation )
+ continue;
- v3f rcv_Ra, rcv_Rb;
- v3_cross( ra->w, wca, rcv_Ra );
- v3_cross( rb->w, wcb, rcv_Rb );
- v3_add( rcv_Ra, rcv, rcv );
- v3_sub( rcv, rcv_Rb, rcv );
+ v3f va;
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
- v3f delta;
- v3f p0, p1;
- v3_add( wca, ra->co, p0 );
- v3_add( wcb, rb->co, p1 );
- v3_sub( p1, p0, delta );
+ float angle = v3_dot( va, st->tangent_target );
- float dist2 = v3_length2( delta );
+ if( fabsf(angle) < 0.9999f ){
+ v3f axis;
+ v3_cross( va, st->tangent_target, axis );
- if( dist2 > 0.00001f )
- {
- float dist = sqrtf(dist2);
- v3_muls( delta, 1.0f/dist, delta );
+ v4f correction;
+ q_axis_angle( correction, axis, acosf(angle) * amt );
+ q_mul( correction, st->rbb->q, st->rbb->q );
+ rb_update_transform( st->rbb );
+ }
+ }
- float joint_mass = rb->inv_mass + ra->inv_mass;
+ for( int i=0; i<len; i++ ){
+ rb_constr_swingtwist *st = &buf[i];
- v3f raCn, rbCn, raCt, rbCt;
- v3_cross( wca, delta, raCn );
- v3_cross( wcb, delta, rbCn );
-
- /* orient inverse inertia tensors */
- v3f raCnI, rbCnI;
- m3x3_mulv( ra->iIw, raCn, raCnI );
- m3x3_mulv( rb->iIw, rbCn, rbCnI );
- joint_mass += v3_dot( raCn, raCnI );
- joint_mass += v3_dot( rbCn, rbCnI );
- joint_mass = 1.0f/joint_mass;
+ if( !st->axis_violation )
+ continue;
- float vd = v3_dot( rcv, delta ),
- bias = -(k_joint_bias * k_rb_rate) * dist,
- lambda = -(vd + bias) * joint_mass;
+ v3f vxb;
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
- v3f impulse;
- v3_muls( delta, lambda, impulse );
- rb_linear_impulse( ra, wca, impulse );
- v3_muls( delta, -lambda, impulse );
- rb_linear_impulse( rb, wcb, impulse );
-
- /* 'fake' snap */
- v3_muladds( ra->co, delta, dist * k_joint_correction, ra->co );
- v3_muladds( rb->co, delta, -dist * k_joint_correction, rb->co );
+ float angle = v3_dot( vxb, st->axis_target );
+
+ if( fabsf(angle) < 0.9999f ){
+ v3f axis;
+ v3_cross( vxb, st->axis_target, axis );
+
+ v4f correction;
+ q_axis_angle( correction, axis, acosf(angle) * amt );
+ q_mul( correction, st->rbb->q, st->rbb->q );
+ rb_update_transform( st->rbb );
+ }
+ }
+}
+
+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;
+
+ f32 mass_total = 1.0f / (rba->inv_mass + rbb->inv_mass),
+ d = ct->p*mass_total*amt;
+
+ 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;
v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
}
-/*
- * -----------------------------------------------------------------------------
- * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
- * realtime use.
- * -----------------------------------------------------------------------------
+/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to
+ * rt(worldspace)
*/
+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 );
+ float a = acosf( vg_clampf( d, -1.0f, 1.0f ) );
-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 );
-}
-
-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;
-}
-
-VG_STATIC void rb_bh_swap( void *user, u32 ia, u32 ib )
-{
- rigidbody temp, *rba, *rbb;
- rba = &((rigidbody *)user)[ ia ];
- rbb = &((rigidbody *)user)[ ib ];
+ v3f axis;
+ v3_cross( rt, ra, axis );
- temp = *rba;
- *rba = *rbb;
- *rbb = temp;
-}
+ float Fs = -a * spring,
+ Fd = -v3_dot( rba->w, axis ) * dampening;
-VG_STATIC void rb_bh_debug( void *user, u32 item_index )
-{
- rigidbody *rb = &((rigidbody *)user)[ item_index ];
- rb_debug( rb, 0xff00ffff );
+ v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w );
}
-VG_STATIC bh_system bh_system_rigidbodies =
-{
- .expand_bound = rb_bh_expand_bound,
- .item_centroid = rb_bh_centroid,
- .item_swap = rb_bh_swap,
- .item_debug = rb_bh_debug,
- .cast_ray = NULL
-};
-
#endif /* RIGIDBODY_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff