VG_STATIC void rb_register_cvar(void)
{
- vg_var_push( (struct vg_var){
- .name = "k_limit_bias", .data = &k_limit_bias,
- .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_joint_bias", .data = &k_joint_bias,
- .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_joint_correction", .data = &k_joint_correction,
- .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_joint_impulse", .data = &k_joint_impulse,
- .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
- });
+ 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 rb_capsule rb_capsule;
typedef struct rb_scene rb_scene;
-struct rb_sphere
-{
+struct rb_sphere{
float radius;
};
-struct rb_capsule
-{
+struct rb_capsule{
float height, radius;
};
-struct rb_scene
-{
+struct rb_scene{
bh_tree *bh_scene;
};
-struct rigidbody
-{
+struct rigidbody{
v3f co, v, w;
v4f q;
};
/* simple objects */
-struct rb_object
-{
+struct rb_object{
rigidbody rb;
enum rb_shape{
k_rb_shape_box = 0,
}
type;
- union
- {
+ union{
struct rb_sphere sphere;
struct rb_capsule capsule;
struct rb_scene scene;
inf;
};
-VG_STATIC struct contact
-{
+VG_STATIC struct contact{
rigidbody *rba, *rbb;
v3f co, n;
v3f t[2];
typedef struct rb_constr_pos rb_constr_pos;
typedef struct rb_constr_swingtwist rb_constr_swingtwist;
-struct rb_constr_pos
-{
+struct rb_constr_pos{
rigidbody *rba, *rbb;
v3f lca, lcb;
};
-struct rb_constr_swingtwist
-{
+struct rb_constr_swingtwist{
rigidbody *rba, *rbb;
v4f conevx, conevy; /* relative to rba */
float tangent_mass, axis_mass;
};
-struct rb_constr_spring
-{
+struct rb_constr_spring{
int nothing;
};
VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
{
/* Compute tangent basis (box2d) */
- if( fabsf( n[0] ) >= 0.57735027f )
- {
+ if( fabsf( n[0] ) >= 0.57735027f ){
tx[0] = n[1];
tx[1] = -n[0];
tx[2] = 0.0f;
}
- else
- {
+ else{
tx[0] = 0.0f;
tx[1] = n[2];
tx[2] = -n[1];
v3f p1;
v3_muladds( ct->co, ct->n, 0.05f, p1 );
- if( ct->type == k_contact_type_default )
- {
+ if( ct->type == k_contact_type_default ){
vg_line_pt3( ct->co, 0.0125f, 0xff0000ff );
vg_line( ct->co, p1, 0xffffffff );
}
- else if( ct->type == k_contact_type_edge )
- {
+ else if( ct->type == k_contact_type_edge ){
vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 );
vg_line( ct->co, p1, 0xffffffff );
}
lx = { 0.0f, radius, 0.0f },
lz = { 0.0f, 0.0f, radius };
- for( int i=0; i<16; i++ )
- {
+ 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);
vg_line( a0, a1, colour );
vg_line( b0, b1, colour );
- for( int i=0; i<16; i++ )
- {
+ 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;
vg_line( a0, a1, colour );
vg_line( b0, b1, colour );
- if( c0 < 0.0f )
- {
+ 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
- {
+ else{
v3_add( p1, e2, a0 );
v3_add( p1, e3, a1 );
v3_add( p1, e4, b0 );
*/
VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
{
- float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
-
+ float substep = vg.time_fixed_extrapolate;
v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
if( v3_length2( rb->w ) > 0.0f ){
!vg_validf( rb->v[1] ) ||
!vg_validf( rb->v[2] ) )
{
- vg_fatal_exit_loop( "NaN velocity" );
+ vg_fatal_error( "NaN velocity" );
}
v3f gravity = { 0.0f, -9.8f, 0.0f };
v3_sub( tri[i], center, tri[i] );
}
+ 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 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;
+
/* 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;
- 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 );
-
/* normal */
+ v3_cross( f0, f1, n );
if(!rb_box_triangle_interval( extent, n, tri )) return 0;
- 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;
-
return 1;
}
VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
m4x3f mtxB, rb_scene *s, rb_ct *buf )
{
- scene *sc = s->bh_scene->user;
+ scene_context *sc = s->bh_scene->user;
bh_iter it;
bh_iter_init( 0, &it );
VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
m4x3f mtxB, rb_scene *s, rb_ct *buf )
{
- scene *sc = s->bh_scene->user;
+#if 1
+ scene_context *sc = s->bh_scene->user;
v3f tri[3];
v3f extent, center;
}
}
return count;
+#else
+
+ scene *sc = s->bh_scene->user;
+ v3f tri[3];
+
+ v3f extent, center;
+ v3_sub( bbx[1], bbx[0], extent );
+ v3_muls( extent, 0.5f, extent );
+ v3_add( bbx[0], extent, center );
+
+ float r = v3_length(extent);
+ boxf world_bbx;
+ v3_fill( world_bbx[0], -r );
+ v3_fill( world_bbx[1], r );
+ for( int i=0; i<2; i++ ){
+ v3_add( center, world_bbx[i], world_bbx[i] );
+ v3_add( mtxA[3], world_bbx[i], world_bbx[i] );
+ }
+
+ m4x3f to_local;
+ m4x3_invert_affine( mtxA, to_local );
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+ int count = 0;
+
+ vg_line_boxf( world_bbx, VG__RED );
+
+ while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
+
+ vg_line( tri[0],tri[1],VG__BLACK );
+ vg_line( tri[1],tri[2],VG__BLACK );
+ vg_line( tri[2],tri[0],VG__BLACK );
+
+ v3f clip[2][8];
+ u32 clip_length = 0;
+ }
+
+#endif
}
VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
v3_sub( mtxA[3], (v3f){ c->height, c->height, c->height }, bbx[0] );
v3_add( mtxA[3], (v3f){ c->height, c->height, c->height }, bbx[1] );
- scene *sc = s->bh_scene->user;
+ scene_context *sc = s->bh_scene->user;
while( bh_next( s->bh_scene, &it, bbx, &idx ) ){
u32 *ptri = &sc->arrindices[ idx*3 ];
v3_sub( rva, rvb, rv );
}
+VG_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
*/
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff