* Extrapolate rigidbody into a transform based on vg accumulator.
* Useful for rendering
*/
+#if 0
__attribute__ ((deprecated))
VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform )
{
q_m3x3( q, transform );
v3_copy( co, transform[3] );
}
+#endif
VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
{
/*
* Seperating axis test box vs triangle
*/
-VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] )
+VG_STATIC int rb_box_triangle_sat( v3f extent, v3f center,
+ m4x3f to_local, 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 );
-
- for( int i=0; i<3; i++ )
- {
- m4x3_mulv( rba->to_local, tri_src[i], tri[i] );
- v3_sub( tri[i], c, tri[i] );
+ for( int i=0; i<3; i++ ){
+ m4x3_mulv( to_local, tri_src[i], tri[i] );
+ v3_sub( tri[i], center, tri[i] );
}
/* u0, u1, u2 */
manifold->t1 = -INFINITY;
}
+#if 0
__attribute__ ((deprecated))
VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
capsule_manifold *manifold, rb_ct *buf )
return count;
}
+#endif
VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
capsule_manifold *manifold,
return 0;
}
-VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
+ m4x3f mtxB, rb_capsule *cb, rb_ct *buf )
{
- if( !box_overlap( rba->bbx_world, rbb->bbx_world ) )
- return 0;
-
- float ha = rba->inf.capsule.height,
- hb = rbb->inf.capsule.height,
- ra = rba->inf.capsule.radius,
- rb = rbb->inf.capsule.radius,
+ 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 );
}
+#if 0
/*
* Generates up to two contacts; optimised for the most stable manifold
*/
return rb_capsule_manifold_done( rba, rbb, &manifold, buf );
}
+#endif
VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
//#define RIGIDBODY_DYNAMIC_MESH_EDGES
+#if 0
__attribute__ ((deprecated))
VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
return 0;
}
+#endif
VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
v3f tri[3], rb_ct *buf )
return count;
}
+#if 0
__attribute__ ((deprecated))
VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return count;
}
+#endif
+VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
+ m4x3f mtxB, rb_scene *s, rb_ct *buf )
+{
+ 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] );
+
+ 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{
+ vg_line(tri[0],tri[1],0xff0000ff );
+ vg_line(tri[1],tri[2],0xff0000ff );
+ vg_line(tri[2],tri[0],0xff0000ff );
+ continue;
+ }
+
+ v3f v0,v1,n;
+ v3_sub( tri[1], tri[0], v0 );
+ v3_sub( tri[2], tri[0], v1 );
+ v3_cross( v0, v1, n );
+ v3_normalize( n );
+
+ /* find best feature */
+ float best = v3_dot( mtxA[0], n );
+ int axis = 0;
+
+ 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? bbx[0][0]: bbx[1][0];
+ manifold[0][0] = px;
+ manifold[0][1] = bbx[0][1];
+ manifold[0][2] = bbx[0][2];
+ manifold[1][0] = px;
+ manifold[1][1] = bbx[1][1];
+ manifold[1][2] = bbx[0][2];
+ manifold[2][0] = px;
+ manifold[2][1] = bbx[1][1];
+ manifold[2][2] = bbx[1][2];
+ manifold[3][0] = px;
+ manifold[3][1] = bbx[0][1];
+ manifold[3][2] = bbx[1][2];
+ }
+ 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] = bbx[0][2];
+ manifold[1][0] = bbx[1][0];
+ manifold[1][1] = py;
+ manifold[1][2] = bbx[0][2];
+ manifold[2][0] = bbx[1][0];
+ manifold[2][1] = py;
+ manifold[2][2] = bbx[1][2];
+ manifold[3][0] = bbx[0][0];
+ manifold[3][1] = py;
+ manifold[3][2] = bbx[1][2];
+ }
+ 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] = bbx[1][0];
+ manifold[1][1] = bbx[0][1];
+ manifold[1][2] = pz;
+ manifold[2][0] = bbx[1][0];
+ manifold[2][1] = bbx[1][1];
+ manifold[2][2] = pz;
+ 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( 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++ ){
+ rb_ct *ct = buf+count;
+
+ v3_copy( manifold[j], ct->co );
+ v3_copy( n, ct->n );
+
+ float l0 = v3_dot( tri[0], n ),
+ l1 = v3_dot( manifold[j], n );
+
+ ct->p = (l0-l1)*0.5f;
+ if( ct->p < 0.0f )
+ continue;
+
+ ct->type = k_contact_type_default;
+ count ++;
+
+ if( count >= 12 )
+ return count;
+ }
+ }
+ return count;
+}
+
+#if 0
+__attribute__ ((deprecated))
VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
scene *sc = rbb->inf.scene.bh_scene->user;
}
return count;
}
+#endif
VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
v3f tri[3], rb_ct *buf )
/*
* Generates up to two contacts; optimised for the most stable manifold
*/
+#if 0
__attribute__ ((deprecated))
VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb,
v3f tri[3], rb_ct *buf )
return count;
}
+#endif
/* mtxB is defined only for tradition; it is not used currently */
VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
return count;
}
+#if 0
__attribute__ ((deprecated))
VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
{
return rb_capsule_scene( rbb, rba, buf );
}
+#endif
VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_capsule_sphere( rbb, rba, buf );
}
+#if 0
VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_capsule_box( rbb, rba, buf );
}
+#endif
VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_sphere_box( rbb, rba, buf );
}
+#if 0
VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
return rb_box_scene( rbb, rba, buf );
}
+#endif
+#if 0
VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) =
{
/* box */ /* Sphere */ /* Capsule */ /* Mesh */
else
return 0;
}
+#endif
+
+VG_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 )
+{
+ return &rb_contact_buffer[ rb_contact_count ];
+}
/*
* -----------------------------------------------------------------------------
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff