i hope your hapy

[carveJwlIkooP6JGAAIwe30JlM.git] / rigidbody.h

diff --git a/rigidbody.h b/rigidbody.h
index 2e17120eda4f90439481869df6102b099c8719e7..fe8197569e689f87d316905f2ce4244b5b351e69 100644 (file)
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -604,19 +604,14 @@ VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] )
 /*
  * 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 */
@@ -1581,6 +1576,154 @@ VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 }
 #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;
@@ -1723,6 +1866,7 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    }
    return count;
 }
+#endif
 
 VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
                                     v3f tri[3], rb_ct *buf )
@@ -1952,10 +2096,12 @@ 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 ) =