#include "common.h"
#include "bvh.h"
#include "scene.h"
-#include "distq.h"
#include <math.h>
VG_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;
+
+VG_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 */
+
+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
+ });
+}
/*
* -----------------------------------------------------------------------------
typedef struct rigidbody rigidbody;
typedef struct contact rb_ct;
+typedef struct rb_sphere rb_sphere;
+typedef struct rb_capsule rb_capsule;
+typedef struct rb_scene rb_scene;
+
+struct rb_sphere
+{
+ float radius;
+};
+
+struct rb_capsule
+{
+ float height, radius;
+};
+
+struct rb_scene
+{
+ bh_tree *bh_scene;
+};
struct rigidbody
{
union
{
- struct rb_sphere
- {
- float radius;
- }
- sphere;
-
- struct rb_capsule
- {
- float height, radius;
- }
- capsule;
-
- struct rb_scene
- {
- bh_tree *bh_scene;
- }
- scene;
+ struct rb_sphere sphere;
+ struct rb_capsule capsule;
+ struct rb_scene scene;
}
inf;
rb_contact_buffer[256];
VG_STATIC int rb_contact_count = 0;
+typedef struct rb_constr_pos rb_constr_pos;
+typedef struct rb_constr_swingtwist rb_constr_swingtwist;
+
+struct rb_constr_pos
+{
+ rigidbody *rba, *rbb;
+ v3f lca, lcb;
+};
+
+struct rb_constr_swingtwist
+{
+ rigidbody *rba, *rbb;
+
+ 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;
+};
+
+struct rb_constr_spring
+{
+ int nothing;
+};
+
/*
* -----------------------------------------------------------------------------
* Math Utils
VG_STATIC void rb_debug_contact( rb_ct *ct )
{
- if( ct->type != k_contact_type_disabled )
+ v3f p1;
+ v3_muladds( ct->co, ct->n, 0.05f, p1 );
+
+ 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 )
{
- v3f p1;
- v3_muladds( ct->co, ct->n, 0.1f, p1 );
- vg_line_pt3( ct->co, 0.025f, 0xff0000ff );
+ vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 );
vg_line( ct->co, p1, 0xffffffff );
}
}
* 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 )
{
float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
q_m3x3( q, transform );
v3_copy( co, transform[3] );
}
+#endif
+
+VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
+{
+ float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f );
+
+ v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
+
+ if( v3_length2( rb->w ) > 0.0f )
+ {
+ v4f rotation;
+ v3f axis;
+ v3_copy( rb->w, axis );
+
+ float mag = v3_length( axis );
+ v3_divs( axis, mag, axis );
+ q_axis_angle( rotation, axis, mag*k_rb_delta*substep );
+ q_mul( rotation, rb->q, q );
+ q_normalize( q );
+ }
+ else
+ {
+ v4_copy( rb->q, q );
+ }
+}
/*
* Initialize rigidbody and calculate masses, inertia
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 );
+ v3_fill( rb->bbx[0], -r );
+ v3_fill( rb->bbx[1], r );
rb->bbx[0][1] = -h;
rb->bbx[1][1] = h;
}
/*
* 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 */
return k;
}
+/*
+ * Merge two contacts if they are within radius(r) of eachother
+ */
+VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r )
+{
+ if( v3_dist2( ci->co, cj->co ) < r*r )
+ {
+ cj->type = k_contact_type_disabled;
+ ci->p = (ci->p + cj->p) * 0.5f;
+
+ v3_add( ci->co, cj->co, ci->co );
+ v3_muls( ci->co, 0.5f, ci->co );
+
+ v3f delta;
+ v3_sub( ci->rba->co, ci->co, delta );
+
+ float c0 = v3_dot( ci->n, delta ),
+ c1 = v3_dot( cj->n, delta );
+
+ 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 );
+ }
+ }
+}
+
+/*
+ *
+ */
VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r )
{
for( int i=0; i<len-1; i++ )
rb_ct *cj = &man[j];
if( cj->type != k_contact_type_edge )
continue;
-
- if( v3_dist2( ci->co, cj->co ) < r*r )
- {
- cj->type = k_contact_type_disabled;
- ci->p = (ci->p + cj->p) * 0.5f;
-
- v3_add( ci->co, cj->co, ci->co );
- v3_muls( ci->co, 0.5f, ci->co );
-
- v3f delta;
- v3_sub( ci->rba->co, ci->co, delta );
-
- float c0 = v3_dot( ci->n, delta ),
- c1 = v3_dot( cj->n, delta );
-
- 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 );
- }
- }
+
+ rb_manifold_contact_weld( ci, cj, r );
}
}
}
/*
* Resolve overlapping pairs
+ *
+ * TODO: Remove?
*/
VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r )
{
* 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 )
+ capsule_manifold *manifold )
{
v3f delta;
v3_sub( pa, pb, delta );
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,
+ rb_ct *buf )
+{
+ v3f p0, 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 )
+ {
+ rb_ct *ct = buf;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t0, pa );
+ v3_muladds( pa, p1, manifold->t0, pa );
+
+ float d = v3_length( manifold->d0 );
+ v3_muls( manifold->d0, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -c->radius, ct->co );
+
+ ct->p = manifold->r0 - d;
+ ct->type = k_contact_type_default;
+ count ++;
+ }
+
+ if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) )
+ {
+ rb_ct *ct = buf+count;
+
+ v3f pa;
+ v3_muls( p0, 1.0f-manifold->t1, pa );
+ v3_muladds( pa, p1, manifold->t1, pa );
+
+ float d = v3_length( manifold->d1 );
+ v3_muls( manifold->d1, 1.0f/d, ct->n );
+ v3_muladds( pa, ct->n, -c->radius, ct->co );
+
+ ct->p = manifold->r1 - d;
+ ct->type = k_contact_type_default;
+
+ count ++;
+ }
+
+ /*
+ * Debugging
+ */
+
+ if( count == 2 )
+ vg_line( buf[0].co, buf[1].co, 0xff0000ff );
+
+ return count;
+}
VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
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 )
{
- 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 )
{
v3_sub( tri[1], tri[0], ac );
v3_cross( ac, ab, tn );
v3_copy( tn, ct->n );
+
+ if( v3_length2( ct->n ) <= 0.00001f )
+ {
+ vg_error( "Zero area triangle!\n" );
+ return 0;
+ }
+
v3_normalize( ct->n );
float d = sqrtf(d2);
return 0;
}
+#endif
+
+VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
+ v3f tri[3], rb_ct *buf )
+{
+ v3f delta, co;
+ enum contact_type type = closest_on_triangle_1( mtxA[3], tri, co );
+
+ v3_sub( mtxA[3], co, delta );
+
+ float d2 = v3_length2( delta ),
+ r = b->radius;
+
+ if( d2 <= r*r )
+ {
+ rb_ct *ct = buf;
+
+ v3f ab, ac, tn;
+ v3_sub( tri[2], tri[0], ab );
+ v3_sub( tri[1], tri[0], ac );
+ v3_cross( ac, ab, tn );
+ v3_copy( tn, ct->n );
+
+ if( v3_length2( ct->n ) <= 0.00001f )
+ {
+ vg_error( "Zero area triangle!\n" );
+ return 0;
+ }
+
+ v3_normalize( ct->n );
+
+ float d = sqrtf(d2);
+
+ v3_copy( co, ct->co );
+ ct->type = type;
+ ct->p = r-d;
+ return 1;
+ }
+ return 0;
+}
VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
boxf box, u32 colour )
}
}
-VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
+ m4x3f mtxB, rb_scene *s, rb_ct *buf )
{
- scene *sc = rbb->inf.scene.bh_scene->user;
+ scene *sc = s->bh_scene->user;
bh_iter it;
bh_iter_init( 0, &it );
int idx;
int count = 0;
+
+ 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] );
- while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
+ while( bh_next( s->bh_scene, &it, box, &idx ) )
{
u32 *ptri = &sc->arrindices[ idx*3 ];
v3f tri[3];
vg_line( tri[1],tri[2],0x70ff6000 );
vg_line( tri[2],tri[0],0x70ff6000 );
- int contact = rb_sphere_triangle( rba, rbb, tri, buf+count );
+ int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] );
count += contact;
if( count == 16 )
return count;
}
-VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+#if 0
+__attribute__ ((deprecated))
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
{
scene *sc = rbb->inf.scene.bh_scene->user;
-
- v3f tri[3];
bh_iter it;
bh_iter_init( 0, &it );
while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
{
u32 *ptri = &sc->arrindices[ idx*3 ];
+ 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];
- if( rb_box_triangle_sat( rba, tri ) )
+ vg_line( tri[0],tri[1],0x70ff6000 );
+ vg_line( tri[1],tri[2],0x70ff6000 );
+ vg_line( tri[2],tri[0],0x70ff6000 );
+
+ int contact = rb_sphere_triangle( rba, rbb, tri, buf+count );
+ count += contact;
+
+ if( count == 16 )
{
+ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+ return count;
+ }
+ }
+
+ 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
- {
+ else{
vg_line(tri[0],tri[1],0xff0000ff );
vg_line(tri[1],tri[2],0xff0000ff );
vg_line(tri[2],tri[0],0xff0000ff );
-
continue;
}
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;
- }
+
+ 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;
+
+ v3f tri[3];
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &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( rba, 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( rba->right, 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) )
}
return count;
}
+#endif
+
+VG_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 );
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f c0, c1;
+ closest_on_triangle_1( p0w, tri, c0 );
+ closest_on_triangle_1( p1w, tri, c1 );
+
+ 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);
+
+ 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 );
+
+ 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 );
+ }
+
+ 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 );
+
+ 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;
+}
+
+/*
+ * 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 )
+{
+ float h = rba->inf.capsule.height,
+ r = rba->inf.capsule.radius;
+
+ v3f pc, p0w, p1w;
+ v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w );
+ v3_muladds( rba->co, rba->up, h*0.5f-r, p1w );
+
+ capsule_manifold manifold;
+ rb_capsule_manifold_init( &manifold );
+
+ v3f c0, c1;
+ closest_on_triangle_1( p0w, tri, c0 );
+ closest_on_triangle_1( p1w, tri, c1 );
+
+ 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);
+
+ if( v3_dot( da, d0 ) <= 0.01f )
+ rb_capsule_manifold( p0w, c0, 0.0f, r, &manifold );
+
+ if( v3_dot( da, d1 ) >= -0.01f )
+ rb_capsule_manifold( p1w, c1, 1.0f, r, &manifold );
+
+ 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, r, &manifold );
+ }
+
+ 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 );
+
+ int count = rb_capsule_manifold_done( rba, rbb, &manifold, buf );
+ for( int i=0; i<count; i++ )
+ v3_copy( n, buf[i].n );
+
+ 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,
+ m4x3f mtxB, rb_scene *s,
+ rb_ct *buf )
+{
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+ 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 *sc = s->bh_scene->user;
+
+ while( bh_next( s->bh_scene, &it, bbx, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ 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;
+ }
+ }
+
+ return count;
+}
+
+#if 0
+__attribute__ ((deprecated))
+VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+ scene *sc = rbb->inf.scene.bh_scene->user;
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ int count = 0;
+
+ while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ 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];
+
+#if 0
+ vg_line( tri[0],tri[1],0x70ff6000 );
+ vg_line( tri[1],tri[2],0x70ff6000 );
+ vg_line( tri[2],tri[0],0x70ff6000 );
+#endif
+
+ int contact = rb_capsule_triangle( rba, rbb, tri, buf+count );
+ count += contact;
+
+ if( count == 16 )
+ {
+ vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
+ return count;
+ }
+ }
+
+ return count;
+}
+
+VG_STATIC int rb_scene_capsule( 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 )
{
+#if 0
vg_error( "Collision type is unimplemented between types %d and %d\n",
rba->type, rbb->type );
+#endif
return 0;
}
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 */
{ 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 }
+ { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, rb_capsule_scene },
+ { rb_scene_box, RB_MATRIX_ERROR, rb_scene_capsule, RB_MATRIX_ERROR }
};
VG_STATIC int rb_collide( rigidbody *rba, rigidbody *rbb )
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 ];
+}
/*
* -----------------------------------------------------------------------------
return rb_contact_buffer + rb_contact_count;
}
+VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep )
+{
+ ct->bias = -0.2f * (timestep*3600.0f)
+ * 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;
+}
+
+/* calculate total move. manifold should belong to ONE object only */
+VG_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
*/
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] );
-
-#if 0
- ct->type = k_contact_type_default;
-#endif
- 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 );
}
/*
- * 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 )
+VG_STATIC void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv )
{
- rigidbody *rba = ct->rba,
- *rbb = ct->rbb;
-
- v3_sub( ct->co, rba->co, da );
- v3_sub( ct->co, rbb->co, db );
-
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 );
}
{
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++ )
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 )
+VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len )
{
- float f = 0.05f;
- v3f ay, ax;
- v3_muls( major, f, ay );
- v3_muls( minor, f, ax );
-
- for( int x=0; x<16; x++ )
+ for( int i=0; i<len; i++ )
{
- float t0 = (float)x / 16.0f,
- t1 = (float)(x+1) / 16.0f,
- a0 = vg_lerpf( amin, amax, t0 ),
- a1 = vg_lerpf( amin, amax, t1 );
+ rb_constr_pos *constr = &buffer[i];
+ rigidbody *rba = constr->rba, *rbb = constr->rbb;
+
+ 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_pt3( p0, 0.0025f, 0xff000000 );
+ vg_line_pt3( p1, 0.0025f, 0xffffffff );
+ vg_line2( p0, p1, 0xff000000, 0xffffffff );
+ }
+}
+
+VG_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;
- if( x == 0 )
- vg_line( c, p0, colour );
- if( x == 15 )
- vg_line( c, p1, colour );
- }
+ 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 );
+ }
+
+ v3f refaxis;
+ v3_cross( vy, va, refaxis ); /* our default rotation */
+ v3_normalize( refaxis );
+
+ float angle = v3_dot( refaxis, vxb );
+ st->axis_violation = fabsf(angle) < st->conet;
- 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 );
+ 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_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca,
- v3f limits[2] )
+VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len )
{
- 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 );
+ float size = 0.12f;
+
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[ i ];
+
+ v3f vx, vxb, vy, va, axis, center;
- v2f px, py, pz;
- px[0] = v3_dot( ay, by );
- px[1] = v3_dot( az, by );
+ 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 );
- py[0] = v3_dot( az, bz );
- py[1] = v3_dot( ax, bz );
+ float rx = st->conevx[3], /* elipse radii */
+ ry = st->conevy[3];
- pz[0] = v3_dot( ax, bx );
- pz[1] = v3_dot( ay, bx );
+ v3f p0, p1;
+ v3_muladds( center, va, size, p1 );
+ vg_line( center, p1, 0xffffffff );
+ vg_line_pt3( p1, 0.00025f, 0xffffffff );
- float r0 = atan2f( px[1], px[0] ),
- r1 = atan2f( py[1], py[0] ),
- r2 = atan2f( pz[1], pz[0] );
+ if( st->tangent_violation )
+ {
+ v3_muladds( center, st->tangent_target, size, p0 );
- 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 );
+ vg_line( center, p0, 0xff00ff00 );
+ vg_line_pt3( 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_pt3( 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);
+
+ 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 );
+ }
}
-VG_STATIC void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d )
+/*
+ * Solve a list of positional constraints
+ */
+VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len )
{
- if( d != 0.0f )
+ for( int i=0; i<len; i++ )
{
- 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;
-
- float bias = (k_limit_bias * k_rb_rate) * d,
- lambda = -(avx + bias) * joint_mass;
+ 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] )
+VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len )
{
- 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 );
+ 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;
- v2f px, py, pz;
- px[0] = v3_dot( ay, by );
- px[1] = v3_dot( az, by );
+ 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 );
- py[0] = v3_dot( az, bz );
- py[1] = v3_dot( ax, bz );
+ v3_muls( impulse, -1.0f, impulse );
+ m3x3_mulv( st->rbb->iIw, impulse, wb );
+ v3_add( st->rbb->w, wb, st->rbb->w );
- pz[0] = v3_dot( ax, bx );
- pz[1] = v3_dot( ay, bx );
+ float rv2 = v3_dot( st->axis, st->rbb->w ) -
+ v3_dot( st->axis, st->rba->w );
+ }
- float r0 = atan2f( px[1], px[0] ),
- r1 = atan2f( py[1], py[0] ),
- r2 = atan2f( pz[1], pz[0] );
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[ i ];
- /* calculate angle deltas */
- float dx = 0.0f, dy = 0.0f, dz = 0.0f;
+ 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;
- 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 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 );
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+ v3_muls( impulse, -1.0f, impulse );
+ m3x3_mulv( st->rbb->iIw, impulse, wb );
+ v3_add( st->rbb->w, wb, st->rbb->w );
- rb_limit_cure( ra, rb, ax, dx );
- rb_limit_cure( ra, rb, ay, dy );
- rb_limit_cure( ra, rb, az, dz );
+ 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 )
+VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
+ v3f ra, v3f rb )
{
- v3f wca, wcb;
- m3x3_mulv( ra->to_world, lca, wca );
- m3x3_mulv( rb->to_world, lcb, wcb );
+ 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
+ */
+VG_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 )
+VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf,
+ int len, float amt )
{
- /* 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 );
+ for( int i=0; i<len; i++ )
+ {
+ rb_constr_swingtwist *st = &buf[i];
+
+ if( !st->tangent_violation )
+ continue;
- v3f rcv;
- v3_sub( ra->v, rb->v, rcv );
+ v3f va;
+ m3x3_mulv( st->rbb->to_world, st->coneva, va );
- 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 );
+ float angle = v3_dot( va, st->tangent_target );
- v3f delta;
- v3f p0, p1;
- v3_add( wca, ra->co, p0 );
- v3_add( wcb, rb->co, p1 );
- v3_sub( p1, p0, delta );
+ if( fabsf(angle) < 0.9999f )
+ {
+ v3f axis;
+ v3_cross( va, st->tangent_target, axis );
- float dist2 = v3_length2( 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 );
+ }
+ }
- if( dist2 > 0.00001f )
+ for( int i=0; i<len; i++ )
{
- float dist = sqrtf(dist2);
- v3_muls( delta, 1.0f/dist, delta );
+ rb_constr_swingtwist *st = &buf[i];
- float joint_mass = rb->inv_mass + ra->inv_mass;
+ if( !st->axis_violation )
+ continue;
- 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;
+ v3f vxb;
+ m3x3_mulv( st->rbb->to_world, st->conevxb, vxb );
- float vd = v3_dot( rcv, delta ),
- bias = -(k_joint_bias * k_rb_rate) * dist,
- lambda = -(vd + bias) * joint_mass;
+ float angle = v3_dot( vxb, st->axis_target );
- v3f impulse;
- v3_muls( delta, lambda, impulse );
- rb_linear_impulse( ra, wca, impulse );
- v3_muls( delta, -lambda, impulse );
- rb_linear_impulse( rb, wcb, impulse );
+ 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 );
+ }
+ }
+}
+
+VG_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;
- /* '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 mass_total = 1.0f / (rba->inv_mass + rbb->inv_mass);
+
+ v3_muladds( rba->co, ct->n, -mass_total * rba->inv_mass, rba->co );
+ v3_muladds( rbb->co, ct->n, mass_total * rbb->inv_mass, rbb->co );
}
}
+
/*
* Effectors
*/
VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
- float amt, float drag )
+ float amt, float drag )
{
/* float */
float depth = v3_dot( plane, ra->co ) - plane[3],
v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v );
}
+/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to
+ * rt(worldspace)
+ */
+VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt,
+ float spring, float dampening,
+ float timestep )
+{
+ float a = acosf( vg_clampf( v3_dot( rt, ra ), -1.0f, 1.0f ) );
+
+ v3f axis;
+ v3_cross( rt, ra, axis );
+
+ float Fs = -a * spring,
+ Fd = -v3_dot( rba->w, axis ) * dampening;
+
+ v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w );
+}
+
/*
* -----------------------------------------------------------------------------
* BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for