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_phys_baumgarte = 0.2f,
+ k_gravity = 9.6f;
VG_STATIC float
k_limit_bias = 0.02f,
VG_STATIC void rb_register_cvar(void)
{
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_limit_bias", .data = &k_limit_bias,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_joint_bias", .data = &k_joint_bias,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_joint_correction", .data = &k_joint_correction,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
});
- vg_convar_push( (struct vg_convar){
+ vg_var_push( (struct vg_var){
.name = "k_joint_impulse", .data = &k_joint_impulse,
- .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1
+ .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;
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, 0.05f, p1 );
- vg_line_pt3( ct->co, 0.0025f, 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
/*
* 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,
+ 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 )
{
- 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 )
+{
+ 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( m4x3f mtxA, rb_sphere *b,
+ m4x3f mtxB, rb_scene *s, rb_ct *buf )
+{
+ 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( s->bh_scene, &it, box, &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];
+
+ 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( mtxA, b, tri, &buf[count] );
+ count += contact;
+
+ if( count == 16 )
+ {
+ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+ return count;
+ }
+ }
+
+ return count;
+}
+
+#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;
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 )
+{
+ 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 )
{
return count;
}
+#endif
-VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+/* 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 )
{
-#if 0
- float h = rba->inf.capsule.height,
- r = rba->inf.capsule.radius,
- g = 90.8f;
+ 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;
- v3f p[2];
- v3_muladds( rba->co, rba->up, -h*0.5f+r, p[0] );
- v3_muladds( rba->co, rba->up, h*0.5f-r, p[1] );
+ while( bh_next( s->bh_scene, &it, bbx, &idx ) )
+ {
+ u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3f tri[3];
- int count = 0;
+ 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;
- for( int i=0; i<2; i++ )
- {
- if( p[i][1] < g + r )
+ if( count >= 16 )
{
- rb_ct *ct = &buf[ count ++ ];
-
- v3_copy( p[i], ct->co );
- ct->p = r - (p[i][1]-g);
- ct->co[1] -= r;
- v3_copy( (v3f){0.0f,1.0f,0.0f}, ct->n );
- ct->rba = rba;
- ct->rbb = rbb;
- ct->type = k_contact_type_default;
+ vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n");
+ return count;
}
}
return count;
+}
-#else
+#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;
}
return count;
-#endif
}
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 )
{
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 ];
+}
/*
* -----------------------------------------------------------------------------
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 );
}
}
+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;
+
+ 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
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
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff