X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=0a95bddf014430f4ac7c53bab13113c4ba6296b0;hb=b9dedb4dd2a1e94ae76a3986716ee3c57e568213;hp=b140cbb724068c8c65e3b1f6465afd344d9225ea;hpb=344f0153cf1907da87dd041db3ec517325b1c429;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index b140cbb..0a95bdd 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -5,6 +5,7 @@ #include "common.h" #include "bvh.h" +#include "scene.h" static void rb_tangent_basis( v3f n, v3f tx, v3f ty ); static bh_system bh_system_rigidbodies; @@ -12,9 +13,29 @@ static bh_system bh_system_rigidbodies; #ifndef RIGIDBODY_H #define RIGIDBODY_H -#define RB_DEPR -#define k_rb_rate 60.0f -#define k_rb_delta (1.0f/k_rb_rate) +/* + * ----------------------------------------------------------------------------- + * (K)onstants + * ----------------------------------------------------------------------------- + */ + +static const float + k_rb_rate = 60.0f, + k_rb_delta = (1.0f/k_rb_rate), + k_friction = 0.6f, + k_damp_linear = 0.05f, /* scale velocity 1/(1+x) */ + k_damp_angular = 0.1f, /* scale angular 1/(1+x) */ + 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; + +/* + * ----------------------------------------------------------------------------- + * structure definitions + * ----------------------------------------------------------------------------- + */ typedef struct rigidbody rigidbody; typedef struct contact rb_ct; @@ -26,9 +47,10 @@ struct rigidbody enum rb_shape { - k_rb_shape_box, - k_rb_shape_sphere, - k_rb_shape_capsule + k_rb_shape_box = 0, + k_rb_shape_sphere = 1, + k_rb_shape_capsule = 2, + k_rb_shape_scene = 3 } type; @@ -45,6 +67,12 @@ struct rigidbody float height, radius; } capsule; + + struct rb_scene + { + scene *pscene; + } + scene; } inf; @@ -55,32 +83,231 @@ struct rigidbody boxf bbx, bbx_world; float inv_mass; - v3f delta; /* where is the origin of this in relation to a parent body */ - m4x3f to_world, to_local; -}; + /* inertia model and inverse world tensor */ + v3f I; + m3x3f iI, iIw; -static rigidbody rb_static_null = -{ - .co={0.0f,0.0f,0.0f}, - .q={0.0f,0.0f,0.0f,1.0f}, - .v={0.0f,0.0f,0.0f}, - .w={0.0f,0.0f,0.0f}, - .is_world = 1, - .inv_mass = 0.0f + m4x3f to_world, to_local; }; -static void rb_debug( rigidbody *rb, u32 colour ); - static struct contact { rigidbody *rba, *rbb; v3f co, n; v3f t[2]; - float mass_total, p, bias, norm_impulse, tangent_impulse[2]; + float p, bias, norm_impulse, tangent_impulse[2], + normal_mass, tangent_mass[2]; + + u32 element_id; } rb_contact_buffer[256]; static int rb_contact_count = 0; +/* + * ----------------------------------------------------------------------------- + * Math Utils + * ----------------------------------------------------------------------------- + */ + +static float sphere_volume( float radius ) +{ + float r3 = radius*radius*radius; + return (4.0f/3.0f) * VG_PIf * r3; +} + +static void rb_tangent_basis( v3f n, v3f tx, v3f ty ) +{ + /* Compute tangent basis (box2d) */ + if( fabsf( n[0] ) >= 0.57735027f ) + { + tx[0] = n[1]; + tx[1] = -n[0]; + tx[2] = 0.0f; + } + else + { + tx[0] = 0.0f; + tx[1] = n[2]; + tx[2] = -n[1]; + } + + v3_normalize( tx ); + v3_cross( n, tx, ty ); +} + +/* + * ----------------------------------------------------------------------------- + * Debugging + * ----------------------------------------------------------------------------- + */ + +static void rb_debug_contact( rb_ct *ct ) +{ + v3f p1; + v3_muladds( ct->co, ct->n, 0.1f, p1 ); + vg_line_pt3( ct->co, 0.025f, 0xff0000ff ); + vg_line( ct->co, p1, 0xffffffff ); +} + +static void debug_sphere( m4x3f m, float radius, u32 colour ) +{ + v3f ly = { 0.0f, 0.0f, radius }, + lx = { 0.0f, radius, 0.0f }, + lz = { 0.0f, 0.0f, radius }; + + 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); + + v3f py = { s*radius, 0.0f, c*radius }, + px = { s*radius, c*radius, 0.0f }, + pz = { 0.0f, s*radius, c*radius }; + + v3f p0, p1, p2, p3, p4, p5; + m4x3_mulv( m, py, p0 ); + m4x3_mulv( m, ly, p1 ); + m4x3_mulv( m, px, p2 ); + m4x3_mulv( m, lx, p3 ); + m4x3_mulv( m, pz, p4 ); + m4x3_mulv( m, lz, p5 ); + + vg_line( p0, p1, colour == 0x00? 0xff00ff00: colour ); + vg_line( p2, p3, colour == 0x00? 0xff0000ff: colour ); + vg_line( p4, p5, colour == 0x00? 0xffff0000: colour ); + + v3_copy( py, ly ); + v3_copy( px, lx ); + v3_copy( pz, lz ); + } +} + +static void debug_capsule( m4x3f m, float radius, float h, u32 colour ) +{ + v3f ly = { 0.0f, 0.0f, radius }, + lx = { 0.0f, radius, 0.0f }, + lz = { 0.0f, 0.0f, radius }; + + float s0 = sinf(0.0f)*radius, + c0 = cosf(0.0f)*radius; + + v3f p0, p1, up, right, forward; + m3x3_mulv( m, (v3f){0.0f,1.0f,0.0f}, up ); + m3x3_mulv( m, (v3f){1.0f,0.0f,0.0f}, right ); + m3x3_mulv( m, (v3f){0.0f,0.0f,-1.0f}, forward ); + v3_muladds( m[3], up, -h*0.5f+radius, p0 ); + v3_muladds( m[3], up, h*0.5f-radius, p1 ); + + v3f a0, a1, b0, b1; + v3_muladds( p0, right, radius, a0 ); + v3_muladds( p1, right, radius, a1 ); + v3_muladds( p0, forward, radius, b0 ); + v3_muladds( p1, forward, radius, b1 ); + vg_line( a0, a1, colour ); + vg_line( b0, b1, colour ); + + v3_muladds( p0, right, -radius, a0 ); + v3_muladds( p1, right, -radius, a1 ); + v3_muladds( p0, forward, -radius, b0 ); + v3_muladds( p1, forward, -radius, b1 ); + vg_line( a0, a1, colour ); + vg_line( b0, b1, colour ); + + 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; + + v3f e0 = { s0, 0.0f, c0 }, + e1 = { s1, 0.0f, c1 }, + e2 = { s0, c0, 0.0f }, + e3 = { s1, c1, 0.0f }, + e4 = { 0.0f, c0, s0 }, + e5 = { 0.0f, c1, s1 }; + + m3x3_mulv( m, e0, e0 ); + m3x3_mulv( m, e1, e1 ); + m3x3_mulv( m, e2, e2 ); + m3x3_mulv( m, e3, e3 ); + m3x3_mulv( m, e4, e4 ); + m3x3_mulv( m, e5, e5 ); + + v3_add( p0, e0, a0 ); + v3_add( p0, e1, a1 ); + v3_add( p1, e0, b0 ); + v3_add( p1, e1, b1 ); + + vg_line( a0, a1, colour ); + vg_line( b0, b1, colour ); + + 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 + { + v3_add( p1, e2, a0 ); + v3_add( p1, e3, a1 ); + v3_add( p1, e4, b0 ); + v3_add( p1, e5, b1 ); + } + + vg_line( a0, a1, colour ); + vg_line( b0, b1, colour ); + + s0 = s1; + c0 = c1; + } +} + +static void rb_debug( rigidbody *rb, u32 colour ) +{ + if( rb->type == k_rb_shape_box ) + { + v3f *box = rb->bbx; + vg_line_boxf_transformed( rb->to_world, rb->bbx, colour ); + } + else if( rb->type == k_rb_shape_sphere ) + { + debug_sphere( rb->to_world, rb->inf.sphere.radius, colour ); + } + else if( rb->type == k_rb_shape_capsule ) + { + m4x3f m0, m1; + float h = rb->inf.capsule.height, + r = rb->inf.capsule.radius; + + debug_capsule( rb->to_world, r, h, colour ); + } + else if( rb->type == k_rb_shape_scene ) + { + vg_line_boxf( rb->bbx, colour ); + } +} + +/* + * ----------------------------------------------------------------------------- + * Integration + * ----------------------------------------------------------------------------- + */ + +/* + * Update world space bounding box based on local one + */ +static void rb_update_bounds( rigidbody *rb ) +{ + box_copy( rb->bbx, rb->bbx_world ); + m4x3_transform_aabb( rb->to_world, rb->bbx_world ); +} + +/* + * Commit transform to rigidbody. Updates matrices + */ static void rb_update_transform( rigidbody *rb ) { q_normalize( rb->q ); @@ -89,20 +316,19 @@ static void rb_update_transform( rigidbody *rb ) m4x3_invert_affine( rb->to_world, rb->to_local ); - box_copy( rb->bbx, rb->bbx_world ); - m4x3_transform_aabb( rb->to_world, rb->bbx_world ); - m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f, 0.0f}, rb->right ); m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f, 0.0f}, rb->up ); m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,-1.0f}, rb->forward ); -} -static float sphere_volume( float radius ) -{ - float r3 = radius*radius*radius; - return (4.0f/3.0f) * VG_PIf * r3; + m3x3_mul( rb->iI, rb->to_local, rb->iIw ); + m3x3_mul( rb->to_world, rb->iIw, rb->iIw ); + + rb_update_bounds( rb ); } +/* + * Initialize rigidbody and calculate masses, inertia + */ static void rb_init( rigidbody *rb ) { float volume = 1.0f; @@ -130,14 +356,42 @@ static void rb_init( rigidbody *rb ) rb->bbx[0][1] = -h; rb->bbx[1][1] = h; } + else if( rb->type == k_rb_shape_scene ) + { + rb->is_world = 1; + box_copy( rb->inf.scene.pscene->bbx, rb->bbx ); + } if( rb->is_world ) { rb->inv_mass = 0.0f; + v3_zero( rb->I ); + m3x3_zero(rb->iI); } else { - rb->inv_mass = 1.0f/(8.0f*volume); + float mass = 2.0f*volume; + rb->inv_mass = 1.0f/mass; + + v3f extent; + v3_sub( rb->bbx[1], rb->bbx[0], extent ); + v3_muls( extent, 0.5f, extent ); + + /* local intertia tensor */ + float scale = k_inertia_scale; + float ex2 = scale*extent[0]*extent[0], + ey2 = scale*extent[1]*extent[1], + ez2 = scale*extent[2]*extent[2]; + + rb->I[0] = ((1.0f/12.0f) * mass * (ey2+ez2)); + rb->I[1] = ((1.0f/12.0f) * mass * (ex2+ez2)); + rb->I[2] = ((1.0f/12.0f) * mass * (ex2+ey2)); + + m3x3_identity( rb->iI ); + rb->iI[0][0] = rb->I[0]; + rb->iI[1][1] = rb->I[1]; + rb->iI[2][2] = rb->I[2]; + m3x3_inv( rb->iI, rb->iI ); } v3_zero( rb->v ); @@ -148,7 +402,7 @@ static void rb_init( rigidbody *rb ) static void rb_iter( rigidbody *rb ) { - v3f gravity = { 0.0f, -9.6f, 0.0f }; + v3f gravity = { 0.0f, -9.8f, 0.0f }; v3_muladds( rb->v, gravity, k_rb_delta, rb->v ); /* intergrate velocity */ @@ -167,38 +421,17 @@ static void rb_iter( rigidbody *rb ) q_axis_angle( rotation, axis, mag*k_rb_delta ); q_mul( rotation, rb->q, rb->q ); } -} - -static void rb_torque( rigidbody *rb, v3f axis, float mag ) -{ - v3_muladds( rb->w, axis, mag*k_rb_delta, rb->w ); -} - -static void rb_tangent_basis( v3f n, v3f tx, v3f ty ) -{ - /* Compute tangent basis (box2d) */ - if( fabsf( n[0] ) >= 0.57735027f ) - { - tx[0] = n[1]; - tx[1] = -n[0]; - tx[2] = 0.0f; - } - else - { - tx[0] = 0.0f; - tx[1] = n[2]; - tx[2] = -n[1]; - } - v3_normalize( tx ); - v3_cross( n, tx, ty ); + /* damping */ + v3_muls( rb->v, 1.0f/(1.0f+k_rb_delta*k_damp_linear), rb->v ); + v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w ); } -static void rb_solver_reset(void); -static void rb_build_manifold_terrain( rigidbody *rb ); -static void rb_build_manifold_terrain_sphere( rigidbody *rb ); -static void rb_solve_contacts( rb_ct *buf, int len ); -static void rb_presolve_contacts( rb_ct *buffer, int len ); +/* + * ----------------------------------------------------------------------------- + * Closest point functions + * ----------------------------------------------------------------------------- + */ /* * These closest point tests were learned from Real-Time Collision Detection by @@ -396,24 +629,187 @@ static void closest_on_triangle( v3f p, v3f tri[3], v3f dest ) v3_muladds( dest, ac, w, dest ); } -/* - * Contact generators - * - * These do not automatically allocate contacts, an appropriately sized - * buffer must be supplied. The function returns the size of the manifold - * which was generated. - * - * The values set on the contacts are: n, co, p, rba, rbb - */ - -static void rb_debug_contact( rb_ct *ct ) +static void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest ) { - v3f p1; - v3_muladds( ct->co, ct->n, 0.2f, p1 ); - vg_line_pt3( ct->co, 0.1f, 0xff0000ff ); - vg_line( ct->co, p1, 0xffffffff ); -} - + v3f ab, ac, ap; + float d1, d2; + + /* Region outside A */ + v3_sub( tri[1], tri[0], ab ); + v3_sub( tri[2], tri[0], ac ); + v3_sub( p, tri[0], ap ); + + d1 = v3_dot(ab,ap); + d2 = v3_dot(ac,ap); + if( d1 <= 0.0f && d2 <= 0.0f ) + { + v3_copy( tri[0], dest ); + return; + } + + /* Region outside B */ + v3f bp; + float d3, d4; + + v3_sub( p, tri[1], bp ); + d3 = v3_dot( ab, bp ); + d4 = v3_dot( ac, bp ); + + if( d3 >= 0.0f && d4 <= d3 ) + { + v3_copy( tri[1], dest ); + return; + } + + /* Edge region of AB */ + float vc = d1*d4 - d3*d2; + if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f ) + { + float v = d1 / (d1-d3); + v3_muladds( tri[0], ab, v, dest ); + return; + } + + /* Region outside C */ + v3f cp; + float d5, d6; + v3_sub( p, tri[2], cp ); + d5 = v3_dot(ab, cp); + d6 = v3_dot(ac, cp); + + if( d6 >= 0.0f && d5 <= d6 ) + { + v3_copy( tri[2], dest ); + return; + } + + /* Region of AC */ + float vb = d5*d2 - d1*d6; + if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f ) + { + float w = d2 / (d2-d6); + v3_muladds( tri[0], ac, w, dest ); + return; + } + + /* Region of BC */ + float va = d3*d6 - d5*d4; + if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f ) + { + float w = (d4-d3) / ((d4-d3) + (d5-d6)); + v3f bc; + v3_sub( tri[2], tri[1], bc ); + v3_muladds( tri[1], bc, w, dest ); + return; + } + + /* P inside region, Q via barycentric coordinates uvw */ + float d = 1.0f/(va+vb+vc), + v = vb*d, + w = vc*d; + + v3_muladds( tri[0], ab, v, dest ); + v3_muladds( dest, ac, w, dest ); +} + +/* + * ----------------------------------------------------------------------------- + * Boolean shape overlap functions + * ----------------------------------------------------------------------------- + */ + +/* + * Project AABB, and triangle interval onto axis to check if they overlap + */ +static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ) +{ + float + + r = extent[0] * fabsf(axis[0]) + + extent[1] * fabsf(axis[1]) + + extent[2] * fabsf(axis[2]), + + p0 = v3_dot( axis, tri[0] ), + p1 = v3_dot( axis, tri[1] ), + p2 = v3_dot( axis, tri[2] ), + + e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2))); + + if( e > r ) return 0; + else return 1; +} + +/* + * Seperating axis test box vs triangle + */ +static int rb_box_triangle_sat( rigidbody *rba, 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] ); + } + + /* 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 */ + 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; +} + +/* + * ----------------------------------------------------------------------------- + * Collision matrix + * ----------------------------------------------------------------------------- + */ + +/* + * Contact generators + * + * These do not automatically allocate contacts, an appropriately sized + * buffer must be supplied. The function returns the size of the manifold + * which was generated. + * + * The values set on the contacts are: n, co, p, rba, rbb + */ + /* * By collecting the minimum(time) and maximum(time) pairs of points, we * build a reduced and stable exact manifold. @@ -525,7 +921,7 @@ static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, return count; } -static int rb_capsule_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +static int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { float h = rba->inf.capsule.height, ra = rba->inf.capsule.radius, @@ -565,7 +961,7 @@ static int rb_capsule_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -static int rb_capsule_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +static int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { float ha = rba->inf.capsule.height, hb = rbb->inf.capsule.height, @@ -603,7 +999,7 @@ static int rb_capsule_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) /* * Generates up to two contacts; optimised for the most stable manifold */ -static int rb_capsule_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { float h = rba->inf.capsule.height, r = rba->inf.capsule.radius; @@ -676,7 +1072,6 @@ static int rb_capsule_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) v3_sub( c1, p1, d1 ); v3_sub( p1, p0, da ); - /* TODO: ? */ v3_normalize(d0); v3_normalize(d1); v3_normalize(da); @@ -728,7 +1123,7 @@ static int rb_capsule_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); } -static int rb_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +static int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { v3f co, delta; @@ -785,7 +1180,7 @@ static int rb_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +static int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { v3f delta; v3_sub( rba->co, rbb->co, delta ); @@ -814,278 +1209,343 @@ static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - vg_error( "Collision type is unimplemented between types %d and %d\n", - rba->type, rbb->type ); - - return 0; -} - -static int rb_sphere_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_capsule_vs_sphere( rbb, rba, buf ); -} - -static int rb_box_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_capsule_vs_box( rbb, rba, buf ); -} - -static int rb_box_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_sphere_vs_box( rbb, rba, buf ); -} - -static int (*rb_jump_table[4][4])( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -= { - /* box */ /* Sphere */ /* Capsule */ -/*box */ { RB_MATRIX_ERROR, rb_box_vs_sphere, rb_box_vs_capsule, RB_MATRIX_ERROR }, -/*sphere */ { rb_sphere_vs_box, rb_sphere_vs_sphere, rb_sphere_vs_capsule, RB_MATRIX_ERROR }, -/*capsule*/ { rb_capsule_vs_box,rb_capsule_vs_sphere,rb_capsule_vs_capsule,RB_MATRIX_ERROR }, -/*mesh */ { RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR } -}; - - -/* - * Generic functions - */ - -/* - * This function does not accept triangle as a dynamic object, it is assumed - * to always be static. - * - * The triangle is also assumed to be one sided for better detection - */ -static int rb_sphere_vs_triangle( rigidbody *rba, v3f tri[3], rb_ct *buf ) +static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, + v3f tri[3], rb_ct *buf ) { v3f delta, co; closest_on_triangle( rba->co, tri, co ); v3_sub( rba->co, co, delta ); + vg_line( rba->co, co, 0xffff0000 ); + vg_line_pt3( rba->co, 0.1f, 0xff00ffff ); + float d2 = v3_length2( delta ), r = rba->inf.sphere.radius; if( d2 < r*r ) { + rb_ct *ct = buf; + v3f ab, ac, tn; - v3_sub( tri[1], tri[0], ab ); - v3_sub( tri[2], tri[0], ac ); + v3_sub( tri[2], tri[0], ab ); + v3_sub( tri[1], tri[0], ac ); v3_cross( ac, ab, tn ); - - if( v3_dot( delta, tn ) > 0.0f ) - v3_muls( delta, -1.0f, delta ); + v3_copy( tn, ct->n ); + v3_normalize( ct->n ); float d = sqrtf(d2); - rb_ct *ct = buf; - v3_muls( delta, 1.0f/d, ct->n ); v3_copy( co, ct->co ); ct->p = r-d; ct->rba = rba; - ct->rbb = &rb_static_null; + ct->rbb = rbb; return 1; } return 0; } - -RB_DEPR -static int sphere_vs_triangle( v3f c, float r, v3f tri[3], - v3f co, v3f norm, float *p ) +static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { - v3f delta; - closest_on_triangle( c, tri, co ); - - v3_sub( c, co, delta ); + scene *sc = rbb->inf.scene.pscene; + + u32 geo[128]; + v3f tri[3]; + int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 ); + int count = 0; - float d = v3_length2( delta ); - if( d < r*r ) + for( int i=0; i 0.0f ) - v3_muls( delta, -1.0f, delta ); + u32 *ptri = &sc->indices[ geo[i]*3 ]; - vg_line_pt3( co, 0.05f, 0xff00ff00 ); + for( int j=0; j<3; j++ ) + v3_copy( sc->verts[ptri[j]].co, tri[j] ); - d = sqrtf(d); - v3_muls( delta, 1.0f/d, norm ); + vg_line(tri[0],tri[1],0xff00ff00 ); + vg_line(tri[1],tri[2],0xff00ff00 ); + vg_line(tri[2],tri[0],0xff00ff00 ); + + buf[count].element_id = ptri[0]; + count += rb_sphere_triangle( rba, rbb, tri, buf+count ); - *p = r-d; - return 1; + if( count == 12 ) + { + vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); + return count; + } } - return 0; + return count; } -#include "world.h" - -static void rb_solver_reset(void) +static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { - rb_contact_count = 0; -} + scene *sc = rbb->inf.scene.pscene; + + u32 geo[128]; + v3f tri[3]; + int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 ); -static rb_ct *rb_global_ct(void) -{ - return rb_contact_buffer + rb_contact_count; -} + int count = 0; -static struct contact *rb_start_contact(void) -{ - if( rb_contact_count == vg_list_size(rb_contact_buffer) ) + for( int i=0; iindices[ geo[i]*3 ]; - return &rb_contact_buffer[ rb_contact_count ]; -} + for( int j=0; j<3; j++ ) + v3_copy( sc->verts[ptri[j]].co, tri[j] ); -static void rb_commit_contact( struct contact *ct, float p ) -{ - ct->bias = -0.2f*k_rb_rate*vg_minf(0.0f,-p+0.04f); - rb_tangent_basis( ct->n, ct->t[0], ct->t[1] ); + 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 ); - ct->norm_impulse = 0.0f; - ct->tangent_impulse[0] = 0.0f; - ct->tangent_impulse[1] = 0.0f; + continue; + } - rb_contact_count ++; -} + 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 ); -static void rb_build_manifold_terrain_sphere( rigidbody *rb ) -{ - u32 geo[256]; - v3f tri[3]; - int len = bh_select( &world.geo.bhtris, rb->bbx_world, geo, 256 ); - - for( int i=0; iright, 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) ) + { + best = cz; + axis = 2; + } - for( int j=0; j<3; j++ ) - v3_copy( world.geo.verts[ptri[j]].co, tri[j] ); + v3f manifold[4]; - vg_line(tri[0],tri[1],0xff00ff00 ); - vg_line(tri[1],tri[2],0xff00ff00 ); - vg_line(tri[2],tri[0],0xff00ff00 ); + if( axis == 0 ) + { + float px = best > 0.0f? rba->bbx[0][0]: rba->bbx[1][0]; + manifold[0][0] = px; + manifold[0][1] = rba->bbx[0][1]; + manifold[0][2] = rba->bbx[0][2]; + manifold[1][0] = px; + manifold[1][1] = rba->bbx[1][1]; + manifold[1][2] = rba->bbx[0][2]; + manifold[2][0] = px; + manifold[2][1] = rba->bbx[1][1]; + manifold[2][2] = rba->bbx[1][2]; + manifold[3][0] = px; + manifold[3][1] = rba->bbx[0][1]; + manifold[3][2] = rba->bbx[1][2]; + } + else if( axis == 1 ) + { + float py = best > 0.0f? rba->bbx[0][1]: rba->bbx[1][1]; + manifold[0][0] = rba->bbx[0][0]; + manifold[0][1] = py; + manifold[0][2] = rba->bbx[0][2]; + manifold[1][0] = rba->bbx[1][0]; + manifold[1][1] = py; + manifold[1][2] = rba->bbx[0][2]; + manifold[2][0] = rba->bbx[1][0]; + manifold[2][1] = py; + manifold[2][2] = rba->bbx[1][2]; + manifold[3][0] = rba->bbx[0][0]; + manifold[3][1] = py; + manifold[3][2] = rba->bbx[1][2]; + } + else + { + float pz = best > 0.0f? rba->bbx[0][2]: rba->bbx[1][2]; + manifold[0][0] = rba->bbx[0][0]; + manifold[0][1] = rba->bbx[0][1]; + manifold[0][2] = pz; + manifold[1][0] = rba->bbx[1][0]; + manifold[1][1] = rba->bbx[0][1]; + manifold[1][2] = pz; + manifold[2][0] = rba->bbx[1][0]; + manifold[2][1] = rba->bbx[1][1]; + manifold[2][2] = pz; + manifold[3][0] = rba->bbx[0][0]; + manifold[3][1] = rba->bbx[1][1]; + manifold[3][2] = pz; + } + + for( int j=0; j<4; j++ ) + m4x3_mulv( rba->to_world, manifold[j], manifold[j] ); - v3f co, norm; - float p; + 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<2; j++ ) + for( int j=0; j<4; j++ ) { - if( sphere_vs_triangle( rb->co, rb->inf.sphere.radius, tri,co,norm,&p)) - { - struct contact *ct = rb_start_contact(); + rb_ct *ct = buf+count; - if( !ct ) - return; + v3_copy( manifold[j], ct->co ); + v3_copy( n, ct->n ); - v3f p1; - v3_muladds( rb->co, norm, p, p1 ); - vg_line( rb->co, p1, 0xffffffff ); + float l0 = v3_dot( tri[0], n ), + l1 = v3_dot( manifold[j], n ); - ct->rba = rb; - v3_copy( co, ct->co ); - v3_copy( norm, ct->n ); - rb_commit_contact( ct, p ); - } + ct->p = (l0-l1)*0.5f; + if( ct->p < 0.0f ) + continue; + + ct->rba = rba; + ct->rbb = rbb; + count ++; + + if( count >= 12 ) + return count; } } - + return count; } -RB_DEPR -static void rb_build_manifold_terrain( rigidbody *rb ) +static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { - v3f *box = rb->bbx; - v3f pts[8]; - float *p000 = pts[0], *p001 = pts[1], *p010 = pts[2], *p011 = pts[3], - *p100 = pts[4], *p101 = pts[5], *p110 = pts[6], *p111 = pts[7]; - - p000[0]=box[0][0];p000[1]=box[0][1];p000[2]=box[0][2]; - p001[0]=box[0][0];p001[1]=box[0][1];p001[2]=box[1][2]; - p010[0]=box[0][0];p010[1]=box[1][1];p010[2]=box[0][2]; - p011[0]=box[0][0];p011[1]=box[1][1];p011[2]=box[1][2]; - - p100[0]=box[1][0];p100[1]=box[0][1];p100[2]=box[0][2]; - p101[0]=box[1][0];p101[1]=box[0][1];p101[2]=box[1][2]; - p110[0]=box[1][0];p110[1]=box[1][1];p110[2]=box[0][2]; - p111[0]=box[1][0];p111[1]=box[1][1];p111[2]=box[1][2]; - - m4x3_mulv( rb->to_world, p000, p000 ); - m4x3_mulv( rb->to_world, p001, p001 ); - m4x3_mulv( rb->to_world, p010, p010 ); - m4x3_mulv( rb->to_world, p011, p011 ); - m4x3_mulv( rb->to_world, p100, p100 ); - m4x3_mulv( rb->to_world, p101, p101 ); - m4x3_mulv( rb->to_world, p110, p110 ); - m4x3_mulv( rb->to_world, p111, p111 ); + vg_error( "Collision type is unimplemented between types %d and %d\n", + rba->type, rbb->type ); - int count = 0; + return 0; +} - for( int i=0; i<8; i++ ) - { - float *point = pts[i]; - struct contact *ct = rb_start_contact(); +static int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + return rb_capsule_sphere( rbb, rba, buf ); +} - if( !ct ) - return; +static int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + return rb_capsule_box( rbb, rba, buf ); +} - ct->rba = rb; - - v3f surface; - v3_copy( point, surface ); - surface[1] += 4.0f; +static int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + return rb_sphere_box( rbb, rba, buf ); +} - ray_hit hit; - hit.dist = INFINITY; - if( !ray_world( surface, (v3f){0.0f,-1.0f,0.0f}, &hit )) - continue; +static int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + return rb_box_scene( rbb, rba, buf ); +} - v3_copy( hit.pos, surface ); +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 } +}; - float p = vg_minf( surface[1] - point[1], 1.0f ); +static int rb_collide( rigidbody *rba, rigidbody *rbb ) +{ + int (*collider_jump)(rigidbody *rba, rigidbody *rbb, rb_ct *buf ) + = rb_jump_table[rba->type][rbb->type]; - if( p > 0.0f ) - { - v3_copy( hit.normal, ct->n ); - v3_add( point, surface, ct->co ); - v3_muls( ct->co, 0.5f, ct->co ); + /* + * 12 is the maximum manifold size we can generate, so we are forced to abort + * potentially checking any more. + */ + if( rb_contact_count + 12 > vg_list_size(rb_contact_buffer) ) + { + vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)", + rb_contact_count, vg_list_size(rb_contact_buffer) ); + return 0; + } - rb_commit_contact( ct, p ); - count ++; - if( count == 4 ) - break; - } + /* + * FUTURE: Replace this with a more dedicated broad phase pass + */ + if( box_overlap( rba->bbx_world, rbb->bbx_world ) ) + { + int count = collider_jump( rba, rbb, rb_contact_buffer+rb_contact_count); + rb_contact_count += count; + return count; } + else + return 0; } /* - * Initializing things like tangent vectors + * ----------------------------------------------------------------------------- + * Dynamics + * ----------------------------------------------------------------------------- */ +static void rb_solver_reset(void) +{ + rb_contact_count = 0; +} + +static rb_ct *rb_global_ct(void) +{ + return rb_contact_buffer + rb_contact_count; +} + +/* + * Initializing things like tangent vectors + */ static void rb_presolve_contacts( rb_ct *buffer, int len ) { for( int i=0; ibias = -0.2f * k_rb_rate * vg_minf(0.0f,-ct->p+0.04f); + 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] ); ct->norm_impulse = 0.0f; ct->tangent_impulse[0] = 0.0f; ct->tangent_impulse[1] = 0.0f; - ct->mass_total = 1.0f/(ct->rba->inv_mass + ct->rbb->inv_mass); + + v3f ra, rb, raCn, rbCn, raCt, rbCt; + v3_sub( ct->co, ct->rba->co, ra ); + v3_sub( ct->co, ct->rbb->co, rb ); + v3_cross( ra, ct->n, raCn ); + v3_cross( rb, ct->n, rbCn ); + + /* orient inverse inertia tensors */ + v3f raCnI, rbCnI; + m3x3_mulv( ct->rba->iIw, raCn, raCnI ); + m3x3_mulv( ct->rbb->iIw, rbCn, rbCnI ); + + ct->normal_mass = ct->rba->inv_mass + ct->rbb->inv_mass; + ct->normal_mass += v3_dot( raCn, raCnI ); + ct->normal_mass += v3_dot( rbCn, rbCnI ); + ct->normal_mass = 1.0f/ct->normal_mass; + + for( int j=0; j<2; j++ ) + { + v3f raCtI, rbCtI; + v3_cross( ct->t[j], ra, raCt ); + v3_cross( ct->t[j], rb, rbCt ); + m3x3_mulv( ct->rba->iIw, raCt, raCtI ); + m3x3_mulv( ct->rbb->iIw, rbCt, rbCtI ); + + ct->tangent_mass[j] = ct->rba->inv_mass + ct->rbb->inv_mass; + ct->tangent_mass[j] += v3_dot( raCt, raCtI ); + ct->tangent_mass[j] += v3_dot( rbCt, rbCtI ); + ct->tangent_mass[j] = 1.0f/ct->tangent_mass[j]; + } rb_debug_contact( ct ); } @@ -1112,27 +1572,19 @@ static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db ) } /* - * Apply regular and angular velocity impulses to objects involved in contact + * Apply impulse to object */ -static void rb_standard_impulse( rb_ct *ct, v3f da, v3f db, v3f impulse ) +static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ) { - rigidbody *rba = ct->rba, - *rbb = ct->rbb; - - v3f ia, ib; - v3_muls( impulse, ct->mass_total*rba->inv_mass, ia ); - v3_muls( impulse, -ct->mass_total*rbb->inv_mass, ib ); - - /* response */ - v3_add( rba->v, ia, rba->v ); - v3_add( rbb->v, ib, rbb->v ); + /* linear */ + v3_muladds( rb->v, impulse, rb->inv_mass, rb->v ); /* Angular velocity */ - v3f wa, wb; - v3_cross( da, ia, wa ); - v3_cross( db, ib, wb ); - v3_add( rba->w, wa, rba->w ); - v3_add( rbb->w, wb, rbb->w ); + v3f wa; + v3_cross( delta, impulse, wa ); + + m3x3_mulv( rb->iIw, wa, wa ); + v3_add( rb->w, wa, rb->w ); } /* @@ -1140,9 +1592,6 @@ static void rb_standard_impulse( rb_ct *ct, v3f da, v3f db, v3f impulse ) */ static void rb_solve_contacts( rb_ct *buf, int len ) { - float k_friction = 0.1f; - - /* Friction Impulse */ for( int i=0; inorm_impulse, - vt = -v3_dot( rv, ct->t[j] ); + float f = k_friction * ct->norm_impulse, + vt = v3_dot( rv, ct->t[j] ), + lambda = ct->tangent_mass[j] * -vt; float temp = ct->tangent_impulse[j]; - ct->tangent_impulse[j] = vg_clampf( temp+vt, -f, f ); - vt = ct->tangent_impulse[j] - temp; + ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f ); + lambda = ct->tangent_impulse[j] - temp; v3f impulse; - v3_muls( ct->t[j], vt, impulse ); - rb_standard_impulse( ct, da, db, impulse ); + v3_muls( ct->t[j], lambda, impulse ); + rb_linear_impulse( ct->rba, da, impulse ); + + v3_muls( ct->t[j], -lambda, impulse ); + rb_linear_impulse( ct->rbb, db, impulse ); } - } - - /* Normal Impulse */ - for( int i=0; irba, - *rbb = ct->rbb; - v3f rv, da, db; + /* Normal */ rb_rcv( ct, rv, da, db ); - - float vn = -v3_dot( rv, ct->n ) + ct->bias; + float vn = v3_dot( rv, ct->n ), + lambda = ct->normal_mass * (-vn + ct->bias); float temp = ct->norm_impulse; - ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); - vn = ct->norm_impulse - temp; + ct->norm_impulse = vg_maxf( temp + lambda, 0.0f ); + lambda = ct->norm_impulse - temp; v3f impulse; - v3_muls( ct->n, vn, impulse ); - rb_standard_impulse( ct, da, db, impulse ); + v3_muls( ct->n, lambda, impulse ); + rb_linear_impulse( ct->rba, da, impulse ); + + v3_muls( ct->n, -lambda, impulse ); + rb_linear_impulse( ct->rbb, db, impulse ); } } /* - * The following ventures into not really very sophisticated at all maths + * ----------------------------------------------------------------------------- + * Constraints + * ----------------------------------------------------------------------------- */ -struct rb_angle_limit +static void draw_angle_limit( v3f c, v3f major, v3f minor, + float amin, float amax, float measured, + u32 colour ) { - rigidbody *rba, *rbb; - v3f axis; - float impulse, bias; -}; + float f = 0.05f; + v3f ay, ax; + v3_muls( major, f, ay ); + v3_muls( minor, f, ax ); -static int rb_angle_limit_force( rigidbody *rba, v3f va, - rigidbody *rbb, v3f vb, - float max ) -{ - v3f wva, wvb; - m3x3_mulv( rba->to_world, va, wva ); - m3x3_mulv( rbb->to_world, vb, wvb ); - - float dt = v3_dot(wva,wvb)*0.999f, - ang = fabsf(dt); - ang = acosf( dt ); - if( ang > max ) + for( int x=0; x<16; x++ ) { - float correction = max-ang; + float t0 = (float)x / 16.0f, + t1 = (float)(x+1) / 16.0f, + a0 = vg_lerpf( amin, amax, t0 ), + a1 = vg_lerpf( amin, amax, t1 ); - v3f axis; - v3_cross( wva, wvb, axis ); + 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 ); - v4f rotation; - q_axis_angle( rotation, axis, -correction*0.25f ); - q_mul( rotation, rba->q, rba->q ); - - q_axis_angle( rotation, axis, correction*0.25f ); - q_mul( rotation, rbb->q, rbb->q ); + vg_line( p0, p1, colour ); - return 1; + if( x == 0 ) + vg_line( c, p0, colour ); + if( x == 15 ) + vg_line( c, p1, colour ); } - return 0; + 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 ); } -static void rb_constraint_angle_limit( struct rb_angle_limit *limit ) +static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca, + v3f limits[2] ) { - + 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 ); + + v2f px, py, pz; + px[0] = v3_dot( ay, by ); + px[1] = v3_dot( az, by ); + + py[0] = v3_dot( az, bz ); + py[1] = v3_dot( ax, bz ); + + pz[0] = v3_dot( ax, bx ); + pz[1] = v3_dot( ay, bx ); + + float r0 = atan2f( px[1], px[0] ), + r1 = atan2f( py[1], py[0] ), + r2 = atan2f( pz[1], pz[0] ); + + 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 ); } -RB_DEPR -static void rb_constraint_angle( rigidbody *rba, v3f va, - rigidbody *rbb, v3f vb, - float max, float spring ) +static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d ) { - v3f wva, wvb; - m3x3_mulv( rba->to_world, va, wva ); - m3x3_mulv( rbb->to_world, vb, wvb ); + if( d != 0.0f ) + { + 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 dt = v3_dot(wva,wvb)*0.999f, - ang = fabsf(dt); + float bias = (k_limit_bias * k_rb_rate) * d, + lambda = -(avx + bias) * joint_mass; - v3f axis; - v3_cross( wva, wvb, axis ); - v3_muladds( rba->w, axis, ang*spring*0.5f, rba->w ); - v3_muladds( rbb->w, axis, -ang*spring*0.5f, rbb->w ); + /* Angular velocity */ + v3f wa, wb; + v3_muls( axis, lambda * ra->inv_mass, wa ); + v3_muls( axis, -lambda * rb->inv_mass, wb ); - return; - - /* TODO: convert max into the dot product value so we dont have to always - * evaluate acosf, only if its greater than the angle specified */ - ang = acosf( dt ); - if( ang > max ) - { - float correction = max-ang; - - v4f rotation; - q_axis_angle( rotation, axis, -correction*0.125f ); - q_mul( rotation, rba->q, rba->q ); - - q_axis_angle( rotation, axis, correction*0.125f ); - q_mul( rotation, rbb->q, rbb->q ); + v3_add( ra->w, wa, ra->w ); + v3_add( rb->w, wb, rb->w ); } } -static void rb_relative_velocity( rigidbody *ra, v3f lca, - rigidbody *rb, v3f lcb, v3f rcv ) +static void rb_constraint_limits( rigidbody *ra, v3f lca, + rigidbody *rb, v3f lcb, v3f limits[2] ) { + 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 ); + + v2f px, py, pz; + px[0] = v3_dot( ay, by ); + px[1] = v3_dot( az, by ); + + py[0] = v3_dot( az, bz ); + py[1] = v3_dot( ax, bz ); + + pz[0] = v3_dot( ax, bx ); + pz[1] = v3_dot( ay, bx ); + + float r0 = atan2f( px[1], px[0] ), + r1 = atan2f( py[1], py[0] ), + r2 = atan2f( pz[1], pz[0] ); + + /* calculate angle deltas */ + float dx = 0.0f, dy = 0.0f, dz = 0.0f; + + 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 wca, wcb; m3x3_mulv( ra->to_world, lca, wca ); m3x3_mulv( rb->to_world, lcb, wcb ); - v3_sub( ra->v, rb->v, rcv ); + rb_limit_cure( ra, rb, ax, dx ); + rb_limit_cure( ra, rb, ay, dy ); + rb_limit_cure( ra, rb, az, dz ); +} - 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 ); +static void rb_debug_constraint_position( rigidbody *ra, v3f lca, + rigidbody *rb, v3f lcb ) +{ + v3f wca, wcb; + m3x3_mulv( ra->to_world, lca, wca ); + m3x3_mulv( rb->to_world, lcb, wcb ); + + 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 ); } static void rb_constraint_position( rigidbody *ra, v3f lca, @@ -1294,14 +1799,6 @@ static void rb_constraint_position( rigidbody *ra, v3f lca, m3x3_mulv( ra->to_world, lca, wca ); m3x3_mulv( rb->to_world, lcb, wcb ); - v3f delta; - v3_add( wcb, rb->co, delta ); - v3_sub( delta, wca, delta ); - v3_sub( delta, ra->co, delta ); - - v3_muladds( ra->co, delta, 0.5f, ra->co ); - v3_muladds( rb->co, delta, -0.5f, rb->co ); - v3f rcv; v3_sub( ra->v, rb->v, rcv ); @@ -1311,232 +1808,71 @@ static void rb_constraint_position( rigidbody *ra, v3f lca, v3_add( rcv_Ra, rcv, rcv ); v3_sub( rcv, rcv_Rb, rcv ); - float nm = 0.5f/(rb->inv_mass + ra->inv_mass); - - float mass_a = 1.0f/ra->inv_mass, - mass_b = 1.0f/rb->inv_mass, - total_mass = mass_a+mass_b; - - v3f impulse; - v3_muls( rcv, 1.0f, impulse ); - v3_muladds( rb->v, impulse, mass_b/total_mass, rb->v ); - v3_cross( wcb, impulse, impulse ); - v3_add( impulse, rb->w, rb->w ); - - v3_muls( rcv, -1.0f, impulse ); - v3_muladds( ra->v, impulse, mass_a/total_mass, ra->v ); - v3_cross( wca, impulse, impulse ); - v3_add( impulse, ra->w, ra->w ); - -#if 0 - /* - * this could be used for spring joints - * its not good for position constraint - */ - v3f impulse; - v3_muls( delta, 0.5f*spring, impulse ); - - v3_add( impulse, ra->v, ra->v ); - v3_cross( wca, impulse, impulse ); - v3_add( impulse, ra->w, ra->w ); - - v3_muls( delta, -0.5f*spring, impulse ); - - v3_add( impulse, rb->v, rb->v ); - v3_cross( wcb, impulse, impulse ); - v3_add( impulse, rb->w, rb->w ); -#endif -} - -static void debug_sphere( m4x3f m, float radius, u32 colour ) -{ - v3f ly = { 0.0f, 0.0f, radius }, - lx = { 0.0f, radius, 0.0f }, - lz = { 0.0f, 0.0f, radius }; - - 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); - - v3f py = { s*radius, 0.0f, c*radius }, - px = { s*radius, c*radius, 0.0f }, - pz = { 0.0f, s*radius, c*radius }; - - v3f p0, p1, p2, p3, p4, p5; - m4x3_mulv( m, py, p0 ); - m4x3_mulv( m, ly, p1 ); - m4x3_mulv( m, px, p2 ); - m4x3_mulv( m, lx, p3 ); - m4x3_mulv( m, pz, p4 ); - m4x3_mulv( m, lz, p5 ); - - vg_line( p0, p1, colour == 0x00? 0xff00ff00: colour ); - vg_line( p2, p3, colour == 0x00? 0xff0000ff: colour ); - vg_line( p4, p5, colour == 0x00? 0xffff0000: colour ); - - v3_copy( py, ly ); - v3_copy( px, lx ); - v3_copy( pz, lz ); - } -} - -static void debug_capsule( m4x3f m, float radius, float h, u32 colour ) -{ - v3f ly = { 0.0f, 0.0f, radius }, - lx = { 0.0f, radius, 0.0f }, - lz = { 0.0f, 0.0f, radius }; - - float s0 = sinf(0.0f)*radius, - c0 = cosf(0.0f)*radius; - - v3f p0, p1, up, right, forward; - m3x3_mulv( m, (v3f){0.0f,1.0f,0.0f}, up ); - m3x3_mulv( m, (v3f){1.0f,0.0f,0.0f}, right ); - m3x3_mulv( m, (v3f){0.0f,0.0f,-1.0f}, forward ); - v3_muladds( m[3], up, -h*0.5f+radius, p0 ); - v3_muladds( m[3], up, h*0.5f-radius, p1 ); + v3f delta; + v3f p0, p1; + v3_add( wca, ra->co, p0 ); + v3_add( wcb, rb->co, p1 ); + v3_sub( p1, p0, delta ); - v3f a0, a1, b0, b1; - v3_muladds( p0, right, radius, a0 ); - v3_muladds( p1, right, radius, a1 ); - v3_muladds( p0, forward, radius, b0 ); - v3_muladds( p1, forward, radius, b1 ); - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); + float dist2 = v3_length2( delta ); - v3_muladds( p0, right, -radius, a0 ); - v3_muladds( p1, right, -radius, a1 ); - v3_muladds( p0, forward, -radius, b0 ); - v3_muladds( p1, forward, -radius, b1 ); - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); - - for( int i=0; i<16; i++ ) + if( dist2 > 0.00001f ) { - float t = ((float)(i+1) * (1.0f/16.0f)) * VG_PIf * 2.0f, - s1 = sinf(t)*radius, - c1 = cosf(t)*radius; - - v3f e0 = { s0, 0.0f, c0 }, - e1 = { s1, 0.0f, c1 }, - e2 = { s0, c0, 0.0f }, - e3 = { s1, c1, 0.0f }, - e4 = { 0.0f, c0, s0 }, - e5 = { 0.0f, c1, s1 }; - - m3x3_mulv( m, e0, e0 ); - m3x3_mulv( m, e1, e1 ); - m3x3_mulv( m, e2, e2 ); - m3x3_mulv( m, e3, e3 ); - m3x3_mulv( m, e4, e4 ); - m3x3_mulv( m, e5, e5 ); - - v3_add( p0, e0, a0 ); - v3_add( p0, e1, a1 ); - v3_add( p1, e0, b0 ); - v3_add( p1, e1, b1 ); - - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); - - 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 - { - v3_add( p1, e2, a0 ); - v3_add( p1, e3, a1 ); - v3_add( p1, e4, b0 ); - v3_add( p1, e5, b1 ); - } + float dist = sqrtf(dist2); + v3_muls( delta, 1.0f/dist, delta ); - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); + float joint_mass = rb->inv_mass + ra->inv_mass; - s0 = s1; - c0 = c1; - } -} - -static void rb_debug( rigidbody *rb, u32 colour ) -{ - if( rb->type == k_rb_shape_box ) - { - v3f *box = rb->bbx; - vg_line_boxf_transformed( rb->to_world, rb->bbx, colour ); - } - else if( rb->type == k_rb_shape_sphere ) - { - debug_sphere( rb->to_world, rb->inf.sphere.radius, colour ); - } - else if( rb->type == k_rb_shape_capsule ) - { - m4x3f m0, m1; - float h = rb->inf.capsule.height, - r = rb->inf.capsule.radius; + 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; + + float vd = v3_dot( rcv, delta ), + bias = -(k_joint_bias * k_rb_rate) * dist, + lambda = -(vd + bias) * joint_mass; - debug_capsule( rb->to_world, r, h, colour ); + v3f impulse; + v3_muls( delta, lambda, impulse ); + rb_linear_impulse( ra, wca, impulse ); + v3_muls( delta, -lambda, impulse ); + rb_linear_impulse( rb, wcb, impulse ); + + /* 'fake' snap */ + v3_muladds( ra->co, delta, dist * k_joint_correction, ra->co ); + v3_muladds( rb->co, delta, -dist * k_joint_correction, rb->co ); } } -/* - * out penetration distance, normal +/* + * Effectors */ -static int rb_point_in_body( rigidbody *rb, v3f pos, float *pen, v3f normal ) -{ - v3f local; - m4x3_mulv( rb->to_local, pos, local ); - - if( local[0] > rb->bbx[0][0] && local[0] < rb->bbx[1][0] && - local[1] > rb->bbx[0][1] && local[1] < rb->bbx[1][1] && - local[2] > rb->bbx[0][2] && local[2] < rb->bbx[1][2] ) - { - v3f area, com, comrel; - v3_add( rb->bbx[0], rb->bbx[1], com ); - v3_muls( com, 0.5f, com ); - - v3_sub( rb->bbx[1], rb->bbx[0], area ); - v3_sub( local, com, comrel ); - v3_div( comrel, area, comrel ); - int axis = 0; - float max_mag = fabsf(comrel[0]); - - if( fabsf(comrel[1]) > max_mag ) - { - axis = 1; - max_mag = fabsf(comrel[1]); - } - if( fabsf(comrel[2]) > max_mag ) - { - axis = 2; - max_mag = fabsf(comrel[2]); - } - - v3_zero( normal ); - normal[axis] = vg_signf(comrel[axis]); +static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, + float amt, float drag ) +{ + /* float */ + float depth = v3_dot( plane, ra->co ) - plane[3], + lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt; - if( normal[axis] < 0.0f ) - *pen = local[axis] - rb->bbx[0][axis]; - else - *pen = rb->bbx[1][axis] - local[axis]; + v3_muladds( ra->v, plane, lambda * ktimestep, ra->v ); - m3x3_mulv( rb->to_world, normal, normal ); - return 1; - } - - return 0; + if( depth < 0.0f ) + v3_muls( ra->v, 1.0f-(drag*ktimestep), ra->v ); } /* + * ----------------------------------------------------------------------------- * BVH implementation, this is ONLY for static rigidbodies, its to slow for * realtime use. + * ----------------------------------------------------------------------------- */ static void rb_bh_expand_bound( void *user, boxf bound, u32 item_index )