X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=16d38ea0df86d5003039acc09d2a4563e9151995;hb=777083e1f715a26d3f68be4ba5bdf2cbcaa84a05;hp=2e66fe68e5fea5800f3fcfc0201abfded3c4adf4;hpb=6d98c1e42c1617a8a426f9f0c0df99b75725b486;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/rigidbody.h b/rigidbody.h
index 2e66fe6..16d38ea 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -10,6 +10,7 @@
 #include "common.h"
 #include "bvh.h"
 #include "scene.h"
+#include "distq.h"
 
 VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
 VG_STATIC bh_system bh_system_rigidbodies;
@@ -103,7 +104,8 @@ VG_STATIC struct contact
          normal_mass, tangent_mass[2];
 
    u32 element_id;
-   int disabled;
+
+   enum contact_type type;
 }
 rb_contact_buffer[256];
 VG_STATIC int rb_contact_count = 0;
@@ -148,7 +150,7 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
 
 VG_STATIC void rb_debug_contact( rb_ct *ct )
 {
-   if( !ct->disabled )
+   if( ct->type != k_contact_type_disabled )
    {
       v3f p1;
       v3_muladds( ct->co, ct->n, 0.1f, p1 );
@@ -469,290 +471,6 @@ VG_STATIC void rb_iter( rigidbody *rb )
    v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
 }
 
-/*
- * -----------------------------------------------------------------------------
- *                        Closest point functions
- * -----------------------------------------------------------------------------
- */
-
-/* 
- * These closest point tests were learned from Real-Time Collision Detection by 
- * Christer Ericson 
- */
-VG_STATIC float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, 
-   float *s, float *t, v3f c1, v3f c2)
-{
-   v3f d1,d2,r;
-   v3_sub( q1, p1, d1 );
-   v3_sub( q2, p2, d2 );
-   v3_sub( p1, p2, r );
-
-   float a = v3_length2( d1 ),
-         e = v3_length2( d2 ),
-         f = v3_dot( d2, r );
-
-   const float kEpsilon = 0.0001f;
-
-   if( a <= kEpsilon && e <= kEpsilon )
-   {
-      *s = 0.0f;
-      *t = 0.0f;
-      v3_copy( p1, c1 );
-      v3_copy( p2, c2 );
-
-      v3f v0;
-      v3_sub( c1, c2, v0 );
-
-      return v3_length2( v0 );
-   }
-   
-   if( a<= kEpsilon )
-   {
-      *s = 0.0f;
-      *t = vg_clampf( f / e, 0.0f, 1.0f );
-   }
-   else
-   {
-      float c = v3_dot( d1, r );
-      if( e <= kEpsilon )
-      {
-         *t = 0.0f;
-         *s = vg_clampf( -c / a, 0.0f, 1.0f );
-      }
-      else
-      {
-         float b = v3_dot(d1,d2),
-               d = a*e-b*b;
-
-         if( d != 0.0f )
-         {
-            *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
-         }
-         else
-         {
-            *s = 0.0f;
-         }
-
-         *t = (b*(*s)+f) / e;
-
-         if( *t < 0.0f )
-         {
-            *t = 0.0f;
-            *s = vg_clampf( -c / a, 0.0f, 1.0f );
-         }
-         else if( *t > 1.0f )
-         {
-            *t = 1.0f;
-            *s = vg_clampf((b-c)/a,0.0f,1.0f);
-         }
-      }
-   }
-
-   v3_muladds( p1, d1, *s, c1 );
-   v3_muladds( p2, d2, *t, c2 );
-
-   v3f v0;
-   v3_sub( c1, c2, v0 );
-   return v3_length2( v0 );
-}
-
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
-   v3_maxv( p, box[0], dest );
-   v3_minv( dest, box[1], dest );
-}
-
-VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
-{
-   v3f local;
-   m4x3_mulv( rb->to_local, p, local );
-   closest_point_aabb( local, rb->bbx, local );
-   m4x3_mulv( rb->to_world, local, dest );
-}
-
-VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
-{
-   v3f v0, v1;
-   v3_sub( b, a, v0 );
-   v3_sub( point, a, v1 );
-
-   float t = v3_dot( v1, v0 ) / v3_length2(v0);
-   t = vg_clampf(t,0.0f,1.0f);
-   v3_muladds( a, v0, t, dest );
-   return t;
-}
-
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
-{
-   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 );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, 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 );
-}
-
-VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
-{
-   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 );
-}
 
 /*
  * -----------------------------------------------------------------------------
@@ -850,7 +568,7 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len )
    {
       rb_ct *ct = &man[i];
 
-      if( ct->disabled )
+      if( ct->type == k_contact_type_disabled )
          continue;
 
       man[k ++] = man[i];
@@ -859,6 +577,52 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len )
    return k;
 }
 
+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 *ci = &man[i];
+      if( ci->type != k_contact_type_edge ) 
+         continue;
+
+      for( int j=i+1; j<len; j++ )
+      {
+         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 );
+            }
+         }
+      }
+   }
+}
+
 /*
  * Resolve overlapping pairs
  */
@@ -869,17 +633,17 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r )
       rb_ct *ci = &man[i];
       int similar = 0;
 
-      if( ci->disabled ) continue;
+      if( ci->type == k_contact_type_disabled ) continue;
 
       for( int j=i+1; j<len; j++ )
       {
          rb_ct *cj = &man[j];
 
-         if( cj->disabled ) continue;
+         if( cj->type == k_contact_type_disabled ) continue;
 
          if( v3_dist2( ci->co, cj->co ) < r*r )
          {
-            cj->disabled = 1;
+            cj->type = k_contact_type_disabled;
             v3_add( cj->n, ci->n, ci->n );
             ci->p += cj->p;
             similar ++;
@@ -893,7 +657,7 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r )
          ci->p *= n;
 
          if( v3_length2(ci->n) < 0.1f*0.1f )
-            ci->disabled = 1;
+            ci->type = k_contact_type_disabled;
          else
             v3_normalize( ci->n );
       }
@@ -908,13 +672,14 @@ VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len )
    for( int i=0; i<len; i++ )
    {
       rb_ct *ct = &man[i];
-      if( ct->disabled ) continue;
+      if( ct->type == k_contact_type_disabled ) 
+         continue;
 
       v3f delta;
       v3_sub( ct->co, ct->rba->co, delta );
       
       if( v3_dot( delta, ct->n ) > -0.001f )
-         ct->disabled = 1;
+         ct->type = k_contact_type_disabled;
    }
 }
 
@@ -923,23 +688,31 @@ VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len )
  */
 VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w )
 {
-   for( int i=0; i<len-1; i++ )
+   for( int i=0; i<len; i++ )
    {
       rb_ct *ci = &man[i];
-      if( ci->disabled ) continue;
+      if( ci->type == k_contact_type_disabled ||
+          ci->type == k_contact_type_edge ) 
+         continue;
 
       float d1 = v3_dot( ci->co, ci->n );
 
-      for( int j=i+1; j<len; j++ )
+      for( int j=0; j<len; j++ )
       {
+         if( j == i )
+            continue;
+
          rb_ct *cj = &man[j];
-         if( cj->disabled ) continue;
+         if( cj->type == k_contact_type_disabled ) 
+            continue;
          
          float d2 = v3_dot( cj->co, ci->n ),
                d  = d2-d1;
 
          if( fabsf( d ) <= w )
-            cj->disabled = 1;
+         {
+            cj->type = k_contact_type_disabled;
+         }
       }
    }
 }
@@ -1038,7 +811,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
       ct->p = manifold->r0 - d;
       ct->rba = rba;
       ct->rbb = rbb;
-      ct->disabled = 0;
+      ct->type = k_contact_type_default;
 
       count ++;
    }
@@ -1058,7 +831,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
       ct->p = manifold->r1 - d;
       ct->rba = rba;
       ct->rbb = rbb;
-      ct->disabled = 0;
+      ct->type = k_contact_type_default;
 
       count ++;
    }
@@ -1106,7 +879,7 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
       ct->rba = rba;
       ct->rbb = rbb;
-      ct->disabled = 0;
+      ct->type = k_contact_type_default;
 
       return 1;
    }
@@ -1280,7 +1053,7 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    v3f co, delta;
 
-   closest_point_obb( rba->co, rbb, co );
+   closest_point_obb( rba->co, rbb->bbx, rbb->to_world, rbb->to_local, co );
    v3_sub( rba->co, co, delta );
 
    float d2 = v3_length2(delta),
@@ -1327,7 +1100,7 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
       ct->rba = rba;
       ct->rbb = rbb;
-      ct->disabled = 0;
+      ct->type = k_contact_type_default;
       return 1;
    }
 
@@ -1354,7 +1127,7 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
       v3_muladds( rbb->co, ct->n, rbb->inf.sphere.radius, p1 );
       v3_add( p0, p1, ct->co );
       v3_muls( ct->co, 0.5f, ct->co );
-      ct->disabled = 0;
+      ct->type = k_contact_type_default;
       ct->p = r-d;
       ct->rba = rba;
       ct->rbb = rbb;
@@ -1364,7 +1137,7 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    return 0;
 }
 
-#define RIGIDBODY_DYNAMIC_MESH_EDGES
+//#define RIGIDBODY_DYNAMIC_MESH_EDGES
 
 VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, 
                                   v3f tri[3], rb_ct *buf )
@@ -1372,16 +1145,13 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
    v3f delta, co;
 
 #ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
-   closest_on_triangle( rba->co, tri, co );
-#else
    closest_on_triangle_1( rba->co, tri, co );
+#else
+   enum contact_type type = closest_on_triangle_1( rba->co, tri, co );
 #endif
 
    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;
 
@@ -1399,7 +1169,7 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
       float d = sqrtf(d2);
 
       v3_copy( co, ct->co );
-      ct->disabled = 0;
+      ct->type = type;
       ct->p = r-d;
       ct->rba = rba;
       ct->rbb = rbb;
@@ -1409,213 +1179,135 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
    return 0;
 }
 
-VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
-{
-   scene *sc = rbb->inf.scene.bh_scene->user;
-   
-   u32 geo[128];
 
-   int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
-   int count = 0;
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
-   /* !experimental! build edge array on the fly. time could be improved! */
+VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
+                                           boxf box, u32 colour )
+{
+   sharp_ang = cosf( sharp_ang );
 
-   v3f co_picture[128*3];
-   int unique_cos = 0;
+   scene *sc = rbb->inf.scene.bh_scene->user;
+   vg_line_boxf( box, 0xff00ff00 );
 
-   struct face_info
+   bh_iter it;
+   bh_iter_init( 0, &it );
+   int idx;
+   
+   while( bh_next( rbb->inf.scene.bh_scene, &it, box, &idx ) )
    {
-      int unique_cos[3];   /* indexes co_picture array */
-      int collided;
-      v3f normal;
-      u32 element_id;
-   }
-   faces[128];
+      u32 *ptri = &sc->arrindices[ idx*3 ];
+      v3f tri[3];
 
-   /* create geometry picture */
-   for( int i=0; i<len; i++ )
-   {
-      u32 *tri_indices = &sc->arrindices[ geo[i]*3 ];
-      struct face_info *inf = &faces[i];
-      inf->element_id = tri_indices[0];
-      inf->collided = 0;
+      for( int j=0; j<3; j++ )
+         v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
 
       for( int j=0; j<3; j++ )
       {
-         struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]];
-
-         for( int k=0; k<unique_cos; k++ )
-         {
-            if( v3_dist( pvert->co, co_picture[k] ) < 0.01f*0.01f )
-            {
-               inf->unique_cos[j] = k;
-               goto next_vert;
-            }
-         }
-
-         inf->unique_cos[j] = unique_cos;
-         v3_copy( pvert->co, co_picture[ unique_cos ++ ] );
-next_vert:;
-      }
+#if 0
+         v3f edir;
+         v3_sub( tri[(j+1)%3], tri[j], edir );
 
-      v3f ab, ac;
-      v3_sub( co_picture[inf->unique_cos[2]], 
-              co_picture[inf->unique_cos[0]], ab );
+         if( v3_dot( edir, (v3f){ 0.5184758473652127f,
+                                  0.2073903389460850f,
+                                 -0.8295613557843402f } ) < 0.0f )
+            continue;
+#endif
 
-      v3_sub( co_picture[inf->unique_cos[1]],
-              co_picture[inf->unique_cos[0]], ac );
-      v3_cross( ac, ab, inf->normal );
-      v3_normalize( inf->normal );
-   }
+         bh_iter jt;
+         bh_iter_init( 0, &jt );
 
+         boxf region;
+         float const k_r = 0.02f;
+         v3_add( (v3f){  k_r,  k_r,  k_r }, tri[j], region[1] );
+         v3_add( (v3f){ -k_r, -k_r, -k_r }, tri[j], region[0] );
 
-   /* build edges brute force */
-   int edge_picture[ 128*3 ][4];
-   int unique_edges = 0;
+         int jdx;
+         while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) )
+         {
+            if( idx <= jdx )
+               continue;
 
-   for( int i=0; i<len; i++ )
-   {
-      struct face_info *inf = &faces[i];
-      
-      for( int j=0; j<3; j++ )
-      {
-         int i0 = j,
-             i1 = (j+1)%3,
-             e0 = VG_MIN( inf->unique_cos[i0], inf->unique_cos[i1] ),
-             e1 = VG_MAX( inf->unique_cos[i0], inf->unique_cos[i1] ),
-             matched = 0;
+            u32 *ptrj = &sc->arrindices[ jdx*3 ];
+            v3f trj[3];
 
-         for( int k=0; k<unique_edges; k ++ )
-         {
-            int k0 = VG_MIN( edge_picture[k][0], edge_picture[k][1] ),
-                k1 = VG_MAX( edge_picture[k][0], edge_picture[k][1] );
+            for( int k=0; k<3; k++ )
+               v3_copy( sc->arrvertices[ptrj[k]].co, trj[k] );
 
-            /* matched ! */
-            if( (k0 == e0) && (k1 == e1) )
+            for( int k=0; k<3; k++ )
             {
-               edge_picture[ k ][3] = i;
-               matched = 1;
-               break;
+               if( v3_dist2( tri[j], trj[k] ) <= k_r*k_r )
+               {
+                  int jp1 = (j+1)%3,
+                      jp2 = (j+2)%3,
+                      km1 = (k+3-1)%3,
+                      km2 = (k+3-2)%3;
+
+                  if( v3_dist2( tri[jp1], trj[km1] ) <= k_r*k_r )
+                  {
+                     v3f b0, b1, b2;
+                     v3_sub( tri[jp1], tri[j], b0 );
+                     v3_sub( tri[jp2], tri[j], b1 );
+                     v3_sub( trj[km2], tri[j], b2 );
+
+                     v3f cx0, cx1;
+                     v3_cross( b0, b1, cx0 );
+                     v3_cross( b2, b0, cx1 );
+
+                     float polarity = v3_dot( cx0, b2 );
+
+                     if( polarity < 0.0f )
+                     {
+#if 0
+                        vg_line( tri[j], tri[jp1], 0xff00ff00 );
+                        float ang = v3_dot(cx0,cx1) / 
+                                       (v3_length(cx0)*v3_length(cx1));
+                        if( ang < sharp_ang )
+                        {
+                           vg_line( tri[j], tri[jp1], 0xff00ff00 );
+                        }
+#endif
+                     }
+                  }
+               }
             }
          }
-      
-         if( !matched )
-         {
-            /* create new edge */
-            edge_picture[ unique_edges ][0] = inf->unique_cos[i0];
-            edge_picture[ unique_edges ][1] = inf->unique_cos[i1];
-
-            edge_picture[ unique_edges ][2] = i;
-            edge_picture[ unique_edges ][3] = -1;
-
-            unique_edges ++;
-         }
       }
    }
-#endif
-
-   v3f tri[3];
-
-   for( int i=0; i<len; i++ )
-   {
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
-      struct face_info *inf = &faces[i];
+}
 
-      float *v0 = co_picture[inf->unique_cos[0]],
-            *v1 = co_picture[inf->unique_cos[1]],
-            *v2 = co_picture[inf->unique_cos[2]];
+VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+   scene *sc = rbb->inf.scene.bh_scene->user;
 
-      v3_copy( v0, tri[0] );
-      v3_copy( v1, tri[1] );
-      v3_copy( v2, tri[2] );
+   bh_iter it;
+   bh_iter_init( 0, &it );
+   int idx;
 
-      buf[count].element_id = inf->element_id;
-#else
-      u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+   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];
-#endif
+      buf[ count ].element_id = ptri[0];
 
-      vg_line( tri[0],tri[1],0x10ffffff );
-      vg_line( tri[1],tri[2],0x10ffffff );
-      vg_line( tri[2],tri[0],0x10ffffff );
+      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 );
-
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
-      if( contact )
-         inf->collided = 1;
-#endif
       count += contact;
 
-      if( count == 12 )
+      if( count == 16 )
       {
          vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
          return count;
       }
    }
 
-#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
-   for( int i=0; i<unique_edges; i++ )
-   {
-      int *edge = edge_picture[i];
-
-      if( edge[3] == -1 )
-         continue;
-
-      struct face_info *inf_i = &faces[edge[2]],
-                       *inf_j = &faces[edge[3]];
-      
-      if( inf_i->collided || inf_j->collided )
-         continue;
-
-      v3f co, delta;
-      closest_point_segment( co_picture[edge[0]], co_picture[edge[1]], 
-                             rba->co, co );
-   
-      v3_sub( rba->co, co, delta );
-      float d2 = v3_length2( delta ),
-            r  = rba->inf.sphere.radius;
-
-      if( d2 < r*r )
-      {
-         float d = sqrtf(d2);
-
-         v3_muls( delta, 1.0f/d, delta );
-         float c0 = v3_dot( inf_i->normal, delta ),
-               c1 = v3_dot( inf_j->normal, delta );
-
-         if( c0 < 0.0f || c1 < 0.0f )
-            continue;
-
-         rb_ct *ct = buf+count;
-
-         v3_muls( inf_i->normal, c0, ct->n );
-         v3_muladds( ct->n, inf_j->normal, c1, ct->n );
-         v3_normalize( ct->n );
-
-         v3_copy( co, ct->co );
-         ct->disabled = 0;
-         ct->p = r-d;
-         ct->rba = rba;
-         ct->rbb = rbb;
-         ct->element_id = inf_i->element_id;
-
-         count ++;
-
-         if( count == 12 )
-         {
-            vg_warn( "Geometry too dense!\n" );
-            return count;
-         }
-      }
-   }
-#endif
-
    return count;
 }
 
@@ -1623,15 +1315,17 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    scene *sc = rbb->inf.scene.bh_scene->user;
    
-   u32 geo[128];
    v3f tri[3];
-   int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
 
-   int count = 0;
+   bh_iter it;
+   bh_iter_init( 0, &it );
+   int idx;
 
-   for( int i=0; i<len; i++ )
+   int count = 0;
+   
+   while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
    {
-      u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+      u32 *ptri = &sc->arrindices[ idx*3 ];
 
       for( int j=0; j<3; j++ )
          v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
@@ -1748,7 +1442,7 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
          if( ct->p < 0.0f )
             continue;
 
-         ct->disabled = 0;
+         ct->type = k_contact_type_default;
          ct->rba = rba;
          ct->rbb = rbb;
          count ++;
@@ -1854,7 +1548,9 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
       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->disabled = 0;
+#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;