X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=2714c430b1c341421228205278594ed287506c06;hb=4b222b13c504e5c21a743b7aeb02a692ce16da01;hp=c00b0f04f75817ad21072755ed983ce098094bfb;hpb=84a7ae83a25966e0004a1a4b409dbb3d49fae286;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index c00b0f0..2714c43 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; @@ -12,7 +13,7 @@ static bh_system bh_system_rigidbodies; #ifndef RIGIDBODY_H #define RIGIDBODY_H -#define RB_DEPR +//#define RB_DEPR #define k_rb_rate 60.0f #define k_rb_delta (1.0f/k_rb_rate) @@ -26,9 +27,10 @@ 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 +47,12 @@ struct rigidbody float height, radius; } capsule; + + struct rb_scene + { + scene *pscene; + } + scene; } inf; @@ -55,10 +63,17 @@ struct rigidbody boxf bbx, bbx_world; float inv_mass; - v3f delta; /* where is the origin of this in relation to a parent body */ + v3f delta; /* where is the origin of this in relation to a parent body + TODO: Move this somewhere other than rigidbody struct + it is only used by character.h's ragdoll + */ m4x3f to_world, to_local; }; +#ifdef RB_DEPR +/* + * Impulses on static objects get re-routed here + */ static rigidbody rb_static_null = { .co={0.0f,0.0f,0.0f}, @@ -68,6 +83,7 @@ static rigidbody rb_static_null = .is_world = 1, .inv_mass = 0.0f }; +#endif static void rb_debug( rigidbody *rb, u32 colour ); @@ -77,10 +93,17 @@ static struct contact v3f co, n; v3f t[2]; float mass_total, p, bias, norm_impulse, tangent_impulse[2]; + u32 element_id; } rb_contact_buffer[256]; static int rb_contact_count = 0; +static void rb_update_bounds( rigidbody *rb ) +{ + box_copy( rb->bbx, rb->bbx_world ); + m4x3_transform_aabb( rb->to_world, rb->bbx_world ); +} + static void rb_update_transform( rigidbody *rb ) { q_normalize( rb->q ); @@ -89,12 +112,11 @@ 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 ); + + rb_update_bounds( rb ); } static float sphere_volume( float radius ) @@ -130,6 +152,11 @@ 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 ) { @@ -137,7 +164,8 @@ static void rb_init( rigidbody *rb ) } else { - rb->inv_mass = 1.0f/(8.0f*volume); + rb->inv_mass = 1.0f/(8.0f*volume); /* TODO: Things get weird when mass + passes a certain point??? */ } v3_zero( rb->v ); @@ -195,9 +223,12 @@ static void rb_tangent_basis( v3f n, v3f tx, v3f ty ) } static void rb_solver_reset(void); +#ifdef RB_DEPR static void rb_build_manifold_terrain( rigidbody *rb ); static void rb_build_manifold_terrain_sphere( rigidbody *rb ); -static void rb_solve_contacts(void); +#endif +static void rb_solve_contacts( rb_ct *buf, int len ); +static void rb_presolve_contacts( rb_ct *buffer, int len ); /* * These closest point tests were learned from Real-Time Collision Detection by @@ -294,14 +325,16 @@ static void closest_point_obb( v3f p, rigidbody *rb, v3f dest ) m4x3_mulv( rb->to_world, local, dest ); } -static void closest_point_segment( v3f a, v3f b, v3f point, v3f dest ) +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); - v3_muladds( a, v0, vg_clampf(t,0.0f,1.0f), dest ); + t = vg_clampf(t,0.0f,1.0f); + v3_muladds( a, v0, t, dest ); + return t; } static void closest_on_triangle( v3f p, v3f tri[3], v3f dest ) @@ -393,6 +426,136 @@ static void closest_on_triangle( v3f p, v3f tri[3], v3f dest ) v3_muladds( dest, ac, w, dest ); } +/* TODO */ +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 ); +} + +static int rb_intersect_planes( v4f p0, v4f p1, v4f p2, v3f p ) +{ + v3f u; + v3_cross( p1, p2, u ); + float d = v3_dot( p0, u ); + + if( fabsf(d) < 0.0001f ) + return 0; + + v3_muls( u, p0[3], p ); + + v3f v0, v1; + v3_muls( p1, p2[3], v0 ); + v3_muladds( v0, p2, -p1[3], v0 ); + v3_cross( p0, v0, v1 ); + v3_add( v1, p, p ); + v3_muls( p, 1.0f/d, p ); + + return 1; +} + +int rb_intersect_planes_1( v4f a, v4f b, v4f c, v3f p ) +{ + float const epsilon = 0.001; + + v3f x, bc, ca, ab; + float d; + + v3_cross( a, b, x ); + d = v3_dot( x, c ); + + if( d < epsilon && d > -epsilon ) return 0; + + v3_cross(b,c,bc); + v3_cross(c,a,ca); + v3_cross(a,b,ab); + + v3_muls( bc, -a[3], p ); + v3_muladds( p, ca, -b[3], p ); + v3_muladds( p, ab, -c[3], p ); + + v3_negate( p, p ); + v3_divs( p, d, p ); + + return 1; +} /* * Contact generators * @@ -411,6 +574,320 @@ static void rb_debug_contact( rb_ct *ct ) vg_line( ct->co, p1, 0xffffffff ); } +/* + * By collecting the minimum(time) and maximum(time) pairs of points, we + * build a reduced and stable exact manifold. + * + * tx: time at point + * rx: minimum distance of these points + * dx: the delta between the two points + * + * pairs will only ammend these if they are creating a collision + */ +typedef struct capsule_manifold capsule_manifold; +struct capsule_manifold +{ + float t0, t1; + float r0, r1; + v3f d0, d1; +}; + +/* + * Expand a line manifold with a new pair. t value is the time along segment + * on the oriented object which created this pair. + */ +static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, + capsule_manifold *manifold ) +{ + v3f delta; + v3_sub( pa, pb, delta ); + + if( v3_length2(delta) < r*r ) + { + if( t < manifold->t0 ) + { + v3_copy( delta, manifold->d0 ); + manifold->t0 = t; + manifold->r0 = r; + } + + if( t > manifold->t1 ) + { + v3_copy( delta, manifold->d1 ); + manifold->t1 = t; + manifold->r1 = r; + } + } +} + +static void rb_capsule_manifold_init( capsule_manifold *manifold ) +{ + manifold->t0 = INFINITY; + manifold->t1 = -INFINITY; +} + +static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, + capsule_manifold *manifold, rb_ct *buf ) +{ + float h = rba->inf.capsule.height, + ra = rba->inf.capsule.radius; + + v3f p0, p1; + v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 ); + v3_muladds( rba->co, rba->up, h*0.5f-ra, 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, -ra, ct->co ); + + ct->p = manifold->r0 - d; + ct->rba = rba; + ct->rbb = rbb; + + 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, -ra, ct->co ); + + ct->p = manifold->r1 - d; + ct->rba = rba; + ct->rbb = rbb; + + count ++; + } + + /* + * Debugging + */ + + if( count == 2 ) + vg_line( buf[0].co, buf[1].co, 0xff0000ff ); + + return count; +} + +static int rb_capsule_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + float h = rba->inf.capsule.height, + ra = rba->inf.capsule.radius, + rb = rbb->inf.sphere.radius; + + v3f p0, p1; + v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 ); + v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 ); + + v3f c, delta; + closest_point_segment( p0, p1, rbb->co, c ); + v3_sub( c, rbb->co, delta ); + + float d2 = v3_length2(delta), + r = ra + rb; + + if( d2 < r*r ) + { + float d = sqrtf(d2); + + rb_ct *ct = buf; + v3_muls( delta, 1.0f/d, ct->n ); + ct->p = r-d; + + v3f p0, p1; + v3_muladds( c, ct->n, -ra, p0 ); + v3_muladds( rbb->co, ct->n, rb, p1 ); + v3_add( p0, p1, ct->co ); + v3_muls( ct->co, 0.5f, ct->co ); + + ct->rba = rba; + ct->rbb = rbb; + + return 1; + } + + return 0; +} + +static int rb_capsule_vs_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + float ha = rba->inf.capsule.height, + hb = rbb->inf.capsule.height, + ra = rba->inf.capsule.radius, + rb = rbb->inf.capsule.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 ); + + capsule_manifold manifold; + rb_capsule_manifold_init( &manifold ); + + v3f pa, pb; + float ta, tb; + closest_segment_segment( p0, p1, p2, p3, &ta, &tb, pa, pb ); + rb_capsule_manifold( pa, pb, ta, r, &manifold ); + + ta = closest_point_segment( p0, p1, p2, pa ); + tb = closest_point_segment( p0, p1, p3, pb ); + rb_capsule_manifold( pa, p2, ta, r, &manifold ); + rb_capsule_manifold( pb, p3, tb, r, &manifold ); + + closest_point_segment( p2, p3, p0, pa ); + closest_point_segment( p2, p3, p1, pb ); + 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 ); +} + +/* + * Generates up to two contacts; optimised for the most stable manifold + */ +static int rb_capsule_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + float h = rba->inf.capsule.height, + r = rba->inf.capsule.radius; + + /* + * Solving this in symetric local space of the cube saves us some time and a + * couple branches when it comes to the quad stage. + */ + v3f centroid; + v3_add( rbb->bbx[0], rbb->bbx[1], centroid ); + v3_muls( centroid, 0.5f, centroid ); + + boxf bbx; + v3_sub( rbb->bbx[0], centroid, bbx[0] ); + v3_sub( rbb->bbx[1], centroid, bbx[1] ); + + v3f pc, p0w, p1w, p0, p1; + v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w ); + v3_muladds( rba->co, rba->up, h*0.5f-r, p1w ); + + m4x3_mulv( rbb->to_local, p0w, p0 ); + m4x3_mulv( rbb->to_local, p1w, p1 ); + v3_sub( p0, centroid, p0 ); + v3_sub( p1, centroid, p1 ); + v3_add( p0, p1, pc ); + v3_muls( pc, 0.5f, pc ); + + /* + * Finding an appropriate quad to collide lines with + */ + v3f region; + v3_div( pc, bbx[1], region ); + + v3f quad[4]; + if( (fabsf(region[0]) > fabsf(region[1])) && + (fabsf(region[0]) > fabsf(region[2])) ) + { + float px = vg_signf(region[0]) * bbx[1][0]; + v3_copy( (v3f){ px, bbx[0][1], bbx[0][2] }, quad[0] ); + v3_copy( (v3f){ px, bbx[1][1], bbx[0][2] }, quad[1] ); + v3_copy( (v3f){ px, bbx[1][1], bbx[1][2] }, quad[2] ); + v3_copy( (v3f){ px, bbx[0][1], bbx[1][2] }, quad[3] ); + } + else if( fabsf(region[1]) > fabsf(region[2]) ) + { + float py = vg_signf(region[1]) * bbx[1][1]; + v3_copy( (v3f){ bbx[0][0], py, bbx[0][2] }, quad[0] ); + v3_copy( (v3f){ bbx[1][0], py, bbx[0][2] }, quad[1] ); + v3_copy( (v3f){ bbx[1][0], py, bbx[1][2] }, quad[2] ); + v3_copy( (v3f){ bbx[0][0], py, bbx[1][2] }, quad[3] ); + } + else + { + float pz = vg_signf(region[2]) * bbx[1][2]; + v3_copy( (v3f){ bbx[0][0], bbx[0][1], pz }, quad[0] ); + v3_copy( (v3f){ bbx[1][0], bbx[0][1], pz }, quad[1] ); + v3_copy( (v3f){ bbx[1][0], bbx[1][1], pz }, quad[2] ); + v3_copy( (v3f){ bbx[0][0], bbx[1][1], pz }, quad[3] ); + } + + capsule_manifold manifold; + rb_capsule_manifold_init( &manifold ); + + v3f c0, c1; + closest_point_aabb( p0, bbx, c0 ); + closest_point_aabb( p1, bbx, c1 ); + + v3f d0, d1, da; + v3_sub( c0, p0, d0 ); + v3_sub( c1, p1, d1 ); + v3_sub( p1, p0, da ); + + /* TODO: ? */ + v3_normalize(d0); + v3_normalize(d1); + v3_normalize(da); + + if( v3_dot( da, d0 ) <= 0.01f ) + rb_capsule_manifold( p0, c0, 0.0f, r, &manifold ); + + if( v3_dot( da, d1 ) >= -0.01f ) + rb_capsule_manifold( p1, c1, 1.0f, r, &manifold ); + + for( int i=0; i<4; i++ ) + { + int i0 = i, + i1 = (i+1)%4; + + v3f ca, cb; + float ta, tb; + closest_segment_segment( p0, p1, quad[i0], quad[i1], &ta, &tb, ca, cb ); + rb_capsule_manifold( ca, cb, ta, r, &manifold ); + } + + /* + * Create final contacts based on line manifold + */ + m3x3_mulv( rbb->to_world, manifold.d0, manifold.d0 ); + m3x3_mulv( rbb->to_world, manifold.d1, manifold.d1 ); + + /* + * Debugging + */ + +#if 0 + for( int i=0; i<4; i++ ) + { + v3f q0, q1; + int i0 = i, + i1 = (i+1)%4; + + v3_add( quad[i0], centroid, q0 ); + v3_add( quad[i1], centroid, q1 ); + + m4x3_mulv( rbb->to_world, q0, q0 ); + m4x3_mulv( rbb->to_world, q1, q1 ); + + vg_line( q0, q1, 0xffffffff ); + } +#endif + + return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); +} + static int rb_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { v3f co, delta; @@ -424,18 +901,42 @@ static int rb_sphere_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) if( d2 <= r*r ) { float d; + + rb_ct *ct = buf; if( d2 <= 0.0001f ) { - v3_sub( rbb->co, rba->co, delta ); - d2 = v3_length2(delta); - } + v3_sub( rba->co, rbb->co, delta ); + + /* + * some extra testing is required to find the best axis to push the + * object back outside the box. Since there isnt a clear seperating + * vector already, especially on really high aspect boxes. + */ + float lx = v3_dot( rbb->right, delta ), + ly = v3_dot( rbb->up, delta ), + lz = v3_dot( rbb->forward, delta ), + px = rbb->bbx[1][0] - fabsf(lx), + py = rbb->bbx[1][1] - fabsf(ly), + pz = rbb->bbx[1][2] - fabsf(lz); + + if( px < py && px < pz ) + v3_muls( rbb->right, vg_signf(lx), ct->n ); + else if( py < pz ) + v3_muls( rbb->up, vg_signf(ly), ct->n ); + else + v3_muls( rbb->forward, vg_signf(lz), ct->n ); - d = sqrtf(d2); + v3_muladds( rba->co, ct->n, -r, ct->co ); + ct->p = r; + } + else + { + d = sqrtf(d2); + v3_muls( delta, 1.0f/d, ct->n ); + ct->p = r-d; + v3_copy( co, ct->co ); + } - 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 = rbb; return 1; @@ -457,11 +958,11 @@ static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) float d = sqrtf(d2); rb_ct *ct = buf; - v3_muls( delta, -1.0f/d, ct->n ); + v3_muls( delta, 1.0f/d, ct->n ); v3f p0, p1; - v3_muladds( rba->co, ct->n, rba->inf.sphere.radius, p0 ); - v3_muladds( rbb->co, ct->n,-rbb->inf.sphere.radius, p1 ); + v3_muladds( rba->co, ct->n,-rba->inf.sphere.radius, p0 ); + 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->p = r-d; @@ -473,17 +974,320 @@ static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } +/* TODO: these guys */ + +static int rb_capsule_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + u32 geo[128]; + v3f tri[3]; + int len = bh_select( &rbb->inf.scene.pscene->bhtris, + rba->bbx_world, geo, 128 ); + + return 0; +} + +static int rb_sphere_vs_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[2], tri[0], ab ); + v3_sub( tri[1], tri[0], ac ); + v3_cross( ac, ab, tn ); + v3_copy( tn, ct->n ); + v3_normalize( ct->n ); + + float d = sqrtf(d2); + + v3_copy( co, ct->co ); + ct->p = r-d; + ct->rba = rba; + ct->rbb = rbb; + return 1; + } + + return 0; +} + +static int rb_sphere_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + 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; + + for( int i=0; iindices[ geo[i]*3 ]; + + for( int j=0; j<3; j++ ) + v3_copy( sc->verts[ptri[j]].co, tri[j] ); + + 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_vs_triangle( rba, rbb, tri, buf+count ); + + if( count == 12 ) + { + vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); + return count; + } + } + + return count; +} + +static float rb_box_plane_interval( rigidbody *rba, v4f p ) +{ + /* TODO: Make boxes COG aligned as is every other shape. + * or create COG vector. + * TODO: Make forward actually point in the right fucking direction. */ + v3f e,c; + v3_sub( rba->bbx[1], rba->bbx[0], e ); + v3_muls( e, 0.5f, e ); + v3_add( rba->bbx[0], e, c ); + m4x3_mulv( rba->to_world, c, c ); + + float r = + e[0]*fabsf( v3_dot(p, rba->right)) + + e[1]*fabsf( v3_dot(p, rba->up)) + + e[2]*fabsf(-v3_dot(p, rba->forward)), + s = v3_dot( p, c ) - p[3]; + + return r-s; +} + +static int rb_box_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ +#if 1 + scene *sc = rbb->inf.scene.pscene; + + u32 geo[128]; + v3f tri[3]; + int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 ); + + vg_info( "%d\n", len ); + + int count = 0; + + for( int i=0; iindices[ geo[i]*3 ]; + + for( int j=0; j<3; j++ ) + v3_copy( sc->verts[ptri[j]].co, tri[j] ); + + vg_line(tri[0],tri[1],0xff00ff00 ); + vg_line(tri[1],tri[2],0xff00ff00 ); + vg_line(tri[2],tri[0],0xff00ff00 ); + + //count += rb_sphere_vs_triangle( rba, rbb, tri, buf+count ); + // + + /* TODO: SAT test first */ + + /* + * each pair of faces on the box vs triangle normal + */ + + v3f v0, v1; + v4f tn; + + v3_sub( tri[1],tri[0], v0 ); + v3_sub( tri[2],tri[0], v1 ); + v3_cross( v0, v1, tn ); + v3_normalize( tn ); + + tn[3] = v3_dot( tn, tri[0] ); + + v4f pa, pb, pc, pd, pe, pf; + v3_copy( rba->right, pa ); + v3_muls( rba->right, -1.0f, pb ); + v3_copy( rba->up, pc ); + v3_muls( rba->up, -1.0f, pd ); + v3_copy( rba->forward, pf ); + v3_muls( rba->forward, -1.0f, pe ); + + float dx = v3_dot( rba->co, rba->right ), + dy = v3_dot( rba->co, rba->up ), + dz = -v3_dot( rba->co, rba->forward ); + + pa[3] = dx + rba->bbx[1][0]; + pb[3] = -dx - rba->bbx[0][0]; + pc[3] = dy + rba->bbx[1][1]; + pd[3] = -dy - rba->bbx[0][1]; + pe[3] = dz + rba->bbx[1][2]; + pf[3] = -dz - rba->bbx[0][2]; + + float *pairs[][2] = { {pc, pa}, {pc,pe}, {pc,pb}, {pc,pf}, + {pd, pa}, {pd,pe}, {pd,pb}, {pd,pf}, + {pf, pa}, {pa,pe}, {pe,pb}, {pb,pf}}; + for( int j=0; jn ); + v3_copy( p_box, ct->co ); + + ct->p = rb_box_plane_interval( rba, tn ); + ct->rba = rba; + ct->rbb = rbb; + count ++; + } + } + } + } +#else + + 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]=rba->bbx[0][0];p000[1]=rba->bbx[0][1];p000[2]=rba->bbx[0][2]; + p001[0]=rba->bbx[0][0];p001[1]=rba->bbx[0][1];p001[2]=rba->bbx[1][2]; + p010[0]=rba->bbx[0][0];p010[1]=rba->bbx[1][1];p010[2]=rba->bbx[0][2]; + p011[0]=rba->bbx[0][0];p011[1]=rba->bbx[1][1];p011[2]=rba->bbx[1][2]; + p100[0]=rba->bbx[1][0];p100[1]=rba->bbx[0][1];p100[2]=rba->bbx[0][2]; + p101[0]=rba->bbx[1][0];p101[1]=rba->bbx[0][1];p101[2]=rba->bbx[1][2]; + p110[0]=rba->bbx[1][0];p110[1]=rba->bbx[1][1];p110[2]=rba->bbx[0][2]; + p111[0]=rba->bbx[1][0];p111[1]=rba->bbx[1][1];p111[2]=rba->bbx[1][2]; + + int count = 0; + for( int i=0; i<8; i++ ) + { + m4x3_mulv( rba->to_world, pts[i], pts[i] ); + + vg_line_pt3( pts[i], 0.1f, 0xffff00ff ); + + if( pts[i][1] < 0.0f ) + { + rb_ct *ct = buf+count; + + v3_copy( (v3f){0.0f,1.0f,0.0f}, ct->n ); + v3_copy( pts[i], ct->co ); + + ct->p = 0.0f-pts[i][1]; + ct->rba = rba; + ct->rbb = rbb; + count ++; + } + } + +#endif + + return count; +} + +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_box_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +static int rb_scene_vs_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { - /* TODO: Generating a stable quad manifold, lots of clipping */ - return 0; + return rb_box_vs_scene( rbb, rba, buf ); } +static int (*rb_jump_table[4][4])( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) += { + /* box */ /* Sphere */ /* Capsule */ /* Mesh */ +/*box */ { RB_MATRIX_ERROR, rb_box_vs_sphere, rb_box_vs_capsule, rb_box_vs_scene }, +/*sphere */ { rb_sphere_vs_box, rb_sphere_vs_sphere, rb_sphere_vs_capsule, rb_sphere_vs_scene }, +/*capsule*/ { rb_capsule_vs_box,rb_capsule_vs_sphere,rb_capsule_vs_capsule,RB_MATRIX_ERROR }, +/*mesh */ { rb_scene_vs_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR } +}; + +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]; + + /* + * 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; + } + + /* + * TODO: 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; +} + +/* + * Generic functions + */ + +#ifdef RB_DEPR /* * This function does not accept triangle as a dynamic object, it is assumed * to always be static. @@ -524,12 +1328,6 @@ static int rb_sphere_vs_triangle( rigidbody *rba, v3f tri[3], rb_ct *buf ) return 0; } - -/* - * Generic functions - */ - -RB_DEPR static int sphere_vs_triangle( v3f c, float r, v3f tri[3], v3f co, v3f norm, float *p ) { @@ -563,6 +1361,7 @@ static int sphere_vs_triangle( v3f c, float r, v3f tri[3], } #include "world.h" +#endif static void rb_solver_reset(void) { @@ -574,6 +1373,7 @@ static rb_ct *rb_global_ct(void) return rb_contact_buffer + rb_contact_count; } +#ifdef RB_DEPR static struct contact *rb_start_contact(void) { if( rb_contact_count == vg_list_size(rb_contact_buffer) ) @@ -641,7 +1441,6 @@ static void rb_build_manifold_terrain_sphere( rigidbody *rb ) } -RB_DEPR static void rb_build_manifold_terrain( rigidbody *rb ) { v3f *box = rb->bbx; @@ -706,16 +1505,17 @@ static void rb_build_manifold_terrain( rigidbody *rb ) } } } +#endif /* * Initializing things like tangent vectors */ -static void rb_presolve_contacts(void) + +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); rb_tangent_basis( ct->n, ct->t[0], ct->t[1] ); @@ -729,52 +1529,60 @@ static void rb_presolve_contacts(void) } /* - * Creates relative contact velocity vector, and offsets between each body */ + * Creates relative contact velocity vector, and offsets between each body + */ static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db ) { rigidbody *rba = ct->rba, *rbb = ct->rbb; - v3_sub( rba->co, ct->co, da ); - v3_sub( rbb->co, ct->co, db ); + 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_add( rva, rvb, rv ); + + v3_sub( rva, rvb, rv ); } +/* + * Apply regular and angular velocity impulses to objects involved in contact + */ static void rb_standard_impulse( rb_ct *ct, v3f da, v3f db, 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_muladds( rba->v, impulse, ct->mass_total * rba->inv_mass, rba->v ); - v3_muladds( rbb->v, impulse, ct->mass_total * rbb->inv_mass, rbb->v ); + v3_add( rba->v, ia, rba->v ); + v3_add( rbb->v, ib, rbb->v ); /* Angular velocity */ v3f wa, wb; - v3_cross( da, impulse, wa ); - v3_cross( db, impulse, wb ); - v3_muladds( rba->w, wa, ct->mass_total * rba->inv_mass, rba->w ); - v3_muladds( rbb->w, wb, ct->mass_total * rbb->inv_mass, rbb->w ); + v3_cross( da, ia, wa ); + v3_cross( db, ib, wb ); + v3_add( rba->w, wa, rba->w ); + v3_add( rbb->w, wb, rbb->w ); } -static void rb_solve_contacts(void) +/* + * One iteration to solve the contact constraint + */ +static void rb_solve_contacts( rb_ct *buf, int len ) { - float k_friction = 0.1f; - - /* TODO: second object - * Static objects route to static element */ + float k_friction = 0.5f; /* Friction Impulse */ - for( int i=0; irba; v3f rv, da, db; @@ -796,17 +1604,16 @@ static void rb_solve_contacts(void) } /* Normal Impulse */ - for( int i=0; irba, *rbb = ct->rbb; v3f rv, da, db; rb_rcv( ct, rv, da, db ); - float vn = -v3_dot( rv, ct->n ); - vn += ct->bias; + float vn = -v3_dot( rv, ct->n ) + ct->bias; float temp = ct->norm_impulse; ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); @@ -818,6 +1625,10 @@ static void rb_solve_contacts(void) } } +/* + * The following ventures into not really very sophisticated at all maths + */ + struct rb_angle_limit { rigidbody *rba, *rbb; @@ -861,7 +1672,6 @@ static void rb_constraint_angle_limit( struct rb_angle_limit *limit ) } -RB_DEPR static void rb_constraint_angle( rigidbody *rba, v3f va, rigidbody *rbb, v3f vb, float max, float spring ) @@ -1008,6 +1818,88 @@ static void debug_sphere( m4x3f m, float radius, u32 colour ) } } +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 ) @@ -1019,8 +1911,21 @@ static void rb_debug( rigidbody *rb, u32 colour ) { 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 ); + } } +#ifdef RB_DEPR /* * out penetration distance, normal */ @@ -1070,114 +1975,6 @@ static int rb_point_in_body( rigidbody *rb, v3f pos, float *pen, v3f normal ) return 0; } -#if 0 -static void rb_build_manifold_rb_static( rigidbody *ra, rigidbody *rb_static ) -{ - v3f verts[8]; - - v3f a, b; - v3_copy( ra->bbx[0], a ); - v3_copy( ra->bbx[1], b ); - - m4x3_mulv( ra->to_world, (v3f){ a[0], a[1], a[2] }, verts[0] ); - m4x3_mulv( ra->to_world, (v3f){ a[0], b[1], a[2] }, verts[1] ); - m4x3_mulv( ra->to_world, (v3f){ b[0], b[1], a[2] }, verts[2] ); - m4x3_mulv( ra->to_world, (v3f){ b[0], a[1], a[2] }, verts[3] ); - m4x3_mulv( ra->to_world, (v3f){ a[0], a[1], b[2] }, verts[4] ); - m4x3_mulv( ra->to_world, (v3f){ a[0], b[1], b[2] }, verts[5] ); - m4x3_mulv( ra->to_world, (v3f){ b[0], b[1], b[2] }, verts[6] ); - m4x3_mulv( ra->to_world, (v3f){ b[0], a[1], b[2] }, verts[7] ); - - vg_line_boxf_transformed( rb_static->to_world, rb_static->bbx, 0xff0000ff ); - - int count = 0; - - for( int i=0; i<8; i++ ) - { - if( ra->manifold_count == vg_list_size(ra->manifold) ) - return; - - struct contact *ct = &ra->manifold[ ra->manifold_count ]; - - float p; - v3f normal; - - if( rb_point_in_body( rb_static, verts[i], &p, normal )) - { - v3_copy( normal, ct->n ); - v3_muladds( verts[i], ct->n, p*0.5f, ct->co ); - v3_sub( ct->co, ra->co, ct->delta ); - - vg_line_pt3( ct->co, 0.0125f, 0xffff00ff ); - - ct->bias = -0.2f * (1.0f/k_rb_delta) * vg_minf( 0.0f, -p+0.04f ); - 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; - - ra->manifold_count ++; - count ++; - if( count == 4 ) - return; - } - } -} -#endif - -/* - * Capsule phyics - */ - -static void debug_capsule( m4x3f m, float height, float radius, u32 colour ) -{ - v3f last = { 0.0f, 0.0f, radius }; - m4x3f lower, upper; - m3x3_copy( m, lower ); - m3x3_copy( m, upper ); - m4x3_mulv( m, (v3f){0.0f,-height*0.5f+radius,0.0f}, lower[3] ); - m4x3_mulv( m, (v3f){0.0f, height*0.5f-radius,0.0f}, upper[3] ); - - 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 p = { s*radius, 0.0f, c*radius }; - - v3f p0, p1; - m4x3_mulv( lower, p, p0 ); - m4x3_mulv( lower, last, p1 ); - vg_line( p0, p1, colour ); - - m4x3_mulv( upper, p, p0 ); - m4x3_mulv( upper, last, p1 ); - vg_line( p0, p1, colour ); - - v3_copy( p, last ); - } - - for( int i=0; i<4; i++ ) - { - float t = ((float)(i) * (1.0f/4.0f)) * VG_PIf * 2.0f, - s = sinf(t), - c = cosf(t); - - v3f p = { s*radius, 0.0f, c*radius }; - - v3f p0, p1; - m4x3_mulv( lower, p, p0 ); - m4x3_mulv( upper, p, p1 ); - vg_line( p0, p1, colour ); - - m4x3_mulv( lower, (v3f){0.0f,-radius,0.0f}, p0 ); - m4x3_mulv( upper, (v3f){0.0f, radius,0.0f}, p1 ); - vg_line( p0, p1, colour ); - } -} - /* * BVH implementation, this is ONLY for static rigidbodies, its to slow for * realtime use. @@ -1221,4 +2018,6 @@ static bh_system bh_system_rigidbodies = .cast_ray = NULL }; +#endif + #endif /* RIGIDBODY_H */