X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=2e17120eda4f90439481869df6102b099c8719e7;hb=409edea2cf6271956137918e4e0b4f1c2addf620;hp=324e5e1a45cf7eff25441714e276d664867b1491;hpb=0a40a20806ec52fc13817fd78a43793de5e32ffa;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 324e5e1..2e17120 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -16,8 +16,6 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ); VG_STATIC bh_system bh_system_rigidbodies; - - #ifndef RIGIDBODY_H #define RIGIDBODY_H @@ -214,13 +212,19 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) VG_STATIC void rb_debug_contact( rb_ct *ct ) { - if( ct->type != k_contact_type_disabled ) + v3f p1; + v3_muladds( ct->co, ct->n, 0.05f, p1 ); + + if( ct->type == k_contact_type_default ) { - v3f p1; - v3_muladds( ct->co, ct->n, 0.05f, p1 ); vg_line_pt3( ct->co, 0.0125f, 0xff0000ff ); vg_line( ct->co, p1, 0xffffffff ); } + else if( ct->type == k_contact_type_edge ) + { + vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 ); + vg_line( ct->co, p1, 0xffffffff ); + } } VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour ) @@ -404,6 +408,7 @@ VG_STATIC void rb_update_transform( rigidbody *rb ) * Extrapolate rigidbody into a transform based on vg accumulator. * Useful for rendering */ +#if 0 __attribute__ ((deprecated)) VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) { @@ -434,6 +439,7 @@ VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) q_m3x3( q, transform ); v3_copy( co, transform[3] ); } +#endif VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q ) { @@ -894,6 +900,7 @@ VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold ) manifold->t1 = -INFINITY; } +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, capsule_manifold *manifold, rb_ct *buf ) @@ -955,6 +962,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, return count; } +#endif VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, capsule_manifold *manifold, @@ -1051,22 +1059,20 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca, + m4x3f mtxB, rb_capsule *cb, rb_ct *buf ) { - if( !box_overlap( rba->bbx_world, rbb->bbx_world ) ) - return 0; - - float ha = rba->inf.capsule.height, - hb = rbb->inf.capsule.height, - ra = rba->inf.capsule.radius, - rb = rbb->inf.capsule.radius, + float ha = ca->height, + hb = cb->height, + ra = ca->radius, + rb = cb->radius, r = ra+rb; v3f p0, p1, p2, p3; - v3_muladds( rba->co, rba->up, -ha*0.5f+ra, p0 ); - v3_muladds( rba->co, rba->up, ha*0.5f-ra, p1 ); - v3_muladds( rbb->co, rbb->up, -hb*0.5f+rb, p2 ); - v3_muladds( rbb->co, rbb->up, hb*0.5f-rb, p3 ); + v3_muladds( mtxA[3], mtxA[1], -ha*0.5f+ra, p0 ); + v3_muladds( mtxA[3], mtxA[1], ha*0.5f-ra, p1 ); + v3_muladds( mtxB[3], mtxB[1], -hb*0.5f+rb, p2 ); + v3_muladds( mtxB[3], mtxB[1], hb*0.5f-rb, p3 ); capsule_manifold manifold; rb_capsule_manifold_init( &manifold ); @@ -1086,9 +1092,10 @@ VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) rb_capsule_manifold( p0, pa, 0.0f, r, &manifold ); rb_capsule_manifold( p1, pb, 1.0f, r, &manifold ); - return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); + return rb_capsule__manifold_done( mtxA, ca, &manifold, buf ); } +#if 0 /* * Generates up to two contacts; optimised for the most stable manifold */ @@ -1215,6 +1222,7 @@ VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); } +#endif VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1306,6 +1314,7 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) //#define RIGIDBODY_DYNAMIC_MESH_EDGES +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, v3f tri[3], rb_ct *buf ) @@ -1353,6 +1362,7 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, return 0; } +#endif VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, v3f tri[3], rb_ct *buf ) @@ -1531,6 +1541,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, return count; } +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1568,6 +1579,7 @@ VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return count; } +#endif VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1768,6 +1780,7 @@ VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, /* * Generates up to two contacts; optimised for the most stable manifold */ +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, v3f tri[3], rb_ct *buf ) @@ -1824,6 +1837,7 @@ VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, return count; } +#endif /* mtxB is defined only for tradition; it is not used currently */ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, @@ -1864,6 +1878,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, return count; } +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1908,6 +1923,7 @@ VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_capsule_scene( rbb, rba, buf ); } +#endif VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1924,10 +1940,12 @@ VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_capsule_sphere( rbb, rba, buf ); } +#if 0 VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_capsule_box( rbb, rba, buf ); } +#endif VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1939,6 +1957,7 @@ VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_box_scene( rbb, rba, buf ); } +#if 0 VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) = { /* box */ /* Sphere */ /* Capsule */ /* Mesh */ @@ -1976,6 +1995,20 @@ VG_STATIC int rb_collide( rigidbody *rba, rigidbody *rbb ) else return 0; } +#endif + +VG_STATIC int rb_global_has_space( void ) +{ + if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) ) + return 0; + + return 1; +} + +VG_STATIC rb_ct *rb_global_buffer( void ) +{ + return &rb_contact_buffer[ rb_contact_count ]; +} /* * ----------------------------------------------------------------------------- @@ -2004,6 +2037,26 @@ VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep ) ct->tangent_impulse[1] = 0.0f; } +/* calculate total move. manifold should belong to ONE object only */ +VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ) +{ + v3_zero( dt ); + + for( int j=0; j<7; j++ ) + { + for( int i=0; in, dt ), + remaining = (ct->p-k_penetration_slop) - resolved_amt, + apply = vg_maxf( remaining, 0.0f ) * 0.4f; + + v3_muladds( dt, ct->n, apply, dt ); + } + } +} + /* * Initializing things like tangent vectors */ @@ -2623,6 +2676,24 @@ VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v ); } +/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to + * rt(worldspace) + */ +VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt, + float spring, float dampening, + float timestep ) +{ + float a = acosf( vg_clampf( v3_dot( rt, ra ), -1.0f, 1.0f ) ); + + v3f axis; + v3_cross( rt, ra, axis ); + + float Fs = -a * spring, + Fd = -v3_dot( rba->w, axis ) * dampening; + + v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w ); +} + /* * ----------------------------------------------------------------------------- * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for