X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=2e66fe68e5fea5800f3fcfc0201abfded3c4adf4;hb=6d98c1e42c1617a8a426f9f0c0df99b75725b486;hp=026d8676dbd0cbccab6b7174c2a1498626ce2e77;hpb=d4746875c05dd3e077e1b266e50ffe4856b45502;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 026d867..2e66fe6 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -1,3 +1,7 @@ +/* + * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved + */ + /* * Resources: Box2D - Erin Catto * qu3e - Randy Gaul @@ -7,8 +11,8 @@ #include "bvh.h" #include "scene.h" -static void rb_tangent_basis( v3f n, v3f tx, v3f ty ); -static bh_system bh_system_rigidbodies; +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 @@ -19,9 +23,9 @@ static bh_system bh_system_rigidbodies; * ----------------------------------------------------------------------------- */ -static const float - k_rb_rate = 60.0f, - k_rb_delta = (1.0f/k_rb_rate), +VG_STATIC const float + k_rb_rate = (1.0/VG_TIMESTEP_FIXED), + k_rb_delta = (1.0/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) */ @@ -70,7 +74,7 @@ struct rigidbody struct rb_scene { - scene *pscene; + bh_tree *bh_scene; } scene; } @@ -90,7 +94,7 @@ struct rigidbody m4x3f to_world, to_local; }; -static struct contact +VG_STATIC struct contact { rigidbody *rba, *rbb; v3f co, n; @@ -99,9 +103,10 @@ static struct contact normal_mass, tangent_mass[2]; u32 element_id; + int disabled; } rb_contact_buffer[256]; -static int rb_contact_count = 0; +VG_STATIC int rb_contact_count = 0; /* * ----------------------------------------------------------------------------- @@ -109,13 +114,13 @@ static int rb_contact_count = 0; * ----------------------------------------------------------------------------- */ -static float sphere_volume( float radius ) +VG_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 ) +VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) { /* Compute tangent basis (box2d) */ if( fabsf( n[0] ) >= 0.57735027f ) @@ -141,15 +146,18 @@ static void rb_tangent_basis( v3f n, v3f tx, v3f ty ) * ----------------------------------------------------------------------------- */ -static void rb_debug_contact( rb_ct *ct ) +VG_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 ); + if( !ct->disabled ) + { + 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 ) +VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour ) { v3f ly = { 0.0f, 0.0f, radius }, lx = { 0.0f, radius, 0.0f }, @@ -183,7 +191,7 @@ static void debug_sphere( m4x3f m, float radius, u32 colour ) } } -static void debug_capsule( m4x3f m, float radius, float h, u32 colour ) +VG_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 }, @@ -265,7 +273,7 @@ static void debug_capsule( m4x3f m, float radius, float h, u32 colour ) } } -static void rb_debug( rigidbody *rb, u32 colour ) +VG_STATIC void rb_debug( rigidbody *rb, u32 colour ) { if( rb->type == k_rb_shape_box ) { @@ -299,7 +307,7 @@ static void rb_debug( rigidbody *rb, u32 colour ) /* * Update world space bounding box based on local one */ -static void rb_update_bounds( rigidbody *rb ) +VG_STATIC void rb_update_bounds( rigidbody *rb ) { box_copy( rb->bbx, rb->bbx_world ); m4x3_transform_aabb( rb->to_world, rb->bbx_world ); @@ -308,7 +316,7 @@ static void rb_update_bounds( rigidbody *rb ) /* * Commit transform to rigidbody. Updates matrices */ -static void rb_update_transform( rigidbody *rb ) +VG_STATIC void rb_update_transform( rigidbody *rb ) { q_normalize( rb->q ); q_m3x3( rb->q, rb->to_world ); @@ -326,10 +334,44 @@ static void rb_update_transform( rigidbody *rb ) rb_update_bounds( rb ); } +/* + * Extrapolate rigidbody into a transform based on vg accumulator. + * Useful for rendering + */ +VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) +{ + float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f ); + + v3f co; + v4f q; + + v3_muladds( rb->co, rb->v, k_rb_delta*substep, co ); + + if( v3_length2( rb->w ) > 0.0f ) + { + v4f rotation; + v3f axis; + v3_copy( rb->w, axis ); + + float mag = v3_length( axis ); + v3_divs( axis, mag, axis ); + q_axis_angle( rotation, axis, mag*k_rb_delta*substep ); + q_mul( rotation, rb->q, q ); + q_normalize( q ); + } + else + { + v4_copy( rb->q, q ); + } + + q_m3x3( q, transform ); + v3_copy( co, transform[3] ); +} + /* * Initialize rigidbody and calculate masses, inertia */ -static void rb_init( rigidbody *rb ) +VG_STATIC void rb_init( rigidbody *rb ) { float volume = 1.0f; @@ -338,17 +380,12 @@ static void rb_init( rigidbody *rb ) v3f dims; v3_sub( rb->bbx[1], rb->bbx[0], dims ); volume = dims[0]*dims[1]*dims[2]; - - if( !rb->is_world ) - vg_info( "Box volume: %f\n", volume ); } else if( rb->type == k_rb_shape_sphere ) { volume = sphere_volume( rb->inf.sphere.radius ); v3_fill( rb->bbx[0], -rb->inf.sphere.radius ); v3_fill( rb->bbx[1], rb->inf.sphere.radius ); - - vg_info( "Sphere volume: %f\n", volume ); } else if( rb->type == k_rb_shape_capsule ) { @@ -364,7 +401,7 @@ static void rb_init( rigidbody *rb ) else if( rb->type == k_rb_shape_scene ) { rb->is_world = 1; - box_copy( rb->inf.scene.pscene->bbx, rb->bbx ); + box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx ); } if( rb->is_world ) @@ -405,7 +442,7 @@ static void rb_init( rigidbody *rb ) rb_update_transform( rb ); } -static void rb_iter( rigidbody *rb ) +VG_STATIC void rb_iter( rigidbody *rb ) { v3f gravity = { 0.0f, -9.8f, 0.0f }; v3_muladds( rb->v, gravity, k_rb_delta, rb->v ); @@ -442,7 +479,7 @@ static void rb_iter( rigidbody *rb ) * These closest point tests were learned from Real-Time Collision Detection by * Christer Ericson */ -static float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, +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; @@ -519,13 +556,13 @@ static float closest_segment_segment( v3f p1, v3f q1, v3f p2, v3f q2, return v3_length2( v0 ); } -static void closest_point_aabb( v3f p, boxf box, v3f dest ) +VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest ) { v3_maxv( p, box[0], dest ); v3_minv( dest, box[1], dest ); } -static void closest_point_obb( v3f p, rigidbody *rb, v3f dest ) +VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest ) { v3f local; m4x3_mulv( rb->to_local, p, local ); @@ -533,7 +570,7 @@ static void closest_point_obb( v3f p, rigidbody *rb, v3f dest ) m4x3_mulv( rb->to_world, local, dest ); } -static float closest_point_segment( v3f a, v3f b, v3f point, v3f dest ) +VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest ) { v3f v0, v1; v3_sub( b, a, v0 ); @@ -545,7 +582,7 @@ static float closest_point_segment( v3f a, v3f b, v3f point, v3f dest ) return t; } -static void closest_on_triangle( v3f p, v3f tri[3], v3f dest ) +VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest ) { v3f ab, ac, ap; float d1, d2; @@ -634,8 +671,7 @@ 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 ) +VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest ) { v3f ab, ac, ap; float d1, d2; @@ -727,7 +763,7 @@ static void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest ) /* * 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] ) +VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ) { float @@ -748,7 +784,7 @@ static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ) /* * Seperating axis test box vs triangle */ -static int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] ) +VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] ) { v3f tri[3]; @@ -800,6 +836,114 @@ static int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] ) return 1; } +/* + * ----------------------------------------------------------------------------- + * Manifold + * ----------------------------------------------------------------------------- + */ + +VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ) +{ + int k = 0; + + for( int i=0; idisabled ) + continue; + + man[k ++] = man[i]; + } + + return k; +} + +/* + * Resolve overlapping pairs + */ +VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ) +{ + for( int i=0; idisabled ) continue; + + for( int j=i+1; jdisabled ) continue; + + if( v3_dist2( ci->co, cj->co ) < r*r ) + { + cj->disabled = 1; + v3_add( cj->n, ci->n, ci->n ); + ci->p += cj->p; + similar ++; + } + } + + if( similar ) + { + float n = 1.0f/((float)similar+1.0f); + v3_muls( ci->n, n, ci->n ); + ci->p *= n; + + if( v3_length2(ci->n) < 0.1f*0.1f ) + ci->disabled = 1; + else + v3_normalize( ci->n ); + } + } +} + +/* + * Remove contacts that are facing away from A + */ +VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ) +{ + for( int i=0; idisabled ) continue; + + v3f delta; + v3_sub( ct->co, ct->rba->co, delta ); + + if( v3_dot( delta, ct->n ) > -0.001f ) + ct->disabled = 1; + } +} + +/* + * Filter out duplicate coplanar results. Good for spheres. + */ +VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ) +{ + for( int i=0; idisabled ) continue; + + float d1 = v3_dot( ci->co, ci->n ); + + for( int j=i+1; jdisabled ) continue; + + float d2 = v3_dot( cj->co, ci->n ), + d = d2-d1; + + if( fabsf( d ) <= w ) + cj->disabled = 1; + } + } +} + /* * ----------------------------------------------------------------------------- * Collision matrix @@ -838,7 +982,7 @@ struct capsule_manifold * 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, +VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, capsule_manifold *manifold ) { v3f delta; @@ -862,13 +1006,13 @@ static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, } } -static void rb_capsule_manifold_init( capsule_manifold *manifold ) +VG_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, +VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, capsule_manifold *manifold, rb_ct *buf ) { float h = rba->inf.capsule.height, @@ -894,6 +1038,7 @@ static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, ct->p = manifold->r0 - d; ct->rba = rba; ct->rbb = rbb; + ct->disabled = 0; count ++; } @@ -913,6 +1058,7 @@ static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, ct->p = manifold->r1 - d; ct->rba = rba; ct->rbb = rbb; + ct->disabled = 0; count ++; } @@ -927,7 +1073,7 @@ static int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, return count; } -static int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { float h = rba->inf.capsule.height, ra = rba->inf.capsule.radius, @@ -960,6 +1106,7 @@ static int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) ct->rba = rba; ct->rbb = rbb; + ct->disabled = 0; return 1; } @@ -967,7 +1114,7 @@ static int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -static int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { float ha = rba->inf.capsule.height, hb = rbb->inf.capsule.height, @@ -1005,7 +1152,7 @@ static int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) /* * Generates up to two contacts; optimised for the most stable manifold */ -static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { float h = rba->inf.capsule.height, r = rba->inf.capsule.radius; @@ -1078,7 +1225,6 @@ static int rb_capsule_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); @@ -1130,7 +1276,7 @@ static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); } -static int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { v3f co, delta; @@ -1181,13 +1327,14 @@ static int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) ct->rba = rba; ct->rbb = rbb; + ct->disabled = 0; return 1; } return 0; } -static int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { v3f delta; v3_sub( rba->co, rbb->co, delta ); @@ -1207,6 +1354,7 @@ 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->p = r-d; ct->rba = rba; ct->rbb = rbb; @@ -1216,12 +1364,19 @@ static int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, +#define RIGIDBODY_DYNAMIC_MESH_EDGES + +VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, v3f tri[3], rb_ct *buf ) { v3f delta, co; +#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES closest_on_triangle( rba->co, tri, co ); +#else + closest_on_triangle_1( rba->co, tri, co ); +#endif + v3_sub( rba->co, co, delta ); vg_line( rba->co, co, 0xffff0000 ); @@ -1244,6 +1399,7 @@ static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, float d = sqrtf(d2); v3_copy( co, ct->co ); + ct->disabled = 0; ct->p = r-d; ct->rba = rba; ct->rbb = rbb; @@ -1253,29 +1409,148 @@ static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, return 0; } -static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { - scene *sc = rbb->inf.scene.pscene; + scene *sc = rbb->inf.scene.bh_scene->user; u32 geo[128]; - v3f tri[3]; - int len = bh_select( &sc->bhtris, rba->bbx_world, 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! */ + + v3f co_picture[128*3]; + int unique_cos = 0; + + struct face_info + { + int unique_cos[3]; /* indexes co_picture array */ + int collided; + v3f normal; + u32 element_id; + } + faces[128]; + + /* create geometry picture */ for( int i=0; iindices[ geo[i]*3 ]; + 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->verts[ptri[j]].co, tri[j] ); + { + struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]]; + + for( int k=0; kco, 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:; + } + + v3f ab, ac; + v3_sub( co_picture[inf->unique_cos[2]], + co_picture[inf->unique_cos[0]], ab ); + + 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 ); + } + + + /* build edges brute force */ + int edge_picture[ 128*3 ][4]; + int unique_edges = 0; + + for( int i=0; iunique_cos[i0], inf->unique_cos[i1] ), + e1 = VG_MAX( inf->unique_cos[i0], inf->unique_cos[i1] ), + matched = 0; + + for( int k=0; kunique_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; iunique_cos[0]], + *v1 = co_picture[inf->unique_cos[1]], + *v2 = co_picture[inf->unique_cos[2]]; + + v3_copy( v0, tri[0] ); + v3_copy( v1, tri[1] ); + v3_copy( v2, tri[2] ); - 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 = inf->element_id; +#else + u32 *ptri = &sc->arrindices[ geo[i]*3 ]; + + for( int j=0; j<3; j++ ) + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); buf[count].element_id = ptri[0]; - count += rb_sphere_triangle( rba, rbb, tri, buf+count ); +#endif + + vg_line( tri[0],tri[1],0x10ffffff ); + vg_line( tri[1],tri[2],0x10ffffff ); + vg_line( tri[2],tri[0],0x10ffffff ); + + 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 ) { @@ -1284,25 +1559,82 @@ static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) } } +#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES + for( int i=0; icollided || 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; } -static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { - scene *sc = rbb->inf.scene.pscene; + scene *sc = rbb->inf.scene.bh_scene->user; u32 geo[128]; v3f tri[3]; - int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 ); + int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 ); int count = 0; for( int i=0; iindices[ geo[i]*3 ]; + u32 *ptri = &sc->arrindices[ geo[i]*3 ]; for( int j=0; j<3; j++ ) - v3_copy( sc->verts[ptri[j]].co, tri[j] ); + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); if( rb_box_triangle_sat( rba, tri ) ) { @@ -1336,7 +1668,6 @@ static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) axis = 1; } - /* TODO: THIS IS WRONG DIRECTION */ float cz = -v3_dot( rba->forward, n ); if( fabsf(cz) > fabsf(best) ) { @@ -1417,6 +1748,7 @@ static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) if( ct->p < 0.0f ) continue; + ct->disabled = 0; ct->rba = rba; ct->rbb = rbb; count ++; @@ -1428,7 +1760,7 @@ static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return count; } -static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_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 ); @@ -1436,27 +1768,27 @@ static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -static int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_capsule_sphere( rbb, rba, buf ); } -static int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_capsule_box( rbb, rba, buf ); } -static int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_sphere_box( rbb, rba, buf ); } -static int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_box_scene( rbb, rba, buf ); } -static int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) = +VG_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 }, @@ -1465,7 +1797,7 @@ static int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) = { rb_scene_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR } }; -static int rb_collide( rigidbody *rba, rigidbody *rbb ) +VG_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]; @@ -1482,7 +1814,7 @@ static int rb_collide( rigidbody *rba, rigidbody *rbb ) } /* - * TODO: Replace this with a more dedicated broad phase pass + * FUTURE: Replace this with a more dedicated broad phase pass */ if( box_overlap( rba->bbx_world, rbb->bbx_world ) ) { @@ -1500,12 +1832,12 @@ static int rb_collide( rigidbody *rba, rigidbody *rbb ) * ----------------------------------------------------------------------------- */ -static void rb_solver_reset(void) +VG_STATIC void rb_solver_reset(void) { rb_contact_count = 0; } -static rb_ct *rb_global_ct(void) +VG_STATIC rb_ct *rb_global_ct(void) { return rb_contact_buffer + rb_contact_count; } @@ -1513,14 +1845,16 @@ static rb_ct *rb_global_ct(void) /* * Initializing things like tangent vectors */ -static void rb_presolve_contacts( rb_ct *buffer, int len ) +VG_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+k_penetration_slop ); rb_tangent_basis( ct->n, ct->t[0], ct->t[1] ); + ct->disabled = 0; ct->norm_impulse = 0.0f; ct->tangent_impulse[0] = 0.0f; ct->tangent_impulse[1] = 0.0f; @@ -1562,7 +1896,7 @@ static void rb_presolve_contacts( rb_ct *buffer, int len ) /* * Creates relative contact velocity vector, and offsets between each body */ -static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db ) +VG_STATIC void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db ) { rigidbody *rba = ct->rba, *rbb = ct->rbb; @@ -1582,7 +1916,7 @@ static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db ) /* * Apply impulse to object */ -static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ) +VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ) { /* linear */ v3_muladds( rb->v, impulse, rb->inv_mass, rb->v ); @@ -1598,11 +1932,12 @@ static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ) /* * One iteration to solve the contact constraint */ -static void rb_solve_contacts( rb_ct *buf, int len ) +VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ) { for( int i=0; irba; v3f rv, da, db; @@ -1651,7 +1986,7 @@ static void rb_solve_contacts( rb_ct *buf, int len ) * ----------------------------------------------------------------------------- */ -static void draw_angle_limit( v3f c, v3f major, v3f minor, +VG_STATIC void draw_angle_limit( v3f c, v3f major, v3f minor, float amin, float amax, float measured, u32 colour ) { @@ -1687,7 +2022,7 @@ static void draw_angle_limit( v3f c, v3f major, v3f minor, vg_line( c, p2, colour ); } -static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca, +VG_STATIC void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca, v3f limits[2] ) { v3f ax, ay, az, bx, by, bz; @@ -1719,7 +2054,7 @@ static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca, draw_angle_limit( c, ax, ay, limits[0][2], limits[1][2], r2, 0xffff0000 ); } -static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d ) +VG_STATIC void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d ) { if( d != 0.0f ) { @@ -1740,10 +2075,9 @@ static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d ) } } -static void rb_constraint_limits( rigidbody *ra, v3f lca, +VG_STATIC void rb_constraint_limits( rigidbody *ra, v3f lca, rigidbody *rb, v3f lcb, v3f limits[2] ) { - /* TODO: Code dupe remover */ 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 ); @@ -1785,7 +2119,7 @@ static void rb_constraint_limits( rigidbody *ra, v3f lca, rb_limit_cure( ra, rb, az, dz ); } -static void rb_debug_constraint_position( rigidbody *ra, v3f lca, +VG_STATIC void rb_debug_constraint_position( rigidbody *ra, v3f lca, rigidbody *rb, v3f lcb ) { v3f wca, wcb; @@ -1800,7 +2134,7 @@ static void rb_debug_constraint_position( rigidbody *ra, v3f lca, vg_line( p0, p1, 0xffffff00 ); } -static void rb_constraint_position( rigidbody *ra, v3f lca, +VG_STATIC void rb_constraint_position( rigidbody *ra, v3f lca, rigidbody *rb, v3f lcb ) { /* C = (COa + Ra*LCa) - (COb + Rb*LCb) = 0 */ @@ -1864,39 +2198,39 @@ static void rb_constraint_position( rigidbody *ra, v3f lca, * Effectors */ -static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, +VG_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; - v3_muladds( ra->v, plane, lambda * ktimestep, ra->v ); + v3_muladds( ra->v, plane, lambda * k_rb_delta, ra->v ); if( depth < 0.0f ) - v3_muls( ra->v, 1.0f-(drag*ktimestep), ra->v ); + v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v ); } /* * ----------------------------------------------------------------------------- - * BVH implementation, this is ONLY for static rigidbodies, its to slow for + * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for * realtime use. * ----------------------------------------------------------------------------- */ -static void rb_bh_expand_bound( void *user, boxf bound, u32 item_index ) +VG_STATIC void rb_bh_expand_bound( void *user, boxf bound, u32 item_index ) { rigidbody *rb = &((rigidbody *)user)[ item_index ]; box_concat( bound, rb->bbx_world ); } -static float rb_bh_centroid( void *user, u32 item_index, int axis ) +VG_STATIC float rb_bh_centroid( void *user, u32 item_index, int axis ) { rigidbody *rb = &((rigidbody *)user)[ item_index ]; return (rb->bbx_world[axis][0] + rb->bbx_world[1][axis]) * 0.5f; } -static void rb_bh_swap( void *user, u32 ia, u32 ib ) +VG_STATIC void rb_bh_swap( void *user, u32 ia, u32 ib ) { rigidbody temp, *rba, *rbb; rba = &((rigidbody *)user)[ ia ]; @@ -1907,13 +2241,13 @@ static void rb_bh_swap( void *user, u32 ia, u32 ib ) *rbb = temp; } -static void rb_bh_debug( void *user, u32 item_index ) +VG_STATIC void rb_bh_debug( void *user, u32 item_index ) { rigidbody *rb = &((rigidbody *)user)[ item_index ]; rb_debug( rb, 0xff00ffff ); } -static bh_system bh_system_rigidbodies = +VG_STATIC bh_system bh_system_rigidbodies = { .expand_bound = rb_bh_expand_bound, .item_centroid = rb_bh_centroid,