X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=3d2f4107ca962f433e4f85d46493c2911fc5e816;hb=8c376ed2e4021a18b0a6c6e800109d67ad09d198;hp=746c684920e98add3572a8c9e1fba7d8590c6f13;hpb=0a5ec40708e7d128511cac04f84d85055e6fc164;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 746c684..3d2f410 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 @@ -46,25 +44,10 @@ VG_STATIC float VG_STATIC void rb_register_cvar(void) { - vg_var_push( (struct vg_var){ - .name = "k_limit_bias", .data = &k_limit_bias, - .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 - }); - - vg_var_push( (struct vg_var){ - .name = "k_joint_bias", .data = &k_joint_bias, - .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 - }); - - vg_var_push( (struct vg_var){ - .name = "k_joint_correction", .data = &k_joint_correction, - .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 - }); - - vg_var_push( (struct vg_var){ - .name = "k_joint_impulse", .data = &k_joint_impulse, - .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 - }); + VG_VAR_F32( k_limit_bias, flags=VG_VAR_CHEAT ); + VG_VAR_F32( k_joint_bias, flags=VG_VAR_CHEAT ); + VG_VAR_F32( k_joint_correction, flags=VG_VAR_CHEAT ); + VG_VAR_F32( k_joint_impulse, flags=VG_VAR_CHEAT ); } /* @@ -74,33 +57,41 @@ VG_STATIC void rb_register_cvar(void) */ typedef struct rigidbody rigidbody; +typedef struct rb_object rb_object; typedef struct contact rb_ct; typedef struct rb_sphere rb_sphere; typedef struct rb_capsule rb_capsule; typedef struct rb_scene rb_scene; -struct rb_sphere -{ +struct rb_sphere{ float radius; }; -struct rb_capsule -{ +struct rb_capsule{ float height, radius; }; -struct rb_scene -{ +struct rb_scene{ bh_tree *bh_scene; }; -struct rigidbody -{ +struct rigidbody{ v3f co, v, w; v4f q; - enum rb_shape - { + boxf bbx, bbx_world; + float inv_mass; + + /* inertia model and inverse world tensor */ + v3f I; + m3x3f iI, iIw; + m4x3f to_world, to_local; +}; + +/* simple objects */ +struct rb_object{ + rigidbody rb; + enum rb_shape{ k_rb_shape_box = 0, k_rb_shape_sphere = 1, k_rb_shape_capsule = 2, @@ -108,30 +99,15 @@ struct rigidbody } type; - union - { + union{ struct rb_sphere sphere; struct rb_capsule capsule; struct rb_scene scene; } inf; - - v3f right, up, forward; - - int is_world; - - boxf bbx, bbx_world; - float inv_mass; - - /* inertia model and inverse world tensor */ - v3f I; - m3x3f iI, iIw; - - m4x3f to_world, to_local; }; -VG_STATIC struct contact -{ +VG_STATIC struct contact{ rigidbody *rba, *rbb; v3f co, n; v3f t[2]; @@ -148,14 +124,12 @@ VG_STATIC int rb_contact_count = 0; typedef struct rb_constr_pos rb_constr_pos; typedef struct rb_constr_swingtwist rb_constr_swingtwist; -struct rb_constr_pos -{ +struct rb_constr_pos{ rigidbody *rba, *rbb; v3f lca, lcb; }; -struct rb_constr_swingtwist -{ +struct rb_constr_swingtwist{ rigidbody *rba, *rbb; v4f conevx, conevy; /* relative to rba */ @@ -169,8 +143,7 @@ struct rb_constr_swingtwist float tangent_mass, axis_mass; }; -struct rb_constr_spring -{ +struct rb_constr_spring{ int nothing; }; @@ -189,14 +162,12 @@ VG_STATIC float sphere_volume( float radius ) VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) { /* Compute tangent basis (box2d) */ - if( fabsf( n[0] ) >= 0.57735027f ) - { + if( fabsf( n[0] ) >= 0.57735027f ){ tx[0] = n[1]; tx[1] = -n[0]; tx[2] = 0.0f; } - else - { + else{ tx[0] = 0.0f; tx[1] = n[2]; tx[2] = -n[1]; @@ -217,13 +188,11 @@ VG_STATIC void rb_debug_contact( rb_ct *ct ) v3f p1; v3_muladds( ct->co, ct->n, 0.05f, p1 ); - if( ct->type == k_contact_type_default ) - { + if( ct->type == k_contact_type_default ){ vg_line_pt3( ct->co, 0.0125f, 0xff0000ff ); vg_line( ct->co, p1, 0xffffffff ); } - else if( ct->type == k_contact_type_edge ) - { + else if( ct->type == k_contact_type_edge ){ vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 ); vg_line( ct->co, p1, 0xffffffff ); } @@ -235,8 +204,7 @@ VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour ) lx = { 0.0f, radius, 0.0f }, lz = { 0.0f, 0.0f, radius }; - for( int i=0; i<16; i++ ) - { + 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); @@ -294,8 +262,7 @@ VG_STATIC void debug_capsule( m4x3f m, float radius, float h, u32 colour ) vg_line( a0, a1, colour ); vg_line( b0, b1, colour ); - for( int i=0; i<16; i++ ) - { + 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; @@ -322,15 +289,13 @@ VG_STATIC void debug_capsule( m4x3f m, float radius, float h, u32 colour ) vg_line( a0, a1, colour ); vg_line( b0, b1, colour ); - if( c0 < 0.0f ) - { + 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 - { + else{ v3_add( p1, e2, a0 ); v3_add( p1, e3, a1 ); v3_add( p1, e4, b0 ); @@ -345,28 +310,24 @@ VG_STATIC void debug_capsule( m4x3f m, float radius, float h, u32 colour ) } } -VG_STATIC void rb_debug( rigidbody *rb, u32 colour ) +VG_STATIC void rb_object_debug( rb_object *obj, u32 colour ) { - if( rb->type == k_rb_shape_box ) - { - v3f *box = rb->bbx; - vg_line_boxf_transformed( rb->to_world, rb->bbx, colour ); + if( obj->type == k_rb_shape_box ){ + v3f *box = obj->rb.bbx; + vg_line_boxf_transformed( obj->rb.to_world, obj->rb.bbx, colour ); } - else if( rb->type == k_rb_shape_sphere ) - { - debug_sphere( rb->to_world, rb->inf.sphere.radius, colour ); + else if( obj->type == k_rb_shape_sphere ){ + debug_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour ); } - else if( rb->type == k_rb_shape_capsule ) - { + else if( obj->type == k_rb_shape_capsule ){ m4x3f m0, m1; - float h = rb->inf.capsule.height, - r = rb->inf.capsule.radius; + float h = obj->inf.capsule.height, + r = obj->inf.capsule.radius; - debug_capsule( rb->to_world, r, h, colour ); + debug_capsule( obj->rb.to_world, r, h, colour ); } - else if( rb->type == k_rb_shape_scene ) - { - vg_line_boxf( rb->bbx, colour ); + else if( obj->type == k_rb_shape_scene ){ + vg_line_boxf( obj->rb.bbx, colour ); } } @@ -396,9 +357,11 @@ VG_STATIC void rb_update_transform( rigidbody *rb ) m4x3_invert_affine( rb->to_world, rb->to_local ); +#if 0 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 ); +#endif m3x3_mul( rb->iI, rb->to_local, rb->iIw ); m3x3_mul( rb->to_world, rb->iIw, rb->iIw ); @@ -410,45 +373,12 @@ VG_STATIC void rb_update_transform( rigidbody *rb ) * Extrapolate rigidbody into a transform based on vg accumulator. * Useful for rendering */ -__attribute__ ((deprecated)) -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] ); -} - VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q ) { - float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f ); - + float substep = vg.time_fixed_extrapolate; v3_muladds( rb->co, rb->v, k_rb_delta*substep, co ); - if( v3_length2( rb->w ) > 0.0f ) - { + if( v3_length2( rb->w ) > 0.0f ){ v4f rotation; v3f axis; v3_copy( rb->w, axis ); @@ -459,8 +389,7 @@ VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q ) q_mul( rotation, rb->q, q ); q_normalize( q ); } - else - { + else{ v4_copy( rb->q, q ); } } @@ -468,52 +397,47 @@ VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q ) /* * Initialize rigidbody and calculate masses, inertia */ -VG_STATIC void rb_init( rigidbody *rb ) +VG_STATIC void rb_init_object( rb_object *obj ) { float volume = 1.0f; + int inert = 0; - if( rb->type == k_rb_shape_box ) - { + if( obj->type == k_rb_shape_box ){ v3f dims; - v3_sub( rb->bbx[1], rb->bbx[0], dims ); + v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], dims ); volume = dims[0]*dims[1]*dims[2]; } - 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 ); + else if( obj->type == k_rb_shape_sphere ){ + volume = sphere_volume( obj->inf.sphere.radius ); + v3_fill( obj->rb.bbx[0], -obj->inf.sphere.radius ); + v3_fill( obj->rb.bbx[1], obj->inf.sphere.radius ); } - else if( rb->type == k_rb_shape_capsule ) - { - float r = rb->inf.capsule.radius, - h = rb->inf.capsule.height; + else if( obj->type == k_rb_shape_capsule ){ + float r = obj->inf.capsule.radius, + h = obj->inf.capsule.height; volume = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f); - v3_fill( rb->bbx[0], -r ); - v3_fill( rb->bbx[1], r ); - rb->bbx[0][1] = -h; - rb->bbx[1][1] = h; + v3_fill( obj->rb.bbx[0], -r ); + v3_fill( obj->rb.bbx[1], r ); + obj->rb.bbx[0][1] = -h; + obj->rb.bbx[1][1] = h; } - else if( rb->type == k_rb_shape_scene ) - { - rb->is_world = 1; - box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx ); + else if( obj->type == k_rb_shape_scene ){ + inert = 1; + box_copy( obj->inf.scene.bh_scene->nodes[0].bbx, obj->rb.bbx ); } - if( rb->is_world ) - { - rb->inv_mass = 0.0f; - v3_zero( rb->I ); - m3x3_zero(rb->iI); + if( inert ){ + obj->rb.inv_mass = 0.0f; + v3_zero( obj->rb.I ); + m3x3_zero( obj->rb.iI ); } - else - { + else{ float mass = 2.0f*volume; - rb->inv_mass = 1.0f/mass; + obj->rb.inv_mass = 1.0f/mass; v3f extent; - v3_sub( rb->bbx[1], rb->bbx[0], extent ); + v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], extent ); v3_muls( extent, 0.5f, extent ); /* local intertia tensor */ @@ -522,21 +446,18 @@ VG_STATIC void rb_init( rigidbody *rb ) ey2 = scale*extent[1]*extent[1], ez2 = scale*extent[2]*extent[2]; - rb->I[0] = ((1.0f/12.0f) * mass * (ey2+ez2)); - rb->I[1] = ((1.0f/12.0f) * mass * (ex2+ez2)); - rb->I[2] = ((1.0f/12.0f) * mass * (ex2+ey2)); + obj->rb.I[0] = ((1.0f/12.0f) * mass * (ey2+ez2)); + obj->rb.I[1] = ((1.0f/12.0f) * mass * (ex2+ez2)); + obj->rb.I[2] = ((1.0f/12.0f) * mass * (ex2+ey2)); - m3x3_identity( rb->iI ); - rb->iI[0][0] = rb->I[0]; - rb->iI[1][1] = rb->I[1]; - rb->iI[2][2] = rb->I[2]; - m3x3_inv( rb->iI, rb->iI ); + m3x3_identity( obj->rb.iI ); + obj->rb.iI[0][0] = obj->rb.I[0]; + obj->rb.iI[1][1] = obj->rb.I[1]; + obj->rb.iI[2][2] = obj->rb.I[2]; + m3x3_inv( obj->rb.iI, obj->rb.iI ); } - v3_zero( rb->v ); - v3_zero( rb->w ); - - rb_update_transform( rb ); + rb_update_transform( &obj->rb ); } VG_STATIC void rb_iter( rigidbody *rb ) @@ -604,55 +525,45 @@ VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ) /* * Seperating axis test box vs triangle */ -VG_STATIC int rb_box_triangle_sat( rigidbody *rba, v3f tri_src[3] ) +VG_STATIC int rb_box_triangle_sat( v3f extent, v3f center, + m4x3f to_local, v3f tri_src[3] ) { v3f tri[3]; - v3f extent, c; - v3_sub( rba->bbx[1], rba->bbx[0], extent ); - v3_muls( extent, 0.5f, extent ); - v3_add( rba->bbx[0], extent, c ); - - for( int i=0; i<3; i++ ) - { - m4x3_mulv( rba->to_local, tri_src[i], tri[i] ); - v3_sub( tri[i], c, tri[i] ); + for( int i=0; i<3; i++ ){ + m4x3_mulv( to_local, tri_src[i], tri[i] ); + v3_sub( tri[i], center, tri[i] ); } + v3f f0,f1,f2,n; + v3_sub( tri[1], tri[0], f0 ); + v3_sub( tri[2], tri[1], f1 ); + v3_sub( tri[0], tri[2], f2 ); + + + v3f axis[9]; + v3_cross( (v3f){1.0f,0.0f,0.0f}, f0, axis[0] ); + v3_cross( (v3f){1.0f,0.0f,0.0f}, f1, axis[1] ); + v3_cross( (v3f){1.0f,0.0f,0.0f}, f2, axis[2] ); + v3_cross( (v3f){0.0f,1.0f,0.0f}, f0, axis[3] ); + v3_cross( (v3f){0.0f,1.0f,0.0f}, f1, axis[4] ); + v3_cross( (v3f){0.0f,1.0f,0.0f}, f2, axis[5] ); + v3_cross( (v3f){0.0f,0.0f,1.0f}, f0, axis[6] ); + v3_cross( (v3f){0.0f,0.0f,1.0f}, f1, axis[7] ); + v3_cross( (v3f){0.0f,0.0f,1.0f}, f2, axis[8] ); + + for( int i=0; i<9; i++ ) + if(!rb_box_triangle_interval( extent, axis[i], tri )) return 0; + /* u0, u1, u2 */ if(!rb_box_triangle_interval( extent, (v3f){1.0f,0.0f,0.0f}, tri )) return 0; if(!rb_box_triangle_interval( extent, (v3f){0.0f,1.0f,0.0f}, tri )) return 0; if(!rb_box_triangle_interval( extent, (v3f){0.0f,0.0f,1.0f}, tri )) return 0; - v3f v0,v1,v2,n, e0,e1,e2; - v3_sub( tri[1], tri[0], v0 ); - v3_sub( tri[2], tri[0], v1 ); - v3_sub( tri[2], tri[1], v2 ); - v3_normalize( v0 ); - v3_normalize( v1 ); - v3_normalize( v2 ); - v3_cross( v0, v1, n ); - v3_cross( v0, n, e0 ); - v3_cross( n, v1, e1 ); - v3_cross( v2, n, e2 ); - /* normal */ + v3_cross( f0, f1, n ); if(!rb_box_triangle_interval( extent, n, tri )) return 0; - v3f axis[9]; - v3_cross( e0, (v3f){1.0f,0.0f,0.0f}, axis[0] ); - v3_cross( e0, (v3f){0.0f,1.0f,0.0f}, axis[1] ); - v3_cross( e0, (v3f){0.0f,0.0f,1.0f}, axis[2] ); - v3_cross( e1, (v3f){1.0f,0.0f,0.0f}, axis[3] ); - v3_cross( e1, (v3f){0.0f,1.0f,0.0f}, axis[4] ); - v3_cross( e1, (v3f){0.0f,0.0f,1.0f}, axis[5] ); - v3_cross( e2, (v3f){1.0f,0.0f,0.0f}, axis[6] ); - v3_cross( e2, (v3f){0.0f,1.0f,0.0f}, axis[7] ); - v3_cross( e2, (v3f){0.0f,0.0f,1.0f}, axis[8] ); - - for( int i=0; i<9; i++ ) - if(!rb_box_triangle_interval( extent, axis[i], tri )) return 0; - return 1; } @@ -666,8 +577,7 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ) { int k = 0; - for( int i=0; itype == k_contact_type_disabled ) @@ -684,8 +594,7 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ) */ VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ) { - if( v3_dist2( ci->co, cj->co ) < r*r ) - { + if( v3_dist2( ci->co, cj->co ) < r*r ){ cj->type = k_contact_type_disabled; ci->p = (ci->p + cj->p) * 0.5f; @@ -698,13 +607,11 @@ VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ) float c0 = v3_dot( ci->n, delta ), c1 = v3_dot( cj->n, delta ); - if( c0 < 0.0f || c1 < 0.0f ) - { + if( c0 < 0.0f || c1 < 0.0f ){ /* error */ ci->type = k_contact_type_disabled; } - else - { + else{ v3f n; v3_muls( ci->n, c0, n ); v3_muladds( n, cj->n, c1, n ); @@ -719,14 +626,12 @@ VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ) */ VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ) { - for( int i=0; itype != k_contact_type_edge ) continue; - for( int j=i+1; jtype != k_contact_type_edge ) continue; @@ -743,21 +648,18 @@ VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ) */ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ) { - for( int i=0; itype == k_contact_type_disabled ) continue; - for( int j=i+1; jtype == k_contact_type_disabled ) continue; - if( v3_dist2( ci->co, cj->co ) < r*r ) - { + if( v3_dist2( ci->co, cj->co ) < r*r ){ cj->type = k_contact_type_disabled; v3_add( cj->n, ci->n, ci->n ); ci->p += cj->p; @@ -765,8 +667,7 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ) } } - if( similar ) - { + if( similar ){ float n = 1.0f/((float)similar+1.0f); v3_muls( ci->n, n, ci->n ); ci->p *= n; @@ -784,8 +685,7 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ) */ VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ) { - for( int i=0; itype == k_contact_type_disabled ) continue; @@ -803,8 +703,7 @@ 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; itype == k_contact_type_disabled || ci->type == k_contact_type_edge ) @@ -812,8 +711,7 @@ VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ) float d1 = v3_dot( ci->co, ci->n ); - for( int j=0; jco, ci->n ), d = d2-d1; - if( fabsf( d ) <= w ) - { + if( fabsf( d ) <= w ){ cj->type = k_contact_type_disabled; } } @@ -876,17 +773,14 @@ VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, v3f delta; v3_sub( pa, pb, delta ); - if( v3_length2(delta) < r*r ) - { - if( t < manifold->t0 ) - { + 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 ) - { + if( t > manifold->t1 ){ v3_copy( delta, manifold->d1 ); manifold->t1 = t; manifold->r1 = r; @@ -900,68 +794,6 @@ VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold ) manifold->t1 = -INFINITY; } -__attribute__ ((deprecated)) -VG_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; - ct->type = k_contact_type_default; - - 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; - ct->type = k_contact_type_default; - - count ++; - } - - /* - * Debugging - */ - - if( count == 2 ) - vg_line( buf[0].co, buf[1].co, 0xff0000ff ); - - return count; -} - VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, capsule_manifold *manifold, rb_ct *buf ) @@ -971,8 +803,7 @@ VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, v3_muladds( mtx[3], mtx[1], c->height*0.5f-c->radius, p1 ); int count = 0; - if( manifold->t0 <= 1.0f ) - { + if( manifold->t0 <= 1.0f ){ rb_ct *ct = buf; v3f pa; @@ -988,8 +819,7 @@ VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, count ++; } - if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) ) - { + if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) ){ rb_ct *ct = buf+count; v3f pa; @@ -1016,15 +846,16 @@ VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, return count; } -VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ) { - float h = rba->inf.capsule.height, - ra = rba->inf.capsule.radius, - rb = rbb->inf.sphere.radius; + rigidbody *rba = &obja->rb, *rbb = &objb->rb; + float h = obja->inf.capsule.height, + ra = obja->inf.capsule.radius, + rb = objb->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 ); + v3_muladds( rba->co, rba->to_world[1], -h*0.5f+ra, p0 ); + v3_muladds( rba->co, rba->to_world[1], h*0.5f-ra, p1 ); v3f c, delta; closest_point_segment( p0, p1, rbb->co, c ); @@ -1033,8 +864,7 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) float d2 = v3_length2(delta), r = ra + rb; - if( d2 < r*r ) - { + if( d2 < r*r ){ float d = sqrtf(d2); rb_ct *ct = buf; @@ -1057,22 +887,20 @@ 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 ); @@ -1092,9 +920,10 @@ 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 */ @@ -1221,24 +1050,24 @@ 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 ) +VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf ) { v3f co, delta; + rigidbody *rba = &obja->rb, *rbb = &objb->rb; 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), - r = rba->inf.sphere.radius; + r = obja->inf.sphere.radius; - if( d2 <= r*r ) - { + if( d2 <= r*r ){ float d; rb_ct *ct = buf; - if( d2 <= 0.0001f ) - { + if( d2 <= 0.0001f ){ v3_sub( rba->co, rbb->co, delta ); /* @@ -1246,25 +1075,24 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) * 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 ), + float lx = v3_dot( rbb->to_world[0], delta ), + ly = v3_dot( rbb->to_world[1], delta ), + lz = v3_dot( rbb->to_world[2], 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 ); + v3_muls( rbb->to_world[0], vg_signf(lx), ct->n ); else if( py < pz ) - v3_muls( rbb->up, vg_signf(ly), ct->n ); + v3_muls( rbb->to_world[1], vg_signf(ly), ct->n ); else - v3_muls( rbb->forward, vg_signf(lz), ct->n ); + v3_muls( rbb->to_world[2], vg_signf(lz), ct->n ); v3_muladds( rba->co, ct->n, -r, ct->co ); ct->p = r; } - else - { + else{ d = sqrtf(d2); v3_muls( delta, 1.0f/d, ct->n ); ct->p = r-d; @@ -1280,24 +1108,24 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ) { + rigidbody *rba = &obja->rb, *rbb = &objb->rb; v3f delta; v3_sub( rba->co, rbb->co, delta ); float d2 = v3_length2(delta), - r = rba->inf.sphere.radius + rbb->inf.sphere.radius; + r = obja->inf.sphere.radius + objb->inf.sphere.radius; - if( d2 < r*r ) - { + if( d2 < r*r ){ float d = sqrtf(d2); rb_ct *ct = buf; 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,-obja->inf.sphere.radius, p0 ); + v3_muladds( rbb->co, ct->n, objb->inf.sphere.radius, p1 ); v3_add( p0, p1, ct->co ); v3_muls( ct->co, 0.5f, ct->co ); ct->type = k_contact_type_default; @@ -1312,6 +1140,7 @@ 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 ) @@ -1359,6 +1188,7 @@ 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 ) @@ -1371,8 +1201,7 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, float d2 = v3_length2( delta ), r = b->radius; - if( d2 <= r*r ) - { + if( d2 <= r*r ){ rb_ct *ct = buf; v3f ab, ac, tn; @@ -1381,8 +1210,7 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, v3_cross( ac, ab, tn ); v3_copy( tn, ct->n ); - if( v3_length2( ct->n ) <= 0.00001f ) - { + if( v3_length2( ct->n ) <= 0.00001f ){ vg_error( "Zero area triangle!\n" ); return 0; } @@ -1400,100 +1228,6 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, return 0; } -VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang, - boxf box, u32 colour ) -{ - sharp_ang = cosf( sharp_ang ); - - scene *sc = rbb->inf.scene.bh_scene->user; - vg_line_boxf( box, 0xff00ff00 ); - - bh_iter it; - bh_iter_init( 0, &it ); - int idx; - - while( bh_next( rbb->inf.scene.bh_scene, &it, box, &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] ); - - for( int j=0; j<3; j++ ) - { -#if 0 - v3f edir; - v3_sub( tri[(j+1)%3], tri[j], edir ); - - if( v3_dot( edir, (v3f){ 0.5184758473652127f, - 0.2073903389460850f, - -0.8295613557843402f } ) < 0.0f ) - continue; -#endif - - 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] ); - - int jdx; - while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) ) - { - if( idx <= jdx ) - continue; - - u32 *ptrj = &sc->arrindices[ jdx*3 ]; - v3f trj[3]; - - for( int k=0; k<3; k++ ) - v3_copy( sc->arrvertices[ptrj[k]].co, trj[k] ); - - for( int k=0; k<3; k++ ) - { - 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 - } - } - } - } - } - } - } -} - VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, m4x3f mtxB, rb_scene *s, rb_ct *buf ) { @@ -1510,8 +1244,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] ); v3_add( mtxA[3], (v3f){ r,r,r }, box[1] ); - while( bh_next( s->bh_scene, &it, box, &idx ) ) - { + while( bh_next( s->bh_scene, &it, box, &idx ) ){ u32 *ptri = &sc->arrindices[ idx*3 ]; v3f tri[3]; @@ -1527,8 +1260,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] ); count += contact; - if( count == 16 ) - { + if( count == 16 ){ vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); return count; } @@ -1537,75 +1269,52 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, return count; } -__attribute__ ((deprecated)) -VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx, + m4x3f mtxB, rb_scene *s, rb_ct *buf ) { - scene *sc = rbb->inf.scene.bh_scene->user; - - bh_iter it; - bh_iter_init( 0, &it ); - int idx; - - 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]; - - vg_line( tri[0],tri[1],0x70ff6000 ); - vg_line( tri[1],tri[2],0x70ff6000 ); - vg_line( tri[2],tri[0],0x70ff6000 ); +#if 1 + scene *sc = s->bh_scene->user; + v3f tri[3]; - int contact = rb_sphere_triangle( rba, rbb, tri, buf+count ); - count += contact; + v3f extent, center; + v3_sub( bbx[1], bbx[0], extent ); + v3_muls( extent, 0.5f, extent ); + v3_add( bbx[0], extent, center ); - if( count == 16 ) - { - vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); - return count; - } + float r = v3_length(extent); + boxf world_bbx; + v3_fill( world_bbx[0], -r ); + v3_fill( world_bbx[1], r ); + for( int i=0; i<2; i++ ){ + v3_add( center, world_bbx[i], world_bbx[i] ); + v3_add( mtxA[3], world_bbx[i], world_bbx[i] ); } - return count; -} - -VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - scene *sc = rbb->inf.scene.bh_scene->user; - - v3f tri[3]; + m4x3f to_local; + m4x3_invert_affine( mtxA, to_local ); bh_iter it; bh_iter_init( 0, &it ); int idx; - int count = 0; + + vg_line_boxf( world_bbx, VG__RED ); - while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) ) - { + while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){ u32 *ptri = &sc->arrindices[ idx*3 ]; for( int j=0; j<3; j++ ) v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); - if( rb_box_triangle_sat( rba, tri ) ) - { + if( rb_box_triangle_sat( extent, center, to_local, tri ) ){ vg_line(tri[0],tri[1],0xff50ff00 ); vg_line(tri[1],tri[2],0xff50ff00 ); vg_line(tri[2],tri[0],0xff50ff00 ); } - else - { + else{ vg_line(tri[0],tri[1],0xff0000ff ); vg_line(tri[1],tri[2],0xff0000ff ); vg_line(tri[2],tri[0],0xff0000ff ); - continue; } @@ -1616,84 +1325,75 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) v3_normalize( n ); /* find best feature */ - float best = v3_dot( rba->right, n ); + float best = v3_dot( mtxA[0], n ); int axis = 0; - - float cy = v3_dot( rba->up, n ); - if( fabsf(cy) > fabsf(best) ) - { - best = cy; - axis = 1; - } - - float cz = -v3_dot( rba->forward, n ); - if( fabsf(cz) > fabsf(best) ) - { - best = cz; - axis = 2; + + for( int i=1; i<3; i++ ){ + float c = v3_dot( mtxA[i], n ); + + if( fabsf(c) > fabsf(best) ){ + best = c; + axis = i; + } } v3f manifold[4]; - if( axis == 0 ) - { - float px = best > 0.0f? rba->bbx[0][0]: rba->bbx[1][0]; + if( axis == 0 ){ + float px = best > 0.0f? bbx[0][0]: bbx[1][0]; manifold[0][0] = px; - manifold[0][1] = rba->bbx[0][1]; - manifold[0][2] = rba->bbx[0][2]; + manifold[0][1] = bbx[0][1]; + manifold[0][2] = bbx[0][2]; manifold[1][0] = px; - manifold[1][1] = rba->bbx[1][1]; - manifold[1][2] = rba->bbx[0][2]; + manifold[1][1] = bbx[1][1]; + manifold[1][2] = bbx[0][2]; manifold[2][0] = px; - manifold[2][1] = rba->bbx[1][1]; - manifold[2][2] = rba->bbx[1][2]; + manifold[2][1] = bbx[1][1]; + manifold[2][2] = bbx[1][2]; manifold[3][0] = px; - manifold[3][1] = rba->bbx[0][1]; - manifold[3][2] = rba->bbx[1][2]; + manifold[3][1] = bbx[0][1]; + manifold[3][2] = bbx[1][2]; } - else if( axis == 1 ) - { - float py = best > 0.0f? rba->bbx[0][1]: rba->bbx[1][1]; - manifold[0][0] = rba->bbx[0][0]; + else if( axis == 1 ){ + float py = best > 0.0f? bbx[0][1]: bbx[1][1]; + manifold[0][0] = bbx[0][0]; manifold[0][1] = py; - manifold[0][2] = rba->bbx[0][2]; - manifold[1][0] = rba->bbx[1][0]; + manifold[0][2] = bbx[0][2]; + manifold[1][0] = bbx[1][0]; manifold[1][1] = py; - manifold[1][2] = rba->bbx[0][2]; - manifold[2][0] = rba->bbx[1][0]; + manifold[1][2] = bbx[0][2]; + manifold[2][0] = bbx[1][0]; manifold[2][1] = py; - manifold[2][2] = rba->bbx[1][2]; - manifold[3][0] = rba->bbx[0][0]; + manifold[2][2] = bbx[1][2]; + manifold[3][0] = bbx[0][0]; manifold[3][1] = py; - manifold[3][2] = rba->bbx[1][2]; + manifold[3][2] = bbx[1][2]; } - else - { - float pz = best > 0.0f? rba->bbx[0][2]: rba->bbx[1][2]; - manifold[0][0] = rba->bbx[0][0]; - manifold[0][1] = rba->bbx[0][1]; + else{ + float pz = best > 0.0f? bbx[0][2]: bbx[1][2]; + manifold[0][0] = bbx[0][0]; + manifold[0][1] = bbx[0][1]; manifold[0][2] = pz; - manifold[1][0] = rba->bbx[1][0]; - manifold[1][1] = rba->bbx[0][1]; + manifold[1][0] = bbx[1][0]; + manifold[1][1] = bbx[0][1]; manifold[1][2] = pz; - manifold[2][0] = rba->bbx[1][0]; - manifold[2][1] = rba->bbx[1][1]; + manifold[2][0] = bbx[1][0]; + manifold[2][1] = bbx[1][1]; manifold[2][2] = pz; - manifold[3][0] = rba->bbx[0][0]; - manifold[3][1] = rba->bbx[1][1]; + manifold[3][0] = bbx[0][0]; + manifold[3][1] = bbx[1][1]; manifold[3][2] = pz; } for( int j=0; j<4; j++ ) - m4x3_mulv( rba->to_world, manifold[j], manifold[j] ); + m4x3_mulv( mtxA, manifold[j], manifold[j] ); vg_line( manifold[0], manifold[1], 0xffffffff ); vg_line( manifold[1], manifold[2], 0xffffffff ); vg_line( manifold[2], manifold[3], 0xffffffff ); vg_line( manifold[3], manifold[0], 0xffffffff ); - for( int j=0; j<4; j++ ) - { + for( int j=0; j<4; j++ ){ rb_ct *ct = buf+count; v3_copy( manifold[j], ct->co ); @@ -1707,8 +1407,6 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) continue; ct->type = k_contact_type_default; - ct->rba = rba; - ct->rbb = rbb; count ++; if( count >= 12 ) @@ -1716,74 +1414,58 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) } } return count; -} +#else -VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, - v3f tri[3], rb_ct *buf ) -{ - v3f pc, p0w, p1w; - v3_muladds( mtxA[3], mtxA[1], -c->height*0.5f+c->radius, p0w ); - v3_muladds( mtxA[3], mtxA[1], c->height*0.5f-c->radius, p1w ); + scene *sc = s->bh_scene->user; + v3f tri[3]; - capsule_manifold manifold; - rb_capsule_manifold_init( &manifold ); - - v3f c0, c1; - closest_on_triangle_1( p0w, tri, c0 ); - closest_on_triangle_1( p1w, tri, c1 ); + v3f extent, center; + v3_sub( bbx[1], bbx[0], extent ); + v3_muls( extent, 0.5f, extent ); + v3_add( bbx[0], extent, center ); - v3f d0, d1, da; - v3_sub( c0, p0w, d0 ); - v3_sub( c1, p1w, d1 ); - v3_sub( p1w, p0w, da ); - - v3_normalize(d0); - v3_normalize(d1); - v3_normalize(da); + float r = v3_length(extent); + boxf world_bbx; + v3_fill( world_bbx[0], -r ); + v3_fill( world_bbx[1], r ); + for( int i=0; i<2; i++ ){ + v3_add( center, world_bbx[i], world_bbx[i] ); + v3_add( mtxA[3], world_bbx[i], world_bbx[i] ); + } - if( v3_dot( da, d0 ) <= 0.01f ) - rb_capsule_manifold( p0w, c0, 0.0f, c->radius, &manifold ); + m4x3f to_local; + m4x3_invert_affine( mtxA, to_local ); - if( v3_dot( da, d1 ) >= -0.01f ) - rb_capsule_manifold( p1w, c1, 1.0f, c->radius, &manifold ); + bh_iter it; + bh_iter_init( 0, &it ); + int idx; + int count = 0; - for( int i=0; i<3; i++ ) - { - int i0 = i, - i1 = (i+1)%3; + vg_line_boxf( world_bbx, VG__RED ); + + while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){ + u32 *ptri = &sc->arrindices[ idx*3 ]; - v3f ca, cb; - float ta, tb; - closest_segment_segment( p0w, p1w, tri[i0], tri[i1], &ta, &tb, ca, cb ); - rb_capsule_manifold( ca, cb, ta, c->radius, &manifold ); - } + for( int j=0; j<3; j++ ) + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); - v3f v0, v1, n; - v3_sub( tri[1], tri[0], v0 ); - v3_sub( tri[2], tri[0], v1 ); - v3_cross( v0, v1, n ); - v3_normalize( n ); + vg_line( tri[0],tri[1],VG__BLACK ); + vg_line( tri[1],tri[2],VG__BLACK ); + vg_line( tri[2],tri[0],VG__BLACK ); - int count = rb_capsule__manifold_done( mtxA, c, &manifold, buf ); - for( int i=0; iinf.capsule.height, - r = rba->inf.capsule.radius; - v3f pc, p0w, p1w; - v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w ); - v3_muladds( rba->co, rba->up, h*0.5f-r, p1w ); + v3_muladds( mtxA[3], mtxA[1], -c->height*0.5f+c->radius, p0w ); + v3_muladds( mtxA[3], mtxA[1], c->height*0.5f-c->radius, p1w ); capsule_manifold manifold; rb_capsule_manifold_init( &manifold ); @@ -1802,20 +1484,19 @@ VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, v3_normalize(da); if( v3_dot( da, d0 ) <= 0.01f ) - rb_capsule_manifold( p0w, c0, 0.0f, r, &manifold ); + rb_capsule_manifold( p0w, c0, 0.0f, c->radius, &manifold ); if( v3_dot( da, d1 ) >= -0.01f ) - rb_capsule_manifold( p1w, c1, 1.0f, r, &manifold ); + rb_capsule_manifold( p1w, c1, 1.0f, c->radius, &manifold ); - for( int i=0; i<3; i++ ) - { + for( int i=0; i<3; i++ ){ int i0 = i, i1 = (i+1)%3; v3f ca, cb; float ta, tb; closest_segment_segment( p0w, p1w, tri[i0], tri[i1], &ta, &tb, ca, cb ); - rb_capsule_manifold( ca, cb, ta, r, &manifold ); + rb_capsule_manifold( ca, cb, ta, c->radius, &manifold ); } v3f v0, v1, n; @@ -1824,7 +1505,7 @@ VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, v3_cross( v0, v1, n ); v3_normalize( n ); - int count = rb_capsule_manifold_done( rba, rbb, &manifold, buf ); + int count = rb_capsule__manifold_done( mtxA, c, &manifold, buf ); for( int i=0; ibh_scene->user; - while( bh_next( s->bh_scene, &it, bbx, &idx ) ) - { + while( bh_next( s->bh_scene, &it, bbx, &idx ) ){ u32 *ptri = &sc->arrindices[ idx*3 ]; v3f tri[3]; @@ -1860,8 +1540,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] ); count += contact; - if( count >= 16 ) - { + if( count >= 16 ){ vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n"); return count; } @@ -1870,117 +1549,17 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, return count; } -__attribute__ ((deprecated)) -VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_global_has_space( void ) { - scene *sc = rbb->inf.scene.bh_scene->user; - - bh_iter it; - bh_iter_init( 0, &it ); - int idx; - - 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]; - -#if 0 - vg_line( tri[0],tri[1],0x70ff6000 ); - vg_line( tri[1],tri[2],0x70ff6000 ); - vg_line( tri[2],tri[0],0x70ff6000 ); -#endif - - int contact = rb_capsule_triangle( rba, rbb, tri, buf+count ); - count += contact; - - if( count == 16 ) - { - vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n"); - return count; - } - } - - return count; -} - -VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_capsule_scene( rbb, rba, buf ); -} - -VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ -#if 0 - vg_error( "Collision type is unimplemented between types %d and %d\n", - rba->type, rbb->type ); -#endif - - return 0; -} - -VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_capsule_sphere( rbb, rba, buf ); -} - -VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_capsule_box( rbb, rba, buf ); -} - -VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_sphere_box( rbb, rba, buf ); -} + if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) ) + return 0; -VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - return rb_box_scene( rbb, rba, buf ); + return 1; } -VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) = +VG_STATIC rb_ct *rb_global_buffer( void ) { - /* box */ /* Sphere */ /* Capsule */ /* Mesh */ - { RB_MATRIX_ERROR, rb_box_sphere, rb_box_capsule, rb_box_scene }, - { rb_sphere_box, rb_sphere_sphere, rb_sphere_capsule, rb_sphere_scene }, - { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, rb_capsule_scene }, - { rb_scene_box, RB_MATRIX_ERROR, rb_scene_capsule, RB_MATRIX_ERROR } -}; - -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]; - - /* - * 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; - } - - /* - * FUTURE: Replace this with a more dedicated broad phase pass - */ - if( box_overlap( rba->bbx_world, rbb->bbx_world ) ) - { - int count = collider_jump( rba, rbb, rb_contact_buffer+rb_contact_count); - rb_contact_count += count; - return count; - } - else - return 0; + return &rb_contact_buffer[ rb_contact_count ]; } /* @@ -2035,8 +1614,7 @@ VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ) */ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ) { - for( int i=0; inormal_mass += v3_dot( rbCn, rbCnI ); ct->normal_mass = 1.0f/ct->normal_mass; - for( int j=0; j<2; j++ ) - { + for( int j=0; j<2; j++ ){ v3f raCtI, rbCtI; v3_cross( ct->t[j], ra, raCt ); v3_cross( ct->t[j], rb, rbCt ); @@ -2088,6 +1665,20 @@ VG_STATIC void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ) v3_sub( rva, rvb, rv ); } +VG_STATIC void rb_contact_restitution( rb_ct *ct, float cr ) +{ + v3f rv, ra, rb; + v3_sub( ct->co, ct->rba->co, ra ); + v3_sub( ct->co, ct->rbb->co, rb ); + rb_rcv( ct->rba, ct->rbb, ra, rb, rv ); + + float v = v3_dot( rv, ct->n ); + + if( v < -1.0f ){ + ct->bias += -cr * v; + } +} + /* * Apply impulse to object */ @@ -2109,8 +1700,7 @@ VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ) */ VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ) { - for( int i=0; irba, ct->rbb, ra, rb, rv ); /* Friction */ - for( int j=0; j<2; j++ ) - { + for( int j=0; j<2; j++ ){ float f = k_friction * ct->norm_impulse, vt = v3_dot( rv, ct->t[j] ), lambda = ct->tangent_mass[j] * -vt; @@ -2163,8 +1752,7 @@ VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ) VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len ) { - for( int i=0; irba, *rbb = constr->rbb; @@ -2186,8 +1774,7 @@ VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf, { float size = 0.12f; - for( int i=0; itangent_violation = ((lx*lx + ly*ly) > fn*fn) || (fn <= 0.0f); - if( st->tangent_violation ) - { + if( st->tangent_violation ){ /* Calculate a good position and the axis to solve on */ v2f closest, tangent, p = { fx/fabsf(fn), fy/fabsf(fn) }; @@ -2250,8 +1836,7 @@ VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf, float angle = v3_dot( refaxis, vxb ); st->axis_violation = fabsf(angle) < st->conet; - if( st->axis_violation ) - { + if( st->axis_violation ){ v3f dir_test; v3_cross( refaxis, vxb, dir_test ); @@ -2281,8 +1866,7 @@ VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, { float size = 0.12f; - for( int i=0; itangent_violation ) - { + if( st->tangent_violation ){ v3_muladds( center, st->tangent_target, size, p0 ); vg_line( center, p0, 0xff00ff00 ); @@ -2311,8 +1894,7 @@ VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, vg_line( p1, p0, 0xff000000 ); } - for( int x=0; x<32; x++ ) - { + for( int x=0; x<32; x++ ){ float t0 = ((float)x * (1.0f/32.0f)) * VG_TAUf, t1 = (((float)x+1.0f) * (1.0f/32.0f)) * VG_TAUf, c0 = cosf( t0 ), @@ -2350,8 +1932,7 @@ VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, vg_line( p0, p1, 0xff0000ff ); - if( st->axis_violation ) - { + if( st->axis_violation ){ v3_muladds( p0, st->axis_target, size*1.25f, p1 ); vg_line( p0, p1, 0xffffff00 ); vg_line_pt3( p1, 0.0025f, 0xffffff80 ); @@ -2379,8 +1960,7 @@ VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, */ VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ) { - for( int i=0; irba, *rbb = constr->rbb; @@ -2448,8 +2028,7 @@ VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, { float size = 0.12f; - for( int i=0; iaxis_violation ) @@ -2474,8 +2053,7 @@ VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, v3_dot( st->axis, st->rba->w ); } - for( int i=0; itangent_violation ) @@ -2547,8 +2125,7 @@ VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb, VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len, float amt ) { - for( int i=0; irba, *rbb = constr->rbb; @@ -2567,8 +2144,7 @@ VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len, VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, int len, float amt ) { - for( int i=0; itangent_violation ) @@ -2579,8 +2155,7 @@ VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, float angle = v3_dot( va, st->tangent_target ); - if( fabsf(angle) < 0.9999f ) - { + if( fabsf(angle) < 0.9999f ){ v3f axis; v3_cross( va, st->tangent_target, axis ); @@ -2591,8 +2166,7 @@ VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, } } - for( int i=0; iaxis_violation ) @@ -2603,8 +2177,7 @@ VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, float angle = v3_dot( vxb, st->axis_target ); - if( fabsf(angle) < 0.9999f ) - { + if( fabsf(angle) < 0.9999f ){ v3f axis; v3_cross( vxb, st->axis_target, axis ); @@ -2618,8 +2191,7 @@ VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ) { - for( int i=0; irba, *rbb = ct->rbb; @@ -2656,7 +2228,8 @@ 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 ) ); + float d = v3_dot( rt, ra ); + float a = vg_signf( d ) * acosf( vg_clampf( d, -1.0f, 1.0f ) ); v3f axis; v3_cross( rt, ra, axis ); @@ -2667,49 +2240,4 @@ VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt, v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w ); } -/* - * ----------------------------------------------------------------------------- - * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for - * realtime use. - * ----------------------------------------------------------------------------- - */ - -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 ); -} - -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; -} - -VG_STATIC void rb_bh_swap( void *user, u32 ia, u32 ib ) -{ - rigidbody temp, *rba, *rbb; - rba = &((rigidbody *)user)[ ia ]; - rbb = &((rigidbody *)user)[ ib ]; - - temp = *rba; - *rba = *rbb; - *rbb = temp; -} - -VG_STATIC void rb_bh_debug( void *user, u32 item_index ) -{ - rigidbody *rb = &((rigidbody *)user)[ item_index ]; - rb_debug( rb, 0xff00ffff ); -} - -VG_STATIC bh_system bh_system_rigidbodies = -{ - .expand_bound = rb_bh_expand_bound, - .item_centroid = rb_bh_centroid, - .item_swap = rb_bh_swap, - .item_debug = rb_bh_debug, - .cast_ray = NULL -}; - #endif /* RIGIDBODY_H */