X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=7d878e9a4976146a08cf09cb9cc2a5519e978408;hb=137d40d96fe923600d8378b8e138e3c276f27ff4;hp=8489dbccf830ed1a527d1b17906e27bbe5a63f6d;hpb=73adac381b2c72f08293416a960942dc40db3c7f;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/rigidbody.h b/rigidbody.h
index 8489dbc..7d878e9 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -105,7 +105,7 @@ struct rb_object{
    inf;
 };
 
-VG_STATIC struct contact{
+static struct contact{
    rigidbody *rba, *rbb;
    v3f co, n;
    v3f t[2];
@@ -117,7 +117,7 @@ VG_STATIC struct contact{
    enum contact_type type;
 }
 rb_contact_buffer[256];
-VG_STATIC int rb_contact_count = 0;
+static int rb_contact_count = 0;
 
 typedef struct rb_constr_pos rb_constr_pos;
 typedef struct rb_constr_swingtwist rb_constr_swingtwist;
@@ -147,7 +147,7 @@ struct rb_constr_swingtwist{
  * -----------------------------------------------------------------------------
  */
 
-VG_STATIC void rb_debug_contact( rb_ct *ct ){
+static void rb_debug_contact( rb_ct *ct ){
    v3f p1;
    v3_muladds( ct->co, ct->n, 0.05f, p1 );
 
@@ -162,7 +162,7 @@ VG_STATIC void rb_debug_contact( rb_ct *ct ){
 }
 
 
-VG_STATIC void rb_object_debug( rb_object *obj, u32 colour ){
+static void rb_object_debug( rb_object *obj, u32 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 );
@@ -191,16 +191,15 @@ VG_STATIC void rb_object_debug( rb_object *obj, u32 colour ){
 /*
  * Update world space bounding box based on local one
  */
-VG_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_bounds( rigidbody *rb ){
+   box_init_inf( rb->bbx_world );
+   m4x3_expand_aabb_aabb( rb->to_world, rb->bbx_world, rb->bbx );
 }
 
 /*
  * Commit transform to rigidbody. Updates matrices
  */
-VG_STATIC void rb_update_transform( rigidbody *rb )
+static void rb_update_transform( rigidbody *rb )
 {
    q_normalize( rb->q );
    q_m3x3( rb->q, rb->to_world );
@@ -217,7 +216,7 @@ VG_STATIC void rb_update_transform( rigidbody *rb )
  * Extrapolate rigidbody into a transform based on vg accumulator.
  * Useful for rendering
  */
-VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
+static void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
 {
    float substep = vg.time_fixed_extrapolate;
    v3_muladds( rb->co, rb->v, k_rb_delta*substep, co );
@@ -241,7 +240,7 @@ VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q )
 /*
  * Initialize rigidbody and calculate masses, inertia
  */
-VG_STATIC void rb_init_object( rb_object *obj ){
+static void rb_init_object( rb_object *obj ){
    float volume = 1.0f;
    int inert = 0;
 
@@ -303,7 +302,7 @@ VG_STATIC void rb_init_object( rb_object *obj ){
    rb_update_transform( &obj->rb );
 }
 
-VG_STATIC void rb_iter( rigidbody *rb ){
+static void rb_iter( rigidbody *rb ){
    if( !vg_validf( rb->v[0] ) ||
        !vg_validf( rb->v[1] ) ||
        !vg_validf( rb->v[2] ) )
@@ -346,7 +345,7 @@ VG_STATIC void rb_iter( rigidbody *rb ){
 /* 
  * Project AABB, and triangle interval onto axis to check if they overlap
  */
-VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){
+static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){
    float 
 
    r = extent[0] * fabsf(axis[0]) +
@@ -366,7 +365,7 @@ 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( v3f extent, v3f center,
+static int rb_box_triangle_sat( v3f extent, v3f center,
                                    m4x3f to_local, v3f tri_src[3] ){
    v3f tri[3];
 
@@ -413,7 +412,7 @@ VG_STATIC int rb_box_triangle_sat( v3f extent, v3f center,
  * -----------------------------------------------------------------------------
  */
 
-VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ){
+static int rb_manifold_apply_filtered( rb_ct *man, int len ){
    int k = 0;
 
    for( int i=0; i<len; i++ ){
@@ -431,7 +430,7 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ){
 /*
  * Merge two contacts if they are within radius(r) of eachother
  */
-VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ){
+static void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ){
    if( v3_dist2( ci->co, cj->co ) < r*r ){
       cj->type = k_contact_type_disabled;
       ci->p = (ci->p + cj->p) * 0.5f;
@@ -462,7 +461,7 @@ 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 ){
+static void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ){
    for( int i=0; i<len-1; i++ ){
       rb_ct *ci = &man[i];
       if( ci->type != k_contact_type_edge ) 
@@ -481,7 +480,7 @@ VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ){
 /*
  * Resolve overlapping pairs
  */
-VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ){
+static void rb_manifold_filter_pairs( rb_ct *man, int len, float r ){
    for( int i=0; i<len-1; i++ ){
       rb_ct *ci = &man[i];
       int similar = 0;
@@ -517,7 +516,7 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ){
 /* 
  * Remove contacts that are facing away from A
  */
-VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ){
+static void rb_manifold_filter_backface( rb_ct *man, int len ){
    for( int i=0; i<len; i++ ){
       rb_ct *ct = &man[i];
       if( ct->type == k_contact_type_disabled ) 
@@ -534,7 +533,7 @@ VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ){
 /*
  * Filter out duplicate coplanar results. Good for spheres.
  */
-VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ){
+static void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ){
    for( int i=0; i<len; i++ ){
       rb_ct *ci = &man[i];
       if( ci->type == k_contact_type_disabled ||
@@ -598,7 +597,7 @@ 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.
  */
-VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, 
+static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, 
                                     capsule_manifold *manifold ){
    v3f delta;
    v3_sub( pa, pb, delta );
@@ -618,12 +617,12 @@ VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r,
    }
 }
 
-VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold ){
+static void rb_capsule_manifold_init( capsule_manifold *manifold ){
    manifold->t0 =  INFINITY;
    manifold->t1 = -INFINITY;
 }
 
-VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
+static int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
                                          capsule_manifold *manifold,
                                          rb_ct *buf ){
    v3f p0, p1;
@@ -674,7 +673,7 @@ VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
    return count;
 }
 
-VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
+static int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
    rigidbody *rba = &obja->rb, *rbb = &objb->rb;
    float h = obja->inf.capsule.height,
         ra = obja->inf.capsule.radius,
@@ -714,7 +713,7 @@ VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
    return 0;
 }
 
-VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
+static int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
                                    m4x3f mtxB, rb_capsule *cb, rb_ct *buf ){
    float ha = ca->height,
          hb = cb->height,
@@ -749,7 +748,7 @@ VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
    return rb_capsule__manifold_done( mtxA, ca, &manifold, buf );
 }
 
-VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf ){
+static int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf ){
    v3f co, delta;
    rigidbody *rba = &obja->rb, *rbb = &objb->rb;
 
@@ -804,7 +803,7 @@ VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf ){
    return 0;
 }
 
-VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
+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 );
@@ -833,7 +832,7 @@ VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){
    return 0;
 }
 
-VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
+static int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
                                    v3f tri[3], rb_ct *buf ){
    v3f delta, co;
    enum contact_type type = closest_on_triangle_1( mtxA[3], tri, co );
@@ -853,7 +852,9 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
       v3_copy( tn, ct->n );
 
       if( v3_length2( ct->n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
          vg_error( "Zero area triangle!\n" );
+#endif
          return 0;
       }
 
@@ -870,8 +871,9 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b,
    return 0;
 }
 
-VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
-                                m4x3f mtxB, rb_scene *s, rb_ct *buf ){
+static int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
+                                m4x3f mtxB, rb_scene *s, rb_ct *buf, 
+                                u16 ignore ){
    scene_context *sc = s->bh_scene->user;
 
    int count = 0;
@@ -889,6 +891,8 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
       u32 *ptri = &sc->arrindices[ idx*3 ];
       v3f tri[3];
 
+      if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
+
       for( int j=0; j<3; j++ )
          v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
       
@@ -910,8 +914,8 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b,
    return count;
 }
 
-VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
-                             m4x3f mtxB, rb_scene *s, rb_ct *buf ){
+static int rb_box__scene( m4x3f mtxA, boxf bbx,
+                             m4x3f mtxB, rb_scene *s, rb_ct *buf, u16 ignore ){
    scene_context *sc = s->bh_scene->user;
    v3f tri[3];
 
@@ -941,6 +945,7 @@ VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
    
    while( bh_next( s->bh_scene, &it, &idx ) ){
       u32 *ptri = &sc->arrindices[ idx*3 ];
+      if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
 
       for( int j=0; j<3; j++ )
          v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
@@ -961,6 +966,14 @@ VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
       v3_sub( tri[1], tri[0], v0 );
       v3_sub( tri[2], tri[0], v1 );
       v3_cross( v0, v1, n );
+
+      if( v3_length2( n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
+         vg_error( "Zero area triangle!\n" );
+#endif
+         return 0;
+      }
+
       v3_normalize( n );
 
       /* find best feature */
@@ -1055,7 +1068,7 @@ VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
    return count;
 }
 
-VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
+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 );
@@ -1099,7 +1112,9 @@ VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
    v3_cross( v0, v1, n );
 
    if( v3_length2( n ) <= 0.00001f ){
+#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING
       vg_error( "Zero area triangle!\n" );
+#endif
       return 0;
    }
 
@@ -1113,9 +1128,9 @@ VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
 }
 
 /* mtxB is defined only for tradition; it is not used currently */
-VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
+static int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
                                  m4x3f mtxB, rb_scene *s, 
-                                 rb_ct *buf ){
+                                 rb_ct *buf, u16 ignore ){
    int count = 0;
 
    boxf bbx;
@@ -1129,8 +1144,9 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
    i32 idx;
    while( bh_next( s->bh_scene, &it, &idx ) ){
       u32 *ptri = &sc->arrindices[ idx*3 ];
-      v3f tri[3];
+      if( sc->arrvertices[ptri[0]].flags & ignore ) continue;
 
+      v3f tri[3];
       for( int j=0; j<3; j++ )
          v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
       
@@ -1148,14 +1164,14 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c,
    return count;
 }
 
-VG_STATIC int rb_global_has_space( void ){
+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 ){
+static rb_ct *rb_global_buffer( void ){
    return &rb_contact_buffer[ rb_contact_count ];
 }
 
@@ -1165,15 +1181,15 @@ VG_STATIC rb_ct *rb_global_buffer( void ){
  * -----------------------------------------------------------------------------
  */
 
-VG_STATIC void rb_solver_reset(void){
+static void rb_solver_reset(void){
    rb_contact_count = 0;
 }
 
-VG_STATIC rb_ct *rb_global_ct(void){
+static rb_ct *rb_global_ct(void){
    return rb_contact_buffer + rb_contact_count;
 }
 
-VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep ){
+static void rb_prepare_contact( rb_ct *ct, float timestep ){
    ct->bias = -0.2f * (timestep*3600.0f) 
                * vg_minf( 0.0f, -ct->p+k_penetration_slop );
    
@@ -1184,7 +1200,7 @@ VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep ){
 }
 
 /* calculate total move. manifold should belong to ONE object only */
-VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){
+static void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){
    v3_zero( dt );
 
    for( int j=0; j<7; j++ )
@@ -1205,7 +1221,7 @@ VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){
 /*
  * Initializing things like tangent vectors
  */
-VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ){
+static void rb_presolve_contacts( rb_ct *buffer, int len ){
    for( int i=0; i<len; i++ ){
       rb_ct *ct = &buffer[i];
       rb_prepare_contact( ct, k_rb_delta );
@@ -1246,7 +1262,7 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ){
 /*
  * Creates relative contact velocity vector
  */
-VG_STATIC void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ){
+static void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ){
    v3f rva, rvb;
    v3_cross( rba->w, ra, rva );
    v3_add(   rba->v, rva, rva );
@@ -1256,7 +1272,7 @@ 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 ){
+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 );
@@ -1272,7 +1288,7 @@ VG_STATIC void rb_contact_restitution( rb_ct *ct, float cr ){
 /*
  * Apply impulse to object
  */
-VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){
+static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){
    /* linear */
    v3_muladds( rb->v, impulse,  rb->inv_mass, rb->v );
    
@@ -1287,7 +1303,7 @@ VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){
 /*
  * One iteration to solve the contact constraint
  */
-VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ){
+static void rb_solve_contacts( rb_ct *buf, int len ){
    for( int i=0; i<len; i++ ){
       struct contact *ct = &buf[i];
 
@@ -1338,7 +1354,7 @@ VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ){
  * -----------------------------------------------------------------------------
  */
 
-VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len ){
+static void rb_debug_position_constraints( rb_constr_pos *buffer, int len ){
    for( int i=0; i<len; i++ ){
       rb_constr_pos *constr = &buffer[i];
       rigidbody *rba = constr->rba, *rbb = constr->rbb;
@@ -1356,7 +1372,7 @@ VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len ){
    }
 }
 
-VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
+static void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
                                                    int len ){
    float size = 0.12f;
 
@@ -1447,7 +1463,7 @@ VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf,
    }
 }
 
-VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, 
+static void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, 
                                                 int len ){
    float size = 0.12f;
 
@@ -1543,7 +1559,7 @@ VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf,
 /*
  * Solve a list of positional constraints
  */
-VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ){
+static void rb_solve_position_constraints( rb_constr_pos *buf, int len ){
    for( int i=0; i<len; i++ ){
       rb_constr_pos *constr = &buf[i];
       rigidbody *rba = constr->rba, *rbb = constr->rbb;
@@ -1607,7 +1623,7 @@ VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ){
    }
 }
 
-VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, 
+static void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, 
                                                 int len ){
    float size = 0.12f;
 
@@ -1662,7 +1678,7 @@ VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf,
    }
 }
 
-VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
+static void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
                                       v3f ra, v3f rb ){
    m3x3f ssra, ssrb, ssrat, ssrbt;
    m3x3f cma, cmb;
@@ -1704,7 +1720,7 @@ VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb,
  * Correct position constraint drift errors
  * [ 0.0 <= amt <= 1.0 ]: the correction amount
  */
-VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len, 
+static void rb_correct_position_constraints( rb_constr_pos *buf, int len, 
                                                 float amt ){
    for( int i=0; i<len; i++ ){
       rb_constr_pos *constr = &buf[i];
@@ -1722,7 +1738,7 @@ VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len,
    }
 }
 
-VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, 
+static void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, 
                                                   int len, float amt ){
    for( int i=0; i<len; i++ ){
       rb_constr_swingtwist *st = &buf[i];
@@ -1769,7 +1785,7 @@ 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 ){
+static void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ){
    for( int i=0; i<len; i++ ){
       rb_ct *ct = &buf[i];
       rigidbody *rba = ct->rba,
@@ -1787,7 +1803,7 @@ VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ){
  * Effectors
  */
 
-VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, 
+static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, 
                                           float amt, float drag ){
    /* float */
    float depth  = v3_dot( plane, ra->co ) - plane[3],
@@ -1802,7 +1818,7 @@ VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane,
 /* 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,
+static void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt,
                                                float spring, float dampening,
                                                float timestep ){
    float d = v3_dot( rt, ra );