X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=83d32c7eccda75eb841193bd59b9307375589ba8;hb=f7db507815e2822d971031c30f25e02b45e9c914;hp=94ad18142249a4f76d31f87af06efdfabc0c5572;hpb=47941822dae18a018c985847b052e70214a3ccc6;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/rigidbody.h b/rigidbody.h
index 94ad181..83d32c7 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -10,6 +10,7 @@
 #include "common.h"
 #include "bvh.h"
 #include "scene.h"
+#include "distq.h"
 
 VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty );
 VG_STATIC bh_system bh_system_rigidbodies;
@@ -103,6 +104,8 @@ VG_STATIC struct contact
          normal_mass, tangent_mass[2];
 
    u32 element_id;
+
+   enum contact_type type;
 }
 rb_contact_buffer[256];
 VG_STATIC int rb_contact_count = 0;
@@ -147,10 +150,13 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty )
 
 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->type != k_contact_type_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 );
+   }
 }
 
 VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour )
@@ -440,6 +446,13 @@ VG_STATIC void rb_init( rigidbody *rb )
 
 VG_STATIC void rb_iter( rigidbody *rb )
 {
+   if( isnanf( rb->v[0] ) ||
+       isnanf( rb->v[1] ) ||
+       isnanf( rb->v[2] ) )
+   {
+      vg_fatal_exit_loop( "NaN velocity" );
+   }
+
    v3f gravity = { 0.0f, -9.8f, 0.0f };
    v3_muladds( rb->v, gravity, k_rb_delta, rb->v );
 
@@ -465,290 +478,6 @@ VG_STATIC void rb_iter( rigidbody *rb )
    v3_muls( rb->w, 1.0f/(1.0f+k_rb_delta*k_damp_angular), rb->w );
 }
 
-/*
- * -----------------------------------------------------------------------------
- *                        Closest point functions
- * -----------------------------------------------------------------------------
- */
-
-/* 
- * These closest point tests were learned from Real-Time Collision Detection by 
- * Christer Ericson 
- */
-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;
-   v3_sub( q1, p1, d1 );
-   v3_sub( q2, p2, d2 );
-   v3_sub( p1, p2, r );
-
-   float a = v3_length2( d1 ),
-         e = v3_length2( d2 ),
-         f = v3_dot( d2, r );
-
-   const float kEpsilon = 0.0001f;
-
-   if( a <= kEpsilon && e <= kEpsilon )
-   {
-      *s = 0.0f;
-      *t = 0.0f;
-      v3_copy( p1, c1 );
-      v3_copy( p2, c2 );
-
-      v3f v0;
-      v3_sub( c1, c2, v0 );
-
-      return v3_length2( v0 );
-   }
-   
-   if( a<= kEpsilon )
-   {
-      *s = 0.0f;
-      *t = vg_clampf( f / e, 0.0f, 1.0f );
-   }
-   else
-   {
-      float c = v3_dot( d1, r );
-      if( e <= kEpsilon )
-      {
-         *t = 0.0f;
-         *s = vg_clampf( -c / a, 0.0f, 1.0f );
-      }
-      else
-      {
-         float b = v3_dot(d1,d2),
-               d = a*e-b*b;
-
-         if( d != 0.0f )
-         {
-            *s = vg_clampf((b*f - c*e)/d, 0.0f, 1.0f);
-         }
-         else
-         {
-            *s = 0.0f;
-         }
-
-         *t = (b*(*s)+f) / e;
-
-         if( *t < 0.0f )
-         {
-            *t = 0.0f;
-            *s = vg_clampf( -c / a, 0.0f, 1.0f );
-         }
-         else if( *t > 1.0f )
-         {
-            *t = 1.0f;
-            *s = vg_clampf((b-c)/a,0.0f,1.0f);
-         }
-      }
-   }
-
-   v3_muladds( p1, d1, *s, c1 );
-   v3_muladds( p2, d2, *t, c2 );
-
-   v3f v0;
-   v3_sub( c1, c2, v0 );
-   return v3_length2( v0 );
-}
-
-VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest )
-{
-   v3_maxv( p, box[0], dest );
-   v3_minv( dest, box[1], dest );
-}
-
-VG_STATIC void closest_point_obb( v3f p, rigidbody *rb, v3f dest )
-{
-   v3f local;
-   m4x3_mulv( rb->to_local, p, local );
-   closest_point_aabb( local, rb->bbx, local );
-   m4x3_mulv( rb->to_world, local, dest );
-}
-
-VG_STATIC float closest_point_segment( v3f a, v3f b, v3f point, v3f dest )
-{
-   v3f v0, v1;
-   v3_sub( b, a, v0 );
-   v3_sub( point, a, v1 );
-
-   float t = v3_dot( v1, v0 ) / v3_length2(v0);
-   t = vg_clampf(t,0.0f,1.0f);
-   v3_muladds( a, v0, t, dest );
-   return t;
-}
-
-VG_STATIC void closest_on_triangle( v3f p, v3f tri[3], v3f dest )
-{
-   v3f ab, ac, ap;
-   float d1, d2;
-
-   /* Region outside A */
-   v3_sub( tri[1], tri[0], ab );
-   v3_sub( tri[2], tri[0], ac );
-   v3_sub( p, tri[0], ap );
-   
-   d1 = v3_dot(ab,ap);
-   d2 = v3_dot(ac,ap);
-   if( d1 <= 0.0f && d2 <= 0.0f ) 
-   {
-      v3_copy( tri[0], dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region outside B */
-   v3f bp;
-   float d3, d4;
-
-   v3_sub( p, tri[1], bp );
-   d3 = v3_dot( ab, bp );
-   d4 = v3_dot( ac, bp );
-
-   if( d3 >= 0.0f && d4 <= d3 )
-   {
-      v3_copy( tri[1], dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-   
-   /* Edge region of AB */
-   float vc = d1*d4 - d3*d2;
-   if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
-   {
-      float v = d1 / (d1-d3);
-      v3_muladds( tri[0], ab, v, dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region outside C */
-   v3f cp;
-   float d5, d6;
-   v3_sub( p, tri[2], cp );
-   d5 = v3_dot(ab, cp);
-   d6 = v3_dot(ac, cp);
-   
-   if( d6 >= 0.0f && d5 <= d6 )
-   {
-      v3_copy( tri[2], dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region of AC */
-   float vb = d5*d2 - d1*d6;
-   if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
-   {
-      float w = d2 / (d2-d6);
-      v3_muladds( tri[0], ac, w, dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* Region of BC */
-   float va = d3*d6 - d5*d4;
-   if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
-   {
-      float w = (d4-d3) / ((d4-d3) + (d5-d6));
-      v3f bc;
-      v3_sub( tri[2], tri[1], bc );
-      v3_muladds( tri[1], bc, w, dest );
-      v3_copy( (v3f){INFINITY,INFINITY,INFINITY}, dest );
-      return;
-   }
-
-   /* P inside region, Q via barycentric coordinates uvw */
-   float d = 1.0f/(va+vb+vc),
-         v = vb*d,
-         w = vc*d;
-
-   v3_muladds( tri[0], ab, v, dest );
-   v3_muladds( dest, ac, w, dest );
-}
-
-VG_STATIC void closest_on_triangle_1( v3f p, v3f tri[3], v3f dest )
-{
-   v3f ab, ac, ap;
-   float d1, d2;
-
-   /* Region outside A */
-   v3_sub( tri[1], tri[0], ab );
-   v3_sub( tri[2], tri[0], ac );
-   v3_sub( p, tri[0], ap );
-   
-   d1 = v3_dot(ab,ap);
-   d2 = v3_dot(ac,ap);
-   if( d1 <= 0.0f && d2 <= 0.0f ) 
-   {
-      v3_copy( tri[0], dest );
-      return;
-   }
-
-   /* Region outside B */
-   v3f bp;
-   float d3, d4;
-
-   v3_sub( p, tri[1], bp );
-   d3 = v3_dot( ab, bp );
-   d4 = v3_dot( ac, bp );
-
-   if( d3 >= 0.0f && d4 <= d3 )
-   {
-      v3_copy( tri[1], dest );
-      return;
-   }
-   
-   /* Edge region of AB */
-   float vc = d1*d4 - d3*d2;
-   if( vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f )
-   {
-      float v = d1 / (d1-d3);
-      v3_muladds( tri[0], ab, v, dest );
-      return;
-   }
-
-   /* Region outside C */
-   v3f cp;
-   float d5, d6;
-   v3_sub( p, tri[2], cp );
-   d5 = v3_dot(ab, cp);
-   d6 = v3_dot(ac, cp);
-   
-   if( d6 >= 0.0f && d5 <= d6 )
-   {
-      v3_copy( tri[2], dest );
-      return;
-   }
-
-   /* Region of AC */
-   float vb = d5*d2 - d1*d6;
-   if( vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f )
-   {
-      float w = d2 / (d2-d6);
-      v3_muladds( tri[0], ac, w, dest );
-      return;
-   }
-
-   /* Region of BC */
-   float va = d3*d6 - d5*d4;
-   if( va <= 0.0f && (d4-d3) >= 0.0f && (d5-d6) >= 0.0f )
-   {
-      float w = (d4-d3) / ((d4-d3) + (d5-d6));
-      v3f bc;
-      v3_sub( tri[2], tri[1], bc );
-      v3_muladds( tri[1], bc, w, dest );
-      return;
-   }
-
-   /* P inside region, Q via barycentric coordinates uvw */
-   float d = 1.0f/(va+vb+vc),
-         v = vb*d,
-         w = vc*d;
-
-   v3_muladds( tri[0], ab, v, dest );
-   v3_muladds( dest, ac, w, dest );
-}
 
 /*
  * -----------------------------------------------------------------------------
@@ -832,6 +561,169 @@ VG_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; i<len; i++ )
+   {
+      rb_ct *ct = &man[i];
+
+      if( ct->type == k_contact_type_disabled )
+         continue;
+
+      man[k ++] = man[i];
+   }
+
+   return k;
+}
+
+VG_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 ) 
+         continue;
+
+      for( int j=i+1; j<len; j++ )
+      {
+         rb_ct *cj = &man[j];
+         if( cj->type != k_contact_type_edge ) 
+            continue;
+
+         if( v3_dist2( ci->co, cj->co ) < r*r )
+         {
+            cj->type = k_contact_type_disabled;
+            ci->p = (ci->p + cj->p) * 0.5f;
+
+            v3_add( ci->co, cj->co, ci->co );
+            v3_muls( ci->co, 0.5f, ci->co );
+
+            v3f delta;
+            v3_sub( ci->rba->co, ci->co, delta );
+
+            float c0 = v3_dot( ci->n, delta ),
+                  c1 = v3_dot( cj->n, delta );
+
+            if( c0 < 0.0f || c1 < 0.0f )
+            {
+               /* error */
+               ci->type = k_contact_type_disabled;
+            }
+            else
+            {
+               v3f n;
+               v3_muls( ci->n, c0, n );
+               v3_muladds( n, cj->n, c1, n );
+               v3_normalize( n );
+               v3_copy( n, ci->n );
+            }
+         }
+      }
+   }
+}
+
+/*
+ * Resolve overlapping pairs
+ */
+VG_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;
+
+      if( ci->type == k_contact_type_disabled ) continue;
+
+      for( int j=i+1; j<len; j++ )
+      {
+         rb_ct *cj = &man[j];
+
+         if( cj->type == k_contact_type_disabled ) continue;
+
+         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;
+            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->type = k_contact_type_disabled;
+         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; i<len; i++ )
+   {
+      rb_ct *ct = &man[i];
+      if( ct->type == k_contact_type_disabled ) 
+         continue;
+
+      v3f delta;
+      v3_sub( ct->co, ct->rba->co, delta );
+      
+      if( v3_dot( delta, ct->n ) > -0.001f )
+         ct->type = k_contact_type_disabled;
+   }
+}
+
+/*
+ * 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; i<len; i++ )
+   {
+      rb_ct *ci = &man[i];
+      if( ci->type == k_contact_type_disabled ||
+          ci->type == k_contact_type_edge ) 
+         continue;
+
+      float d1 = v3_dot( ci->co, ci->n );
+
+      for( int j=0; j<len; j++ )
+      {
+         if( j == i )
+            continue;
+
+         rb_ct *cj = &man[j];
+         if( cj->type == k_contact_type_disabled ) 
+            continue;
+         
+         float d2 = v3_dot( cj->co, ci->n ),
+               d  = d2-d1;
+
+         if( fabsf( d ) <= w )
+         {
+            cj->type = k_contact_type_disabled;
+         }
+      }
+   }
+}
+
 /*
  * -----------------------------------------------------------------------------
  *                            Collision matrix
@@ -926,6 +818,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
       ct->p = manifold->r0 - d;
       ct->rba = rba;
       ct->rbb = rbb;
+      ct->type = k_contact_type_default;
 
       count ++;
    }
@@ -945,6 +838,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
       ct->p = manifold->r1 - d;
       ct->rba = rba;
       ct->rbb = rbb;
+      ct->type = k_contact_type_default;
 
       count ++;
    }
@@ -992,6 +886,7 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
       ct->rba = rba;
       ct->rbb = rbb;
+      ct->type = k_contact_type_default;
 
       return 1;
    }
@@ -1165,7 +1060,7 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    v3f co, delta;
 
-   closest_point_obb( rba->co, rbb, co );
+   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),
@@ -1212,6 +1107,7 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 
       ct->rba = rba;
       ct->rbb = rbb;
+      ct->type = k_contact_type_default;
       return 1;
    }
 
@@ -1238,6 +1134,7 @@ VG_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->type = k_contact_type_default;
       ct->p = r-d;
       ct->rba = rba;
       ct->rbb = rbb;
@@ -1247,16 +1144,20 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    return 0;
 }
 
+//#define RIGIDBODY_DYNAMIC_MESH_EDGES
+
 VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, 
                                   v3f tri[3], rb_ct *buf )
 {
    v3f delta, co;
 
-   closest_on_triangle( rba->co, tri, co );
-   v3_sub( rba->co, co, delta );
+#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES
+   closest_on_triangle_1( rba->co, tri, co );
+#else
+   enum contact_type type = closest_on_triangle_1( rba->co, tri, co );
+#endif
 
-   vg_line( rba->co, co, 0xffff0000 );
-   vg_line_pt3( rba->co, 0.1f, 0xff00ffff );
+   v3_sub( rba->co, co, delta );
 
    float d2 = v3_length2( delta ),
           r = rba->inf.sphere.radius;
@@ -1275,6 +1176,7 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
       float d = sqrtf(d2);
 
       v3_copy( co, ct->co );
+      ct->type = type;
       ct->p = r-d;
       ct->rba = rba;
       ct->rbb = rbb;
@@ -1284,31 +1186,129 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb,
    return 0;
 }
 
-VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+
+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;
    
-   u32 geo[128];
-   v3f tri[3];
-   int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
+   while( bh_next( rbb->inf.scene.bh_scene, &it, box, &idx ) )
+   {
+      u32 *ptri = &sc->arrindices[ idx*3 ];
+      v3f tri[3];
 
-   int count = 0;
+      for( int j=0; j<3; j++ )
+         v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
 
-   for( int i=0; i<len; i++ )
+      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( rigidbody *rba, rigidbody *rbb, 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[ geo[i]*3 ];
+      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] );
-
-      vg_line(tri[0],tri[1],0xff00ff00 );
-      vg_line(tri[1],tri[2],0xff00ff00 );
-      vg_line(tri[2],tri[0],0xff00ff00 );
       
-      buf[count].element_id = ptri[0];
-      count += rb_sphere_triangle( rba, rbb, tri, buf+count );
+      buf[ count ].element_id = ptri[0];
 
-      if( count == 12 )
+      vg_line( tri[0],tri[1],0x70ff6000 );
+      vg_line( tri[1],tri[2],0x70ff6000 );
+      vg_line( tri[2],tri[0],0x70ff6000 );
+
+      int contact = rb_sphere_triangle( rba, rbb, tri, buf+count );
+      count += contact;
+
+      if( count == 16 )
       {
          vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
          return count;
@@ -1322,15 +1322,17 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    scene *sc = rbb->inf.scene.bh_scene->user;
    
-   u32 geo[128];
    v3f tri[3];
-   int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 );
 
-   int count = 0;
+   bh_iter it;
+   bh_iter_init( 0, &it );
+   int idx;
 
-   for( int i=0; i<len; i++ )
+   int count = 0;
+   
+   while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
    {
-      u32 *ptri = &sc->arrindices[ geo[i]*3 ];
+      u32 *ptri = &sc->arrindices[ idx*3 ];
 
       for( int j=0; j<3; j++ )
          v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
@@ -1447,6 +1449,7 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
          if( ct->p < 0.0f )
             continue;
 
+         ct->type = k_contact_type_default;
          ct->rba = rba;
          ct->rbb = rbb;
          count ++;
@@ -1548,9 +1551,13 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len )
    for( int i=0; i<len; i++ )
    {
       rb_ct *ct = &buffer[i];
+
       ct->bias = -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] );
 
+#if 0
+      ct->type = k_contact_type_default;
+#endif
       ct->norm_impulse = 0.0f;
       ct->tangent_impulse[0] = 0.0f;
       ct->tangent_impulse[1] = 0.0f;
@@ -1633,6 +1640,7 @@ VG_STATIC void rb_solve_contacts( rb_ct *buf, int len )
    for( int i=0; i<len; i++ )
    {
       struct contact *ct = &buf[i];
+
       rigidbody *rb = ct->rba;
 
       v3f rv, da, db;