X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=83d32c7eccda75eb841193bd59b9307375589ba8;hb=f7db507815e2822d971031c30f25e02b45e9c914;hp=b9b863aad2db7c12ddbdb07ae5d15d4c95998204;hpb=821f3f664586e72151e95127572677bc73bf6f02;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index b9b863a..83d32c7 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -10,9 +10,10 @@ #include "common.h" #include "bvh.h" #include "scene.h" +#include "distq.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 @@ -23,7 +24,7 @@ static bh_system bh_system_rigidbodies; * ----------------------------------------------------------------------------- */ -static const float +VG_STATIC const float k_rb_rate = (1.0/VG_TIMESTEP_FIXED), k_rb_delta = (1.0/k_rb_rate), k_friction = 0.6f, @@ -74,7 +75,7 @@ struct rigidbody struct rb_scene { - scene *pscene; + bh_tree *bh_scene; } scene; } @@ -94,7 +95,7 @@ struct rigidbody m4x3f to_world, to_local; }; -static struct contact +VG_STATIC struct contact { rigidbody *rba, *rbb; v3f co, n; @@ -103,9 +104,11 @@ static struct contact normal_mass, tangent_mass[2]; u32 element_id; + + enum contact_type type; } rb_contact_buffer[256]; -static int rb_contact_count = 0; +VG_STATIC int rb_contact_count = 0; /* * ----------------------------------------------------------------------------- @@ -113,13 +116,13 @@ 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 ) @@ -145,15 +148,18 @@ 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->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 ); + } } -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 }, @@ -187,7 +193,7 @@ 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 }, @@ -269,7 +275,7 @@ 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 ) { @@ -303,7 +309,7 @@ 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 ); @@ -312,7 +318,7 @@ 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 ); @@ -334,7 +340,7 @@ static void rb_update_transform( rigidbody *rb ) * Extrapolate rigidbody into a transform based on vg accumulator. * Useful for rendering */ -static void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) +VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) { float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f ); @@ -367,7 +373,7 @@ static void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) /* * Initialize rigidbody and calculate masses, inertia */ -static void rb_init( rigidbody *rb ) +VG_STATIC void rb_init( rigidbody *rb ) { float volume = 1.0f; @@ -397,7 +403,7 @@ 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 ) @@ -438,8 +444,15 @@ static void rb_init( rigidbody *rb ) rb_update_transform( rb ); } -static void rb_iter( 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 @@ 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 - */ -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 ); -} - -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 ) -{ - v3f local; - m4x3_mulv( rb->to_local, p, local ); - closest_point_aabb( local, rb->bbx, local ); - m4x3_mulv( rb->to_world, local, dest ); -} - -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; -} - -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 ); -} - -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 ); -} /* * ----------------------------------------------------------------------------- @@ -759,7 +488,7 @@ 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 @@ -780,7 +509,7 @@ 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]; @@ -832,6 +561,169 @@ 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; itype == 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; itype != k_contact_type_edge ) + continue; + + for( int j=i+1; jtype != 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; 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 ) + { + 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; itype == 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; itype == k_contact_type_disabled || + ci->type == k_contact_type_edge ) + continue; + + float d1 = v3_dot( ci->co, ci->n ); + + for( int j=0; jtype == 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 @@ -870,7 +762,7 @@ 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; @@ -894,13 +786,13 @@ 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, @@ -926,6 +818,7 @@ 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 @@ 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 ++; } @@ -959,7 +853,7 @@ 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, @@ -992,6 +886,7 @@ 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; } @@ -999,7 +894,7 @@ 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, @@ -1037,7 +932,7 @@ 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; @@ -1161,11 +1056,11 @@ 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; - 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), @@ -1212,13 +1107,14 @@ 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; } 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 ); @@ -1238,6 +1134,7 @@ 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->type = k_contact_type_default; ct->p = r-d; ct->rba = rba; ct->rbb = rbb; @@ -1247,16 +1144,20 @@ 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; - 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 @@ 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 @@ 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 void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang, + boxf box, u32 colour ) { - scene *sc = rbb->inf.scene.pscene; - - u32 geo[128]; - v3f tri[3]; - int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 ); + sharp_ang = cosf( sharp_ang ); - int count = 0; + scene *sc = rbb->inf.scene.bh_scene->user; + vg_line_boxf( box, 0xff00ff00 ); - for( int i=0; iinf.scene.bh_scene, &it, box, &idx ) ) { - u32 *ptri = &sc->indices[ 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] ); for( int j=0; j<3; j++ ) - v3_copy( sc->verts[ptri[j]].co, tri[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 ); - vg_line(tri[0],tri[1],0xff00ff00 ); - vg_line(tri[1],tri[2],0xff00ff00 ); - vg_line(tri[2],tri[0],0xff00ff00 ); + 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[ 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]; - 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; @@ -1318,22 +1318,24 @@ static int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) 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 count = 0; + bh_iter it; + bh_iter_init( 0, &it ); + int idx; - for( int i=0; iinf.scene.bh_scene, &it, rba->bbx_world, &idx ) ) { - u32 *ptri = &sc->indices[ geo[i]*3 ]; + u32 *ptri = &sc->arrindices[ idx*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 ) ) { @@ -1447,6 +1449,7 @@ 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 ++; @@ -1458,7 +1461,7 @@ 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 ); @@ -1466,27 +1469,27 @@ 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 }, @@ -1495,7 +1498,7 @@ 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]; @@ -1530,12 +1533,12 @@ 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; } @@ -1543,14 +1546,18 @@ 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] ); +#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; @@ -1592,7 +1599,7 @@ 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; @@ -1612,7 +1619,7 @@ 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 ); @@ -1628,11 +1635,12 @@ 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; @@ -1681,7 +1689,7 @@ 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 ) { @@ -1717,7 +1725,7 @@ 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; @@ -1749,7 +1757,7 @@ 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 ) { @@ -1770,7 +1778,7 @@ 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] ) { v3f ax, ay, az, bx, by, bz; @@ -1814,7 +1822,7 @@ 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; @@ -1829,7 +1837,7 @@ 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 */ @@ -1893,7 +1901,7 @@ 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 */ @@ -1908,24 +1916,24 @@ static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, /* * ----------------------------------------------------------------------------- - * 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 ]; @@ -1936,13 +1944,13 @@ 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,