X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=92419991f7b0e6f21c5659a63a2db9f5bfb9700c;hb=7eba38b8178c82040618a518634d8ff4813e2ff2;hp=60fc88ce59a18275f59c6b36aba67ed88f9fbb89;hpb=610907ae753bdda202236d52a6fcf77d14d63193;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 60fc88c..9241999 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved + * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved */ /* @@ -7,14 +7,13 @@ * qu3e - Randy Gaul */ -#include "common.h" +#include "vg/vg_console.h" #include "bvh.h" #include "scene.h" #include -VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ); -VG_STATIC bh_system bh_system_rigidbodies; +static bh_system bh_system_rigidbodies; #ifndef RIGIDBODY_H #define RIGIDBODY_H @@ -25,7 +24,7 @@ VG_STATIC bh_system bh_system_rigidbodies; * ----------------------------------------------------------------------------- */ -VG_STATIC const float +static const float k_rb_rate = (1.0/VG_TIMESTEP_FIXED), k_rb_delta = (1.0/k_rb_rate), k_friction = 0.4f, @@ -36,33 +35,17 @@ VG_STATIC const float k_phys_baumgarte = 0.2f, k_gravity = 9.6f; -VG_STATIC float +static float k_limit_bias = 0.02f, k_joint_correction = 0.01f, k_joint_impulse = 1.0f, k_joint_bias = 0.08f; /* positional joints */ -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 - }); +static void rb_register_cvar(void){ + 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 ); } /* @@ -78,23 +61,19 @@ 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; @@ -108,8 +87,7 @@ struct rigidbody }; /* simple objects */ -struct rb_object -{ +struct rb_object{ rigidbody rb; enum rb_shape{ k_rb_shape_box = 0, @@ -119,8 +97,7 @@ struct rb_object } type; - union - { + union{ struct rb_sphere sphere; struct rb_capsule capsule; struct rb_scene scene; @@ -128,8 +105,7 @@ struct rb_object inf; }; -VG_STATIC struct contact -{ +VG_STATIC struct contact{ rigidbody *rba, *rbb; v3f co, n; v3f t[2]; @@ -146,14 +122,12 @@ 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 */ @@ -167,197 +141,41 @@ struct rb_constr_swingtwist float tangent_mass, axis_mass; }; -struct rb_constr_spring -{ - int nothing; -}; - -/* - * ----------------------------------------------------------------------------- - * Math Utils - * ----------------------------------------------------------------------------- - */ - -VG_STATIC float sphere_volume( float radius ) -{ - float r3 = radius*radius*radius; - return (4.0f/3.0f) * VG_PIf * r3; -} - -VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) -{ - /* Compute tangent basis (box2d) */ - if( fabsf( n[0] ) >= 0.57735027f ) - { - tx[0] = n[1]; - tx[1] = -n[0]; - tx[2] = 0.0f; - } - else - { - tx[0] = 0.0f; - tx[1] = n[2]; - tx[2] = -n[1]; - } - - v3_normalize( tx ); - v3_cross( n, tx, ty ); -} - /* * ----------------------------------------------------------------------------- * Debugging * ----------------------------------------------------------------------------- */ -VG_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, 0.05f, p1 ); - if( ct->type == k_contact_type_default ) - { - vg_line_pt3( ct->co, 0.0125f, 0xff0000ff ); + if( ct->type == k_contact_type_default ){ + vg_line_point( ct->co, 0.0125f, 0xff0000ff ); vg_line( ct->co, p1, 0xffffffff ); } - else if( ct->type == k_contact_type_edge ) - { - vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 ); + else if( ct->type == k_contact_type_edge ){ + vg_line_point( ct->co, 0.0125f, 0xff00ffc0 ); vg_line( ct->co, p1, 0xffffffff ); } } -VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour ) -{ - v3f ly = { 0.0f, 0.0f, radius }, - lx = { 0.0f, radius, 0.0f }, - lz = { 0.0f, 0.0f, radius }; - - 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); - - v3f py = { s*radius, 0.0f, c*radius }, - px = { s*radius, c*radius, 0.0f }, - pz = { 0.0f, s*radius, c*radius }; - - v3f p0, p1, p2, p3, p4, p5; - m4x3_mulv( m, py, p0 ); - m4x3_mulv( m, ly, p1 ); - m4x3_mulv( m, px, p2 ); - m4x3_mulv( m, lx, p3 ); - m4x3_mulv( m, pz, p4 ); - m4x3_mulv( m, lz, p5 ); - - vg_line( p0, p1, colour == 0x00? 0xff00ff00: colour ); - vg_line( p2, p3, colour == 0x00? 0xff0000ff: colour ); - vg_line( p4, p5, colour == 0x00? 0xffff0000: colour ); - - v3_copy( py, ly ); - v3_copy( px, lx ); - v3_copy( pz, lz ); - } -} - -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 }, - lz = { 0.0f, 0.0f, radius }; - - float s0 = sinf(0.0f)*radius, - c0 = cosf(0.0f)*radius; - - v3f p0, p1, up, right, forward; - m3x3_mulv( m, (v3f){0.0f,1.0f,0.0f}, up ); - m3x3_mulv( m, (v3f){1.0f,0.0f,0.0f}, right ); - m3x3_mulv( m, (v3f){0.0f,0.0f,-1.0f}, forward ); - v3_muladds( m[3], up, -h*0.5f+radius, p0 ); - v3_muladds( m[3], up, h*0.5f-radius, p1 ); - - v3f a0, a1, b0, b1; - v3_muladds( p0, right, radius, a0 ); - v3_muladds( p1, right, radius, a1 ); - v3_muladds( p0, forward, radius, b0 ); - v3_muladds( p1, forward, radius, b1 ); - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); - - v3_muladds( p0, right, -radius, a0 ); - v3_muladds( p1, right, -radius, a1 ); - v3_muladds( p0, forward, -radius, b0 ); - v3_muladds( p1, forward, -radius, b1 ); - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); - - 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; - - v3f e0 = { s0, 0.0f, c0 }, - e1 = { s1, 0.0f, c1 }, - e2 = { s0, c0, 0.0f }, - e3 = { s1, c1, 0.0f }, - e4 = { 0.0f, c0, s0 }, - e5 = { 0.0f, c1, s1 }; - - m3x3_mulv( m, e0, e0 ); - m3x3_mulv( m, e1, e1 ); - m3x3_mulv( m, e2, e2 ); - m3x3_mulv( m, e3, e3 ); - m3x3_mulv( m, e4, e4 ); - m3x3_mulv( m, e5, e5 ); - - v3_add( p0, e0, a0 ); - v3_add( p0, e1, a1 ); - v3_add( p1, e0, b0 ); - v3_add( p1, e1, b1 ); - - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); - - 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 - { - v3_add( p1, e2, a0 ); - v3_add( p1, e3, a1 ); - v3_add( p1, e4, b0 ); - v3_add( p1, e5, b1 ); - } - - vg_line( a0, a1, colour ); - vg_line( b0, b1, colour ); - - s0 = s1; - c0 = c1; - } -} -VG_STATIC void rb_object_debug( rb_object *obj, u32 colour ) -{ +VG_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 ); } else if( obj->type == k_rb_shape_sphere ){ - debug_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour ); + vg_line_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour ); } else if( obj->type == k_rb_shape_capsule ){ m4x3f m0, m1; float h = obj->inf.capsule.height, r = obj->inf.capsule.radius; - debug_capsule( obj->rb.to_world, r, h, colour ); + vg_line_capsule( obj->rb.to_world, r, h, colour ); } else if( obj->type == k_rb_shape_scene ){ vg_line_boxf( obj->rb.bbx, colour ); @@ -373,10 +191,9 @@ 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 ); +VG_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 ); } /* @@ -389,13 +206,6 @@ VG_STATIC void rb_update_transform( rigidbody *rb ) v3_copy( rb->co, rb->to_world[3] ); 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 ); @@ -408,8 +218,7 @@ VG_STATIC void rb_update_transform( rigidbody *rb ) */ 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 ){ @@ -431,8 +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 ) -{ +VG_STATIC void rb_init_object( rb_object *obj ){ float volume = 1.0f; int inert = 0; @@ -442,14 +250,14 @@ VG_STATIC void rb_init_object( rb_object *obj ) volume = dims[0]*dims[1]*dims[2]; } else if( obj->type == k_rb_shape_sphere ){ - volume = sphere_volume( obj->inf.sphere.radius ); + volume = vg_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( 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); + volume = vg_sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f); v3_fill( obj->rb.bbx[0], -r ); v3_fill( obj->rb.bbx[1], r ); @@ -494,13 +302,12 @@ VG_STATIC void rb_init_object( rb_object *obj ) rb_update_transform( &obj->rb ); } -VG_STATIC void rb_iter( rigidbody *rb ) -{ +VG_STATIC void rb_iter( rigidbody *rb ){ if( !vg_validf( rb->v[0] ) || !vg_validf( rb->v[1] ) || !vg_validf( rb->v[2] ) ) { - vg_fatal_exit_loop( "NaN velocity" ); + vg_fatal_error( "NaN velocity" ); } v3f gravity = { 0.0f, -9.8f, 0.0f }; @@ -538,8 +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] ) -{ +VG_STATIC int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){ float r = extent[0] * fabsf(axis[0]) + @@ -560,8 +366,7 @@ 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, - m4x3f to_local, v3f tri_src[3] ) -{ + m4x3f to_local, v3f tri_src[3] ){ v3f tri[3]; for( int i=0; i<3; i++ ){ @@ -569,40 +374,35 @@ VG_STATIC int rb_box_triangle_sat( v3f extent, v3f center, 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; } @@ -612,8 +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 ) -{ +VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ){ int k = 0; for( int i=0; ico, cj->co ) < r*r ){ cj->type = k_contact_type_disabled; ci->p = (ci->p + cj->p) * 0.5f; @@ -663,8 +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 ) -{ +VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ){ for( int i=0; itype != k_contact_type_edge ) @@ -682,11 +479,8 @@ VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r ) /* * Resolve overlapping pairs - * - * TODO: Remove? */ -VG_STATIC void rb_manifold_filter_pairs( 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 ) @@ -740,8 +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 ) -{ +VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ){ for( int i=0; itype == k_contact_type_disabled || @@ -795,8 +587,7 @@ VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ) * pairs will only ammend these if they are creating a collision */ typedef struct capsule_manifold capsule_manifold; -struct capsule_manifold -{ +struct capsule_manifold{ float t0, t1; float r0, r1; v3f d0, d1; @@ -807,8 +598,7 @@ struct capsule_manifold * on the oriented object which created this pair. */ VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, - capsule_manifold *manifold ) -{ + capsule_manifold *manifold ){ v3f delta; v3_sub( pa, pb, delta ); @@ -827,16 +617,14 @@ VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, } } -VG_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; } VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, capsule_manifold *manifold, - rb_ct *buf ) -{ + rb_ct *buf ){ v3f p0, p1; v3_muladds( mtx[3], mtx[1], -c->height*0.5f+c->radius, p0 ); v3_muladds( mtx[3], mtx[1], c->height*0.5f-c->radius, p1 ); @@ -885,8 +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 ) -{ +VG_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, @@ -927,8 +714,7 @@ VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ) } VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca, - m4x3f mtxB, rb_capsule *cb, rb_ct *buf ) -{ + m4x3f mtxB, rb_capsule *cb, rb_ct *buf ){ float ha = ca->height, hb = cb->height, ra = ca->radius, @@ -962,137 +748,7 @@ VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca, return rb_capsule__manifold_done( mtxA, ca, &manifold, buf ); } -#if 0 -/* - * Generates up to two contacts; optimised for the most stable manifold - */ -VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - float h = rba->inf.capsule.height, - r = rba->inf.capsule.radius; - - /* - * Solving this in symetric local space of the cube saves us some time and a - * couple branches when it comes to the quad stage. - */ - v3f centroid; - v3_add( rbb->bbx[0], rbb->bbx[1], centroid ); - v3_muls( centroid, 0.5f, centroid ); - - boxf bbx; - v3_sub( rbb->bbx[0], centroid, bbx[0] ); - v3_sub( rbb->bbx[1], centroid, bbx[1] ); - - v3f pc, p0w, p1w, p0, p1; - v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w ); - v3_muladds( rba->co, rba->up, h*0.5f-r, p1w ); - - m4x3_mulv( rbb->to_local, p0w, p0 ); - m4x3_mulv( rbb->to_local, p1w, p1 ); - v3_sub( p0, centroid, p0 ); - v3_sub( p1, centroid, p1 ); - v3_add( p0, p1, pc ); - v3_muls( pc, 0.5f, pc ); - - /* - * Finding an appropriate quad to collide lines with - */ - v3f region; - v3_div( pc, bbx[1], region ); - - v3f quad[4]; - if( (fabsf(region[0]) > fabsf(region[1])) && - (fabsf(region[0]) > fabsf(region[2])) ) - { - float px = vg_signf(region[0]) * bbx[1][0]; - v3_copy( (v3f){ px, bbx[0][1], bbx[0][2] }, quad[0] ); - v3_copy( (v3f){ px, bbx[1][1], bbx[0][2] }, quad[1] ); - v3_copy( (v3f){ px, bbx[1][1], bbx[1][2] }, quad[2] ); - v3_copy( (v3f){ px, bbx[0][1], bbx[1][2] }, quad[3] ); - } - else if( fabsf(region[1]) > fabsf(region[2]) ) - { - float py = vg_signf(region[1]) * bbx[1][1]; - v3_copy( (v3f){ bbx[0][0], py, bbx[0][2] }, quad[0] ); - v3_copy( (v3f){ bbx[1][0], py, bbx[0][2] }, quad[1] ); - v3_copy( (v3f){ bbx[1][0], py, bbx[1][2] }, quad[2] ); - v3_copy( (v3f){ bbx[0][0], py, bbx[1][2] }, quad[3] ); - } - else - { - float pz = vg_signf(region[2]) * bbx[1][2]; - v3_copy( (v3f){ bbx[0][0], bbx[0][1], pz }, quad[0] ); - v3_copy( (v3f){ bbx[1][0], bbx[0][1], pz }, quad[1] ); - v3_copy( (v3f){ bbx[1][0], bbx[1][1], pz }, quad[2] ); - v3_copy( (v3f){ bbx[0][0], bbx[1][1], pz }, quad[3] ); - } - - capsule_manifold manifold; - rb_capsule_manifold_init( &manifold ); - - v3f c0, c1; - closest_point_aabb( p0, bbx, c0 ); - closest_point_aabb( p1, bbx, c1 ); - - v3f d0, d1, da; - v3_sub( c0, p0, d0 ); - v3_sub( c1, p1, d1 ); - v3_sub( p1, p0, da ); - - v3_normalize(d0); - v3_normalize(d1); - v3_normalize(da); - - if( v3_dot( da, d0 ) <= 0.01f ) - rb_capsule_manifold( p0, c0, 0.0f, r, &manifold ); - - if( v3_dot( da, d1 ) >= -0.01f ) - rb_capsule_manifold( p1, c1, 1.0f, r, &manifold ); - - for( int i=0; i<4; i++ ) - { - int i0 = i, - i1 = (i+1)%4; - - v3f ca, cb; - float ta, tb; - closest_segment_segment( p0, p1, quad[i0], quad[i1], &ta, &tb, ca, cb ); - rb_capsule_manifold( ca, cb, ta, r, &manifold ); - } - - /* - * Create final contacts based on line manifold - */ - m3x3_mulv( rbb->to_world, manifold.d0, manifold.d0 ); - m3x3_mulv( rbb->to_world, manifold.d1, manifold.d1 ); - - /* - * Debugging - */ - -#if 0 - for( int i=0; i<4; i++ ) - { - v3f q0, q1; - int i0 = i, - i1 = (i+1)%4; - - v3_add( quad[i0], centroid, q0 ); - v3_add( quad[i1], centroid, q1 ); - - m4x3_mulv( rbb->to_world, q0, q0 ); - m4x3_mulv( rbb->to_world, q1, q1 ); - - vg_line( q0, q1, 0xffffffff ); - } -#endif - - return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); -} -#endif - -VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, 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; @@ -1147,8 +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 ) -{ +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 ); @@ -1177,61 +832,8 @@ VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ) return 0; } -//#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 ) -{ - v3f delta, co; - -#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 - - v3_sub( rba->co, co, delta ); - - float d2 = v3_length2( delta ), - r = rba->inf.sphere.radius; - - if( d2 < r*r ) - { - rb_ct *ct = buf; - - v3f ab, ac, tn; - v3_sub( tri[2], tri[0], ab ); - v3_sub( tri[1], tri[0], ac ); - v3_cross( ac, ab, tn ); - v3_copy( tn, ct->n ); - - if( v3_length2( ct->n ) <= 0.00001f ) - { - vg_error( "Zero area triangle!\n" ); - return 0; - } - - v3_normalize( ct->n ); - - float d = sqrtf(d2); - - v3_copy( co, ct->co ); - ct->type = type; - ct->p = r-d; - ct->rba = rba; - ct->rbb = rbb; - return 1; - } - - return 0; -} -#endif - VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, - v3f tri[3], rb_ct *buf ) -{ + v3f tri[3], rb_ct *buf ){ v3f delta, co; enum contact_type type = closest_on_triangle_1( mtxA[3], tri, co ); @@ -1268,13 +870,8 @@ VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, } VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, - m4x3f mtxB, rb_scene *s, rb_ct *buf ) -{ - scene *sc = s->bh_scene->user; - - bh_iter it; - bh_iter_init( 0, &it ); - int idx; + m4x3f mtxB, rb_scene *s, rb_ct *buf ){ + scene_context *sc = s->bh_scene->user; int count = 0; @@ -1282,8 +879,12 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, boxf box; v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] ); v3_add( mtxA[3], (v3f){ r,r,r }, box[1] ); + + bh_iter it; + i32 idx; + bh_iter_init_box( 0, &it, box ); - while( bh_next( s->bh_scene, &it, box, &idx ) ){ + while( bh_next( s->bh_scene, &it, &idx ) ){ u32 *ptri = &sc->arrindices[ idx*3 ]; v3f tri[3]; @@ -1309,9 +910,8 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, } VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx, - m4x3f mtxB, rb_scene *s, rb_ct *buf ) -{ - scene *sc = s->bh_scene->user; + m4x3f mtxB, rb_scene *s, rb_ct *buf ){ + scene_context *sc = s->bh_scene->user; v3f tri[3]; v3f extent, center; @@ -1332,13 +932,13 @@ VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx, m4x3_invert_affine( mtxA, to_local ); bh_iter it; - bh_iter_init( 0, &it ); + bh_iter_init_box( 0, &it, world_bbx ); int idx; int count = 0; vg_line_boxf( world_bbx, VG__RED ); - while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){ + while( bh_next( s->bh_scene, &it, &idx ) ){ u32 *ptri = &sc->arrindices[ idx*3 ]; for( int j=0; j<3; j++ ) @@ -1455,8 +1055,7 @@ VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx, } VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, - v3f tri[3], rb_ct *buf ) -{ + 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 ); @@ -1497,6 +1096,12 @@ VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, 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 ){ + vg_error( "Zero area triangle!\n" ); + return 0; + } + v3_normalize( n ); int count = rb_capsule__manifold_done( mtxA, c, &manifold, buf ); @@ -1509,20 +1114,19 @@ 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, m4x3f mtxB, rb_scene *s, - rb_ct *buf ) -{ - bh_iter it; - bh_iter_init( 0, &it ); - int idx; + rb_ct *buf ){ int count = 0; boxf bbx; v3_sub( mtxA[3], (v3f){ c->height, c->height, c->height }, bbx[0] ); v3_add( mtxA[3], (v3f){ c->height, c->height, c->height }, bbx[1] ); - scene *sc = s->bh_scene->user; + scene_context *sc = s->bh_scene->user; - while( bh_next( s->bh_scene, &it, bbx, &idx ) ){ + bh_iter it; + bh_iter_init_box( 0, &it, bbx ); + i32 idx; + while( bh_next( s->bh_scene, &it, &idx ) ){ u32 *ptri = &sc->arrindices[ idx*3 ]; v3f tri[3]; @@ -1543,16 +1147,14 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, return count; } -VG_STATIC int rb_global_has_space( void ) -{ +VG_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 ) -{ +VG_STATIC rb_ct *rb_global_buffer( void ){ return &rb_contact_buffer[ rb_contact_count ]; } @@ -1562,30 +1164,26 @@ VG_STATIC rb_ct *rb_global_buffer( void ) * ----------------------------------------------------------------------------- */ -VG_STATIC void rb_solver_reset(void) -{ +VG_STATIC void rb_solver_reset(void){ rb_contact_count = 0; } -VG_STATIC rb_ct *rb_global_ct(void) -{ +VG_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 ) -{ +VG_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 ); - rb_tangent_basis( ct->n, ct->t[0], ct->t[1] ); + v3_tangent_basis( ct->n, ct->t[0], ct->t[1] ); ct->norm_impulse = 0.0f; ct->tangent_impulse[0] = 0.0f; ct->tangent_impulse[1] = 0.0f; } /* calculate total move. manifold should belong to ONE object only */ -VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ) -{ +VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ){ v3_zero( dt ); for( int j=0; j<7; j++ ) @@ -1606,8 +1204,7 @@ 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 ) -{ +VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ){ for( int i=0; iw, ra, rva ); v3_add( rba->v, rva, rva ); @@ -1659,8 +1255,7 @@ 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 ) -{ +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 ); @@ -1676,8 +1271,7 @@ 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 ) -{ +VG_STATIC void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){ /* linear */ v3_muladds( rb->v, impulse, rb->inv_mass, rb->v ); @@ -1692,8 +1286,7 @@ 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 ) -{ +VG_STATIC void rb_solve_contacts( rb_ct *buf, int len ){ for( int i=0; irba, *rbb = constr->rbb; @@ -1757,15 +1349,14 @@ VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len ) v3f p0, p1; v3_add( wca, rba->co, p0 ); v3_add( wcb, rbb->co, p1 ); - vg_line_pt3( p0, 0.0025f, 0xff000000 ); - vg_line_pt3( p1, 0.0025f, 0xffffffff ); + vg_line_point( p0, 0.0025f, 0xff000000 ); + vg_line_point( p1, 0.0025f, 0xffffffff ); vg_line2( p0, p1, 0xff000000, 0xffffffff ); } } VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf, - int len ) -{ + int len ){ float size = 0.12f; for( int i=0; itangent_violation ){ v3_muladds( center, st->tangent_target, size, p0 ); vg_line( center, p0, 0xff00ff00 ); - vg_line_pt3( p0, 0.00025f, 0xff00ff00 ); + vg_line_point( p0, 0.00025f, 0xff00ff00 ); vg_line( p1, p0, 0xff000000 ); } @@ -1929,7 +1519,7 @@ VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, 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 ); + vg_line_point( p1, 0.0025f, 0xffffff80 ); } v3f refaxis; @@ -1952,8 +1542,7 @@ 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 ) -{ +VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ){ for( int i=0; irba, *rbb = constr->rbb; @@ -2018,8 +1607,7 @@ VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ) } VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, - int len ) -{ + int len ){ float size = 0.12f; for( int i=0; irba, *rbb = constr->rbb; @@ -2136,8 +1722,7 @@ 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 ) -{ + int len, float amt ){ for( int i=0; irba, @@ -2203,8 +1787,7 @@ VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ) */ VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, - float amt, float drag ) -{ + float amt, float drag ){ /* float */ float depth = v3_dot( plane, ra->co ) - plane[3], lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt; @@ -2220,10 +1803,9 @@ VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, */ VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt, float spring, float dampening, - float timestep ) -{ + float timestep ){ float d = v3_dot( rt, ra ); - float a = vg_signf( d ) * acosf( vg_clampf( d, -1.0f, 1.0f ) ); + float a = acosf( vg_clampf( d, -1.0f, 1.0f ) ); v3f axis; v3_cross( rt, ra, axis );