X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=b1dc834a76ab710d046ec99f729de9da1703d955;hb=ad89a3e4bba4abe99abc48b1760822ca23d03d82;hp=5796c7aed341b577afad3bc607e40a7b046bcabf;hpb=f99902f513b0ad606437bf32de47405dd4ea5f98;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/rigidbody.h b/rigidbody.h
index 5796c7a..b1dc834 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -375,8 +375,7 @@ 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 ){
@@ -467,7 +466,7 @@ VG_STATIC void rb_iter( rigidbody *rb )
        !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 };
@@ -1232,11 +1231,7 @@ 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;
+   scene_context *sc = s->bh_scene->user;
 
    int count = 0;
 
@@ -1244,8 +1239,12 @@ 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];
 
@@ -1274,7 +1273,7 @@ VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
                              m4x3f mtxB, rb_scene *s, rb_ct *buf )
 {
 #if 1
-   scene *sc = s->bh_scene->user;
+   scene_context *sc = s->bh_scene->user;
    v3f tri[3];
 
    v3f extent, center;
@@ -1295,13 +1294,13 @@ 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++ )
@@ -1518,18 +1517,18 @@ 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;
    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];
 
@@ -2230,7 +2229,7 @@ VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt,
                                                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 );