X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=d19b7862b174a007efa6df04702a5c518eb3f601;hb=53597f45307d8a2120e3a0bbe71797b216e8750b;hp=8489dbccf830ed1a527d1b17906e27bbe5a63f6d;hpb=73adac381b2c72f08293416a960942dc40db3c7f;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/rigidbody.h b/rigidbody.h
index 8489dbc..d19b786 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -191,10 +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 );
 }
 
 /*
@@ -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;
       }
 
@@ -871,7 +872,8 @@ 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 ){
+                                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] );
       
@@ -911,7 +915,7 @@ 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 ){
+                             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 */
@@ -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;
    }
 
@@ -1115,7 +1130,7 @@ 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 ){
+                                 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] );