X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=efce416487fc164d2a2772d8c4a44d499fc2d989;hb=926a64f679a23d8b0f3594d73405d2486c398a59;hp=c10f4f8b40edbddaa9356a14e403538f461d1dc8;hpb=01e2535f8daaab0e3d46dcc61a08a9268babd47c;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index c10f4f8..efce416 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -44,25 +44,10 @@ VG_STATIC float 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 - }); + 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 +63,19 @@ 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 +89,7 @@ struct rigidbody }; /* simple objects */ -struct rb_object -{ +struct rb_object{ rigidbody rb; enum rb_shape{ k_rb_shape_box = 0, @@ -119,8 +99,7 @@ struct rb_object } type; - union - { + union{ struct rb_sphere sphere; struct rb_capsule capsule; struct rb_scene scene; @@ -128,8 +107,7 @@ struct rb_object inf; }; -VG_STATIC struct contact -{ +VG_STATIC struct contact{ rigidbody *rba, *rbb; v3f co, n; v3f t[2]; @@ -146,14 +124,12 @@ 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 */ @@ -167,8 +143,7 @@ struct rb_constr_swingtwist float tangent_mass, axis_mass; }; -struct rb_constr_spring -{ +struct rb_constr_spring{ int nothing; }; @@ -187,14 +162,12 @@ VG_STATIC float sphere_volume( float radius ) VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) { /* Compute tangent basis (box2d) */ - if( fabsf( n[0] ) >= 0.57735027f ) - { + if( fabsf( n[0] ) >= 0.57735027f ){ tx[0] = n[1]; tx[1] = -n[0]; tx[2] = 0.0f; } - else - { + else{ tx[0] = 0.0f; tx[1] = n[2]; tx[2] = -n[1]; @@ -215,13 +188,11 @@ 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 ) - { + if( ct->type == k_contact_type_default ){ vg_line_pt3( ct->co, 0.0125f, 0xff0000ff ); vg_line( ct->co, p1, 0xffffffff ); } - else if( ct->type == k_contact_type_edge ) - { + else if( ct->type == k_contact_type_edge ){ vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 ); vg_line( ct->co, p1, 0xffffffff ); } @@ -233,8 +204,7 @@ VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour ) lx = { 0.0f, radius, 0.0f }, lz = { 0.0f, 0.0f, radius }; - for( int i=0; i<16; i++ ) - { + 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); @@ -292,8 +262,7 @@ VG_STATIC void debug_capsule( m4x3f m, float radius, float h, u32 colour ) vg_line( a0, a1, colour ); vg_line( b0, b1, colour ); - for( int i=0; i<16; i++ ) - { + 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; @@ -320,15 +289,13 @@ VG_STATIC void debug_capsule( m4x3f m, float radius, float h, u32 colour ) vg_line( a0, a1, colour ); vg_line( b0, b1, colour ); - if( c0 < 0.0f ) - { + 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 - { + else{ v3_add( p1, e2, a0 ); v3_add( p1, e3, a1 ); v3_add( p1, e4, b0 ); @@ -408,8 +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 ){ @@ -500,7 +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 }; @@ -1265,7 +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; + scene_context *sc = s->bh_scene->user; bh_iter it; bh_iter_init( 0, &it ); @@ -1307,7 +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; @@ -1560,7 +1526,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, 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 ) ){ u32 *ptri = &sc->arrindices[ idx*3 ];