X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=f4d6ef9ccf0e1c5336087ba135b7fcde726118b6;hb=2a238d32da833812e837cf38e16a7685c98db5c3;hp=05d2db1100fe78310d8a548691d99138c90a9d3a;hpb=4a883ac1b2506032f9dddab342712de46f2ca734;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 05d2db1..f4d6ef9 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -1,3 +1,7 @@ +/* + * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved + */ + /* * Resources: Box2D - Erin Catto * qu3e - Randy Gaul @@ -7,8 +11,10 @@ #include "bvh.h" #include "scene.h" -static void rb_tangent_basis( v3f n, v3f tx, v3f ty ); -static bh_system bh_system_rigidbodies; +#include + +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 @@ -19,17 +25,44 @@ static bh_system bh_system_rigidbodies; * ----------------------------------------------------------------------------- */ -static const float - k_rb_rate = 60.0f, - k_rb_delta = (1.0f/k_rb_rate), - k_friction = 0.6f, - k_damp_linear = 0.05f, /* scale velocity 1/(1+x) */ +VG_STATIC const float + k_rb_rate = (1.0/VG_TIMESTEP_FIXED), + k_rb_delta = (1.0/k_rb_rate), + k_friction = 0.4f, + k_damp_linear = 0.1f, /* scale velocity 1/(1+x) */ k_damp_angular = 0.1f, /* scale angular 1/(1+x) */ + k_penetration_slop = 0.01f, + k_inertia_scale = 8.0f, + k_phys_baumgarte = 0.2f; + +VG_STATIC float k_limit_bias = 0.02f, - k_joint_bias = 0.08f, /* positional joints */ k_joint_correction = 0.01f, - k_penetration_slop = 0.01f, - k_inertia_scale = 4.0f; + k_joint_impulse = 1.0f, + k_joint_bias = 0.08f; /* positional joints */ + +VG_STATIC void rb_register_cvar(void) +{ + vg_convar_push( (struct vg_convar){ + .name = "k_limit_bias", .data = &k_limit_bias, + .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + }); + + vg_convar_push( (struct vg_convar){ + .name = "k_joint_bias", .data = &k_joint_bias, + .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + }); + + vg_convar_push( (struct vg_convar){ + .name = "k_joint_correction", .data = &k_joint_correction, + .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + }); + + vg_convar_push( (struct vg_convar){ + .name = "k_joint_impulse", .data = &k_joint_impulse, + .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + }); +} /* * ----------------------------------------------------------------------------- @@ -70,7 +103,7 @@ struct rigidbody struct rb_scene { - scene *pscene; + bh_tree *bh_scene; } scene; } @@ -90,7 +123,7 @@ struct rigidbody m4x3f to_world, to_local; }; -static struct contact +VG_STATIC struct contact { rigidbody *rba, *rbb; v3f co, n; @@ -99,9 +132,35 @@ 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; + +typedef struct rb_constr_pos rb_constr_pos; +typedef struct rb_constr_swingtwist rb_constr_swingtwist; + +struct rb_constr_pos +{ + rigidbody *rba, *rbb; + v3f lca, lcb; +}; + +struct rb_constr_swingtwist +{ + rigidbody *rba, *rbb; + + v4f conevx, conevy; /* relative to rba */ + v3f view_offset, /* relative to rba */ + coneva, conevxb;/* relative to rbb */ + + int tangent_violation, axis_violation; + v3f axis, tangent_axis, tangent_target, axis_target; + + float conet; + float tangent_mass, axis_mass; +}; /* * ----------------------------------------------------------------------------- @@ -109,13 +168,13 @@ 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 ) @@ -141,15 +200,18 @@ 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, 0.05f, p1 ); + vg_line_pt3( ct->co, 0.0025f, 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 }, @@ -183,7 +245,7 @@ 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 }, @@ -265,7 +327,7 @@ 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 ) { @@ -299,7 +361,7 @@ 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 ); @@ -308,7 +370,7 @@ 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 ); @@ -326,10 +388,44 @@ static void rb_update_transform( rigidbody *rb ) rb_update_bounds( rb ); } +/* + * Extrapolate rigidbody into a transform based on vg accumulator. + * Useful for rendering + */ +VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) +{ + float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f ); + + v3f co; + v4f q; + + v3_muladds( rb->co, rb->v, k_rb_delta*substep, co ); + + if( v3_length2( rb->w ) > 0.0f ) + { + v4f rotation; + v3f axis; + v3_copy( rb->w, axis ); + + float mag = v3_length( axis ); + v3_divs( axis, mag, axis ); + q_axis_angle( rotation, axis, mag*k_rb_delta*substep ); + q_mul( rotation, rb->q, q ); + q_normalize( q ); + } + else + { + v4_copy( rb->q, q ); + } + + q_m3x3( q, transform ); + v3_copy( co, transform[3] ); +} + /* * Initialize rigidbody and calculate masses, inertia */ -static void rb_init( rigidbody *rb ) +VG_STATIC void rb_init( rigidbody *rb ) { float volume = 1.0f; @@ -338,17 +434,12 @@ static void rb_init( rigidbody *rb ) v3f dims; v3_sub( rb->bbx[1], rb->bbx[0], dims ); volume = dims[0]*dims[1]*dims[2]; - - if( !rb->is_world ) - vg_info( "Box volume: %f\n", volume ); } else if( rb->type == k_rb_shape_sphere ) { volume = sphere_volume( rb->inf.sphere.radius ); v3_fill( rb->bbx[0], -rb->inf.sphere.radius ); v3_fill( rb->bbx[1], rb->inf.sphere.radius ); - - vg_info( "Sphere volume: %f\n", volume ); } else if( rb->type == k_rb_shape_capsule ) { @@ -356,15 +447,15 @@ static void rb_init( rigidbody *rb ) h = rb->inf.capsule.height; volume = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f); - v3_fill( rb->bbx[0], -rb->inf.sphere.radius ); - v3_fill( rb->bbx[1], rb->inf.sphere.radius ); + v3_fill( rb->bbx[0], -r ); + v3_fill( rb->bbx[1], r ); rb->bbx[0][1] = -h; rb->bbx[1][1] = h; } 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 ) @@ -405,8 +496,15 @@ static void rb_init( rigidbody *rb ) rb_update_transform( rb ); } -static void rb_iter( rigidbody *rb ) +VG_STATIC void rb_iter( rigidbody *rb ) { + if( !vg_validf( rb->v[0] ) || + !vg_validf( rb->v[1] ) || + !vg_validf( 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 ); @@ -432,291 +530,6 @@ 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 ); -} - -/* TODO */ -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 ); -} /* * ----------------------------------------------------------------------------- @@ -727,7 +540,7 @@ 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 @@ -748,7 +561,7 @@ 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]; @@ -800,6 +613,182 @@ 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; +} + +/* + * Merge two contacts if they are within radius(r) of eachother + */ +VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ) +{ + 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 ); + } + } +} + +/* + * + */ +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; + + rb_manifold_contact_weld( ci, cj, r ); + } + } +} + +/* + * Resolve overlapping pairs + * + * TODO: Remove? + */ +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 @@ -838,8 +827,8 @@ 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, - capsule_manifold *manifold ) +VG_STATIC void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, + capsule_manifold *manifold ) { v3f delta; v3_sub( pa, pb, delta ); @@ -862,13 +851,13 @@ 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, @@ -894,6 +883,7 @@ 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 ++; } @@ -913,6 +903,7 @@ 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 ++; } @@ -927,7 +918,7 @@ 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, @@ -960,6 +951,7 @@ 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; } @@ -967,8 +959,11 @@ 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 ) { + if( !box_overlap( rba->bbx_world, rbb->bbx_world ) ) + return 0; + float ha = rba->inf.capsule.height, hb = rbb->inf.capsule.height, ra = rba->inf.capsule.radius, @@ -1005,7 +1000,7 @@ 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; @@ -1078,7 +1073,6 @@ static int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) v3_sub( c1, p1, d1 ); v3_sub( p1, p0, da ); - /* TODO: ? */ v3_normalize(d0); v3_normalize(d1); v3_normalize(da); @@ -1130,11 +1124,11 @@ 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), @@ -1181,13 +1175,14 @@ 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 ); @@ -1207,6 +1202,7 @@ 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; @@ -1216,16 +1212,20 @@ 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; @@ -1239,11 +1239,19 @@ static int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, 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; @@ -1253,31 +1261,129 @@ 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->verts[ptri[j]].co, tri[j] ); + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); + + for( int j=0; j<3; j++ ) + { +#if 0 + v3f edir; + v3_sub( tri[(j+1)%3], tri[j], edir ); - vg_line(tri[0],tri[1],0xff00ff00 ); - vg_line(tri[1],tri[2],0xff00ff00 ); - vg_line(tri[2],tri[0],0xff00ff00 ); + if( v3_dot( edir, (v3f){ 0.5184758473652127f, + 0.2073903389460850f, + -0.8295613557843402f } ) < 0.0f ) + continue; +#endif + + bh_iter jt; + bh_iter_init( 0, &jt ); + + 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]; + + vg_line( tri[0],tri[1],0x70ff6000 ); + vg_line( tri[1],tri[2],0x70ff6000 ); + vg_line( tri[2],tri[0],0x70ff6000 ); - if( count == 12 ) + 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; @@ -1287,22 +1393,24 @@ 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 ) ) { @@ -1336,7 +1444,6 @@ static int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) axis = 1; } - /* TODO: THIS IS WRONG DIRECTION */ float cz = -v3_dot( rba->forward, n ); if( fabsf(cz) > fabsf(best) ) { @@ -1417,6 +1524,7 @@ 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 ++; @@ -1428,44 +1536,181 @@ 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 ) +/* + * Generates up to two contacts; optimised for the most stable manifold + */ +VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, + v3f tri[3], rb_ct *buf ) +{ + float h = rba->inf.capsule.height, + r = rba->inf.capsule.radius; + + v3f pc, p0w, p1w; + v3_muladds( rba->co, rba->up, -h*0.5f+r, p0w ); + v3_muladds( rba->co, rba->up, h*0.5f-r, p1w ); + + capsule_manifold manifold; + rb_capsule_manifold_init( &manifold ); + + v3f c0, c1; + closest_on_triangle_1( p0w, tri, c0 ); + closest_on_triangle_1( p1w, tri, c1 ); + + v3f d0, d1, da; + v3_sub( c0, p0w, d0 ); + v3_sub( c1, p1w, d1 ); + v3_sub( p1w, p0w, da ); + + v3_normalize(d0); + v3_normalize(d1); + v3_normalize(da); + + if( v3_dot( da, d0 ) <= 0.01f ) + rb_capsule_manifold( p0w, c0, 0.0f, r, &manifold ); + + if( v3_dot( da, d1 ) >= -0.01f ) + rb_capsule_manifold( p1w, c1, 1.0f, r, &manifold ); + + for( int i=0; i<3; i++ ) + { + int i0 = i, + i1 = (i+1)%3; + + v3f ca, cb; + float ta, tb; + closest_segment_segment( p0w, p1w, tri[i0], tri[i1], &ta, &tb, ca, cb ); + rb_capsule_manifold( ca, cb, ta, r, &manifold ); + } + + v3f v0, v1, n; + v3_sub( tri[1], tri[0], v0 ); + v3_sub( tri[2], tri[0], v1 ); + v3_cross( v0, v1, n ); + v3_normalize( n ); + + int count = rb_capsule_manifold_done( rba, rbb, &manifold, buf ); + for( int i=0; iinf.capsule.height, + r = rba->inf.capsule.radius, + g = 90.8f; + + v3f p[2]; + v3_muladds( rba->co, rba->up, -h*0.5f+r, p[0] ); + v3_muladds( rba->co, rba->up, h*0.5f-r, p[1] ); + + int count = 0; + + + for( int i=0; i<2; i++ ) + { + if( p[i][1] < g + r ) + { + rb_ct *ct = &buf[ count ++ ]; + + v3_copy( p[i], ct->co ); + ct->p = r - (p[i][1]-g); + ct->co[1] -= r; + v3_copy( (v3f){0.0f,1.0f,0.0f}, ct->n ); + ct->rba = rba; + ct->rbb = rbb; + ct->type = k_contact_type_default; + } + } + + return count; + +#else + 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]; + +#if 0 + vg_line( tri[0],tri[1],0x70ff6000 ); + vg_line( tri[1],tri[2],0x70ff6000 ); + vg_line( tri[2],tri[0],0x70ff6000 ); +#endif + + int contact = rb_capsule_triangle( rba, rbb, tri, buf+count ); + count += contact; + + if( count == 16 ) + { + vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n"); + return count; + } + } + + return count; +#endif +} + +VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + return rb_capsule_scene( rbb, rba, buf ); +} + +VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { +#if 0 vg_error( "Collision type is unimplemented between types %d and %d\n", rba->type, rbb->type ); +#endif 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 }, { rb_sphere_box, rb_sphere_sphere, rb_sphere_capsule, rb_sphere_scene }, - { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, RB_MATRIX_ERROR }, - { rb_scene_box, RB_MATRIX_ERROR, RB_MATRIX_ERROR, RB_MATRIX_ERROR } + { rb_capsule_box, rb_capsule_sphere, rb_capsule_capsule, rb_capsule_scene }, + { rb_scene_box, RB_MATRIX_ERROR, rb_scene_capsule, 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]; @@ -1482,7 +1727,7 @@ static int rb_collide( rigidbody *rba, rigidbody *rbb ) } /* - * TODO: Replace this with a more dedicated broad phase pass + * FUTURE: Replace this with a more dedicated broad phase pass */ if( box_overlap( rba->bbx_world, rbb->bbx_world ) ) { @@ -1500,12 +1745,12 @@ 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; } @@ -1513,14 +1758,18 @@ 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; @@ -1560,21 +1809,15 @@ static void rb_presolve_contacts( rb_ct *buffer, int len ) } /* - * Creates relative contact velocity vector, and offsets between each body + * Creates relative contact velocity vector */ -static void rb_rcv( rb_ct *ct, v3f rv, v3f da, v3f db ) +VG_STATIC void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ) { - rigidbody *rba = ct->rba, - *rbb = ct->rbb; - - v3_sub( ct->co, rba->co, da ); - v3_sub( ct->co, rbb->co, db ); - v3f rva, rvb; - v3_cross( rba->w, da, rva ); - v3_add( rba->v, rva, rva ); - v3_cross( rbb->w, db, rvb ); - v3_add( rbb->v, rvb, rvb ); + v3_cross( rba->w, ra, rva ); + v3_add( rba->v, rva, rva ); + v3_cross( rbb->w, rb, rvb ); + v3_add( rbb->v, rvb, rvb ); v3_sub( rva, rvb, rv ); } @@ -1582,7 +1825,7 @@ 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 ); @@ -1598,15 +1841,16 @@ 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; - rb_rcv( ct, rv, da, db ); + v3f rv, ra, rb; + v3_sub( ct->co, ct->rba->co, ra ); + v3_sub( ct->co, ct->rbb->co, rb ); + rb_rcv( ct->rba, ct->rbb, ra, rb, rv ); /* Friction */ for( int j=0; j<2; j++ ) @@ -1621,14 +1865,14 @@ static void rb_solve_contacts( rb_ct *buf, int len ) v3f impulse; v3_muls( ct->t[j], lambda, impulse ); - rb_linear_impulse( ct->rba, da, impulse ); + rb_linear_impulse( ct->rba, ra, impulse ); v3_muls( ct->t[j], -lambda, impulse ); - rb_linear_impulse( ct->rbb, db, impulse ); + rb_linear_impulse( ct->rbb, rb, impulse ); } /* Normal */ - rb_rcv( ct, rv, da, db ); + rb_rcv( ct->rba, ct->rbb, ra, rb, rv ); float vn = v3_dot( rv, ct->n ), lambda = ct->normal_mass * (-vn + ct->bias); @@ -1638,10 +1882,10 @@ static void rb_solve_contacts( rb_ct *buf, int len ) v3f impulse; v3_muls( ct->n, lambda, impulse ); - rb_linear_impulse( ct->rba, da, impulse ); + rb_linear_impulse( ct->rba, ra, impulse ); v3_muls( ct->n, -lambda, impulse ); - rb_linear_impulse( ct->rbb, db, impulse ); + rb_linear_impulse( ct->rbb, rb, impulse ); } } @@ -1651,235 +1895,499 @@ static void rb_solve_contacts( rb_ct *buf, int len ) * ----------------------------------------------------------------------------- */ -static void draw_angle_limit( v3f c, v3f major, v3f minor, - float amin, float amax, float measured, - u32 colour ) +VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len ) { - float f = 0.05f; - v3f ay, ax; - v3_muls( major, f, ay ); - v3_muls( minor, f, ax ); - - for( int x=0; x<16; x++ ) + for( int i=0; irba, *rbb = constr->rbb; + + v3f wca, wcb; + m3x3_mulv( rba->to_world, constr->lca, wca ); + m3x3_mulv( rbb->to_world, constr->lcb, wcb ); v3f p0, p1; - v3_muladds( c, ay, cosf(a0), p0 ); - v3_muladds( p0, ax, sinf(a0), p0 ); - v3_muladds( c, ay, cosf(a1), p1 ); - v3_muladds( p1, ax, sinf(a1), 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_line2( p0, p1, 0xff000000, 0xffffffff ); + } +} + +VG_STATIC void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf, + int len ) +{ + float size = 0.12f; + + for( int i=0; irba->to_world, st->conevx, vx ); + m3x3_mulv( st->rbb->to_world, st->conevxb, vxb ); + m3x3_mulv( st->rba->to_world, st->conevy, vy ); + m3x3_mulv( st->rbb->to_world, st->coneva, va ); + m4x3_mulv( st->rba->to_world, st->view_offset, center ); + v3_cross( vy, vx, axis ); + + /* Constraint violated ? */ + float fx = v3_dot( vx, va ), /* projection world */ + fy = v3_dot( vy, va ), + fn = v3_dot( va, axis ), + + rx = st->conevx[3], /* elipse radii */ + ry = st->conevy[3], - v3f p2; - v3_muladds( c, ay, cosf(measured)*1.2f, p2 ); - v3_muladds( p2, ax, sinf(measured)*1.2f, p2 ); - vg_line( c, p2, colour ); + lx = fx/rx, /* projection local (fn==lz) */ + ly = fy/ry; + + st->tangent_violation = ((lx*lx + ly*ly) > fn*fn) || (fn <= 0.0f); + if( st->tangent_violation ) + { + /* Calculate a good position and the axis to solve on */ + v2f closest, tangent, + p = { fx/fabsf(fn), fy/fabsf(fn) }; + + closest_point_elipse( p, (v2f){rx,ry}, closest ); + tangent[0] = -closest[1] / (ry*ry); + tangent[1] = closest[0] / (rx*rx); + v2_normalize( tangent ); + + v3f v0, v1; + v3_muladds( axis, vx, closest[0], v0 ); + v3_muladds( v0, vy, closest[1], v0 ); + v3_normalize( v0 ); + + v3_muls( vx, tangent[0], v1 ); + v3_muladds( v1, vy, tangent[1], v1 ); + + v3_copy( v0, st->tangent_target ); + v3_copy( v1, st->tangent_axis ); + + /* calculate mass */ + v3f aIw, bIw; + m3x3_mulv( st->rba->iIw, st->tangent_axis, aIw ); + m3x3_mulv( st->rbb->iIw, st->tangent_axis, bIw ); + st->tangent_mass = 1.0f / (v3_dot( st->tangent_axis, aIw ) + + v3_dot( st->tangent_axis, bIw )); + + float angle = v3_dot( va, st->tangent_target ); + } + + v3f refaxis; + v3_cross( vy, va, refaxis ); /* our default rotation */ + v3_normalize( refaxis ); + + float angle = v3_dot( refaxis, vxb ); + st->axis_violation = fabsf(angle) < st->conet; + + if( st->axis_violation ) + { + v3f dir_test; + v3_cross( refaxis, vxb, dir_test ); + + if( v3_dot(dir_test, va) < 0.0f ) + st->axis_violation = -st->axis_violation; + + float newang = (float)st->axis_violation * acosf(st->conet-0.0001f); + + v3f refaxis_up; + v3_cross( va, refaxis, refaxis_up ); + v3_muls( refaxis_up, sinf(newang), st->axis_target ); + v3_muladds( st->axis_target, refaxis, -cosf(newang), st->axis_target ); + + /* calculate mass */ + v3_copy( va, st->axis ); + v3f aIw, bIw; + m3x3_mulv( st->rba->iIw, st->axis, aIw ); + m3x3_mulv( st->rbb->iIw, st->axis, bIw ); + st->axis_mass = 1.0f / (v3_dot( st->axis, aIw ) + + v3_dot( st->axis, bIw )); + } + } } -static void rb_debug_constraint_limits( rigidbody *ra, rigidbody *rb, v3f lca, - v3f limits[2] ) +VG_STATIC void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, + int len ) { - v3f ax, ay, az, bx, by, bz; - m3x3_mulv( ra->to_world, (v3f){1.0f,0.0f,0.0f}, ax ); - m3x3_mulv( ra->to_world, (v3f){0.0f,1.0f,0.0f}, ay ); - m3x3_mulv( ra->to_world, (v3f){0.0f,0.0f,1.0f}, az ); - m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f,0.0f}, bx ); - m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f,0.0f}, by ); - m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,1.0f}, bz ); + float size = 0.12f; + + for( int i=0; irba->to_world, st->conevx, vx ); + m3x3_mulv( st->rbb->to_world, st->conevxb, vxb ); + m3x3_mulv( st->rba->to_world, st->conevy, vy ); + m3x3_mulv( st->rbb->to_world, st->coneva, va ); + m4x3_mulv( st->rba->to_world, st->view_offset, center ); + v3_cross( vy, vx, axis ); - py[0] = v3_dot( az, bz ); - py[1] = v3_dot( ax, bz ); + float rx = st->conevx[3], /* elipse radii */ + ry = st->conevy[3]; - pz[0] = v3_dot( ax, bx ); - pz[1] = v3_dot( ay, bx ); + v3f p0, p1; + v3_muladds( center, va, size, p1 ); + vg_line( center, p1, 0xffffffff ); + vg_line_pt3( p1, 0.00025f, 0xffffffff ); - float r0 = atan2f( px[1], px[0] ), - r1 = atan2f( py[1], py[0] ), - r2 = atan2f( pz[1], pz[0] ); + if( st->tangent_violation ) + { + v3_muladds( center, st->tangent_target, size, p0 ); - v3f c; - m4x3_mulv( ra->to_world, lca, c ); - draw_angle_limit( c, ay, az, limits[0][0], limits[1][0], r0, 0xff0000ff ); - draw_angle_limit( c, az, ax, limits[0][1], limits[1][1], r1, 0xff00ff00 ); - draw_angle_limit( c, ax, ay, limits[0][2], limits[1][2], r2, 0xffff0000 ); + vg_line( center, p0, 0xff00ff00 ); + vg_line_pt3( p0, 0.00025f, 0xff00ff00 ); + vg_line( p1, p0, 0xff000000 ); + } + + for( int x=0; x<32; x++ ) + { + float t0 = ((float)x * (1.0f/32.0f)) * VG_TAUf, + t1 = (((float)x+1.0f) * (1.0f/32.0f)) * VG_TAUf, + c0 = cosf( t0 ), + s0 = sinf( t0 ), + c1 = cosf( t1 ), + s1 = sinf( t1 ); + + v3f v0, v1; + v3_muladds( axis, vx, c0*rx, v0 ); + v3_muladds( v0, vy, s0*ry, v0 ); + v3_muladds( axis, vx, c1*rx, v1 ); + v3_muladds( v1, vy, s1*ry, v1 ); + + v3_normalize( v0 ); + v3_normalize( v1 ); + + v3_muladds( center, v0, size, p0 ); + v3_muladds( center, v1, size, p1 ); + + u32 col0r = fabsf(c0) * 255.0f, + col0g = fabsf(s0) * 255.0f, + col1r = fabsf(c1) * 255.0f, + col1g = fabsf(s1) * 255.0f, + col = st->tangent_violation? 0xff0000ff: 0xff000000, + col0 = col | (col0r<<16) | (col0g << 8), + col1 = col | (col1r<<16) | (col1g << 8); + + vg_line2( center, p0, VG__NONE, col0 ); + vg_line2( p0, p1, col0, col1 ); + } + + /* Draw twist */ + v3_muladds( center, va, size, p0 ); + v3_muladds( p0, vxb, size, p1 ); + + vg_line( p0, p1, 0xff0000ff ); + + 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 ); + } + + v3f refaxis; + v3_cross( vy, va, refaxis ); /* our default rotation */ + v3_normalize( refaxis ); + v3f refaxis_up; + v3_cross( va, refaxis, refaxis_up ); + float newang = acosf(st->conet-0.0001f); + + v3_muladds( p0, refaxis_up, sinf(newang)*size, p1 ); + v3_muladds( p1, refaxis, -cosf(newang)*size, p1 ); + vg_line( p0, p1, 0xff000000 ); + + v3_muladds( p0, refaxis_up, sinf(-newang)*size, p1 ); + v3_muladds( p1, refaxis, -cosf(-newang)*size, p1 ); + vg_line( p0, p1, 0xff404040 ); + } } -static void rb_limit_cure( rigidbody *ra, rigidbody *rb, v3f axis, float d ) +/* + * Solve a list of positional constraints + */ +VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len ) { - if( d != 0.0f ) + for( int i=0; iw, axis ) - v3_dot( rb->w, axis ); - float joint_mass = rb->inv_mass + ra->inv_mass; - joint_mass = 1.0f/joint_mass; + rb_constr_pos *constr = &buf[i]; + rigidbody *rba = constr->rba, *rbb = constr->rbb; - float bias = (k_limit_bias * k_rb_rate) * d, - lambda = -(avx + bias) * joint_mass; - - /* Angular velocity */ v3f wa, wb; - v3_muls( axis, lambda * ra->inv_mass, wa ); - v3_muls( axis, -lambda * rb->inv_mass, wb ); + m3x3_mulv( rba->to_world, constr->lca, wa ); + m3x3_mulv( rbb->to_world, constr->lcb, wb ); - v3_add( ra->w, wa, ra->w ); - v3_add( rb->w, wb, rb->w ); + m3x3f ssra, ssrat, ssrb, ssrbt; + + m3x3_skew_symetric( ssrat, wa ); + m3x3_skew_symetric( ssrbt, wb ); + m3x3_transpose( ssrat, ssra ); + m3x3_transpose( ssrbt, ssrb ); + + v3f b, b_wa, b_wb, b_a, b_b; + m3x3_mulv( ssra, rba->w, b_wa ); + m3x3_mulv( ssrb, rbb->w, b_wb ); + v3_add( rba->v, b_wa, b ); + v3_sub( b, rbb->v, b ); + v3_sub( b, b_wb, b ); + v3_muls( b, -1.0f, b ); + + m3x3f invMa, invMb; + m3x3_diagonal( invMa, rba->inv_mass ); + m3x3_diagonal( invMb, rbb->inv_mass ); + + m3x3f ia, ib; + m3x3_mul( ssra, rba->iIw, ia ); + m3x3_mul( ia, ssrat, ia ); + m3x3_mul( ssrb, rbb->iIw, ib ); + m3x3_mul( ib, ssrbt, ib ); + + m3x3f cma, cmb; + m3x3_add( invMa, ia, cma ); + m3x3_add( invMb, ib, cmb ); + + m3x3f A; + m3x3_add( cma, cmb, A ); + + /* Solve Ax = b ( A^-1*b = x ) */ + v3f impulse; + m3x3f invA; + m3x3_inv( A, invA ); + m3x3_mulv( invA, b, impulse ); + + v3f delta_va, delta_wa, delta_vb, delta_wb; + m3x3f iwa, iwb; + m3x3_mul( rba->iIw, ssrat, iwa ); + m3x3_mul( rbb->iIw, ssrbt, iwb ); + + m3x3_mulv( invMa, impulse, delta_va ); + m3x3_mulv( invMb, impulse, delta_vb ); + m3x3_mulv( iwa, impulse, delta_wa ); + m3x3_mulv( iwb, impulse, delta_wb ); + + v3_add( rba->v, delta_va, rba->v ); + v3_add( rba->w, delta_wa, rba->w ); + v3_sub( rbb->v, delta_vb, rbb->v ); + v3_sub( rbb->w, delta_wb, rbb->w ); } } -static void rb_constraint_limits( rigidbody *ra, v3f lca, - rigidbody *rb, v3f lcb, v3f limits[2] ) -{ - /* TODO: Code dupe remover */ - v3f ax, ay, az, bx, by, bz; - m3x3_mulv( ra->to_world, (v3f){1.0f,0.0f,0.0f}, ax ); - m3x3_mulv( ra->to_world, (v3f){0.0f,1.0f,0.0f}, ay ); - m3x3_mulv( ra->to_world, (v3f){0.0f,0.0f,1.0f}, az ); - m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f,0.0f}, bx ); - m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f,0.0f}, by ); - m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,1.0f}, bz ); - - v2f px, py, pz; - px[0] = v3_dot( ay, by ); - px[1] = v3_dot( az, by ); - - py[0] = v3_dot( az, bz ); - py[1] = v3_dot( ax, bz ); - - pz[0] = v3_dot( ax, bx ); - pz[1] = v3_dot( ay, bx ); - - float r0 = atan2f( px[1], px[0] ), - r1 = atan2f( py[1], py[0] ), - r2 = atan2f( pz[1], pz[0] ); - - /* calculate angle deltas */ - float dx = 0.0f, dy = 0.0f, dz = 0.0f; - - if( r0 < limits[0][0] ) dx = limits[0][0] - r0; - if( r0 > limits[1][0] ) dx = limits[1][0] - r0; - if( r1 < limits[0][1] ) dy = limits[0][1] - r1; - if( r1 > limits[1][1] ) dy = limits[1][1] - r1; - if( r2 < limits[0][2] ) dz = limits[0][2] - r2; - if( r2 > limits[1][2] ) dz = limits[1][2] - r2; - - v3f wca, wcb; - m3x3_mulv( ra->to_world, lca, wca ); - m3x3_mulv( rb->to_world, lcb, wcb ); - - rb_limit_cure( ra, rb, ax, dx ); - rb_limit_cure( ra, rb, ay, dy ); - rb_limit_cure( ra, rb, az, dz ); +VG_STATIC void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, + int len ) +{ + float size = 0.12f; + + for( int i=0; iaxis_violation ) + continue; + + float rv = v3_dot( st->axis, st->rbb->w ) - + v3_dot( st->axis, st->rba->w ); + + if( rv * (float)st->axis_violation > 0.0f ) + continue; + + v3f impulse, wa, wb; + v3_muls( st->axis, rv*st->axis_mass, impulse ); + m3x3_mulv( st->rba->iIw, impulse, wa ); + v3_add( st->rba->w, wa, st->rba->w ); + + v3_muls( impulse, -1.0f, impulse ); + m3x3_mulv( st->rbb->iIw, impulse, wb ); + v3_add( st->rbb->w, wb, st->rbb->w ); + + float rv2 = v3_dot( st->axis, st->rbb->w ) - + v3_dot( st->axis, st->rba->w ); + } + + for( int i=0; itangent_violation ) + continue; + + float rv = v3_dot( st->tangent_axis, st->rbb->w ) - + v3_dot( st->tangent_axis, st->rba->w ); + + if( rv > 0.0f ) + continue; + + v3f impulse, wa, wb; + v3_muls( st->tangent_axis, rv*st->tangent_mass, impulse ); + m3x3_mulv( st->rba->iIw, impulse, wa ); + v3_add( st->rba->w, wa, st->rba->w ); + + v3_muls( impulse, -1.0f, impulse ); + m3x3_mulv( st->rbb->iIw, impulse, wb ); + v3_add( st->rbb->w, wb, st->rbb->w ); + + float rv2 = v3_dot( st->tangent_axis, st->rbb->w ) - + v3_dot( st->tangent_axis, st->rba->w ); + } } -static void rb_debug_constraint_position( rigidbody *ra, v3f lca, - rigidbody *rb, v3f lcb ) +VG_STATIC void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb, + v3f ra, v3f rb ) { - v3f wca, wcb; - m3x3_mulv( ra->to_world, lca, wca ); - m3x3_mulv( rb->to_world, lcb, wcb ); + m3x3f ssra, ssrb, ssrat, ssrbt; + m3x3f cma, cmb; + + m3x3_skew_symetric( ssrat, ra ); + m3x3_skew_symetric( ssrbt, rb ); + m3x3_transpose( ssrat, ssra ); + m3x3_transpose( ssrbt, ssrb ); + + m3x3_mul( ssra, rba->iIw, cma ); + m3x3_mul( cma, ssrat, cma ); + m3x3_mul( ssrb, rbb->iIw, cmb ); + m3x3_mul( cmb, ssrbt, cmb ); + + m3x3f A, invA; + m3x3_add( cma, cmb, A ); + m3x3_inv( A, invA ); + + v3f b_wa, b_wb, b; + m3x3_mulv( ssra, rba->w, b_wa ); + m3x3_mulv( ssrb, rbb->w, b_wb ); + v3_add( b_wa, b_wb, b ); + v3_negate( b, b ); + + v3f impulse; + m3x3_mulv( invA, b, impulse ); + + v3f delta_wa, delta_wb; + m3x3f iwa, iwb; + m3x3_mul( rba->iIw, ssrat, iwa ); + m3x3_mul( rbb->iIw, ssrbt, iwb ); + m3x3_mulv( iwa, impulse, delta_wa ); + m3x3_mulv( iwb, impulse, delta_wb ); + v3_add( rba->w, delta_wa, rba->w ); + v3_sub( rbb->w, delta_wb, rbb->w ); +} - v3f p0, p1; - v3_add( wca, ra->co, p0 ); - v3_add( wcb, rb->co, p1 ); - vg_line_pt3( p0, 0.005f, 0xffffff00 ); - vg_line_pt3( p1, 0.005f, 0xffffff00 ); - vg_line( p0, p1, 0xffffff00 ); +/* + * Correct position constraint drift errors + * [ 0.0 <= amt <= 1.0 ]: the correction amount + */ +VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len, + float amt ) +{ + for( int i=0; irba, *rbb = constr->rbb; + + v3f p0, p1, d; + m3x3_mulv( rba->to_world, constr->lca, p0 ); + m3x3_mulv( rbb->to_world, constr->lcb, p1 ); + v3_add( rba->co, p0, p0 ); + v3_add( rbb->co, p1, p1 ); + v3_sub( p1, p0, d ); + + v3_muladds( rbb->co, d, -1.0f * amt, rbb->co ); + rb_update_transform( rbb ); + } } -static void rb_constraint_position( rigidbody *ra, v3f lca, - rigidbody *rb, v3f lcb ) +VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, + int len, float amt ) { - /* C = (COa + Ra*LCa) - (COb + Rb*LCb) = 0 */ - v3f wca, wcb; - m3x3_mulv( ra->to_world, lca, wca ); - m3x3_mulv( rb->to_world, lcb, wcb ); + for( int i=0; iv, rb->v, rcv ); + if( !st->tangent_violation ) + continue; - v3f rcv_Ra, rcv_Rb; - v3_cross( ra->w, wca, rcv_Ra ); - v3_cross( rb->w, wcb, rcv_Rb ); - v3_add( rcv_Ra, rcv, rcv ); - v3_sub( rcv, rcv_Rb, rcv ); + v3f va; + m3x3_mulv( st->rbb->to_world, st->coneva, va ); - v3f delta; - v3f p0, p1; - v3_add( wca, ra->co, p0 ); - v3_add( wcb, rb->co, p1 ); - v3_sub( p1, p0, delta ); + float angle = v3_dot( va, st->tangent_target ); + + if( fabsf(angle) < 0.9999f ) + { + v3f axis; + v3_cross( va, st->tangent_target, axis ); - float dist2 = v3_length2( delta ); + v4f correction; + q_axis_angle( correction, axis, acosf(angle) * amt ); + q_mul( correction, st->rbb->q, st->rbb->q ); + rb_update_transform( st->rbb ); + } + } - if( dist2 > 0.00001f ) + for( int i=0; iinv_mass + ra->inv_mass; + if( !st->axis_violation ) + continue; - v3f raCn, rbCn, raCt, rbCt; - v3_cross( wca, delta, raCn ); - v3_cross( wcb, delta, rbCn ); - - /* orient inverse inertia tensors */ - v3f raCnI, rbCnI; - m3x3_mulv( ra->iIw, raCn, raCnI ); - m3x3_mulv( rb->iIw, rbCn, rbCnI ); - joint_mass += v3_dot( raCn, raCnI ); - joint_mass += v3_dot( rbCn, rbCnI ); - joint_mass = 1.0f/joint_mass; + v3f vxb; + m3x3_mulv( st->rbb->to_world, st->conevxb, vxb ); - float vd = v3_dot( rcv, delta ), - bias = -(k_joint_bias * k_rb_rate) * dist, - lambda = -(vd + bias) * joint_mass; + float angle = v3_dot( vxb, st->axis_target ); - v3f impulse; - v3_muls( delta, lambda, impulse ); - rb_linear_impulse( ra, wca, impulse ); - v3_muls( delta, -lambda, impulse ); - rb_linear_impulse( rb, wcb, impulse ); - - /* 'fake' snap */ - v3_muladds( ra->co, delta, dist * k_joint_correction, ra->co ); - v3_muladds( rb->co, delta, -dist * k_joint_correction, rb->co ); + if( fabsf(angle) < 0.9999f ) + { + v3f axis; + v3_cross( vxb, st->axis_target, axis ); + + v4f correction; + q_axis_angle( correction, axis, acosf(angle) * amt ); + q_mul( correction, st->rbb->q, st->rbb->q ); + rb_update_transform( st->rbb ); + } } } + +/* + * Effectors + */ + +VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, + float amt, float drag ) +{ + /* float */ + float depth = v3_dot( plane, ra->co ) - plane[3], + lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt; + + v3_muladds( ra->v, plane, lambda * k_rb_delta, ra->v ); + + if( depth < 0.0f ) + v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v ); +} + /* * ----------------------------------------------------------------------------- - * 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 ]; @@ -1890,13 +2398,13 @@ 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,