X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=fe8197569e689f87d316905f2ce4244b5b351e69;hb=a1056ed8198f0f5be0e0f341da8bd49aa6c47198;hp=2e17120eda4f90439481869df6102b099c8719e7;hpb=343d594b37f42a94f220a5089c9db36da9da3ab4;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 2e17120..fe81975 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -604,19 +604,14 @@ 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( rigidbody *rba, v3f tri_src[3] ) +VG_STATIC int rb_box_triangle_sat( v3f extent, v3f center, + m4x3f to_local, v3f tri_src[3] ) { v3f tri[3]; - v3f extent, c; - v3_sub( rba->bbx[1], rba->bbx[0], extent ); - v3_muls( extent, 0.5f, extent ); - v3_add( rba->bbx[0], extent, c ); - - for( int i=0; i<3; i++ ) - { - m4x3_mulv( rba->to_local, tri_src[i], tri[i] ); - v3_sub( tri[i], c, tri[i] ); + for( int i=0; i<3; i++ ){ + m4x3_mulv( to_local, tri_src[i], tri[i] ); + v3_sub( tri[i], center, tri[i] ); } /* u0, u1, u2 */ @@ -1581,6 +1576,154 @@ VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) } #endif +VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx, + m4x3f mtxB, rb_scene *s, rb_ct *buf ) +{ + scene *sc = s->bh_scene->user; + v3f tri[3]; + + v3f extent, center; + v3_sub( bbx[1], bbx[0], extent ); + v3_muls( extent, 0.5f, extent ); + v3_add( bbx[0], extent, center ); + + float r = v3_length(extent); + boxf world_bbx; + v3_fill( world_bbx[0], -r ); + v3_fill( world_bbx[1], r ); + for( int i=0; i<2; i++ ){ + v3_add( center, world_bbx[i], world_bbx[i] ); + v3_add( mtxA[3], world_bbx[i], world_bbx[i] ); + } + + m4x3f to_local; + m4x3_invert_affine( mtxA, to_local ); + + bh_iter it; + bh_iter_init( 0, &it ); + int idx; + int count = 0; + + vg_line_boxf( world_bbx, VG__RED ); + + while( bh_next( s->bh_scene, &it, world_bbx, &idx ) ){ + u32 *ptri = &sc->arrindices[ idx*3 ]; + + for( int j=0; j<3; j++ ) + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); + + if( rb_box_triangle_sat( extent, center, to_local, tri ) ){ + vg_line(tri[0],tri[1],0xff50ff00 ); + vg_line(tri[1],tri[2],0xff50ff00 ); + vg_line(tri[2],tri[0],0xff50ff00 ); + } + else{ + vg_line(tri[0],tri[1],0xff0000ff ); + vg_line(tri[1],tri[2],0xff0000ff ); + vg_line(tri[2],tri[0],0xff0000ff ); + continue; + } + + 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 ); + + /* find best feature */ + float best = v3_dot( mtxA[0], n ); + int axis = 0; + + for( int i=1; i<3; i++ ){ + float c = v3_dot( mtxA[i], n ); + + if( fabsf(c) > fabsf(best) ){ + best = c; + axis = i; + } + } + + v3f manifold[4]; + + if( axis == 0 ){ + float px = best > 0.0f? bbx[0][0]: bbx[1][0]; + manifold[0][0] = px; + manifold[0][1] = bbx[0][1]; + manifold[0][2] = bbx[0][2]; + manifold[1][0] = px; + manifold[1][1] = bbx[1][1]; + manifold[1][2] = bbx[0][2]; + manifold[2][0] = px; + manifold[2][1] = bbx[1][1]; + manifold[2][2] = bbx[1][2]; + manifold[3][0] = px; + manifold[3][1] = bbx[0][1]; + manifold[3][2] = bbx[1][2]; + } + else if( axis == 1 ){ + float py = best > 0.0f? bbx[0][1]: bbx[1][1]; + manifold[0][0] = bbx[0][0]; + manifold[0][1] = py; + manifold[0][2] = bbx[0][2]; + manifold[1][0] = bbx[1][0]; + manifold[1][1] = py; + manifold[1][2] = bbx[0][2]; + manifold[2][0] = bbx[1][0]; + manifold[2][1] = py; + manifold[2][2] = bbx[1][2]; + manifold[3][0] = bbx[0][0]; + manifold[3][1] = py; + manifold[3][2] = bbx[1][2]; + } + else{ + float pz = best > 0.0f? bbx[0][2]: bbx[1][2]; + manifold[0][0] = bbx[0][0]; + manifold[0][1] = bbx[0][1]; + manifold[0][2] = pz; + manifold[1][0] = bbx[1][0]; + manifold[1][1] = bbx[0][1]; + manifold[1][2] = pz; + manifold[2][0] = bbx[1][0]; + manifold[2][1] = bbx[1][1]; + manifold[2][2] = pz; + manifold[3][0] = bbx[0][0]; + manifold[3][1] = bbx[1][1]; + manifold[3][2] = pz; + } + + for( int j=0; j<4; j++ ) + m4x3_mulv( mtxA, manifold[j], manifold[j] ); + + vg_line( manifold[0], manifold[1], 0xffffffff ); + vg_line( manifold[1], manifold[2], 0xffffffff ); + vg_line( manifold[2], manifold[3], 0xffffffff ); + vg_line( manifold[3], manifold[0], 0xffffffff ); + + for( int j=0; j<4; j++ ){ + rb_ct *ct = buf+count; + + v3_copy( manifold[j], ct->co ); + v3_copy( n, ct->n ); + + float l0 = v3_dot( tri[0], n ), + l1 = v3_dot( manifold[j], n ); + + ct->p = (l0-l1)*0.5f; + if( ct->p < 0.0f ) + continue; + + ct->type = k_contact_type_default; + count ++; + + if( count >= 12 ) + return count; + } + } + return count; +} + +#if 0 +__attribute__ ((deprecated)) VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { scene *sc = rbb->inf.scene.bh_scene->user; @@ -1723,6 +1866,7 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) } return count; } +#endif VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, v3f tri[3], rb_ct *buf ) @@ -1952,10 +2096,12 @@ VG_STATIC int rb_box_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_sphere_box( rbb, rba, buf ); } +#if 0 VG_STATIC int rb_scene_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_box_scene( rbb, rba, buf ); } +#endif #if 0 VG_STATIC int (*rb_jump_table[4][4])( rigidbody *a, rigidbody *b, rb_ct *buf ) =