X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=fe8197569e689f87d316905f2ce4244b5b351e69;hb=a1056ed8198f0f5be0e0f341da8bd49aa6c47198;hp=58b416eb072f982666a5f12ed6a4cc958b74aa90;hpb=964a1608fd269bda5fc632a618a861a527c6f868;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index 58b416e..fe81975 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -16,8 +16,6 @@ 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 @@ -214,13 +212,19 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) VG_STATIC void rb_debug_contact( rb_ct *ct ) { - if( ct->type != k_contact_type_disabled ) + v3f p1; + v3_muladds( ct->co, ct->n, 0.05f, p1 ); + + if( ct->type == k_contact_type_default ) { - v3f p1; - v3_muladds( ct->co, ct->n, 0.05f, p1 ); vg_line_pt3( ct->co, 0.0125f, 0xff0000ff ); vg_line( ct->co, p1, 0xffffffff ); } + else if( ct->type == k_contact_type_edge ) + { + vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 ); + vg_line( ct->co, p1, 0xffffffff ); + } } VG_STATIC void debug_sphere( m4x3f m, float radius, u32 colour ) @@ -404,6 +408,7 @@ VG_STATIC void rb_update_transform( rigidbody *rb ) * Extrapolate rigidbody into a transform based on vg accumulator. * Useful for rendering */ +#if 0 __attribute__ ((deprecated)) VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) { @@ -434,6 +439,7 @@ VG_STATIC void rb_extrapolate_transform( rigidbody *rb, m4x3f transform ) q_m3x3( q, transform ); v3_copy( co, transform[3] ); } +#endif VG_STATIC void rb_extrapolate( rigidbody *rb, v3f co, v4f q ) { @@ -598,19 +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 */ @@ -894,6 +895,7 @@ VG_STATIC void rb_capsule_manifold_init( capsule_manifold *manifold ) manifold->t1 = -INFINITY; } +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, capsule_manifold *manifold, rb_ct *buf ) @@ -955,6 +957,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, return count; } +#endif VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c, capsule_manifold *manifold, @@ -1051,22 +1054,20 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +VG_STATIC int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca, + m4x3f mtxB, rb_capsule *cb, 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, - rb = rbb->inf.capsule.radius, + float ha = ca->height, + hb = cb->height, + ra = ca->radius, + rb = cb->radius, r = ra+rb; v3f p0, p1, p2, p3; - v3_muladds( rba->co, rba->up, -ha*0.5f+ra, p0 ); - v3_muladds( rba->co, rba->up, ha*0.5f-ra, p1 ); - v3_muladds( rbb->co, rbb->up, -hb*0.5f+rb, p2 ); - v3_muladds( rbb->co, rbb->up, hb*0.5f-rb, p3 ); + v3_muladds( mtxA[3], mtxA[1], -ha*0.5f+ra, p0 ); + v3_muladds( mtxA[3], mtxA[1], ha*0.5f-ra, p1 ); + v3_muladds( mtxB[3], mtxB[1], -hb*0.5f+rb, p2 ); + v3_muladds( mtxB[3], mtxB[1], hb*0.5f-rb, p3 ); capsule_manifold manifold; rb_capsule_manifold_init( &manifold ); @@ -1086,9 +1087,10 @@ VG_STATIC int rb_capsule_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) rb_capsule_manifold( p0, pa, 0.0f, r, &manifold ); rb_capsule_manifold( p1, pb, 1.0f, r, &manifold ); - return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); + return rb_capsule__manifold_done( mtxA, ca, &manifold, buf ); } +#if 0 /* * Generates up to two contacts; optimised for the most stable manifold */ @@ -1215,6 +1217,7 @@ VG_STATIC int rb_capsule_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_capsule_manifold_done( rba, rbb, &manifold, buf ); } +#endif VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1306,6 +1309,7 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) //#define RIGIDBODY_DYNAMIC_MESH_EDGES +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, v3f tri[3], rb_ct *buf ) @@ -1353,6 +1357,7 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, return 0; } +#endif VG_STATIC int rb_sphere__triangle( m4x3f mtxA, rb_sphere *b, v3f tri[3], rb_ct *buf ) @@ -1531,6 +1536,7 @@ VG_STATIC int rb_sphere__scene( m4x3f mtxA, rb_sphere *b, return count; } +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1568,7 +1574,156 @@ VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return count; } +#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; @@ -1711,6 +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 ) @@ -1768,6 +1924,7 @@ VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, /* * Generates up to two contacts; optimised for the most stable manifold */ +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, v3f tri[3], rb_ct *buf ) @@ -1824,6 +1981,7 @@ VG_STATIC int rb_capsule_triangle( rigidbody *rba, rigidbody *rbb, return count; } +#endif /* mtxB is defined only for tradition; it is not used currently */ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, @@ -1864,6 +2022,7 @@ VG_STATIC int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, return count; } +#if 0 __attribute__ ((deprecated)) VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1908,6 +2067,7 @@ VG_STATIC int rb_scene_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_capsule_scene( rbb, rba, buf ); } +#endif VG_STATIC int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -1924,21 +2084,26 @@ VG_STATIC int rb_sphere_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return rb_capsule_sphere( rbb, rba, buf ); } +#if 0 VG_STATIC int rb_box_capsule( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { return rb_capsule_box( rbb, rba, buf ); } +#endif 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 ) = { /* box */ /* Sphere */ /* Capsule */ /* Mesh */ @@ -1976,6 +2141,20 @@ VG_STATIC int rb_collide( rigidbody *rba, rigidbody *rbb ) else return 0; } +#endif + +VG_STATIC int rb_global_has_space( void ) +{ + if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) ) + return 0; + + return 1; +} + +VG_STATIC rb_ct *rb_global_buffer( void ) +{ + return &rb_contact_buffer[ rb_contact_count ]; +} /* * ----------------------------------------------------------------------------- @@ -1993,19 +2172,37 @@ VG_STATIC rb_ct *rb_global_ct(void) return rb_contact_buffer + rb_contact_count; } -VG_STATIC void rb_prepare_contact( rb_ct *ct ) +VG_STATIC void rb_prepare_contact( rb_ct *ct, float timestep ) { - ct->bias = -0.2f * k_rb_rate * vg_minf( 0.0f, -ct->p+k_penetration_slop ); + ct->bias = -0.2f * (timestep*3600.0f) + * 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; } +/* calculate total move. manifold should belong to ONE object only */ +VG_STATIC void rb_depenetrate( rb_ct *manifold, int len, v3f dt ) +{ + v3_zero( dt ); + + for( int j=0; j<7; j++ ) + { + for( int i=0; in, dt ), + remaining = (ct->p-k_penetration_slop) - resolved_amt, + apply = vg_maxf( remaining, 0.0f ) * 0.4f; + + v3_muladds( dt, ct->n, apply, dt ); + } + } +} + /* * Initializing things like tangent vectors */ @@ -2014,7 +2211,7 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ) for( int i=0; ico, ct->rba->co, ra ); @@ -2625,6 +2822,24 @@ VG_STATIC void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, v3_muls( ra->v, 1.0f-(drag*k_rb_delta), ra->v ); } +/* apply a spring&dampener force to match ra(worldspace) on rigidbody, to + * rt(worldspace) + */ +VG_STATIC void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt, + float spring, float dampening, + float timestep ) +{ + float a = acosf( vg_clampf( v3_dot( rt, ra ), -1.0f, 1.0f ) ); + + v3f axis; + v3_cross( rt, ra, axis ); + + float Fs = -a * spring, + Fd = -v3_dot( rba->w, axis ) * dampening; + + v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w ); +} + /* * ----------------------------------------------------------------------------- * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for