X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=rigidbody.h;h=fe8197569e689f87d316905f2ce4244b5b351e69;hb=a1056ed8198f0f5be0e0f341da8bd49aa6c47198;hp=f4d6ef9ccf0e1c5336087ba135b7fcde726118b6;hpb=2a238d32da833812e837cf38e16a7685c98db5c3;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/rigidbody.h b/rigidbody.h index f4d6ef9..fe81975 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -33,7 +33,8 @@ VG_STATIC const float 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; + k_phys_baumgarte = 0.2f, + k_gravity = 9.6f; VG_STATIC float k_limit_bias = 0.02f, @@ -43,24 +44,24 @@ VG_STATIC float VG_STATIC void rb_register_cvar(void) { - vg_convar_push( (struct vg_convar){ + vg_var_push( (struct vg_var){ .name = "k_limit_bias", .data = &k_limit_bias, - .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 }); - vg_convar_push( (struct vg_convar){ + vg_var_push( (struct vg_var){ .name = "k_joint_bias", .data = &k_joint_bias, - .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 }); - vg_convar_push( (struct vg_convar){ + vg_var_push( (struct vg_var){ .name = "k_joint_correction", .data = &k_joint_correction, - .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 }); - vg_convar_push( (struct vg_convar){ + vg_var_push( (struct vg_var){ .name = "k_joint_impulse", .data = &k_joint_impulse, - .data_type = k_convar_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 + .data_type = k_var_dtype_f32, .opt_f32 = {.clamp = 0}, .persistent = 1 }); } @@ -72,6 +73,24 @@ VG_STATIC void rb_register_cvar(void) typedef struct rigidbody rigidbody; typedef struct contact rb_ct; +typedef struct rb_sphere rb_sphere; +typedef struct rb_capsule rb_capsule; +typedef struct rb_scene rb_scene; + +struct rb_sphere +{ + float radius; +}; + +struct rb_capsule +{ + float height, radius; +}; + +struct rb_scene +{ + bh_tree *bh_scene; +}; struct rigidbody { @@ -89,23 +108,9 @@ struct rigidbody union { - struct rb_sphere - { - float radius; - } - sphere; - - struct rb_capsule - { - float height, radius; - } - capsule; - - struct rb_scene - { - bh_tree *bh_scene; - } - scene; + struct rb_sphere sphere; + struct rb_capsule capsule; + struct rb_scene scene; } inf; @@ -162,6 +167,11 @@ struct rb_constr_swingtwist float tangent_mass, axis_mass; }; +struct rb_constr_spring +{ + int nothing; +}; + /* * ----------------------------------------------------------------------------- * Math Utils @@ -202,11 +212,17 @@ 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 ) + { + vg_line_pt3( ct->co, 0.0125f, 0xff0000ff ); + vg_line( ct->co, p1, 0xffffffff ); + } + else if( ct->type == k_contact_type_edge ) { - v3f p1; - v3_muladds( ct->co, ct->n, 0.05f, p1 ); - vg_line_pt3( ct->co, 0.0025f, 0xff0000ff ); + vg_line_pt3( ct->co, 0.0125f, 0xff00ffc0 ); vg_line( ct->co, p1, 0xffffffff ); } } @@ -392,6 +408,8 @@ 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 ) { float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f ); @@ -421,6 +439,31 @@ 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 ) +{ + float substep = vg_clampf( vg.accumulator / k_rb_delta, 0.0f, 1.0f ); + + 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 ); + } +} /* * Initialize rigidbody and calculate masses, inertia @@ -561,19 +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 */ @@ -857,6 +895,8 @@ 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 ) { @@ -917,6 +957,61 @@ 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, + rb_ct *buf ) +{ + v3f p0, p1; + v3_muladds( mtx[3], mtx[1], -c->height*0.5f+c->radius, p0 ); + v3_muladds( mtx[3], mtx[1], c->height*0.5f-c->radius, p1 ); + + int count = 0; + if( manifold->t0 <= 1.0f ) + { + rb_ct *ct = buf; + + v3f pa; + v3_muls( p0, 1.0f-manifold->t0, pa ); + v3_muladds( pa, p1, manifold->t0, pa ); + + float d = v3_length( manifold->d0 ); + v3_muls( manifold->d0, 1.0f/d, ct->n ); + v3_muladds( pa, ct->n, -c->radius, ct->co ); + + ct->p = manifold->r0 - d; + ct->type = k_contact_type_default; + count ++; + } + + if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) ) + { + rb_ct *ct = buf+count; + + v3f pa; + v3_muls( p0, 1.0f-manifold->t1, pa ); + v3_muladds( pa, p1, manifold->t1, pa ); + + float d = v3_length( manifold->d1 ); + v3_muls( manifold->d1, 1.0f/d, ct->n ); + v3_muladds( pa, ct->n, -c->radius, ct->co ); + + ct->p = manifold->r1 - d; + ct->type = k_contact_type_default; + + count ++; + } + + /* + * Debugging + */ + + if( count == 2 ) + vg_line( buf[0].co, buf[1].co, 0xff0000ff ); + + return count; +} VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { @@ -959,22 +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 ); @@ -994,9 +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 */ @@ -1123,6 +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 ) { @@ -1214,6 +1309,8 @@ 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 ) { @@ -1260,7 +1357,47 @@ 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 ) +{ + v3f delta, co; + enum contact_type type = closest_on_triangle_1( mtxA[3], tri, co ); + + v3_sub( mtxA[3], co, delta ); + + float d2 = v3_length2( delta ), + r = b->radius; + + if( d2 <= r*r ) + { + rb_ct *ct = buf; + + v3f ab, ac, tn; + v3_sub( tri[2], tri[0], ab ); + 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; + return 1; + } + + return 0; +} VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang, boxf box, u32 colour ) @@ -1356,6 +1493,51 @@ VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang, } } +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; + + bh_iter it; + bh_iter_init( 0, &it ); + int idx; + + int count = 0; + + float r = b->radius + 0.1f; + boxf box; + v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] ); + v3_add( mtxA[3], (v3f){ r,r,r }, box[1] ); + + while( bh_next( s->bh_scene, &it, box, &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]; + + vg_line( tri[0],tri[1],0x70ff6000 ); + vg_line( tri[1],tri[2],0x70ff6000 ); + vg_line( tri[2],tri[0],0x70ff6000 ); + + int contact = rb_sphere__triangle( mtxA, b, tri, &buf[count] ); + count += contact; + + if( count == 16 ) + { + vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); + return count; + } + } + + return count; +} + +#if 0 +__attribute__ ((deprecated)) VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { scene *sc = rbb->inf.scene.bh_scene->user; @@ -1392,7 +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; @@ -1535,10 +1866,66 @@ 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 ) +{ + v3f pc, p0w, p1w; + v3_muladds( mtxA[3], mtxA[1], -c->height*0.5f+c->radius, p0w ); + v3_muladds( mtxA[3], mtxA[1], c->height*0.5f-c->radius, 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, c->radius, &manifold ); + + if( v3_dot( da, d1 ) >= -0.01f ) + rb_capsule_manifold( p1w, c1, 1.0f, c->radius, &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, c->radius, &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( mtxA, c, &manifold, buf ); + for( int i=0; iinf.capsule.height, - r = rba->inf.capsule.radius, - g = 90.8f; + bh_iter it; + bh_iter_init( 0, &it ); + int idx; + int count = 0; + + boxf bbx; + 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; - 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] ); + while( bh_next( s->bh_scene, &it, bbx, &idx ) ) + { + u32 *ptri = &sc->arrindices[ idx*3 ]; + v3f tri[3]; - int count = 0; + for( int j=0; j<3; j++ ) + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); + + buf[ count ].element_id = ptri[0]; + int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] ); + count += contact; - for( int i=0; i<2; i++ ) - { - if( p[i][1] < g + r ) + if( count >= 16 ) { - 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; + vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n"); + return count; } } return count; +} -#else +#if 0 +__attribute__ ((deprecated)) +VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ scene *sc = rbb->inf.scene.bh_scene->user; bh_iter it; @@ -1663,13 +2061,13 @@ VG_STATIC int rb_capsule_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) } return count; -#endif } 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 ) { @@ -1686,21 +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 */ @@ -1738,6 +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 ]; +} /* * ----------------------------------------------------------------------------- @@ -1755,6 +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, float timestep ) +{ + 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] ); + 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 */ @@ -1763,16 +2211,7 @@ 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; + rb_prepare_contact( ct, k_rb_delta ); v3f ra, rb, raCn, rbCn, raCt, rbCt; v3_sub( ct->co, ct->rba->co, ra ); @@ -2350,6 +2789,21 @@ VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, } } +VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ) +{ + for( int i=0; irba, + *rbb = ct->rbb; + + float mass_total = 1.0f / (rba->inv_mass + rbb->inv_mass); + + v3_muladds( rba->co, ct->n, -mass_total * rba->inv_mass, rba->co ); + v3_muladds( rbb->co, ct->n, mass_total * rbb->inv_mass, rbb->co ); + } +} + /* * Effectors @@ -2368,6 +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