*/
typedef struct rigidbody rigidbody;
+typedef struct rb_object rb_object;
typedef struct contact rb_ct;
typedef struct rb_sphere rb_sphere;
typedef struct rb_capsule rb_capsule;
v3f co, v, w;
v4f q;
- enum rb_shape
- {
+ boxf bbx, bbx_world;
+ float inv_mass;
+
+ /* inertia model and inverse world tensor */
+ v3f I;
+ m3x3f iI, iIw;
+ m4x3f to_world, to_local;
+};
+
+/* simple objects */
+struct rb_object
+{
+ rigidbody rb;
+ enum rb_shape{
k_rb_shape_box = 0,
k_rb_shape_sphere = 1,
k_rb_shape_capsule = 2,
struct rb_scene scene;
}
inf;
-
- v3f right, up, forward;
-
- int is_world;
-
- boxf bbx, bbx_world;
- float inv_mass;
-
- /* inertia model and inverse world tensor */
- v3f I;
- m3x3f iI, iIw;
-
- m4x3f to_world, to_local;
};
VG_STATIC struct contact
}
}
-VG_STATIC void rb_debug( rigidbody *rb, u32 colour )
+VG_STATIC void rb_object_debug( rb_object *obj, u32 colour )
{
- if( rb->type == k_rb_shape_box )
- {
- v3f *box = rb->bbx;
- vg_line_boxf_transformed( rb->to_world, rb->bbx, colour );
+ if( obj->type == k_rb_shape_box ){
+ v3f *box = obj->rb.bbx;
+ vg_line_boxf_transformed( obj->rb.to_world, obj->rb.bbx, colour );
}
- else if( rb->type == k_rb_shape_sphere )
- {
- debug_sphere( rb->to_world, rb->inf.sphere.radius, colour );
+ else if( obj->type == k_rb_shape_sphere ){
+ debug_sphere( obj->rb.to_world, obj->inf.sphere.radius, colour );
}
- else if( rb->type == k_rb_shape_capsule )
- {
+ else if( obj->type == k_rb_shape_capsule ){
m4x3f m0, m1;
- float h = rb->inf.capsule.height,
- r = rb->inf.capsule.radius;
+ float h = obj->inf.capsule.height,
+ r = obj->inf.capsule.radius;
- debug_capsule( rb->to_world, r, h, colour );
+ debug_capsule( obj->rb.to_world, r, h, colour );
}
- else if( rb->type == k_rb_shape_scene )
- {
- vg_line_boxf( rb->bbx, colour );
+ else if( obj->type == k_rb_shape_scene ){
+ vg_line_boxf( obj->rb.bbx, colour );
}
}
m4x3_invert_affine( rb->to_world, rb->to_local );
+#if 0
m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f, 0.0f}, rb->right );
m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f, 0.0f}, rb->up );
m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,-1.0f}, rb->forward );
+#endif
m3x3_mul( rb->iI, rb->to_local, rb->iIw );
m3x3_mul( rb->to_world, rb->iIw, rb->iIw );
* 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 );
-
- 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] );
-}
-#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 )
- {
+ if( v3_length2( rb->w ) > 0.0f ){
v4f rotation;
v3f axis;
v3_copy( rb->w, axis );
q_mul( rotation, rb->q, q );
q_normalize( q );
}
- else
- {
+ else{
v4_copy( rb->q, q );
}
}
/*
* Initialize rigidbody and calculate masses, inertia
*/
-VG_STATIC void rb_init( rigidbody *rb )
+VG_STATIC void rb_init_object( rb_object *obj )
{
float volume = 1.0f;
+ int inert = 0;
- if( rb->type == k_rb_shape_box )
- {
+ if( obj->type == k_rb_shape_box ){
v3f dims;
- v3_sub( rb->bbx[1], rb->bbx[0], dims );
+ v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], dims );
volume = dims[0]*dims[1]*dims[2];
}
- 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 );
+ else if( obj->type == k_rb_shape_sphere ){
+ volume = sphere_volume( obj->inf.sphere.radius );
+ v3_fill( obj->rb.bbx[0], -obj->inf.sphere.radius );
+ v3_fill( obj->rb.bbx[1], obj->inf.sphere.radius );
}
- else if( rb->type == k_rb_shape_capsule )
- {
- float r = rb->inf.capsule.radius,
- h = rb->inf.capsule.height;
+ else if( obj->type == k_rb_shape_capsule ){
+ float r = obj->inf.capsule.radius,
+ h = obj->inf.capsule.height;
volume = sphere_volume( r ) + VG_PIf * r*r * (h - r*2.0f);
- v3_fill( rb->bbx[0], -r );
- v3_fill( rb->bbx[1], r );
- rb->bbx[0][1] = -h;
- rb->bbx[1][1] = h;
+ v3_fill( obj->rb.bbx[0], -r );
+ v3_fill( obj->rb.bbx[1], r );
+ obj->rb.bbx[0][1] = -h;
+ obj->rb.bbx[1][1] = h;
}
- else if( rb->type == k_rb_shape_scene )
- {
- rb->is_world = 1;
- box_copy( rb->inf.scene.bh_scene->nodes[0].bbx, rb->bbx );
+ else if( obj->type == k_rb_shape_scene ){
+ inert = 1;
+ box_copy( obj->inf.scene.bh_scene->nodes[0].bbx, obj->rb.bbx );
}
- if( rb->is_world )
- {
- rb->inv_mass = 0.0f;
- v3_zero( rb->I );
- m3x3_zero(rb->iI);
+ if( inert ){
+ obj->rb.inv_mass = 0.0f;
+ v3_zero( obj->rb.I );
+ m3x3_zero( obj->rb.iI );
}
- else
- {
+ else{
float mass = 2.0f*volume;
- rb->inv_mass = 1.0f/mass;
+ obj->rb.inv_mass = 1.0f/mass;
v3f extent;
- v3_sub( rb->bbx[1], rb->bbx[0], extent );
+ v3_sub( obj->rb.bbx[1], obj->rb.bbx[0], extent );
v3_muls( extent, 0.5f, extent );
/* local intertia tensor */
ey2 = scale*extent[1]*extent[1],
ez2 = scale*extent[2]*extent[2];
- rb->I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
- rb->I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
- rb->I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
+ obj->rb.I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
+ obj->rb.I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
+ obj->rb.I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
- m3x3_identity( rb->iI );
- rb->iI[0][0] = rb->I[0];
- rb->iI[1][1] = rb->I[1];
- rb->iI[2][2] = rb->I[2];
- m3x3_inv( rb->iI, rb->iI );
+ m3x3_identity( obj->rb.iI );
+ obj->rb.iI[0][0] = obj->rb.I[0];
+ obj->rb.iI[1][1] = obj->rb.I[1];
+ obj->rb.iI[2][2] = obj->rb.I[2];
+ m3x3_inv( obj->rb.iI, obj->rb.iI );
}
- v3_zero( rb->v );
- v3_zero( rb->w );
-
- rb_update_transform( rb );
+ rb_update_transform( &obj->rb );
}
VG_STATIC void rb_iter( rigidbody *rb )
{
int k = 0;
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_ct *ct = &man[i];
if( ct->type == k_contact_type_disabled )
*/
VG_STATIC void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r )
{
- if( v3_dist2( ci->co, cj->co ) < r*r )
- {
+ if( v3_dist2( ci->co, cj->co ) < r*r ){
cj->type = k_contact_type_disabled;
ci->p = (ci->p + cj->p) * 0.5f;
float c0 = v3_dot( ci->n, delta ),
c1 = v3_dot( cj->n, delta );
- if( c0 < 0.0f || c1 < 0.0f )
- {
+ if( c0 < 0.0f || c1 < 0.0f ){
/* error */
ci->type = k_contact_type_disabled;
}
- else
- {
+ else{
v3f n;
v3_muls( ci->n, c0, n );
v3_muladds( n, cj->n, c1, n );
*/
VG_STATIC void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r )
{
- for( int i=0; i<len-1; i++ )
- {
+ for( int i=0; i<len-1; i++ ){
rb_ct *ci = &man[i];
if( ci->type != k_contact_type_edge )
continue;
- for( int j=i+1; j<len; j++ )
- {
+ for( int j=i+1; j<len; j++ ){
rb_ct *cj = &man[j];
if( cj->type != k_contact_type_edge )
continue;
*/
VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r )
{
- for( int i=0; i<len-1; i++ )
- {
+ for( int i=0; i<len-1; i++ ){
rb_ct *ci = &man[i];
int similar = 0;
if( ci->type == k_contact_type_disabled ) continue;
- for( int j=i+1; j<len; j++ )
- {
+ for( int j=i+1; j<len; j++ ){
rb_ct *cj = &man[j];
if( cj->type == k_contact_type_disabled ) continue;
- if( v3_dist2( ci->co, cj->co ) < r*r )
- {
+ 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;
}
}
- if( similar )
- {
+ if( similar ){
float n = 1.0f/((float)similar+1.0f);
v3_muls( ci->n, n, ci->n );
ci->p *= n;
*/
VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_ct *ct = &man[i];
if( ct->type == k_contact_type_disabled )
continue;
*/
VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_ct *ci = &man[i];
if( ci->type == k_contact_type_disabled ||
ci->type == k_contact_type_edge )
float d1 = v3_dot( ci->co, ci->n );
- for( int j=0; j<len; j++ )
- {
+ for( int j=0; j<len; j++ ){
if( j == i )
continue;
float d2 = v3_dot( cj->co, ci->n ),
d = d2-d1;
- if( fabsf( d ) <= w )
- {
+ if( fabsf( d ) <= w ){
cj->type = k_contact_type_disabled;
}
}
v3f delta;
v3_sub( pa, pb, delta );
- if( v3_length2(delta) < r*r )
- {
- if( t < manifold->t0 )
- {
+ if( v3_length2(delta) < r*r ){
+ if( t < manifold->t0 ){
v3_copy( delta, manifold->d0 );
manifold->t0 = t;
manifold->r0 = r;
}
- if( t > manifold->t1 )
- {
+ if( t > manifold->t1 ){
v3_copy( delta, manifold->d1 );
manifold->t1 = t;
manifold->r1 = r;
manifold->t1 = -INFINITY;
}
-#if 0
-__attribute__ ((deprecated))
-VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb,
- capsule_manifold *manifold, rb_ct *buf )
-{
- float h = rba->inf.capsule.height,
- ra = rba->inf.capsule.radius;
-
- v3f p0, p1;
- v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
- v3_muladds( rba->co, rba->up, h*0.5f-ra, 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, -ra, ct->co );
-
- ct->p = manifold->r0 - d;
- ct->rba = rba;
- ct->rbb = rbb;
- 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, -ra, ct->co );
-
- ct->p = manifold->r1 - d;
- ct->rba = rba;
- ct->rbb = rbb;
- ct->type = k_contact_type_default;
-
- count ++;
- }
-
- /*
- * Debugging
- */
-
- if( count == 2 )
- vg_line( buf[0].co, buf[1].co, 0xff0000ff );
-
- return count;
-}
-#endif
-
VG_STATIC int rb_capsule__manifold_done( m4x3f mtx, rb_capsule *c,
capsule_manifold *manifold,
rb_ct *buf )
v3_muladds( mtx[3], mtx[1], c->height*0.5f-c->radius, p1 );
int count = 0;
- if( manifold->t0 <= 1.0f )
- {
+ if( manifold->t0 <= 1.0f ){
rb_ct *ct = buf;
v3f pa;
count ++;
}
- if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) )
- {
+ if( (manifold->t1 >= 0.0f) && (manifold->t0 != manifold->t1) ){
rb_ct *ct = buf+count;
v3f pa;
return count;
}
-VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf )
{
- float h = rba->inf.capsule.height,
- ra = rba->inf.capsule.radius,
- rb = rbb->inf.sphere.radius;
+ rigidbody *rba = &obja->rb, *rbb = &objb->rb;
+ float h = obja->inf.capsule.height,
+ ra = obja->inf.capsule.radius,
+ rb = objb->inf.sphere.radius;
v3f p0, p1;
- v3_muladds( rba->co, rba->up, -h*0.5f+ra, p0 );
- v3_muladds( rba->co, rba->up, h*0.5f-ra, p1 );
+ v3_muladds( rba->co, rba->to_world[1], -h*0.5f+ra, p0 );
+ v3_muladds( rba->co, rba->to_world[1], h*0.5f-ra, p1 );
v3f c, delta;
closest_point_segment( p0, p1, rbb->co, c );
float d2 = v3_length2(delta),
r = ra + rb;
- if( d2 < r*r )
- {
+ if( d2 < r*r ){
float d = sqrtf(d2);
rb_ct *ct = buf;
}
#endif
-VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_box( rb_object *obja, rb_object *objb, rb_ct *buf )
{
v3f co, delta;
+ rigidbody *rba = &obja->rb, *rbb = &objb->rb;
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),
- r = rba->inf.sphere.radius;
+ r = obja->inf.sphere.radius;
- if( d2 <= r*r )
- {
+ if( d2 <= r*r ){
float d;
rb_ct *ct = buf;
- if( d2 <= 0.0001f )
- {
+ if( d2 <= 0.0001f ){
v3_sub( rba->co, rbb->co, delta );
/*
* object back outside the box. Since there isnt a clear seperating
* vector already, especially on really high aspect boxes.
*/
- float lx = v3_dot( rbb->right, delta ),
- ly = v3_dot( rbb->up, delta ),
- lz = v3_dot( rbb->forward, delta ),
+ float lx = v3_dot( rbb->to_world[0], delta ),
+ ly = v3_dot( rbb->to_world[1], delta ),
+ lz = v3_dot( rbb->to_world[2], delta ),
px = rbb->bbx[1][0] - fabsf(lx),
py = rbb->bbx[1][1] - fabsf(ly),
pz = rbb->bbx[1][2] - fabsf(lz);
if( px < py && px < pz )
- v3_muls( rbb->right, vg_signf(lx), ct->n );
+ v3_muls( rbb->to_world[0], vg_signf(lx), ct->n );
else if( py < pz )
- v3_muls( rbb->up, vg_signf(ly), ct->n );
+ v3_muls( rbb->to_world[1], vg_signf(ly), ct->n );
else
- v3_muls( rbb->forward, vg_signf(lz), ct->n );
+ v3_muls( rbb->to_world[2], vg_signf(lz), ct->n );
v3_muladds( rba->co, ct->n, -r, ct->co );
ct->p = r;
}
- else
- {
+ else{
d = sqrtf(d2);
v3_muls( delta, 1.0f/d, ct->n );
ct->p = r-d;
return 0;
}
-VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_sphere_sphere( rb_object *obja, rb_object *objb, rb_ct *buf )
{
+ rigidbody *rba = &obja->rb, *rbb = &objb->rb;
v3f delta;
v3_sub( rba->co, rbb->co, delta );
float d2 = v3_length2(delta),
- r = rba->inf.sphere.radius + rbb->inf.sphere.radius;
+ r = obja->inf.sphere.radius + objb->inf.sphere.radius;
- if( d2 < r*r )
- {
+ if( d2 < r*r ){
float d = sqrtf(d2);
rb_ct *ct = buf;
v3_muls( delta, 1.0f/d, ct->n );
v3f p0, p1;
- v3_muladds( rba->co, ct->n,-rba->inf.sphere.radius, p0 );
- v3_muladds( rbb->co, ct->n, rbb->inf.sphere.radius, p1 );
+ v3_muladds( rba->co, ct->n,-obja->inf.sphere.radius, p0 );
+ v3_muladds( rbb->co, ct->n, objb->inf.sphere.radius, p1 );
v3_add( p0, p1, ct->co );
v3_muls( ct->co, 0.5f, ct->co );
ct->type = k_contact_type_default;
float d2 = v3_length2( delta ),
r = b->radius;
- if( d2 <= r*r )
- {
+ if( d2 <= r*r ){
rb_ct *ct = buf;
v3f ab, ac, tn;
v3_cross( ac, ab, tn );
v3_copy( tn, ct->n );
- if( v3_length2( ct->n ) <= 0.00001f )
- {
+ if( v3_length2( ct->n ) <= 0.00001f ){
vg_error( "Zero area triangle!\n" );
return 0;
}
return 0;
}
-VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang,
- boxf box, u32 colour )
-{
- sharp_ang = cosf( sharp_ang );
-
- scene *sc = rbb->inf.scene.bh_scene->user;
- vg_line_boxf( box, 0xff00ff00 );
-
- bh_iter it;
- bh_iter_init( 0, &it );
- int idx;
-
- while( bh_next( rbb->inf.scene.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] );
-
- for( int j=0; j<3; j++ )
- {
-#if 0
- v3f edir;
- v3_sub( tri[(j+1)%3], tri[j], edir );
-
- 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( m4x3f mtxA, rb_sphere *b,
m4x3f mtxB, rb_scene *s, rb_ct *buf )
{
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;
-
- 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];
-
- 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( rba, rbb, tri, buf+count );
- count += contact;
-
- if( count == 16 )
- {
- vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
- return count;
- }
- }
-
- return count;
-}
-#endif
-
VG_STATIC int rb_box__scene( m4x3f mtxA, boxf bbx,
m4x3f mtxB, rb_scene *s, rb_ct *buf )
{
return count;
}
-#if 0
-__attribute__ ((deprecated))
-VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+VG_STATIC int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c,
+ v3f tri[3], rb_ct *buf )
{
- scene *sc = rbb->inf.scene.bh_scene->user;
-
- v3f tri[3];
+ 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 );
- bh_iter it;
- bh_iter_init( 0, &it );
- int idx;
+ 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 );
- int count = 0;
+ v3f d0, d1, da;
+ v3_sub( c0, p0w, d0 );
+ v3_sub( c1, p1w, d1 );
+ v3_sub( p1w, p0w, da );
- while( bh_next( rbb->inf.scene.bh_scene, &it, rba->bbx_world, &idx ) )
- {
- u32 *ptri = &sc->arrindices[ idx*3 ];
+ v3_normalize(d0);
+ v3_normalize(d1);
+ v3_normalize(da);
- for( int j=0; j<3; j++ )
- v3_copy( sc->arrvertices[ptri[j]].co, tri[j] );
-
- if( rb_box_triangle_sat( rba, 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( rba->right, n );
- int axis = 0;
-
- float cy = v3_dot( rba->up, n );
- if( fabsf(cy) > fabsf(best) )
- {
- best = cy;
- axis = 1;
- }
-
- float cz = -v3_dot( rba->forward, n );
- if( fabsf(cz) > fabsf(best) )
- {
- best = cz;
- axis = 2;
- }
-
- v3f manifold[4];
-
- if( axis == 0 )
- {
- float px = best > 0.0f? rba->bbx[0][0]: rba->bbx[1][0];
- manifold[0][0] = px;
- manifold[0][1] = rba->bbx[0][1];
- manifold[0][2] = rba->bbx[0][2];
- manifold[1][0] = px;
- manifold[1][1] = rba->bbx[1][1];
- manifold[1][2] = rba->bbx[0][2];
- manifold[2][0] = px;
- manifold[2][1] = rba->bbx[1][1];
- manifold[2][2] = rba->bbx[1][2];
- manifold[3][0] = px;
- manifold[3][1] = rba->bbx[0][1];
- manifold[3][2] = rba->bbx[1][2];
- }
- else if( axis == 1 )
- {
- float py = best > 0.0f? rba->bbx[0][1]: rba->bbx[1][1];
- manifold[0][0] = rba->bbx[0][0];
- manifold[0][1] = py;
- manifold[0][2] = rba->bbx[0][2];
- manifold[1][0] = rba->bbx[1][0];
- manifold[1][1] = py;
- manifold[1][2] = rba->bbx[0][2];
- manifold[2][0] = rba->bbx[1][0];
- manifold[2][1] = py;
- manifold[2][2] = rba->bbx[1][2];
- manifold[3][0] = rba->bbx[0][0];
- manifold[3][1] = py;
- manifold[3][2] = rba->bbx[1][2];
- }
- else
- {
- float pz = best > 0.0f? rba->bbx[0][2]: rba->bbx[1][2];
- manifold[0][0] = rba->bbx[0][0];
- manifold[0][1] = rba->bbx[0][1];
- manifold[0][2] = pz;
- manifold[1][0] = rba->bbx[1][0];
- manifold[1][1] = rba->bbx[0][1];
- manifold[1][2] = pz;
- manifold[2][0] = rba->bbx[1][0];
- manifold[2][1] = rba->bbx[1][1];
- manifold[2][2] = pz;
- manifold[3][0] = rba->bbx[0][0];
- manifold[3][1] = rba->bbx[1][1];
- manifold[3][2] = pz;
- }
-
- for( int j=0; j<4; j++ )
- m4x3_mulv( rba->to_world, 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;
- ct->rba = rba;
- ct->rbb = rbb;
- count ++;
-
- if( count >= 12 )
- return count;
- }
- }
- 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, 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++ )
- {
+ for( int i=0; i<3; i++ ){
int i0 = i,
i1 = (i+1)%3;
return count;
}
-/*
- * 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 )
-{
- 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; i<count; i++ )
- v3_copy( n, buf[i].n );
-
- 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,
m4x3f mtxB, rb_scene *s,
return count;
}
-#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;
- 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;
-}
-
-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 )
-{
-#if 0
- vg_error( "Collision type is unimplemented between types %d and %d\n",
- rba->type, rbb->type );
-#endif
-
- return 0;
-}
-
-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 */
- { 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_capsule_scene },
- { rb_scene_box, RB_MATRIX_ERROR, rb_scene_capsule, RB_MATRIX_ERROR }
-};
-
-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];
-
- /*
- * 12 is the maximum manifold size we can generate, so we are forced to abort
- * potentially checking any more.
- */
- if( rb_contact_count + 12 > vg_list_size(rb_contact_buffer) )
- {
- vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)",
- rb_contact_count, vg_list_size(rb_contact_buffer) );
- return 0;
- }
-
- /*
- * FUTURE: Replace this with a more dedicated broad phase pass
- */
- if( box_overlap( rba->bbx_world, rbb->bbx_world ) )
- {
- int count = collider_jump( rba, rbb, rb_contact_buffer+rb_contact_count);
- rb_contact_count += count;
- return count;
- }
- else
- return 0;
-}
-#endif
-
VG_STATIC int rb_global_has_space( void )
{
if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) )
VG_STATIC void rb_debug_position_constraints( rb_constr_pos *buffer, int len )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_pos *constr = &buffer[i];
rigidbody *rba = constr->rba, *rbb = constr->rbb;
{
float size = 0.12f;
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
v3f vx, vy, va, vxb, axis, center;
ly = fy/ry;
st->tangent_violation = ((lx*lx + ly*ly) > fn*fn) || (fn <= 0.0f);
- if( st->tangent_violation )
- {
+ if( st->tangent_violation ){
/* Calculate a good position and the axis to solve on */
v2f closest, tangent,
p = { fx/fabsf(fn), fy/fabsf(fn) };
float angle = v3_dot( refaxis, vxb );
st->axis_violation = fabsf(angle) < st->conet;
- if( st->axis_violation )
- {
+ if( st->axis_violation ){
v3f dir_test;
v3_cross( refaxis, vxb, dir_test );
{
float size = 0.12f;
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
v3f vx, vxb, vy, va, axis, center;
vg_line( center, p1, 0xffffffff );
vg_line_pt3( p1, 0.00025f, 0xffffffff );
- if( st->tangent_violation )
- {
+ if( st->tangent_violation ){
v3_muladds( center, st->tangent_target, size, p0 );
vg_line( center, p0, 0xff00ff00 );
vg_line( p1, p0, 0xff000000 );
}
- for( int x=0; x<32; x++ )
- {
+ 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 ),
vg_line( p0, p1, 0xff0000ff );
- if( st->axis_violation )
- {
+ 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 );
*/
VG_STATIC void rb_solve_position_constraints( rb_constr_pos *buf, int len )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_pos *constr = &buf[i];
rigidbody *rba = constr->rba, *rbb = constr->rbb;
{
float size = 0.12f;
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
if( !st->axis_violation )
v3_dot( st->axis, st->rba->w );
}
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[ i ];
if( !st->tangent_violation )
VG_STATIC void rb_correct_position_constraints( rb_constr_pos *buf, int len,
float amt )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_pos *constr = &buf[i];
rigidbody *rba = constr->rba, *rbb = constr->rbb;
VG_STATIC void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf,
int len, float amt )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[i];
if( !st->tangent_violation )
float angle = v3_dot( va, st->tangent_target );
- if( fabsf(angle) < 0.9999f )
- {
+ if( fabsf(angle) < 0.9999f ){
v3f axis;
v3_cross( va, st->tangent_target, axis );
}
}
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_constr_swingtwist *st = &buf[i];
if( !st->axis_violation )
float angle = v3_dot( vxb, st->axis_target );
- if( fabsf(angle) < 0.9999f )
- {
+ if( fabsf(angle) < 0.9999f ){
v3f axis;
v3_cross( vxb, st->axis_target, axis );
VG_STATIC void rb_correct_contact_constraints( rb_ct *buf, int len, float amt )
{
- for( int i=0; i<len; i++ )
- {
+ for( int i=0; i<len; i++ ){
rb_ct *ct = &buf[i];
rigidbody *rba = ct->rba,
*rbb = ct->rbb;
v3_muladds( rba->w, axis, (Fs+Fd) * timestep, rba->w );
}
-/*
- * -----------------------------------------------------------------------------
- * BVH implementation, this is ONLY for VG_STATIC rigidbodies, its to slow for
- * realtime use.
- * -----------------------------------------------------------------------------
- */
-
-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 );
-}
-
-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;
-}
-
-VG_STATIC void rb_bh_swap( void *user, u32 ia, u32 ib )
-{
- rigidbody temp, *rba, *rbb;
- rba = &((rigidbody *)user)[ ia ];
- rbb = &((rigidbody *)user)[ ib ];
-
- temp = *rba;
- *rba = *rbb;
- *rbb = temp;
-}
-
-VG_STATIC void rb_bh_debug( void *user, u32 item_index )
-{
- rigidbody *rb = &((rigidbody *)user)[ item_index ];
- rb_debug( rb, 0xff00ffff );
-}
-
-VG_STATIC bh_system bh_system_rigidbodies =
-{
- .expand_bound = rb_bh_expand_bound,
- .item_centroid = rb_bh_centroid,
- .item_swap = rb_bh_swap,
- .item_debug = rb_bh_debug,
- .cast_ray = NULL
-};
-
#endif /* RIGIDBODY_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / commitdiff