From 777083e1f715a26d3f68be4ba5bdf2cbcaa84a05 Mon Sep 17 00:00:00 2001 From: hgn Date: Wed, 23 Nov 2022 21:06:24 +0000 Subject: [PATCH] assorted crap --- blender_export.py | 51 ++- bvh.h | 131 ++++++-- distq.h | 301 ++++++++++++++++++ maps_src/mp_gridmap.mdl | Bin 624016 -> 644192 bytes model.h | 3 +- player_physics.h | 74 +++-- rigidbody.h | 670 +++++++++++----------------------------- scene.h | 18 ++ world.h | 10 +- world_gen.h | 101 ++++++ 10 files changed, 805 insertions(+), 554 deletions(-) create mode 100644 distq.h diff --git a/blender_export.py b/blender_export.py index 7b0751e..cf6d3f7 100644 --- a/blender_export.py +++ b/blender_export.py @@ -1124,8 +1124,11 @@ def encoder_process_material( mat ): dest.pstr_name = encoder_process_pstr( mat.name ) flags = 0x00 - if mat.cv_data.skate_surface: flags |= 0x1 - if mat.cv_data.collision: flags |= 0x2 + if mat.cv_data.collision: + flags |= 0x2 + if mat.cv_data.skate_surface: flags |= 0x1 + if mat.cv_data.grind_surface: flags |= (0x8|0x1) + if mat.cv_data.grow_grass: flags |= 0x4 dest.flags = flags @@ -1336,18 +1339,18 @@ def encoder_vertex_push( vertex_reference, co,norm,uv,colour,groups,weights ): int(norm[2]*m+0.5), int(uv[0]*m+0.5), int(uv[1]*m+0.5), - colour[0]*m+0.5, # these guys are already quantized - colour[1]*m+0.5, # . - colour[2]*m+0.5, # . - colour[3]*m+0.5, # . - weights[0]*m+0.5, # v - weights[1]*m+0.5, - weights[2]*m+0.5, - weights[3]*m+0.5, - groups[0]*m+0.5, - groups[1]*m+0.5, - groups[2]*m+0.5, - groups[3]*m+0.5) + colour[0], # these guys are already quantized + colour[1], # . + colour[2], # . + colour[3], # . + weights[0], # v + weights[1], + weights[2], + weights[3], + groups[0], + groups[1], + groups[2], + groups[3]) if key in vertex_reference: return vertex_reference[key] @@ -1535,6 +1538,20 @@ def encoder_compile_mesh( node, node_def ): weights[ml] = max( weights[ml], 0 ) #} #} + #} + else: + #{ + li1 = tri.loops[(j+1)%3] + vi1 = data.loops[li1].vertex_index + e0 = data.edges[ data.loops[li].edge_index ] + + if e0.use_freestyle_mark and \ + ((e0.vertices[0] == vi and e0.vertices[1] == vi1) or \ + (e0.vertices[0] == vi1 and e0.vertices[1] == vi)): + #{ + weights[0] = 1 + #} + #} # Add vertex and expand bound box # @@ -2477,6 +2494,11 @@ class CV_MATERIAL_SETTINGS(bpy.types.PropertyGroup): default=True,\ description = "Should the game try to target this surface?" \ ) + grind_surface: bpy.props.BoolProperty( \ + name="Grind Surface", \ + default=False,\ + description = "Grind face?" \ + ) grow_grass: bpy.props.BoolProperty( \ name="Grow Grass", \ default=False,\ @@ -2535,6 +2557,7 @@ class CV_MATERIAL_PANEL(bpy.types.Panel): if active_mat.cv_data.collision: _.layout.prop( active_mat.cv_data, "skate_surface" ) + _.layout.prop( active_mat.cv_data, "grind_surface" ) _.layout.prop( active_mat.cv_data, "grow_grass" ) if active_mat.cv_data.shader == "terrain_blend": diff --git a/bvh.h b/bvh.h index 9e45286..491756a 100644 --- a/bvh.h +++ b/bvh.h @@ -5,6 +5,7 @@ #ifndef BVH_H #define BVH_H #include "common.h" +#include "distq.h" /* * Usage: @@ -39,8 +40,8 @@ struct bh_tree boxf bbx; /* if il is 0, this is a leaf */ - u32 il, count; - union{ u32 ir, start; }; + int il, count; + union{ int ir, start; }; } nodes[]; }; @@ -49,6 +50,7 @@ struct bh_system { void (*expand_bound)( void *user, boxf bound, u32 item_index ); float (*item_centroid)( void *user, u32 item_index, int axis ); + void (*item_closest)( void *user, u32 item_index, v3f point, v3f closest ); void (*item_swap)( void *user, u32 ia, u32 ib ); /* @@ -260,54 +262,127 @@ VG_STATIC int bh_ray( bh_tree *bh, v3f co, v3f dir, ray_hit *hit ) return count; } -VG_STATIC int bh_select( bh_tree *bh, boxf box, u32 *buffer, int len ) +typedef struct bh_iter bh_iter; +struct bh_iter { - if( bh->node_count < 2 ) - return 0; + struct + { + int id, depth; + } + stack[64]; - int count = 0; - u32 stack[100]; - u32 depth = 2; + int depth, i; +}; - stack[0] = 0; - stack[1] = bh->nodes[0].il; - stack[2] = bh->nodes[0].ir; - - while(depth) +VG_STATIC void bh_iter_init( int root, bh_iter *it ) +{ + it->stack[0].id = root; + it->stack[0].depth = 0; + it->depth = 0; + it->i = 0; +} + +VG_STATIC int bh_next( bh_tree *bh, bh_iter *it, boxf box, int *em ) +{ + while( it->depth >= 0 ) { - bh_node *inode = &bh->nodes[ stack[depth] ]; + bh_node *inode = &bh->nodes[ it->stack[it->depth].id ]; + if( box_overlap( inode->bbx, box ) ) { if( inode->count ) { - if( count + inode->count >= len ) - return count; - - for( u32 i=0; icount; i++ ) - buffer[ count ++ ] = inode->start+i; - - depth --; + if( it->i < inode->count ) + { + *em = inode->start+it->i; + it->i ++; + return 1; + } + else + { + it->depth --; + it->i = 0; + } } else { - if( depth+1 >= vg_list_size(stack) ) + if( it->depth+1 >= vg_list_size(it->stack) ) { vg_error( "Maximum stack reached!\n" ); - return count; + return 0; } - stack[depth] = inode->il; - stack[depth+1] = inode->ir; - depth ++; + it->stack[it->depth ].id = inode->il; + it->stack[it->depth+1].id = inode->ir; + it->depth ++; + it->i = 0; } } else { - depth --; + it->depth --; } } - return count; + return 0; +} + +VG_STATIC int bh_closest_point( bh_tree *bh, v3f pos, + v3f closest, float max_dist ) +{ + if( bh->node_count < 2 ) + return -1; + + max_dist = max_dist*max_dist; + + int queue[ 128 ], + depth = 0, + best_item = -1; + + queue[0] = 0; + + while( depth >= 0 ) + { + bh_node *inode = &bh->nodes[ queue[depth] ]; + + v3f p1; + closest_point_aabb( pos, inode->bbx, p1 ); + + /* branch into node if its closer than current best */ + float node_dist = v3_dist2( pos, p1 ); + if( node_dist < max_dist ) + { + if( inode->count ) + { + for( int i=0; icount; i++ ) + { + v3f p2; + bh->system->item_closest( bh->user, inode->start+i, pos, p2 ); + + float item_dist = v3_dist2( pos, p2 ); + if( item_dist < max_dist ) + { + max_dist = item_dist; + v3_copy( p2, closest ); + best_item = inode->start+i; + } + } + + depth --; + } + else + { + queue[depth] = inode->il; + queue[depth+1] = inode->ir; + + depth ++; + } + } + else + depth --; + } + + return best_item; } #endif /* BVH_H */ diff --git a/distq.h b/distq.h new file mode 100644 index 0000000..623010f --- /dev/null +++ b/distq.h @@ -0,0 +1,301 @@ +#ifndef DISTQ_H +#define DISTQ_H + +#include "vg_m.h" + +enum contact_type +{ + k_contact_type_default, + k_contact_type_disabled, + k_contact_type_edge +}; + +/* + * ----------------------------------------------------------------------------- + * Closest point functions + * ----------------------------------------------------------------------------- + */ + +/* + * These closest point tests were learned from Real-Time Collision Detection by + * Christer Ericson + */ +VG_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 ); +} + +VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest ) +{ + v3_maxv( p, box[0], dest ); + v3_minv( dest, box[1], dest ); +} + +VG_STATIC void closest_point_obb( v3f p, boxf box, + m4x3f mtx, m4x3f inv_mtx, v3f dest ) +{ + v3f local; + m4x3_mulv( inv_mtx, p, local ); + closest_point_aabb( local, box, local ); + m4x3_mulv( mtx, local, dest ); +} + +VG_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; +} + +VG_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 ); +} + +VG_STATIC enum contact_type 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 k_contact_type_default; + } + + /* 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 k_contact_type_edge; + } + + /* 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 k_contact_type_edge; + } + + /* 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 k_contact_type_edge; + } + + /* 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 k_contact_type_edge; + } + + /* 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 k_contact_type_edge; + } + + /* 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 ); + + return k_contact_type_default; +} + +#endif /* DISTQ_H */ diff --git a/maps_src/mp_gridmap.mdl b/maps_src/mp_gridmap.mdl index 8b9ce51208db69023f5c3329de300ce2d61c6b87..2b2d2e56f23c3528cf55f2e22dfbfebe2fba881f 100644 GIT binary patch delta 65722 zcmb5%2b@*ay~Xi?nE?@0lwe1(cSQxe4yf1*(V#}75*2$v4R&*}U@s&Fuf4?wE4#2?;4L`MfpjxBu&Z&))l-bI-kl=$mx*vNLa7Zojs+ zXK(J&*48%Wi3k&ybn{(T4(cY1Bo zL=p53?hY45#oj~>k_OSP}xoVHZ^(&6{fIxkZeOiE`S|5h8?{{fkmenJOjxdZ)hntqTim&Pxc~B1ePWJw!|>(X+nb}R z!!(DjlyLY;RX7%pYw=`!RmI&iR%-vKqd8$n)pXsE1b4Lf6+E-WovXJW)a<{yp6;=$ zxBscVIb>M%g3-g$G^WK9@uU_{8I~7JtGIjMTJ2puvzgKBBpcvwO##Kjc zzK=g`)hC9#2d~>cuCw{V+EwSojU0NT)~oQe7Qc@_t+;z&SNrD(oJ(b$j1_&B0q& zodb7H=ir@NQ{quA9*-wf+)qpzZr^&& z9)~xlpVYoukMDH<@}%}ld-fTA*F_I+x%P=&XEZ0D+P++$XRi3#!=qO@vFn-Uj8ofp z&dDD%vAwIa$7apl&uV|H$2r|goZUX4XOBIa!_IAAuE!G1-Op|Rq|Zgmul4XMw;k2> z^X}2-wQt|iJYPT*xWyxA(~I26kt$)9$S{F>Hzr zb>r@l-R<*qx^54pHs+x!pNJ>5cnY4@;`bkF-@5bEo{g?X_ppcCZ~uam_G02sU#wm> z@TKtJmnt5KM^)TCKHT1%&Z`Ef^n}` zFPMz4YVi#GLdD&mh1)NDqv~1at<;CSRq<#%ro|KSq>8(zgxj0bTEY7>6MQN6y#MTDm7M-8u&& zmu8(ztYl4tm(7}{tzI4C{ncA*n!IMZhOb$@ddlkIt19lEv1W&7 zba&@kl{ZJOlkC&AtG-u;g-5MZ9cTPH9d5*Ra^xZFRh7}}wT|4mLAvf(zk0xKJo zQ02om@QRu1=M|rBSXBmY)Oy8?u5^v-s$TK_hT#_~?*6Q+BM-Y=x^n7Vjd18$}sN?g#$;Ka@Y{JpiQLe*xwD=V~ zv*PZ~V>)_w^yzci;!~fRwrZe-BV8P_`FAtSDRB#?dVF|XQy^7-s3CH zffGBH>+$XG4JUT|&gmX@x`mupy?Dl{;o+y_?y;wLJlUhq*gaRCdiGye>^iqO?97fU z)Beht+Rv=oJI@ODKda(lczDI#W6$b1zh{rHH$OY4qr1nn?px38XrH4wZcI++9h0l( zS0;CSl4H%dFs~VRVO6?ra`=UcyFa_Ibtk-XQEGQwl-KpYI6r1y)SBsHGhJNqSUj%c z?#UN-eBvwM#LH6~b9r7c&5uc!SDo*xe%j)JSA+*&q24|6ijJFCYks;*?#b^xTiuiI zKdbZE>Qw`u)A?M*BXRD3Pp9|q%@?i-&vm@)432)G+Rexpz3zo7U*-k9FXHa;FLwMX z&z2XnmT|9D>Ezd{7fgITO+#LlnH|-OIy>{CX^rYdGdlC4t2(RtD;*9{arbAPohx-TuWEf944gB;;5n(+@?|53xX7=HK87p-^Y=Z&t3Tki1StNZrr`u%zntM}Th{lDL7(W-xgBL;Qt z{pE|+yCVHZrvLWy`*!{8ty3Gbz2MVn+e>&~7*^a;UUFTN)-<)yZMlavh7`nk# zdBG8R!K3T<>)NU9^x0nU!y%JLY`5=$U5_0+_q6loUv9&dm;ZX#P1pY9;X#Y^>-y2o zXUx|B@$Tza{V!kBoVHK;S55!D=|6mY->&(d{-@(N|FTi%JOehnYh2f^{XZP~#2&Y8 zbnuM1x>oKuxw+a#or4-%BzW@FUk`mM!TC4!>-zNxXU;ZX?~^VX@$~^8Z?wcNy{B!S z{*x|f8}_~Q4}GX#*NvUC_h0?-q!Aw=^y^veqGC-_z&xA z{%KfepG7*(UAXJOQ@=QTt2Dp%gDGn~lIA~eI9FG%izYVDAJ#elmdX91Yx3RtA5bl} z>|(aXuK)HGBbNT`XB+PN*E6SWn*KdDx@p+!Io=t!^y|9(u;wFUI~N-;GWAP)9Xjmg z)XS!uQ}^#2G;dDR)cb$G+?p@!aoZ#Be}B%dfz6+9)wxt-mAz-K`D9(X_a8P;-HGol zJ#56uIYGzlclorO(5X+1Uf~}7SG_Q2*Yi8h-oMp5BSs9)8Xvp=-D#%$L7(;Rc`5y; 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z(VY8lVCO?sd>ZyoQEVBSOdk%1zAf-Y-keUw<6PC&r|vLvY#EwgU&mN*MVd}Ut^$vP zRXZIzy&PMHCf0`*JQy8_Ts0nhRT~XmEjcF3{{vJ_Cg#zC+oF-kW#(~z)rLctSB@=1 z6YE0@`Y?Yoa$9&DN?mQjXW;IK0k#lLtPw4^Jv}3l`^e*X)!YiVM2;;(^XkKi(4Txq greverse = -vg_signf(vel[2]); float substep = VG_TIMESTEP_FIXED * 0.2f; - -#if 0 - float fwd_resistance = vg_get_button( "break" )? 5.0f: k_friction_resistance; -#else float fwd_resistance = k_friction_resistance; -#endif for( int i=0; i<5; i++ ) { @@ -183,18 +178,6 @@ VG_STATIC void player_physics_control(void) vel[2] -= new_vel * phys->reverse; } - /* Pumping */ - static float previous = 0.0f; - float delta = previous - phys->grab, - pump = delta * k_pump_force * VG_TIMESTEP_FIXED; - previous = phys->grab; - - v3f p1; - v3_muladds( phys->rb.co, phys->rb.up, pump, p1 ); - vg_line( phys->rb.co, p1, 0xff0000ff ); - - vel[1] += pump; - m3x3_mulv( phys->rb.to_world, vel, phys->rb.v ); float input = player.input_js1h->axis.value, @@ -517,6 +500,43 @@ VG_STATIC void player_walk_physics(void) } } +VG_STATIC void player_grind(void) +{ + struct player_phys *phys = &player.phys; + + v3f closest; + int idx = bh_closest_point( world.grind_bh, phys->rb.co, closest, INFINITY ); + if( idx == -1 ) + return; + + struct grind_edge *edge = &world.grind_edges[ idx ]; + + vg_line( phys->rb.co, closest, 0xff000000 ); + vg_line_cross( closest, 0xff000000, 0.3f ); + vg_line( edge->p0, edge->p1, 0xff000000 ); + + return; + + idx = bh_closest_point( world.geo_bh, phys->rb.co, closest, INFINITY ); + vg_line( phys->rb.co, closest, 0xff000000 ); + vg_line_cross( closest, 0xff000000, 0.3f ); + + idx = world.scene_geo->arrindices[ idx * 3 ]; + struct world_material *mat = world_tri_index_material( idx ); + + if( mat->info.flags & k_material_flag_grind_surface ) + { + v3f grind_delta; + v3_sub( closest, phys->rb.co, grind_delta ); + + float p = v3_dot( phys->rb.forward, grind_delta ); + v3_muladds( grind_delta, phys->rb.forward, -p, grind_delta ); + + float a = vg_maxf( 0.0f, 4.0f-v3_dist2( closest, phys->rb.co ) ); + v3_muladds( phys->rb.v, grind_delta, a*0.2f, phys->rb.v ); + } +} + /* * Physics collision detection, and control */ @@ -556,22 +576,33 @@ VG_STATIC void player_physics(void) len_f = rb_sphere_scene( rbf, &world.rb_geo, manifold ); rb_manifold_filter_coplanar( manifold, len_f, 0.05f ); - rb_manifold_filter_pairs( manifold, len_f, 0.05f ); if( len_f > 1 ) + { rb_manifold_filter_backface( manifold, len_f ); + rb_manifold_filter_joint_edges( manifold, len_f, 0.05f ); + rb_manifold_filter_pairs( manifold, len_f, 0.05f ); + } len_f = rb_manifold_apply_filtered( manifold, len_f ); rb_ct *man_b = &manifold[len_f]; len_b = rb_sphere_scene( rbb, &world.rb_geo, man_b ); rb_manifold_filter_coplanar( man_b, len_b, 0.05f ); - rb_manifold_filter_pairs( man_b, len_b, 0.05f ); if( len_b > 1 ) + { rb_manifold_filter_backface( man_b, len_b ); + rb_manifold_filter_joint_edges( man_b, len_b, 0.05f ); + rb_manifold_filter_pairs( man_b, len_b, 0.05f ); + } len_b = rb_manifold_apply_filtered( man_b, len_b ); int len = len_f+len_b; -#if 0 + player_grind(); + + boxf bax; + v3_sub( phys->rb.co, (v3f){2.0f,2.0f,2.0f}, bax[0] ); + v3_add( phys->rb.co, (v3f){2.0f,2.0f,2.0f}, bax[1] ); + /* * Preprocess collision points, and create a surface picture. * we want contacts that are within our 'capsule's internal line to be @@ -592,7 +623,6 @@ VG_STATIC void player_physics(void) v3_normalize( manifold[i].n ); } } -#endif rb_presolve_contacts( manifold, len ); v3f surface_avg = {0.0f, 0.0f, 0.0f}; @@ -683,8 +713,6 @@ VG_STATIC void player_physics(void) if( !phys->in_air ) { - /* 20/10/22: make this only go axisways instead, may effect velocities. */ - v3f projected, axis; float d = v3_dot( phys->rb.forward, surface_avg ); diff --git a/rigidbody.h b/rigidbody.h index 2e66fe6..16d38ea 100644 --- a/rigidbody.h +++ b/rigidbody.h @@ -10,6 +10,7 @@ #include "common.h" #include "bvh.h" #include "scene.h" +#include "distq.h" VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ); VG_STATIC bh_system bh_system_rigidbodies; @@ -103,7 +104,8 @@ VG_STATIC struct contact normal_mass, tangent_mass[2]; u32 element_id; - int disabled; + + enum contact_type type; } rb_contact_buffer[256]; VG_STATIC int rb_contact_count = 0; @@ -148,7 +150,7 @@ VG_STATIC void rb_tangent_basis( v3f n, v3f tx, v3f ty ) VG_STATIC void rb_debug_contact( rb_ct *ct ) { - if( !ct->disabled ) + if( ct->type != k_contact_type_disabled ) { v3f p1; v3_muladds( ct->co, ct->n, 0.1f, p1 ); @@ -469,290 +471,6 @@ VG_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 - */ -VG_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 ); -} - -VG_STATIC void closest_point_aabb( v3f p, boxf box, v3f dest ) -{ - v3_maxv( p, box[0], dest ); - v3_minv( dest, box[1], dest ); -} - -VG_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 ); -} - -VG_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; -} - -VG_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 ); -} - -VG_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 ); -} /* * ----------------------------------------------------------------------------- @@ -850,7 +568,7 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ) { rb_ct *ct = &man[i]; - if( ct->disabled ) + if( ct->type == k_contact_type_disabled ) continue; man[k ++] = man[i]; @@ -859,6 +577,52 @@ VG_STATIC int rb_manifold_apply_filtered( rb_ct *man, int len ) return k; } +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; + + 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 ); + } + } + } + } +} + /* * Resolve overlapping pairs */ @@ -869,17 +633,17 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ) rb_ct *ci = &man[i]; int similar = 0; - if( ci->disabled ) continue; + if( ci->type == k_contact_type_disabled ) continue; for( int j=i+1; jdisabled ) continue; + if( cj->type == k_contact_type_disabled ) continue; if( v3_dist2( ci->co, cj->co ) < r*r ) { - cj->disabled = 1; + cj->type = k_contact_type_disabled; v3_add( cj->n, ci->n, ci->n ); ci->p += cj->p; similar ++; @@ -893,7 +657,7 @@ VG_STATIC void rb_manifold_filter_pairs( rb_ct *man, int len, float r ) ci->p *= n; if( v3_length2(ci->n) < 0.1f*0.1f ) - ci->disabled = 1; + ci->type = k_contact_type_disabled; else v3_normalize( ci->n ); } @@ -908,13 +672,14 @@ VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ) for( int i=0; idisabled ) continue; + if( ct->type == k_contact_type_disabled ) + continue; v3f delta; v3_sub( ct->co, ct->rba->co, delta ); if( v3_dot( delta, ct->n ) > -0.001f ) - ct->disabled = 1; + ct->type = k_contact_type_disabled; } } @@ -923,23 +688,31 @@ VG_STATIC void rb_manifold_filter_backface( rb_ct *man, int len ) */ VG_STATIC void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ) { - for( int i=0; idisabled ) continue; + if( ci->type == k_contact_type_disabled || + ci->type == k_contact_type_edge ) + continue; float d1 = v3_dot( ci->co, ci->n ); - for( int j=i+1; jdisabled ) continue; + if( cj->type == k_contact_type_disabled ) + continue; float d2 = v3_dot( cj->co, ci->n ), d = d2-d1; if( fabsf( d ) <= w ) - cj->disabled = 1; + { + cj->type = k_contact_type_disabled; + } } } } @@ -1038,7 +811,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, ct->p = manifold->r0 - d; ct->rba = rba; ct->rbb = rbb; - ct->disabled = 0; + ct->type = k_contact_type_default; count ++; } @@ -1058,7 +831,7 @@ VG_STATIC int rb_capsule_manifold_done( rigidbody *rba, rigidbody *rbb, ct->p = manifold->r1 - d; ct->rba = rba; ct->rbb = rbb; - ct->disabled = 0; + ct->type = k_contact_type_default; count ++; } @@ -1106,7 +879,7 @@ VG_STATIC int rb_capsule_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) ct->rba = rba; ct->rbb = rbb; - ct->disabled = 0; + ct->type = k_contact_type_default; return 1; } @@ -1280,7 +1053,7 @@ 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), @@ -1327,7 +1100,7 @@ VG_STATIC int rb_sphere_box( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) ct->rba = rba; ct->rbb = rbb; - ct->disabled = 0; + ct->type = k_contact_type_default; return 1; } @@ -1354,7 +1127,7 @@ VG_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->disabled = 0; + ct->type = k_contact_type_default; ct->p = r-d; ct->rba = rba; ct->rbb = rbb; @@ -1364,7 +1137,7 @@ VG_STATIC int rb_sphere_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) return 0; } -#define RIGIDBODY_DYNAMIC_MESH_EDGES +//#define RIGIDBODY_DYNAMIC_MESH_EDGES VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, v3f tri[3], rb_ct *buf ) @@ -1372,16 +1145,13 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, v3f delta, co; #ifdef RIGIDBODY_DYNAMIC_MESH_EDGES - closest_on_triangle( rba->co, tri, co ); -#else closest_on_triangle_1( rba->co, tri, co ); +#else + enum contact_type type = closest_on_triangle_1( rba->co, tri, co ); #endif v3_sub( rba->co, co, delta ); - vg_line( rba->co, co, 0xffff0000 ); - vg_line_pt3( rba->co, 0.1f, 0xff00ffff ); - float d2 = v3_length2( delta ), r = rba->inf.sphere.radius; @@ -1399,7 +1169,7 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, float d = sqrtf(d2); v3_copy( co, ct->co ); - ct->disabled = 0; + ct->type = type; ct->p = r-d; ct->rba = rba; ct->rbb = rbb; @@ -1409,213 +1179,135 @@ VG_STATIC int rb_sphere_triangle( rigidbody *rba, rigidbody *rbb, return 0; } -VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) -{ - scene *sc = rbb->inf.scene.bh_scene->user; - - u32 geo[128]; - int len = bh_select( rbb->inf.scene.bh_scene, rba->bbx_world, geo, 128 ); - int count = 0; - -#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES - /* !experimental! build edge array on the fly. time could be improved! */ +VG_STATIC void rb_debug_sharp_scene_edges( rigidbody *rbb, float sharp_ang, + boxf box, u32 colour ) +{ + sharp_ang = cosf( sharp_ang ); - v3f co_picture[128*3]; - int unique_cos = 0; + scene *sc = rbb->inf.scene.bh_scene->user; + vg_line_boxf( box, 0xff00ff00 ); - struct face_info + bh_iter it; + bh_iter_init( 0, &it ); + int idx; + + while( bh_next( rbb->inf.scene.bh_scene, &it, box, &idx ) ) { - int unique_cos[3]; /* indexes co_picture array */ - int collided; - v3f normal; - u32 element_id; - } - faces[128]; + u32 *ptri = &sc->arrindices[ idx*3 ]; + v3f tri[3]; - /* create geometry picture */ - for( int i=0; iarrindices[ geo[i]*3 ]; - struct face_info *inf = &faces[i]; - inf->element_id = tri_indices[0]; - inf->collided = 0; + for( int j=0; j<3; j++ ) + v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); for( int j=0; j<3; j++ ) { - struct mdl_vert *pvert = &sc->arrvertices[tri_indices[j]]; - - for( int k=0; kco, co_picture[k] ) < 0.01f*0.01f ) - { - inf->unique_cos[j] = k; - goto next_vert; - } - } - - inf->unique_cos[j] = unique_cos; - v3_copy( pvert->co, co_picture[ unique_cos ++ ] ); -next_vert:; - } +#if 0 + v3f edir; + v3_sub( tri[(j+1)%3], tri[j], edir ); - v3f ab, ac; - v3_sub( co_picture[inf->unique_cos[2]], - co_picture[inf->unique_cos[0]], ab ); + if( v3_dot( edir, (v3f){ 0.5184758473652127f, + 0.2073903389460850f, + -0.8295613557843402f } ) < 0.0f ) + continue; +#endif - v3_sub( co_picture[inf->unique_cos[1]], - co_picture[inf->unique_cos[0]], ac ); - v3_cross( ac, ab, inf->normal ); - v3_normalize( inf->normal ); - } + 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] ); - /* build edges brute force */ - int edge_picture[ 128*3 ][4]; - int unique_edges = 0; + int jdx; + while( bh_next( rbb->inf.scene.bh_scene, &jt, region, &jdx ) ) + { + if( idx <= jdx ) + continue; - for( int i=0; iunique_cos[i0], inf->unique_cos[i1] ), - e1 = VG_MAX( inf->unique_cos[i0], inf->unique_cos[i1] ), - matched = 0; + u32 *ptrj = &sc->arrindices[ jdx*3 ]; + v3f trj[3]; - for( int k=0; karrvertices[ptrj[k]].co, trj[k] ); - /* matched ! */ - if( (k0 == e0) && (k1 == e1) ) + for( int k=0; k<3; k++ ) { - edge_picture[ k ][3] = i; - matched = 1; - break; + 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 + } + } + } } } - - if( !matched ) - { - /* create new edge */ - edge_picture[ unique_edges ][0] = inf->unique_cos[i0]; - edge_picture[ unique_edges ][1] = inf->unique_cos[i1]; - - edge_picture[ unique_edges ][2] = i; - edge_picture[ unique_edges ][3] = -1; - - unique_edges ++; - } } } -#endif - - v3f tri[3]; - - for( int i=0; iunique_cos[0]], - *v1 = co_picture[inf->unique_cos[1]], - *v2 = co_picture[inf->unique_cos[2]]; +VG_STATIC int rb_sphere_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) +{ + scene *sc = rbb->inf.scene.bh_scene->user; - v3_copy( v0, tri[0] ); - v3_copy( v1, tri[1] ); - v3_copy( v2, tri[2] ); + bh_iter it; + bh_iter_init( 0, &it ); + int idx; - buf[count].element_id = inf->element_id; -#else - u32 *ptri = &sc->arrindices[ geo[i]*3 ]; + 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]; -#endif + buf[ count ].element_id = ptri[0]; - vg_line( tri[0],tri[1],0x10ffffff ); - vg_line( tri[1],tri[2],0x10ffffff ); - vg_line( tri[2],tri[0],0x10ffffff ); + 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 ); - -#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES - if( contact ) - inf->collided = 1; -#endif count += contact; - if( count == 12 ) + if( count == 16 ) { vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); return count; } } -#ifdef RIGIDBODY_DYNAMIC_MESH_EDGES - for( int i=0; icollided || inf_j->collided ) - continue; - - v3f co, delta; - closest_point_segment( co_picture[edge[0]], co_picture[edge[1]], - rba->co, co ); - - v3_sub( rba->co, co, delta ); - float d2 = v3_length2( delta ), - r = rba->inf.sphere.radius; - - if( d2 < r*r ) - { - float d = sqrtf(d2); - - v3_muls( delta, 1.0f/d, delta ); - float c0 = v3_dot( inf_i->normal, delta ), - c1 = v3_dot( inf_j->normal, delta ); - - if( c0 < 0.0f || c1 < 0.0f ) - continue; - - rb_ct *ct = buf+count; - - v3_muls( inf_i->normal, c0, ct->n ); - v3_muladds( ct->n, inf_j->normal, c1, ct->n ); - v3_normalize( ct->n ); - - v3_copy( co, ct->co ); - ct->disabled = 0; - ct->p = r-d; - ct->rba = rba; - ct->rbb = rbb; - ct->element_id = inf_i->element_id; - - count ++; - - if( count == 12 ) - { - vg_warn( "Geometry too dense!\n" ); - return count; - } - } - } -#endif - return count; } @@ -1623,15 +1315,17 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) { scene *sc = rbb->inf.scene.bh_scene->user; - u32 geo[128]; v3f tri[3]; - int len = bh_select( rbb->inf.scene.bh_scene, 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->arrindices[ geo[i]*3 ]; + u32 *ptri = &sc->arrindices[ idx*3 ]; for( int j=0; j<3; j++ ) v3_copy( sc->arrvertices[ptri[j]].co, tri[j] ); @@ -1748,7 +1442,7 @@ VG_STATIC int rb_box_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf ) if( ct->p < 0.0f ) continue; - ct->disabled = 0; + ct->type = k_contact_type_default; ct->rba = rba; ct->rbb = rbb; count ++; @@ -1854,7 +1548,9 @@ VG_STATIC void rb_presolve_contacts( rb_ct *buffer, int len ) ct->bias = -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] ); - ct->disabled = 0; +#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; diff --git a/scene.h b/scene.h index 5d43687..7fc29f3 100644 --- a/scene.h +++ b/scene.h @@ -4,6 +4,7 @@ #include "common.h" #include "model.h" #include "bvh.h" +#include "distq.h" typedef struct scene scene; @@ -100,6 +101,10 @@ VG_STATIC void scene_add_submesh( scene *pscene, mdl_context *mdl, pvert->colour[1] = src->colour[1]; pvert->colour[2] = src->colour[2]; pvert->colour[3] = src->colour[3]; + pvert->weights[0] = src->weights[0]; + pvert->weights[1] = src->weights[1]; + pvert->weights[2] = src->weights[2]; + pvert->weights[3] = src->weights[3]; v2_copy( src->uv, pvert->uv ); } @@ -296,10 +301,23 @@ VG_STATIC int scene_bh_ray( void *user, u32 index, v3f co, return 0; } +VG_STATIC void scene_bh_closest( void *user, u32 index, v3f point, v3f closest ) +{ + scene *s = user; + + v3f positions[3]; + u32 *tri = &s->arrindices[ index*3 ]; + for( int i=0; i<3; i++ ) + v3_copy( s->arrvertices[tri[i]].co, positions[i] ); + + closest_on_triangle_1( point, positions, closest ); +} + VG_STATIC bh_system bh_system_scene = { .expand_bound = scene_bh_expand_bound, .item_centroid = scene_bh_centroid, + .item_closest = scene_bh_closest, .item_swap = scene_bh_swap, .item_debug = scene_bh_debug, .cast_ray = scene_bh_ray diff --git a/world.h b/world.h index a92591e..bf58144 100644 --- a/world.h +++ b/world.h @@ -306,10 +306,18 @@ VG_STATIC struct gworld *scene_no_collide, *scene_lines; + struct grind_edge + { + v3f p0, p1; + } + *grind_edges; + u32 grind_edge_count; + /* spacial mappings */ bh_tree *audio_bh, *trigger_bh, - *geo_bh; + *geo_bh, + *grind_bh; /* graphics */ glmesh mesh_route_lines; diff --git a/world_gen.h b/world_gen.h index 147c9af..96928b6 100644 --- a/world_gen.h +++ b/world_gen.h @@ -306,6 +306,102 @@ VG_STATIC void world_entities_process(void) } } +VG_STATIC void edge_bh_expand_bound( void *user, boxf bound, u32 item_index ) +{ + struct grind_edge *edge_array = user, + *edge = &edge_array[ item_index ]; + + box_addpt( bound, edge->p0 ); + box_addpt( bound, edge->p1 ); +} + +VG_STATIC float edge_bh_centroid( void *user, u32 item_index, int axis ) +{ + struct grind_edge *edge_array = user, + *edge = &edge_array[ item_index ]; + + return (edge->p0[axis] + edge->p1[axis]) * 0.5f; +} + +VG_STATIC void edge_bh_swap( void *user, u32 ia, u32 ib ) +{ + struct grind_edge *edge_array = user, + *e0 = &edge_array[ ia ], + *e1 = &edge_array[ ib ], + et; + et = *e0; + *e0 = *e1; + *e1 = et; +} + +VG_STATIC void edge_bh_closest( void *user, u32 index, v3f point, v3f closest ) +{ + struct grind_edge *edge_array = user, + *edge = &edge_array[ index ]; + + closest_point_segment( edge->p0, edge->p1, point, closest ); +} + +VG_STATIC bh_system bh_system_edges = +{ + .expand_bound = edge_bh_expand_bound, + .item_centroid = edge_bh_centroid, + .item_closest = edge_bh_closest, + .item_swap = edge_bh_swap, + .item_debug = NULL, + .cast_ray = NULL +}; + +VG_STATIC void world_generate_edges(void) +{ + vg_info( "Generating edge array\n" ); + world.grind_edges = vg_linear_alloc( world.dynamic_vgl, + 5000*sizeof(struct grind_edge ) ); + world.grind_edge_count = 0; + + u32 fs_count = 0; + for( u32 i=0; ivertex_count; i++ ) + if( world.scene_geo->arrvertices[i].weights[0] ) + fs_count ++; + + vg_info( "Grind verts: %u\n", fs_count ); + + for( u32 i=0; iindice_count/3; i++ ) + { + u32 *ptri = &world.scene_geo->arrindices[ i*3 ]; + + for( int j=0; j<3; j++ ) + { + u32 i0 = ptri[j], + i1 = ptri[(j+1)%3]; + + mdl_vert *v0 = &world.scene_geo->arrvertices[ i0 ], + *v1 = &world.scene_geo->arrvertices[ i1 ]; + + if( v0->weights[0] ) + { + if( world.grind_edge_count == 5000 ) + vg_fatal_exit_loop( "Edge capacity exceeded" ); + + struct grind_edge *ge = + &world.grind_edges[ world.grind_edge_count ++ ]; + + v3_copy( v0->co, ge->p0 ); + v3_copy( v1->co, ge->p1 ); + } + } + } + + vg_info( "Grind edge count: %u\n", world.grind_edge_count ); + + world.grind_edges = vg_linear_resize( world.dynamic_vgl, world.grind_edges, + world.grind_edge_count*sizeof(struct grind_edge) ); + + world.grind_bh = bh_create( world.dynamic_vgl, &bh_system_edges, + world.grind_edges, world.grind_edge_count, + 2 ); +} + VG_STATIC void world_generate(void) { /* @@ -397,6 +493,8 @@ VG_STATIC void world_generate(void) vg_linear_del( world.dynamic_vgl, world.scene_no_collide ); world.scene_no_collide = NULL; + + world_generate_edges(); } VG_STATIC int reset_player( int argc, char const *argv[] ); @@ -600,7 +698,10 @@ VG_STATIC void world_unload(void) world.scene_geo = NULL; world.scene_no_collide = NULL; world.scene_lines = NULL; + world.grind_edges = NULL; + world.grind_edge_count = 0; + world.grind_bh = NULL; world.geo_bh = NULL; world.trigger_bh = NULL; world.audio_bh = NULL; -- 2.25.1