From ffc664de040aab29a4fbeec14307996d8e9ae2ec Mon Sep 17 00:00:00 2001 From: hgn Date: Wed, 24 Jan 2024 09:26:36 +0000 Subject: [PATCH] move rigidbody to vg --- player_glide.c | 13 +- player_model.h | 1 - player_ragdoll.c | 9 +- player_ragdoll.h | 14 +- player_skate.c | 4 +- player_walk.c | 11 +- player_walk.h | 2 +- rigidbody.h | 1939 --------------------------------------------- scene_rigidbody.h | 247 ++++++ skaterift.c | 2 +- testing.c | 5 +- vehicle.h | 2 +- world_physics.h | 3 +- world_routes.c | 12 +- world_sfd.h | 1 + 15 files changed, 294 insertions(+), 1971 deletions(-) delete mode 100644 rigidbody.h create mode 100644 scene_rigidbody.h diff --git a/player_glide.c b/player_glide.c index 3091e57..c8c3858 100644 --- a/player_glide.c +++ b/player_glide.c @@ -4,6 +4,9 @@ #include "player_glide.h" #include "input.h" +#include "vg/vg_rigidbody.h" +#include "scene_rigidbody.h" + static f32 k_glide_steer = 2.0f, k_glide_cl = 0.04f, k_glide_cs = 0.02f, @@ -267,9 +270,9 @@ static void player_glide_bind(void){ mass += pm; m3x3f pI; - rb_capsule_inertia( r, h, pm, pI ); - rb_rotate_inertia( pI, player_glide.parts[i].mdl ); - rb_translate_inertia( pI, pm, player_glide.parts[i].co ); + vg_capsule_inertia( r, h, pm, pI ); + vg_rotate_inertia( pI, player_glide.parts[i].mdl ); + vg_translate_inertia( pI, pm, player_glide.parts[i].co ); m3x3_add( I, pI, I ); } else if( player_glide.parts[i].shape == k_rb_shape_sphere ){ @@ -279,8 +282,8 @@ static void player_glide_bind(void){ mass += pm; m3x3f pI; - rb_sphere_inertia( r, pm, pI ); - rb_translate_inertia( pI, pm, player_glide.parts[i].co ); + vg_sphere_inertia( r, pm, pI ); + vg_translate_inertia( pI, pm, player_glide.parts[i].co ); m3x3_add( I, pI, I ); } } diff --git a/player_model.h b/player_model.h index 1d462f6..576109c 100644 --- a/player_model.h +++ b/player_model.h @@ -11,7 +11,6 @@ #include "model.h" #include "skeleton.h" #include "player_ragdoll.h" -#include "rigidbody.h" #include "shaders/model_character_view.h" diff --git a/player_ragdoll.c b/player_ragdoll.c index 093b86f..6dc171d 100644 --- a/player_ragdoll.c +++ b/player_ragdoll.c @@ -1,5 +1,8 @@ -#ifndef PLAYER_RAGDOLL_C -#define PLAYER_RAGDOLL_C +#pragma once +#include "vg/vg_rigidbody.h" +#include "vg/vg_rigidbody_collision.h" +#include "vg/vg_rigidbody_constraints.h" +#include "scene_rigidbody.h" #include "player.h" #include "audio.h" @@ -602,5 +605,3 @@ static void player_ragdoll_iter( struct player_ragdoll *rd ){ audio_unlock(); } } - -#endif /* PLAYER_RAGDOLL_C */ diff --git a/player_ragdoll.h b/player_ragdoll.h index 77118f1..25b6fad 100644 --- a/player_ragdoll.h +++ b/player_ragdoll.h @@ -1,9 +1,15 @@ -#ifndef PLAYER_RAGDOLL_H -#define PLAYER_RAGDOLL_H +#pragma once + +/* + * Copyright (C) 2021-2024 Mt.ZERO Software - All Rights Reserved + * + * Ragdoll system + */ #include "player_api.h" #include "skeleton.h" -#include "rigidbody.h" +#include "vg/vg_rigidbody.h" +#include "vg/vg_rigidbody_constraints.h" #include "player_render.h" struct player_ragdoll{ @@ -78,5 +84,3 @@ static void copy_localplayer_to_ragdoll( struct player_ragdoll *rd, static void player_debug_ragdoll(void); static void player_ragdoll_iter( struct player_ragdoll *rd ); - -#endif /* PLAYER_RAGDOLL_H */ diff --git a/player_skate.c b/player_skate.c index 0cd5e35..c6ed4e0 100644 --- a/player_skate.c +++ b/player_skate.c @@ -9,6 +9,8 @@ #include "addon.h" #include "ent_tornado.c" +#include "vg/vg_rigidbody.h" +#include "scene_rigidbody.h" static void player__skate_bind(void){ struct skeleton *sk = &localplayer.skeleton; @@ -2606,7 +2608,7 @@ begin_collision:; * regular dance; calculate velocity & total mass, apply impulse. */ - struct contact *ct = &manifold[i]; + rb_ct *ct = &manifold[i]; v3f rv, delta; v3_sub( ct->co, world_cog, delta ); diff --git a/player_walk.c b/player_walk.c index 6b0def6..87bb9ca 100644 --- a/player_walk.c +++ b/player_walk.c @@ -1,5 +1,7 @@ -#ifndef PLAYER_WALK_C -#define PLAYER_WALK_C +#pragma once + +#include "vg/vg_rigidbody_collision.h" +#include "scene_rigidbody.h" #include "player.h" #include "input.h" @@ -489,7 +491,7 @@ static void player_walk_update_generic(void){ w->surface = k_surface_prop_concrete; for( int i=0; in ) ){ @@ -562,7 +564,7 @@ static void player_walk_update_generic(void){ */ for( int j=0; j<5; j++ ){ for( int i=0; in ); @@ -1181,4 +1183,3 @@ static void player__walk_sfx_oneshot( u8 id, v3f pos, f32 volume ){ audio_unlock(); } -#endif /* PLAYER_DEVICE_WALK_H */ diff --git a/player_walk.h b/player_walk.h index 1cab8eb..95ce2a0 100644 --- a/player_walk.h +++ b/player_walk.h @@ -3,7 +3,7 @@ #include "player.h" #include "player_api.h" -#include "rigidbody.h" +#include "vg/vg_rigidbody.h" #define PLAYER_JUMP_EPSILON 0.1 /* 100ms jump allowance */ diff --git a/rigidbody.h b/rigidbody.h deleted file mode 100644 index 75139e0..0000000 --- a/rigidbody.h +++ /dev/null @@ -1,1939 +0,0 @@ -/* - * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved - */ - -/* - * Resources: Box2D - Erin Catto - * qu3e - Randy Gaul - */ - -#include "vg/vg_console.h" -#include "bvh.h" -#include "scene.h" - -#include - -#ifndef RIGIDBODY_H -#define RIGIDBODY_H - -/* - * ----------------------------------------------------------------------------- - * (K)onstants - * ----------------------------------------------------------------------------- - */ - -static const float - k_rb_rate = (1.0/VG_TIMESTEP_FIXED), - k_rb_delta = (1.0/k_rb_rate), - k_friction = 0.4f, - k_damp_linear = 0.1f, /* scale velocity 1/(1+x) */ - k_damp_angular = 0.1f, /* scale angular 1/(1+x) */ - k_penetration_slop = 0.01f, - k_inertia_scale = 4.0f, - k_phys_baumgarte = 0.2f, - k_gravity = 9.6f, - k_rb_density = 8.0f; - -static float - k_limit_bias = 0.02f, - k_joint_correction = 0.01f, - k_joint_impulse = 1.0f, - k_joint_bias = 0.08f; /* positional joints */ - -static void rb_register_cvar(void){ - VG_VAR_F32( k_limit_bias, flags=VG_VAR_CHEAT ); - VG_VAR_F32( k_joint_bias, flags=VG_VAR_CHEAT ); - VG_VAR_F32( k_joint_correction, flags=VG_VAR_CHEAT ); - VG_VAR_F32( k_joint_impulse, flags=VG_VAR_CHEAT ); -} - -enum rb_shape { - k_rb_shape_none = 0, - k_rb_shape_box = 1, - k_rb_shape_sphere = 2, - k_rb_shape_capsule = 3, -}; - -/* - * ----------------------------------------------------------------------------- - * structure definitions - * ----------------------------------------------------------------------------- - */ - -typedef struct rigidbody rigidbody; -typedef struct contact rb_ct; -typedef struct rb_capsule rb_capsule; - -struct rb_capsule{ - f32 h, r; -}; - -struct rigidbody{ - v3f co, v, w; - v4f q; - - f32 inv_mass; - - m3x3f iI, iIw; /* inertia model and inverse world tensor */ - m4x3f to_world, to_local; -}; - -static struct contact{ - rigidbody *rba, *rbb; - v3f co, n; - v3f t[2]; - float p, bias, norm_impulse, tangent_impulse[2], - normal_mass, tangent_mass[2]; - - u32 element_id; - - enum contact_type type; -} -rb_contact_buffer[256]; -static int rb_contact_count = 0; - -typedef struct rb_constr_pos rb_constr_pos; -typedef struct rb_constr_swingtwist rb_constr_swingtwist; - -struct rb_constr_pos{ - rigidbody *rba, *rbb; - v3f lca, lcb; -}; - -struct rb_constr_swingtwist{ - rigidbody *rba, *rbb; - - v4f conevx, conevy; /* relative to rba */ - v3f view_offset, /* relative to rba */ - coneva, conevxb;/* relative to rbb */ - - int tangent_violation, axis_violation; - v3f axis, tangent_axis, tangent_target, axis_target; - - float conet; - float tangent_mass, axis_mass; - - f32 conv_tangent, conv_axis; -}; - -/* - * ----------------------------------------------------------------------------- - * Debugging - * ----------------------------------------------------------------------------- - */ - -static void rb_debug_contact( rb_ct *ct ){ - v3f p1; - v3_muladds( ct->co, ct->n, 0.05f, p1 ); - - if( ct->type == k_contact_type_default ){ - vg_line_point( ct->co, 0.0125f, 0xff0000ff ); - vg_line( ct->co, p1, 0xffffffff ); - } - else if( ct->type == k_contact_type_edge ){ - vg_line_point( ct->co, 0.0125f, 0xff00ffc0 ); - vg_line( ct->co, p1, 0xffffffff ); - } -} - -/* - * ----------------------------------------------------------------------------- - * Integration - * ----------------------------------------------------------------------------- - */ - -/* - * Update ALL matrices and tensors on rigidbody - */ -static void rb_update_matrices( rigidbody *rb ){ - //q_normalize( rb->q ); - q_m3x3( rb->q, rb->to_world ); - v3_copy( rb->co, rb->to_world[3] ); - m4x3_invert_affine( rb->to_world, rb->to_local ); - - /* I = R I_0 R^T */ - m3x3_mul( rb->to_world, rb->iI, rb->iIw ); - m3x3_mul( rb->iIw, rb->to_local, rb->iIw ); -} - -/* - * Extrapolate rigidbody into a transform based on vg accumulator. - * Useful for rendering - */ -static void rb_extrapolate( rigidbody *rb, v3f co, v4f q ){ - float substep = vg.time_fixed_extrapolate; - 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 ); - } -} - -/* - * Inertia - * ----------------------------------------------------------------------------- - */ - -/* - * Translate existing inertia tensor - */ -static void rb_translate_inertia( m3x3f inout_inertia, f32 mass, v3f d ){ - /* - * I = I_0 + m*[(d.d)E_3 - d(X)d] - * - * I: updated tensor - * I_0: original tensor - * m: scalar mass - * d: translation vector - * (X): outer product - * E_3: identity matrix - */ - m3x3f t, outer, scale; - m3x3_diagonal( t, v3_dot(d,d) ); - m3x3_outer_product( outer, d, d ); - m3x3_sub( t, outer, t ); - m3x3_diagonal( scale, mass ); - m3x3_mul( scale, t, t ); - m3x3_add( inout_inertia, t, inout_inertia ); -} - -/* - * Rotate existing inertia tensor - */ -static void rb_rotate_inertia( m3x3f inout_inertia, m3x3f rotation ){ - /* - * I = R I_0 R^T - * - * I: updated tensor - * I_0: original tensor - * R: rotation matrix - * R^T: tranposed rotation matrix - */ - - m3x3f Rt; - m3x3_transpose( rotation, Rt ); - m3x3_mul( rotation, inout_inertia, inout_inertia ); - m3x3_mul( inout_inertia, Rt, inout_inertia ); -} -/* - * Create inertia tensor for box - */ -static void rb_box_inertia( boxf box, f32 mass, m3x3f out_inertia ){ - v3f e, com; - v3_sub( box[1], box[0], e ); - v3_muladds( box[0], e, 0.5f, com ); - - f32 ex2 = e[0]*e[0], - ey2 = e[1]*e[1], - ez2 = e[2]*e[2], - ix = (ey2+ez2) * mass * (1.0f/12.0f), - iy = (ex2+ez2) * mass * (1.0f/12.0f), - iz = (ex2+ey2) * mass * (1.0f/12.0f); - - m3x3_identity( out_inertia ); - m3x3_setdiagonalv3( out_inertia, (v3f){ ix, iy, iz } ); - rb_translate_inertia( out_inertia, mass, com ); -} - -/* - * Create inertia tensor for sphere - */ -static void rb_sphere_inertia( f32 r, f32 mass, m3x3f out_inertia ){ - f32 ixyz = r*r * mass * (2.0f/5.0f); - - m3x3_identity( out_inertia ); - m3x3_setdiagonalv3( out_inertia, (v3f){ ixyz, ixyz, ixyz } ); -} - -/* - * Create inertia tensor for capsule - * - * TODO: UNTESTED - */ -static void rb_capsule_inertia( f32 r, f32 h, f32 mass, m3x3f out_inertia ){ - f32 density = mass / vg_capsule_volume( r, h ), - ch = h-r*2.0f, /* cylinder height */ - cm = VG_PIf * ch*r*r * density, /* cylinder mass */ - hm = VG_TAUf * (1.0f/3.0f) * r*r*r * density, /* hemisphere mass */ - - iy = r*r*cm * 0.5f, - ixz = iy * 0.5f + cm*ch*ch*(1.0f/12.0f), - - aux0= (hm*2.0f*r*r)/5.0f; - - iy += aux0 * 2.0f; - - f32 aux1= ch*0.5f, - aux2= aux0 + hm*(aux1*aux1 + 3.0f*(1.0f/8.0f)*ch*r); - - ixz += aux2*2.0f; - - m3x3_identity( out_inertia ); - m3x3_setdiagonalv3( out_inertia, (v3f){ ixz, iy, ixz } ); -} - -static void rb_setbody_capsule( rigidbody *rb, f32 r, f32 h, - f32 density, f32 inertia_scale ){ - f32 vol = vg_capsule_volume( r, h ), - mass = vol*density; - - rb->inv_mass = 1.0f/mass; - - m3x3f I; - rb_capsule_inertia( r, h, mass * inertia_scale, I ); - m3x3_inv( I, rb->iI ); -} - -static void rb_setbody_box( rigidbody *rb, boxf box, - f32 density, f32 inertia_scale ){ - f32 vol = vg_box_volume( box ), - mass = vol*density; - - rb->inv_mass = 1.0f/mass; - - m3x3f I; - rb_box_inertia( box, mass * inertia_scale, I ); - m3x3_inv( I, rb->iI ); -} - -static void rb_setbody_sphere( rigidbody *rb, f32 r, - f32 density, f32 inertia_scale ){ - f32 vol = vg_sphere_volume( r ), - mass = vol*density; - - rb->inv_mass = 1.0f/mass; - m3x3f I; - rb_sphere_inertia( r, mass * inertia_scale, I ); - m3x3_inv( I, rb->iI ); -} - -static void rb_iter( rigidbody *rb ){ - if( !vg_validf( rb->v[0] ) || - !vg_validf( rb->v[1] ) || - !vg_validf( rb->v[2] ) ) - { - vg_fatal_error( "NaN velocity" ); - } - - v3f gravity = { 0.0f, -9.8f, 0.0f }; - v3_muladds( rb->v, gravity, k_rb_delta, rb->v ); - - /* intergrate velocity */ - v3_muladds( rb->co, rb->v, k_rb_delta, rb->co ); - v3_lerp( rb->w, (v3f){0.0f,0.0f,0.0f}, 0.0025f, rb->w ); - - /* inegrate inertia */ - 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 ); - q_mul( rotation, rb->q, rb->q ); - q_normalize( rb->q ); - } -} - -/* - * ----------------------------------------------------------------------------- - * Boolean shape overlap functions - * ----------------------------------------------------------------------------- - */ - -/* - * Project AABB, and triangle interval onto axis to check if they overlap - */ -static int rb_box_triangle_interval( v3f extent, v3f axis, v3f tri[3] ){ - float - - r = extent[0] * fabsf(axis[0]) + - extent[1] * fabsf(axis[1]) + - extent[2] * fabsf(axis[2]), - - p0 = v3_dot( axis, tri[0] ), - p1 = v3_dot( axis, tri[1] ), - p2 = v3_dot( axis, tri[2] ), - - e = vg_maxf(-vg_maxf(p0,vg_maxf(p1,p2)), vg_minf(p0,vg_minf(p1,p2))); - - if( e > r ) return 0; - else return 1; -} - -/* - * Seperating axis test box vs triangle - */ -static int rb_box_triangle_sat( v3f extent, v3f center, - m4x3f to_local, v3f tri_src[3] ){ - v3f tri[3]; - - for( int i=0; i<3; i++ ){ - m4x3_mulv( to_local, tri_src[i], tri[i] ); - v3_sub( tri[i], center, tri[i] ); - } - - v3f f0,f1,f2,n; - v3_sub( tri[1], tri[0], f0 ); - v3_sub( tri[2], tri[1], f1 ); - v3_sub( tri[0], tri[2], f2 ); - - - v3f axis[9]; - v3_cross( (v3f){1.0f,0.0f,0.0f}, f0, axis[0] ); - v3_cross( (v3f){1.0f,0.0f,0.0f}, f1, axis[1] ); - v3_cross( (v3f){1.0f,0.0f,0.0f}, f2, axis[2] ); - v3_cross( (v3f){0.0f,1.0f,0.0f}, f0, axis[3] ); - v3_cross( (v3f){0.0f,1.0f,0.0f}, f1, axis[4] ); - v3_cross( (v3f){0.0f,1.0f,0.0f}, f2, axis[5] ); - v3_cross( (v3f){0.0f,0.0f,1.0f}, f0, axis[6] ); - v3_cross( (v3f){0.0f,0.0f,1.0f}, f1, axis[7] ); - v3_cross( (v3f){0.0f,0.0f,1.0f}, f2, axis[8] ); - - for( int i=0; i<9; i++ ) - if(!rb_box_triangle_interval( extent, axis[i], tri )) return 0; - - /* u0, u1, u2 */ - if(!rb_box_triangle_interval( extent, (v3f){1.0f,0.0f,0.0f}, tri )) return 0; - if(!rb_box_triangle_interval( extent, (v3f){0.0f,1.0f,0.0f}, tri )) return 0; - if(!rb_box_triangle_interval( extent, (v3f){0.0f,0.0f,1.0f}, tri )) return 0; - - /* normal */ - v3_cross( f0, f1, n ); - if(!rb_box_triangle_interval( extent, n, tri )) return 0; - - return 1; -} - -/* - * ----------------------------------------------------------------------------- - * Manifold - * ----------------------------------------------------------------------------- - */ - -static int rb_manifold_apply_filtered( rb_ct *man, int len ){ - int k = 0; - - for( int i=0; itype == k_contact_type_disabled ) - continue; - - man[k ++] = man[i]; - } - - return k; -} - -/* - * Merge two contacts if they are within radius(r) of eachother - */ -static void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r ){ - 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 ); - } - } -} - -/* - * - */ -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; - - rb_manifold_contact_weld( ci, cj, r ); - } - } -} - -/* - * Resolve overlapping pairs - */ -static void rb_manifold_filter_pairs( rb_ct *man, int len, float r ){ - for( int i=0; itype == k_contact_type_disabled ) continue; - - for( int j=i+1; jtype == k_contact_type_disabled ) continue; - - 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; - similar ++; - } - } - - if( similar ){ - float n = 1.0f/((float)similar+1.0f); - v3_muls( ci->n, n, ci->n ); - ci->p *= n; - - if( v3_length2(ci->n) < 0.1f*0.1f ) - ci->type = k_contact_type_disabled; - else - v3_normalize( ci->n ); - } - } -} - -/* - * Remove contacts that are facing away from A - */ -static void rb_manifold_filter_backface( rb_ct *man, int len ){ - for( int i=0; itype == k_contact_type_disabled ) - continue; - - v3f delta; - v3_sub( ct->co, ct->rba->co, delta ); - - if( v3_dot( delta, ct->n ) > -0.001f ) - ct->type = k_contact_type_disabled; - } -} - -/* - * Filter out duplicate coplanar results. Good for spheres. - */ -static void rb_manifold_filter_coplanar( rb_ct *man, int len, float w ){ - for( int i=0; itype == k_contact_type_disabled || - ci->type == k_contact_type_edge ) - continue; - - float d1 = v3_dot( ci->co, ci->n ); - - for( int j=0; jtype == k_contact_type_disabled ) - continue; - - float d2 = v3_dot( cj->co, ci->n ), - d = d2-d1; - - if( fabsf( d ) <= w ){ - cj->type = k_contact_type_disabled; - } - } - } -} - -/* - * ----------------------------------------------------------------------------- - * Collision matrix - * ----------------------------------------------------------------------------- - */ - -/* - * Contact generators - * - * These do not automatically allocate contacts, an appropriately sized - * buffer must be supplied. The function returns the size of the manifold - * which was generated. - * - * The values set on the contacts are: n, co, p, rba, rbb - */ - -/* - * By collecting the minimum(time) and maximum(time) pairs of points, we - * build a reduced and stable exact manifold. - * - * tx: time at point - * rx: minimum distance of these points - * dx: the delta between the two points - * - * pairs will only ammend these if they are creating a collision - */ -typedef struct capsule_manifold capsule_manifold; -struct capsule_manifold{ - float t0, t1; - float r0, r1; - v3f d0, d1; -}; - -/* - * Expand a line manifold with a new pair. t value is the time along segment - * on the oriented object which created this pair. - */ -static void rb_capsule_manifold( v3f pa, v3f pb, float t, float r, - capsule_manifold *manifold ){ - v3f delta; - v3_sub( pa, pb, delta ); - - 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 ){ - v3_copy( delta, manifold->d1 ); - manifold->t1 = t; - manifold->r1 = r; - } - } -} - -static void rb_capsule_manifold_init( capsule_manifold *manifold ){ - manifold->t0 = INFINITY; - manifold->t1 = -INFINITY; -} - -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->h*0.5f+c->r, p0 ); - v3_muladds( mtx[3], mtx[1], c->h*0.5f-c->r, 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->r, 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->r, 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; -} - -#if 0 -static int rb_capsule_sphere( rb_object *obja, rb_object *objb, rb_ct *buf ){ - rigidbody *rba = &obja->rb, *rbb = &objb->rb; - float h = obja->inf.capsule.h, - ra = obja->inf.capsule.r, - rb = objb->inf.sphere.r; - - v3f p0, 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 ); - v3_sub( c, rbb->co, delta ); - - float d2 = v3_length2(delta), - r = ra + rb; - - if( d2 < r*r ){ - float d = sqrtf(d2); - - rb_ct *ct = buf; - v3_muls( delta, 1.0f/d, ct->n ); - ct->p = r-d; - - v3f p0, p1; - v3_muladds( c, ct->n, -ra, p0 ); - v3_muladds( rbb->co, ct->n, rb, p1 ); - v3_add( p0, p1, ct->co ); - v3_muls( ct->co, 0.5f, ct->co ); - - ct->rba = rba; - ct->rbb = rbb; - ct->type = k_contact_type_default; - - return 1; - } - - return 0; -} -#endif - -static int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca, - m4x3f mtxB, rb_capsule *cb, rb_ct *buf ){ - f32 ha = ca->h, - hb = cb->h, - ra = ca->r, - rb = cb->r, - r = ra+rb; - - v3f p0, p1, p2, 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 ); - - v3f pa, pb; - f32 ta, tb; - closest_segment_segment( p0, p1, p2, p3, &ta, &tb, pa, pb ); - rb_capsule_manifold( pa, pb, ta, r, &manifold ); - - ta = closest_point_segment( p0, p1, p2, pa ); - tb = closest_point_segment( p0, p1, p3, pb ); - rb_capsule_manifold( pa, p2, ta, r, &manifold ); - rb_capsule_manifold( pb, p3, tb, r, &manifold ); - - closest_point_segment( p2, p3, p0, pa ); - closest_point_segment( p2, p3, p1, pb ); - rb_capsule_manifold( p0, pa, 0.0f, r, &manifold ); - rb_capsule_manifold( p1, pb, 1.0f, r, &manifold ); - - return rb_capsule__manifold_done( mtxA, ca, &manifold, buf ); -} - -#if 0 -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 = obja->inf.sphere.radius; - - if( d2 <= r*r ){ - float d; - - rb_ct *ct = buf; - if( d2 <= 0.0001f ){ - v3_sub( rba->co, rbb->co, delta ); - - /* - * some extra testing is required to find the best axis to push the - * object back outside the box. Since there isnt a clear seperating - * vector already, especially on really high aspect boxes. - */ - 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->to_world[0], vg_signf(lx), ct->n ); - else if( py < pz ) - v3_muls( rbb->to_world[1], vg_signf(ly), ct->n ); - else - v3_muls( rbb->to_world[2], vg_signf(lz), ct->n ); - - v3_muladds( rba->co, ct->n, -r, ct->co ); - ct->p = r; - } - else{ - d = sqrtf(d2); - v3_muls( delta, 1.0f/d, ct->n ); - ct->p = r-d; - v3_copy( co, ct->co ); - } - - ct->rba = rba; - ct->rbb = rbb; - ct->type = k_contact_type_default; - return 1; - } - - return 0; -} -#endif - -#if 0 -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 = obja->inf.sphere.radius + objb->inf.sphere.radius; - - 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,-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; - ct->p = r-d; - ct->rba = rba; - ct->rbb = rbb; - return 1; - } - - return 0; -} -#endif - -static int rb_sphere__triangle( m4x3f mtxA, f32 r, - 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 ); - f32 d2 = v3_length2( delta ); - - 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 ){ -#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING - vg_error( "Zero area triangle!\n" ); -#endif - 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; -} - -static int rb_sphere__scene( m4x3f mtxA, f32 r, - m4x3f mtxB, bh_tree *scene_bh, rb_ct *buf, - u16 ignore ){ - scene_context *sc = scene_bh->user; - - int count = 0; - - boxf box; - v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] ); - v3_add( mtxA[3], (v3f){ r,r,r }, box[1] ); - - bh_iter it; - i32 idx; - bh_iter_init_box( 0, &it, box ); - - while( bh_next( scene_bh, &it, &idx ) ){ - u32 *ptri = &sc->arrindices[ idx*3 ]; - v3f tri[3]; - - if( sc->arrvertices[ptri[0]].flags & ignore ) continue; - - 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, r, tri, &buf[count] ); - count += contact; - - if( count == 16 ){ - vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); - return count; - } - } - - return count; -} - -static int rb_box__scene( m4x3f mtxA, boxf bbx, - m4x3f mtxB, bh_tree *scene_bh, - rb_ct *buf, u16 ignore ){ - scene_context *sc = scene_bh->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_box( 0, &it, world_bbx ); - int idx; - int count = 0; - - vg_line_boxf( world_bbx, VG__RED ); - - while( bh_next( scene_bh, &it, &idx ) ){ - u32 *ptri = &sc->arrindices[ idx*3 ]; - if( sc->arrvertices[ptri[0]].flags & ignore ) continue; - - 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 ); - - if( v3_length2( n ) <= 0.00001f ){ -#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING - vg_error( "Zero area triangle!\n" ); -#endif - return 0; - } - - 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; -} - -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->h*0.5f+c->r, p0w ); - v3_muladds( mtxA[3], mtxA[1], c->h*0.5f-c->r, p1w ); - - capsule_manifold manifold; - rb_capsule_manifold_init( &manifold ); - - v3f v0, v1, n; - v3_sub( tri[1], tri[0], v0 ); - v3_sub( tri[2], tri[0], v1 ); - v3_cross( v0, v1, n ); - - if( v3_length2( n ) <= 0.00001f ){ -#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING - vg_error( "Zero area triangle!\n" ); -#endif - return 0; - } - - v3_normalize( n ); - -#if 1 - /* deep penetration recovery. for when we clip through the triangles. so its - * not very 'correct' */ - f32 dist; - if( ray_tri( tri, p0w, mtxA[1], &dist, 1 ) ){ - f32 l = c->h - c->r*2.0f; - if( (dist >= 0.0f) && (dist < l) ){ - v3f co; - v3_muladds( p0w, mtxA[1], dist, co ); - vg_line_point( co, 0.02f, 0xffffff00 ); - - v3f d0, d1; - v3_sub( p0w, co, d0 ); - v3_sub( p1w, co, d1 ); - - f32 p = vg_minf( v3_dot( n, d0 ), v3_dot( n, d1 ) ) - c->r; - - rb_ct *ct = buf; - ct->p = -p; - ct->type = k_contact_type_default; - v3_copy( n, ct->n ); - v3_muladds( co, n, p, ct->co ); - - return 1; - } - } -#endif - - 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); - - /* the two balls at the ends */ - if( v3_dot( da, d0 ) <= 0.01f ) - rb_capsule_manifold( p0w, c0, 0.0f, c->r, &manifold ); - if( v3_dot( da, d1 ) >= -0.01f ) - rb_capsule_manifold( p1w, c1, 1.0f, c->r, &manifold ); - - /* the edges to edges */ - 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->r, &manifold ); - } - - int count = rb_capsule__manifold_done( mtxA, c, &manifold, buf ); - for( int i=0; ih, c->h, c->h }, bbx[0] ); - v3_add( mtxA[3], (v3f){ c->h, c->h, c->h }, bbx[1] ); - - scene_context *sc = scene_bh->user; - - bh_iter it; - bh_iter_init_box( 0, &it, bbx ); - i32 idx; - while( bh_next( scene_bh, &it, &idx ) ){ - u32 *ptri = &sc->arrindices[ idx*3 ]; - if( sc->arrvertices[ptri[0]].flags & ignore ) continue; - - 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]; - - int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] ); - count += contact; - - if( count >= 16 ){ - vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n"); - return count; - } - } - - return count; -} - -static int rb_global_has_space( void ){ - if( rb_contact_count + 16 > vg_list_size(rb_contact_buffer) ) - return 0; - - return 1; -} - -static rb_ct *rb_global_buffer( void ){ - return &rb_contact_buffer[ rb_contact_count ]; -} - -/* - * ----------------------------------------------------------------------------- - * Dynamics - * ----------------------------------------------------------------------------- - */ - -static void rb_solver_reset(void){ - rb_contact_count = 0; -} - -static rb_ct *rb_global_ct(void){ - return rb_contact_buffer + rb_contact_count; -} - -static void rb_prepare_contact( rb_ct *ct, float timestep ){ - ct->bias = -k_phys_baumgarte * (timestep*3600.0f) - * vg_minf( 0.0f, -ct->p+k_penetration_slop ); - - v3_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 */ -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 - */ -static void rb_presolve_contacts( rb_ct *buffer, int len ){ - for( int i=0; ico, ct->rba->co, ra ); - v3_sub( ct->co, ct->rbb->co, rb ); - v3_cross( ra, ct->n, raCn ); - v3_cross( rb, ct->n, rbCn ); - - /* orient inverse inertia tensors */ - v3f raCnI, rbCnI; - m3x3_mulv( ct->rba->iIw, raCn, raCnI ); - m3x3_mulv( ct->rbb->iIw, rbCn, rbCnI ); - - ct->normal_mass = ct->rba->inv_mass + ct->rbb->inv_mass; - ct->normal_mass += v3_dot( raCn, raCnI ); - ct->normal_mass += v3_dot( rbCn, rbCnI ); - ct->normal_mass = 1.0f/ct->normal_mass; - - for( int j=0; j<2; j++ ){ - v3f raCtI, rbCtI; - v3_cross( ct->t[j], ra, raCt ); - v3_cross( ct->t[j], rb, rbCt ); - m3x3_mulv( ct->rba->iIw, raCt, raCtI ); - m3x3_mulv( ct->rbb->iIw, rbCt, rbCtI ); - - ct->tangent_mass[j] = ct->rba->inv_mass + ct->rbb->inv_mass; - ct->tangent_mass[j] += v3_dot( raCt, raCtI ); - ct->tangent_mass[j] += v3_dot( rbCt, rbCtI ); - ct->tangent_mass[j] = 1.0f/ct->tangent_mass[j]; - } - - rb_debug_contact( ct ); - } -} - -/* - * Creates relative contact velocity vector - */ -static void rb_rcv( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb, v3f rv ){ - v3f rva, rvb; - v3_cross( rba->w, ra, rva ); - v3_add( rba->v, rva, rva ); - v3_cross( rbb->w, rb, rvb ); - v3_add( rbb->v, rvb, rvb ); - - v3_sub( rva, rvb, rv ); -} - -static void rb_contact_restitution( rb_ct *ct, float cr ){ - v3f rv, ra, rb; - v3_sub( ct->co, ct->rba->co, ra ); - v3_sub( ct->co, ct->rbb->co, rb ); - rb_rcv( ct->rba, ct->rbb, ra, rb, rv ); - - float v = v3_dot( rv, ct->n ); - - if( v < -1.0f ){ - ct->bias += -cr * v; - } -} - -/* - * Apply impulse to object - */ -static void rb_linear_impulse( rigidbody *rb, v3f delta, v3f impulse ){ - /* linear */ - v3_muladds( rb->v, impulse, rb->inv_mass, rb->v ); - - /* Angular velocity */ - v3f wa; - v3_cross( delta, impulse, wa ); - - m3x3_mulv( rb->iIw, wa, wa ); - v3_add( rb->w, wa, rb->w ); -} - -/* - * One iteration to solve the contact constraint - */ -static void rb_solve_contacts( rb_ct *buf, int len ){ - for( int i=0; ico, ct->rba->co, ra ); - v3_sub( ct->co, ct->rbb->co, rb ); - rb_rcv( ct->rba, ct->rbb, ra, rb, rv ); - - /* Friction */ - for( int j=0; j<2; j++ ){ - float f = k_friction * ct->norm_impulse, - vt = v3_dot( rv, ct->t[j] ), - lambda = ct->tangent_mass[j] * -vt; - - float temp = ct->tangent_impulse[j]; - ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f ); - lambda = ct->tangent_impulse[j] - temp; - - v3f impulse; - v3_muls( ct->t[j], lambda, impulse ); - rb_linear_impulse( ct->rba, ra, impulse ); - - v3_muls( ct->t[j], -lambda, impulse ); - rb_linear_impulse( ct->rbb, rb, impulse ); - } - - /* Normal */ - rb_rcv( ct->rba, ct->rbb, ra, rb, rv ); - float vn = v3_dot( rv, ct->n ), - lambda = ct->normal_mass * (-vn + ct->bias); - - float temp = ct->norm_impulse; - ct->norm_impulse = vg_maxf( temp + lambda, 0.0f ); - lambda = ct->norm_impulse - temp; - - v3f impulse; - v3_muls( ct->n, lambda, impulse ); - rb_linear_impulse( ct->rba, ra, impulse ); - - v3_muls( ct->n, -lambda, impulse ); - rb_linear_impulse( ct->rbb, rb, impulse ); - } -} - -/* - * ----------------------------------------------------------------------------- - * Constraints - * ----------------------------------------------------------------------------- - */ - -static void rb_debug_position_constraints( rb_constr_pos *buffer, int len ){ - for( int i=0; irba, *rbb = constr->rbb; - - v3f wca, wcb; - m3x3_mulv( rba->to_world, constr->lca, wca ); - m3x3_mulv( rbb->to_world, constr->lcb, wcb ); - - v3f p0, p1; - v3_add( wca, rba->co, p0 ); - v3_add( wcb, rbb->co, p1 ); - vg_line_point( p0, 0.0025f, 0xff000000 ); - vg_line_point( p1, 0.0025f, 0xffffffff ); - vg_line2( p0, p1, 0xff000000, 0xffffffff ); - } -} - -static void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf, - int len ){ - for( int i=0; irba->to_world, st->conevx, vx ); - m3x3_mulv( st->rbb->to_world, st->conevxb, vxb ); - m3x3_mulv( st->rba->to_world, st->conevy, vy ); - m3x3_mulv( st->rbb->to_world, st->coneva, va ); - m4x3_mulv( st->rba->to_world, st->view_offset, center ); - v3_cross( vy, vx, axis ); - - /* Constraint violated ? */ - float fx = v3_dot( vx, va ), /* projection world */ - fy = v3_dot( vy, va ), - fn = v3_dot( va, axis ), - - rx = st->conevx[3], /* elipse radii */ - ry = st->conevy[3], - - lx = fx/rx, /* projection local (fn==lz) */ - ly = fy/ry; - - st->tangent_violation = ((lx*lx + ly*ly) > fn*fn) || (fn <= 0.0f); - if( st->tangent_violation ){ - /* Calculate a good position and the axis to solve on */ - v2f closest, tangent, - p = { fx/fabsf(fn), fy/fabsf(fn) }; - - closest_point_elipse( p, (v2f){rx,ry}, closest ); - tangent[0] = -closest[1] / (ry*ry); - tangent[1] = closest[0] / (rx*rx); - v2_normalize( tangent ); - - v3f v0, v1; - v3_muladds( axis, vx, closest[0], v0 ); - v3_muladds( v0, vy, closest[1], v0 ); - v3_normalize( v0 ); - - v3_muls( vx, tangent[0], v1 ); - v3_muladds( v1, vy, tangent[1], v1 ); - - v3_copy( v0, st->tangent_target ); - v3_copy( v1, st->tangent_axis ); - - /* calculate mass */ - v3f aIw, bIw; - m3x3_mulv( st->rba->iIw, st->tangent_axis, aIw ); - m3x3_mulv( st->rbb->iIw, st->tangent_axis, bIw ); - st->tangent_mass = 1.0f / (v3_dot( st->tangent_axis, aIw ) + - v3_dot( st->tangent_axis, bIw )); - - float angle = v3_dot( va, st->tangent_target ); - } - - v3f refaxis; - v3_cross( vy, va, refaxis ); /* our default rotation */ - v3_normalize( refaxis ); - - float angle = v3_dot( refaxis, vxb ); - st->axis_violation = fabsf(angle) < st->conet; - - if( st->axis_violation ){ - v3f dir_test; - v3_cross( refaxis, vxb, dir_test ); - - if( v3_dot(dir_test, va) < 0.0f ) - st->axis_violation = -st->axis_violation; - - float newang = (float)st->axis_violation * acosf(st->conet-0.0001f); - - v3f refaxis_up; - v3_cross( va, refaxis, refaxis_up ); - v3_muls( refaxis_up, sinf(newang), st->axis_target ); - v3_muladds( st->axis_target, refaxis, -cosf(newang), st->axis_target ); - - /* calculate mass */ - v3_copy( va, st->axis ); - v3f aIw, bIw; - m3x3_mulv( st->rba->iIw, st->axis, aIw ); - m3x3_mulv( st->rbb->iIw, st->axis, bIw ); - st->axis_mass = 1.0f / (v3_dot( st->axis, aIw ) + - v3_dot( st->axis, bIw )); - } - } -} - -static void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, - int len ){ - float size = 0.12f; - - for( int i=0; irba->to_world, st->conevx, vx ); - m3x3_mulv( st->rbb->to_world, st->conevxb, vxb ); - m3x3_mulv( st->rba->to_world, st->conevy, vy ); - m3x3_mulv( st->rbb->to_world, st->coneva, va ); - m4x3_mulv( st->rba->to_world, st->view_offset, center ); - v3_cross( vy, vx, axis ); - - float rx = st->conevx[3], /* elipse radii */ - ry = st->conevy[3]; - - v3f p0, p1; - v3_muladds( center, va, size, p1 ); - vg_line( center, p1, 0xffffffff ); - vg_line_point( p1, 0.00025f, 0xffffffff ); - - if( st->tangent_violation ){ - v3_muladds( center, st->tangent_target, size, p0 ); - - vg_line( center, p0, 0xff00ff00 ); - vg_line_point( p0, 0.00025f, 0xff00ff00 ); - vg_line( p1, p0, 0xff000000 ); - } - - 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 ), - s0 = sinf( t0 ), - c1 = cosf( t1 ), - s1 = sinf( t1 ); - - v3f v0, v1; - v3_muladds( axis, vx, c0*rx, v0 ); - v3_muladds( v0, vy, s0*ry, v0 ); - v3_muladds( axis, vx, c1*rx, v1 ); - v3_muladds( v1, vy, s1*ry, v1 ); - - v3_normalize( v0 ); - v3_normalize( v1 ); - - v3_muladds( center, v0, size, p0 ); - v3_muladds( center, v1, size, p1 ); - - u32 col0r = fabsf(c0) * 255.0f, - col0g = fabsf(s0) * 255.0f, - col1r = fabsf(c1) * 255.0f, - col1g = fabsf(s1) * 255.0f, - col = st->tangent_violation? 0xff0000ff: 0xff000000, - col0 = col | (col0r<<16) | (col0g << 8), - col1 = col | (col1r<<16) | (col1g << 8); - - vg_line2( center, p0, VG__NONE, col0 ); - vg_line2( p0, p1, col0, col1 ); - } - - /* Draw twist */ - v3_muladds( center, va, size, p0 ); - v3_muladds( p0, vxb, size, p1 ); - - vg_line( p0, p1, 0xff0000ff ); - - if( st->axis_violation ){ - v3_muladds( p0, st->axis_target, size*1.25f, p1 ); - vg_line( p0, p1, 0xffffff00 ); - vg_line_point( p1, 0.0025f, 0xffffff80 ); - } - - v3f refaxis; - v3_cross( vy, va, refaxis ); /* our default rotation */ - v3_normalize( refaxis ); - v3f refaxis_up; - v3_cross( va, refaxis, refaxis_up ); - float newang = acosf(st->conet-0.0001f); - - v3_muladds( p0, refaxis_up, sinf(newang)*size, p1 ); - v3_muladds( p1, refaxis, -cosf(newang)*size, p1 ); - vg_line( p0, p1, 0xff000000 ); - - v3_muladds( p0, refaxis_up, sinf(-newang)*size, p1 ); - v3_muladds( p1, refaxis, -cosf(-newang)*size, p1 ); - vg_line( p0, p1, 0xff404040 ); - } -} - -/* - * Solve a list of positional constraints - */ -static void rb_solve_position_constraints( rb_constr_pos *buf, int len ){ - for( int i=0; irba, *rbb = constr->rbb; - - v3f wa, wb; - m3x3_mulv( rba->to_world, constr->lca, wa ); - m3x3_mulv( rbb->to_world, constr->lcb, wb ); - - m3x3f ssra, ssrat, ssrb, ssrbt; - - m3x3_skew_symetric( ssrat, wa ); - m3x3_skew_symetric( ssrbt, wb ); - m3x3_transpose( ssrat, ssra ); - m3x3_transpose( ssrbt, ssrb ); - - v3f b, b_wa, b_wb, b_a, b_b; - m3x3_mulv( ssra, rba->w, b_wa ); - m3x3_mulv( ssrb, rbb->w, b_wb ); - v3_add( rba->v, b_wa, b ); - v3_sub( b, rbb->v, b ); - v3_sub( b, b_wb, b ); - v3_muls( b, -1.0f, b ); - - m3x3f invMa, invMb; - m3x3_diagonal( invMa, rba->inv_mass ); - m3x3_diagonal( invMb, rbb->inv_mass ); - - m3x3f ia, ib; - m3x3_mul( ssra, rba->iIw, ia ); - m3x3_mul( ia, ssrat, ia ); - m3x3_mul( ssrb, rbb->iIw, ib ); - m3x3_mul( ib, ssrbt, ib ); - - m3x3f cma, cmb; - m3x3_add( invMa, ia, cma ); - m3x3_add( invMb, ib, cmb ); - - m3x3f A; - m3x3_add( cma, cmb, A ); - - /* Solve Ax = b ( A^-1*b = x ) */ - v3f impulse; - m3x3f invA; - m3x3_inv( A, invA ); - m3x3_mulv( invA, b, impulse ); - - v3f delta_va, delta_wa, delta_vb, delta_wb; - m3x3f iwa, iwb; - m3x3_mul( rba->iIw, ssrat, iwa ); - m3x3_mul( rbb->iIw, ssrbt, iwb ); - - m3x3_mulv( invMa, impulse, delta_va ); - m3x3_mulv( invMb, impulse, delta_vb ); - m3x3_mulv( iwa, impulse, delta_wa ); - m3x3_mulv( iwb, impulse, delta_wb ); - - v3_add( rba->v, delta_va, rba->v ); - v3_add( rba->w, delta_wa, rba->w ); - v3_sub( rbb->v, delta_vb, rbb->v ); - v3_sub( rbb->w, delta_wb, rbb->w ); - } -} - -static void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, - int len ){ - for( int i=0; iaxis_violation ) - continue; - - float rv = v3_dot( st->axis, st->rbb->w ) - - v3_dot( st->axis, st->rba->w ); - - if( rv * (float)st->axis_violation > 0.0f ) - continue; - - v3f impulse, wa, wb; - v3_muls( st->axis, rv*st->axis_mass, impulse ); - m3x3_mulv( st->rba->iIw, impulse, wa ); - v3_add( st->rba->w, wa, st->rba->w ); - - v3_muls( impulse, -1.0f, impulse ); - m3x3_mulv( st->rbb->iIw, impulse, wb ); - v3_add( st->rbb->w, wb, st->rbb->w ); - - float rv2 = v3_dot( st->axis, st->rbb->w ) - - v3_dot( st->axis, st->rba->w ); - } - - for( int i=0; itangent_violation ) - continue; - - float rv = v3_dot( st->tangent_axis, st->rbb->w ) - - v3_dot( st->tangent_axis, st->rba->w ); - - if( rv > 0.0f ) - continue; - - v3f impulse, wa, wb; - v3_muls( st->tangent_axis, rv*st->tangent_mass, impulse ); - m3x3_mulv( st->rba->iIw, impulse, wa ); - v3_add( st->rba->w, wa, st->rba->w ); - - v3_muls( impulse, -1.0f, impulse ); - m3x3_mulv( st->rbb->iIw, impulse, wb ); - v3_add( st->rbb->w, wb, st->rbb->w ); - - float rv2 = v3_dot( st->tangent_axis, st->rbb->w ) - - v3_dot( st->tangent_axis, st->rba->w ); - } -} - -/* debugging */ -static void rb_postsolve_swingtwist_constraints( rb_constr_swingtwist *buf, - u32 len ){ - for( int i=0; iaxis_violation ){ - st->conv_axis = 0.0f; - continue; - } - - f32 rv = v3_dot( st->axis, st->rbb->w ) - - v3_dot( st->axis, st->rba->w ); - - if( rv * (f32)st->axis_violation > 0.0f ) - st->conv_axis = 0.0f; - else - st->conv_axis = rv; - } - - for( int i=0; itangent_violation ){ - st->conv_tangent = 0.0f; - continue; - } - - f32 rv = v3_dot( st->tangent_axis, st->rbb->w ) - - v3_dot( st->tangent_axis, st->rba->w ); - - if( rv > 0.0f ) - st->conv_tangent = 0.0f; - else - st->conv_tangent = rv; - } -} - -static void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb, - v3f ra, v3f rb ){ - m3x3f ssra, ssrb, ssrat, ssrbt; - m3x3f cma, cmb; - - m3x3_skew_symetric( ssrat, ra ); - m3x3_skew_symetric( ssrbt, rb ); - m3x3_transpose( ssrat, ssra ); - m3x3_transpose( ssrbt, ssrb ); - - m3x3_mul( ssra, rba->iIw, cma ); - m3x3_mul( cma, ssrat, cma ); - m3x3_mul( ssrb, rbb->iIw, cmb ); - m3x3_mul( cmb, ssrbt, cmb ); - - m3x3f A, invA; - m3x3_add( cma, cmb, A ); - m3x3_inv( A, invA ); - - v3f b_wa, b_wb, b; - m3x3_mulv( ssra, rba->w, b_wa ); - m3x3_mulv( ssrb, rbb->w, b_wb ); - v3_add( b_wa, b_wb, b ); - v3_negate( b, b ); - - v3f impulse; - m3x3_mulv( invA, b, impulse ); - - v3f delta_wa, delta_wb; - m3x3f iwa, iwb; - m3x3_mul( rba->iIw, ssrat, iwa ); - m3x3_mul( rbb->iIw, ssrbt, iwb ); - m3x3_mulv( iwa, impulse, delta_wa ); - m3x3_mulv( iwb, impulse, delta_wb ); - v3_add( rba->w, delta_wa, rba->w ); - v3_sub( rbb->w, delta_wb, rbb->w ); -} - -/* - * Correct position constraint drift errors - * [ 0.0 <= amt <= 1.0 ]: the correction amount - */ -static void rb_correct_position_constraints( rb_constr_pos *buf, int len, - float amt ){ - for( int i=0; irba, *rbb = constr->rbb; - - v3f p0, p1, d; - m3x3_mulv( rba->to_world, constr->lca, p0 ); - m3x3_mulv( rbb->to_world, constr->lcb, p1 ); - v3_add( rba->co, p0, p0 ); - v3_add( rbb->co, p1, p1 ); - v3_sub( p1, p0, d ); - -#if 1 - v3_muladds( rbb->co, d, -1.0f * amt, rbb->co ); - rb_update_matrices( rbb ); -#else - f32 mt = 1.0f/(rba->inv_mass+rbb->inv_mass), - a = mt * (k_phys_baumgarte/k_rb_delta); - - v3_muladds( rba->v, d, a* rba->inv_mass, rba->v ); - v3_muladds( rbb->v, d, a*-rbb->inv_mass, rbb->v ); -#endif - } -} - -static void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf, - int len, float amt ){ - for( int i=0; itangent_violation ) - continue; - - v3f va; - m3x3_mulv( st->rbb->to_world, st->coneva, va ); - - f32 angle = v3_dot( va, st->tangent_target ); - - if( fabsf(angle) < 0.9999f ){ - v3f axis; - v3_cross( va, st->tangent_target, axis ); -#if 1 - angle = acosf(angle) * amt; - v4f correction; - q_axis_angle( correction, axis, angle ); - q_mul( correction, st->rbb->q, st->rbb->q ); - q_normalize( st->rbb->q ); - rb_update_matrices( st->rbb ); -#else - f32 mt = 1.0f/(st->rba->inv_mass+st->rbb->inv_mass), - wa = mt * acosf(angle) * (k_phys_baumgarte/k_rb_delta); - //v3_muladds( st->rba->w, axis, wa*-st->rba->inv_mass, st->rba->w ); - v3_muladds( st->rbb->w, axis, wa* st->rbb->inv_mass, st->rbb->w ); -#endif - } - } - - for( int i=0; iaxis_violation ) - continue; - - v3f vxb; - m3x3_mulv( st->rbb->to_world, st->conevxb, vxb ); - - f32 angle = v3_dot( vxb, st->axis_target ); - - if( fabsf(angle) < 0.9999f ){ - v3f axis; - v3_cross( vxb, st->axis_target, axis ); - -#if 1 - angle = acosf(angle) * amt; - v4f correction; - q_axis_angle( correction, axis, angle ); - q_mul( correction, st->rbb->q, st->rbb->q ); - q_normalize( st->rbb->q ); - rb_update_matrices( st->rbb ); -#else - f32 mt = 1.0f/(st->rba->inv_mass+st->rbb->inv_mass), - wa = mt * acosf(angle) * (k_phys_baumgarte/k_rb_delta); - //v3_muladds( st->rba->w, axis, wa*-0.5f, st->rba->w ); - v3_muladds( st->rbb->w, axis, wa* st->rbb->inv_mass, st->rbb->w ); -#endif - } - } -} - -static void rb_correct_contact_constraints( rb_ct *buf, int len, float amt ){ - for( int i=0; irba, - *rbb = ct->rbb; - - f32 mass_total = 1.0f / (rba->inv_mass + rbb->inv_mass), - d = ct->p*mass_total*amt; - - v3_muladds( rba->co, ct->n, -d * rba->inv_mass, rba->co ); - v3_muladds( rbb->co, ct->n, d * rbb->inv_mass, rbb->co ); - } -} - - -/* - * Effectors - */ - -static void rb_effect_simple_bouyency( rigidbody *ra, v4f plane, - float amt, float drag ){ - /* float */ - float depth = v3_dot( plane, ra->co ) - plane[3], - lambda = vg_clampf( -depth, 0.0f, 1.0f ) * amt; - - v3_muladds( ra->v, plane, lambda * k_rb_delta, ra->v ); - - if( depth < 0.0f ) - 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) - */ -static void rb_effect_spring_target_vector( rigidbody *rba, v3f ra, v3f rt, - float spring, float dampening, - float timestep ){ - float d = v3_dot( rt, ra ); - float a = acosf( vg_clampf( d, -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 ); -} - -#endif /* RIGIDBODY_H */ diff --git a/scene_rigidbody.h b/scene_rigidbody.h new file mode 100644 index 0000000..57ff1ff --- /dev/null +++ b/scene_rigidbody.h @@ -0,0 +1,247 @@ +#pragma once + +/* + * Copyright (C) 2021-2024 Mt.ZERO Software - All Rights Reserved + * + * Describes intereactions between vg rigidbody objects and skaterift's scene + * description + */ + +#include "scene.h" +#include "vg/vg_rigidbody.h" +#include "vg/vg_rigidbody_collision.h" + +static int rb_sphere__scene( m4x3f mtxA, f32 r, + m4x3f mtxB, bh_tree *scene_bh, rb_ct *buf, + u16 ignore ){ + scene_context *sc = scene_bh->user; + + int count = 0; + + boxf box; + v3_sub( mtxA[3], (v3f){ r,r,r }, box[0] ); + v3_add( mtxA[3], (v3f){ r,r,r }, box[1] ); + + bh_iter it; + i32 idx; + bh_iter_init_box( 0, &it, box ); + + while( bh_next( scene_bh, &it, &idx ) ){ + u32 *ptri = &sc->arrindices[ idx*3 ]; + v3f tri[3]; + + if( sc->arrvertices[ptri[0]].flags & ignore ) continue; + + 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, r, tri, &buf[count] ); + count += contact; + + if( count == 16 ){ + vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" ); + return count; + } + } + + return count; +} + +static int rb_box__scene( m4x3f mtxA, boxf bbx, + m4x3f mtxB, bh_tree *scene_bh, + rb_ct *buf, u16 ignore ){ + scene_context *sc = scene_bh->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 ); + + f32 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_box( 0, &it, world_bbx ); + int idx; + int count = 0; + + vg_line_boxf( world_bbx, VG__RED ); + + while( bh_next( scene_bh, &it, &idx ) ){ + u32 *ptri = &sc->arrindices[ idx*3 ]; + if( sc->arrvertices[ptri[0]].flags & ignore ) continue; + + 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 ); + + if( v3_length2( n ) <= 0.00001f ){ +#ifdef RIGIDBODY_CRY_ABOUT_EVERYTHING + vg_error( "Zero area triangle!\n" ); +#endif + return 0; + } + + v3_normalize( n ); + + /* find best feature */ + f32 best = v3_dot( mtxA[0], n ); + int axis = 0; + + for( int i=1; i<3; i++ ){ + f32 c = v3_dot( mtxA[i], n ); + + if( fabsf(c) > fabsf(best) ){ + best = c; + axis = i; + } + } + + v3f manifold[4]; + + if( axis == 0 ){ + f32 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 ){ + f32 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{ + f32 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 ); + + f32 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; +} + +/* mtxB is defined only for tradition; it is not used currently */ +static int rb_capsule__scene( m4x3f mtxA, rb_capsule *c, + m4x3f mtxB, bh_tree *scene_bh, + rb_ct *buf, u16 ignore ){ + int count = 0; + + boxf bbx; + v3_sub( mtxA[3], (v3f){ c->h, c->h, c->h }, bbx[0] ); + v3_add( mtxA[3], (v3f){ c->h, c->h, c->h }, bbx[1] ); + + scene_context *sc = scene_bh->user; + + bh_iter it; + bh_iter_init_box( 0, &it, bbx ); + i32 idx; + while( bh_next( scene_bh, &it, &idx ) ){ + u32 *ptri = &sc->arrindices[ idx*3 ]; + if( sc->arrvertices[ptri[0]].flags & ignore ) continue; + + 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]; + + int contact = rb_capsule__triangle( mtxA, c, tri, &buf[count] ); + count += contact; + + if( count >= 16 ){ + vg_warn("Exceeding capsule_vs_scene capacity. Geometry too dense!\n"); + return count; + } + } + + return count; +} + diff --git a/skaterift.c b/skaterift.c index a1a6157..8208347 100644 --- a/skaterift.c +++ b/skaterift.c @@ -2,7 +2,7 @@ * ============================================================================= * * Copyright . . . -----, ,----- ,---. .---. - * 2021-2023 |\ /| | / | | | | /| + * 2021-2024 |\ /| | / | | | | /| * | \ / | +-- / +----- +---' | / | * | \ / | | / | | \ | / | * | \/ | | / | | \ | / | diff --git a/testing.c b/testing.c index ad98cce..af79381 100644 --- a/testing.c +++ b/testing.c @@ -1,4 +1,7 @@ -#include "rigidbody.h" +#pragma once +#include "vg/vg_m.h" +#include "vg/vg_rigidbody.h" +#include "scene_rigidbody.h" struct { rigidbody rb; diff --git a/vehicle.h b/vehicle.h index ca8943d..d61d1e3 100644 --- a/vehicle.h +++ b/vehicle.h @@ -2,7 +2,7 @@ #define VEHICLE_H #include "skaterift.h" -#include "rigidbody.h" +#include "vg/vg_rigidbody.h" #include "player.h" #include "world.h" #include "world_physics.h" diff --git a/world_physics.h b/world_physics.h index 6cc8c5d..8531b8f 100644 --- a/world_physics.h +++ b/world_physics.h @@ -2,7 +2,8 @@ #define WORLD_PHYSICS_H #include "world.h" -#include "rigidbody.h" +#include "vg/vg_rigidbody.h" +#include "vg/vg_rigidbody_collision.h" static void ray_world_get_tri( world_instance *world, ray_hit *hit, v3f tri[3] ); diff --git a/world_routes.c b/world_routes.c index b0af904..105e546 100644 --- a/world_routes.c +++ b/world_routes.c @@ -1,10 +1,11 @@ +#pragma once + /* - * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved + * Copyright (C) 2021-2024 Mt.ZERO Software - All Rights Reserved + * + * World routes */ -#ifndef ROUTES_C -#define ROUTES_C - #include #include "entity.h" #include "world_routes.h" @@ -21,6 +22,7 @@ #include "shaders/scene_route.h" #include "shaders/routeui.h" #include "ent_region.h" +#include "scene_rigidbody.h" static void world_routes_clear( world_instance *world ) { @@ -1082,5 +1084,3 @@ static void render_world_routes( world_instance *world, glEnable( GL_CULL_FACE ); glDrawBuffers( 2, (GLenum[]){ GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1 } ); } - -#endif /* ROUTES_C */ diff --git a/world_sfd.h b/world_sfd.h index 9e8d38c..176425d 100644 --- a/world_sfd.h +++ b/world_sfd.h @@ -7,6 +7,7 @@ #include "world.h" #include "world_routes.h" +#include "scene.h" struct world_sfd{ GLuint tex_scoretex; -- 2.25.1