testing.c

   1 #pragma once
   2 #include "vg/vg_m.h"
   3 #include "vg/vg_rigidbody.h"
   4 #include "scene_rigidbody.h"
   5
   6 struct {
   7    rigidbody rb;
   8    boxf box;
   9 }
  10 static baller = {
  11    .rb.q = { 0,0,0,1 },
  12    .box = {{ -0.1f, -0.2f, -0.1f },
  13            {  0.1f,  1.0f,  0.1f }},
  14 };
  15
  16 static void testing_update(void){
  17    if( vg_getkey( SDLK_9 ) ){
  18       v3_add( localplayer.rb.co, (v3f){0,1,0}, baller.rb.co );
  19       v3_zero( baller.rb.w );
  20       v3_zero( baller.rb.v );
  21       q_identity( baller.rb.q );
  22       rb_update_matrices( &baller.rb );
  23    }
  24
  25    if( vg_getkey( SDLK_8 ) ){
  26       localplayer.have_glider = 1;
  27       localplayer.glider_orphan = 0;
  28    }
  29
  30    vg_line_boxf_transformed( baller.rb.to_world, baller.box, VG__RED );
  31
  32    world_instance *world = world_current_instance();
  33
  34    rigidbody _null = {0};
  35    _null.inv_mass = 0.0f;
  36    m3x3_zero( _null.iI );
  37
  38    rb_solver_reset();
  39    rb_ct *buf = rb_global_buffer();
  40    rb_contact_count += rb_box__scene( baller.rb.to_world, baller.box,
  41                           NULL, world->geo_bh, buf,
  42                           k_material_flag_ghosts );
  43    for( u32 j=0; j<rb_contact_count; j++ ){
  44       buf[j].rba = &baller.rb;
  45       buf[j].rbb = &_null;
  46    }
  47
  48    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
  49
  50    for( u32 i=0; i<8; i ++ )
  51       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
  52
  53    rb_iter( &baller.rb );
  54    rb_update_matrices( &baller.rb );
  55 }
  56
  57 static void testing_init(void){
  58    rb_setbody_box( &baller.rb, baller.box, 8.0f, 1.0f );
  59 }