testing.c

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