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    vg_line_boxf_transformed( baller.rb.to_world, baller.box, VG__RED );
  25
  26    world_instance *world = world_current_instance();
  27
  28    rigidbody _null = {0};
  29    _null.inv_mass = 0.0f;
  30    m3x3_zero( _null.iI );
  31
  32    rb_solver_reset();
  33    rb_ct *buf = rb_global_buffer();
  34    rb_contact_count += rb_box__scene( baller.rb.to_world, baller.box,
  35                           NULL, world->geo_bh, buf,
  36                           k_material_flag_ghosts );
  37    for( u32 j=0; j<rb_contact_count; j++ ){
  38       buf[j].rba = &baller.rb;
  39       buf[j].rbb = &_null;
  40    }
  41
  42    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
  43
  44    for( u32 i=0; i<8; i ++ )
  45       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
  46
  47    rb_iter( &baller.rb );
  48    rb_update_matrices( &baller.rb );
  49 }
  50
  51 static void testing_init(void){
  52    rb_setbody_box( &baller.rb, baller.box, 8.0f, 1.0f );
  53 }