testing.c

   1 #include "rigidbody.h"
   2
   3 static rb_object baller = {
   4    .type = k_rb_shape_box,
   5    .rb.bbx = {{ -0.1f, -0.2f, -0.1f },
   6               {  0.1f,  1.0f,  0.1f }},
   7    .rb.q = { 0,0,0,1 },
   8 };
   9
  10 static void testing_update(void){
  11    if( vg_getkey( SDLK_9 ) ){
  12       v3_add( localplayer.rb.co, (v3f){0,1,0}, baller.rb.co );
  13       v3_zero( baller.rb.w );
  14       v3_zero( baller.rb.v );
  15       q_identity( baller.rb.q );
  16       rb_update_transform( &baller.rb );
  17    }
  18    rb_object_debug( &baller, VG__RED );
  19
  20    world_instance *world = world_current_instance();
  21
  22    rb_solver_reset();
  23    rb_ct *buf = rb_global_buffer();
  24    rb_contact_count += rb_box__scene( baller.rb.to_world, baller.rb.bbx,
  25                           NULL, &world->rb_geo.inf.scene, buf,
  26                           k_material_flag_ghosts );
  27    for( u32 j=0; j<rb_contact_count; j++ ){
  28       buf[j].rba = &baller.rb;
  29       buf[j].rbb = &world->rb_geo.rb;
  30    }
  31
  32    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
  33
  34    for( u32 i=0; i<8; i ++ )
  35       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
  36
  37    rb_iter( &baller.rb );
  38    rb_update_transform( &baller.rb );
  39 }
  40
  41 static void testing_init(void){
  42    rb_init_object( &baller, 1.0f );
  43 }