vg_rigidbody_collision.h

   1 #pragma once
   2 #include "vg_m.h"
   3 #include "vg_rigidbody.h"
   4
   5 /* TODO: Get rid of this! */
   6 #define VG_MAX_CONTACTS 256
   7
   8 typedef struct rb_ct rb_ct;
   9 struct rb_ct
  10 {
  11    rigidbody *rba, *rbb;
  12    v3f co, n;
  13    v3f t[2];
  14    float p, bias, norm_impulse, tangent_impulse[2],
  15          normal_mass, tangent_mass[2];
  16
  17    u32 element_id;
  18
  19    enum contact_type type;
  20 }
  21 extern rb_contact_buffer[VG_MAX_CONTACTS];
  22 extern int rb_contact_count;
  23
  24 int rb_capsule__sphere( m4x3f mtxA, rb_capsule *ca,
  25                         v3f coB, f32 rb, rb_ct *buf );
  26 int rb_capsule__capsule( m4x3f mtxA, rb_capsule *ca,
  27                          m4x3f mtxB, rb_capsule *cb, rb_ct *buf );
  28 int rb_capsule__box( m4x3f mtxA, rb_capsule *ca,
  29                      m4x3f mtxB, m4x3f mtxB_inverse, boxf box,
  30                      rb_ct *buf );
  31 int rb_sphere__box( v3f coA, f32 ra,
  32                     m4x3f mtxB, m4x3f mtxB_inverse, boxf box,
  33                     rb_ct *buf );
  34 int rb_sphere__sphere( v3f coA, f32 ra, v3f coB, f32 rb, rb_ct *buf );
  35 int rb_sphere__triangle( m4x3f mtxA, f32 r, v3f tri[3], rb_ct *buf );
  36 int rb_capsule__triangle( m4x3f mtxA, rb_capsule *c, v3f tri[3], rb_ct *buf );
  37 int rb_global_has_space( void );
  38 rb_ct *rb_global_buffer( void );
  39 int rb_manifold_apply_filtered( rb_ct *man, int len );
  40
  41 int rb_box_triangle_sat( v3f extent, v3f center,
  42                          m4x3f to_local, v3f tri_src[3] );
  43
  44 /*
  45  * Merge two contacts if they are within radius(r) of eachother
  46  */
  47 void rb_manifold_contact_weld( rb_ct *ci, rb_ct *cj, float r );
  48 void rb_manifold_filter_joint_edges( rb_ct *man, int len, float r );
  49
  50 /*
  51  * Resolve overlapping pairs
  52  */
  53 void rb_manifold_filter_pairs( rb_ct *man, int len, float r );
  54
  55 /*
  56  * Remove contacts that are facing away from A
  57  */
  58 void rb_manifold_filter_backface( rb_ct *man, int len );
  59
  60 /*
  61  * Filter out duplicate coplanar results. Good for spheres.
  62  */
  63 void rb_manifold_filter_coplanar( rb_ct *man, int len, float w );
  64
  65 void rb_debug_contact( rb_ct *ct );
  66 void rb_solver_reset(void);
  67 rb_ct *rb_global_ct(void);
  68 void rb_prepare_contact( rb_ct *ct, f32 dt );
  69 void rb_depenetrate( rb_ct *manifold, int len, v3f dt );
  70 void rb_presolve_contacts( rb_ct *buffer, f32 dt, int len );
  71 void rb_contact_restitution( rb_ct *ct, float cr );
  72 void rb_solve_contacts( rb_ct *buf, int len );