vg_rigidbody_collision.h

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