vg_rigidbody_constraints.h

   1 #pragma once
   2
   3 typedef struct rb_constr_pos rb_constr_pos;
   4 typedef struct rb_constr_swingtwist rb_constr_swingtwist;
   5
   6 struct rb_constr_pos
   7 {
   8    rigidbody *rba, *rbb;
   9    v3f lca, lcb;
  10 };
  11
  12 struct rb_constr_swingtwist
  13 {
  14    rigidbody *rba, *rbb;
  15
  16    v4f conevx, conevy; /* relative to rba */
  17    v3f view_offset,    /* relative to rba */
  18        coneva, conevxb;/* relative to rbb */
  19
  20    int tangent_violation, axis_violation;
  21    v3f axis, tangent_axis, tangent_target, axis_target;
  22
  23    float conet;
  24    float tangent_mass, axis_mass;
  25
  26    f32 conv_tangent, conv_axis;
  27 };
  28
  29 void rb_debug_position_constraints( rb_constr_pos *buffer, int len );
  30 void rb_presolve_swingtwist_constraints( rb_constr_swingtwist *buf, int len );
  31 void rb_debug_swingtwist_constraints( rb_constr_swingtwist *buf, int len );
  32
  33 /*
  34  * Solve a list of positional constraints
  35  */
  36 void rb_solve_position_constraints( rb_constr_pos *buf, int len );
  37 void rb_solve_swingtwist_constraints( rb_constr_swingtwist *buf, int len );
  38 void rb_postsolve_swingtwist_constraints( rb_constr_swingtwist *buf, u32 len );
  39 void rb_solve_constr_angle( rigidbody *rba, rigidbody *rbb, v3f ra, v3f rb );
  40
  41 /*
  42  * Correct position constraint drift errors
  43  * [ 0.0 <= amt <= 1.0 ]: the correction amount
  44  */
  45 void rb_correct_position_constraints( rb_constr_pos *buf, int len, f32 amt );
  46 void rb_correct_swingtwist_constraints( rb_constr_swingtwist *buf,
  47                                         int len, float amt );