physics_test.h

   1 #ifndef PHYSICS_TEST_H
   2 #define PHYSICS_TEST_H
   3
   4 #include "rigidbody.h"
   5 #include "player.h"
   6
   7 rigidbody ground = { .type = k_rb_shape_box,
   8                      .bbx = {{-100.0f,-1.0f,-100.0f},{100.0f,0.0f,100.0f}},
   9                      .co = {0.0f, 0.0f, 0.0f},
  10                      .q = {0.0f,0.0f,0.0f,1.0f},
  11                      .is_world = 1 };
  12
  13 rigidbody blocky =
  14    {
  15       .type = k_rb_shape_box,
  16       .bbx = {{-2.0f,-1.0f,-3.0f},{2.0f,1.0f,2.0f}},
  17       .co = {30.0f,2.0f,30.0f},
  18       .q = {0.0f,0.0f,0.0f,1.0f},
  19       .is_world = 1
  20    };
  21
  22 rigidbody funnel[4] = {
  23    {
  24       .type = k_rb_shape_box,
  25       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  26       .co = {-10.0f,5.0f,0.0f},
  27       .is_world = 1
  28    },
  29    {
  30       .type = k_rb_shape_box,
  31       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  32       .co = { 10.0f,5.0f,0.0f},
  33       .is_world = 1
  34    },
  35    {
  36       .type = k_rb_shape_box,
  37       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  38       .co = { 0.0f,5.0f,10.0f},
  39       .is_world = 1
  40    },
  41    {
  42       .type = k_rb_shape_box,
  43       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  44       .co = {0.0f,5.0f,-10.0f},
  45       .is_world = 1
  46    }
  47 };
  48
  49 rigidbody jeff1 = { .type = k_rb_shape_capsule,
  50                     .inf.capsule = { .radius = 0.75f, .height = 3.0f },
  51                     .co = {30.0f, 4.0f, 30.0f },
  52                     .q = {1.0f,0.0f,0.0f,0.0f}
  53 };
  54
  55 rigidbody ball = { .type = k_rb_shape_sphere,
  56                    .inf.sphere = { .radius = 2.0f },
  57                    .co = {0.0f,20.0f,2.0f},
  58                    .q = {0.0f,0.0f,0.0f,1.0f}},
  59
  60           ball1= { .type = k_rb_shape_sphere,
  61                    .inf.sphere = { .radius = 2.0f },
  62                    .co = {0.1f,25.0f,0.2f},
  63                    .q = {0.0f,0.0f,0.0f,1.0f}};
  64
  65 rigidbody jeffs[16];
  66
  67 static void reorg_jeffs(void)
  68 {
  69    for( int i=0; i<vg_list_size(jeffs); i++ )
  70    {
  71       v3_copy( (v3f){ (vg_randf()-0.5f) * 10.0f,
  72                       (vg_randf()-0.5f) * 10.0f + 17.0f,
  73                       (vg_randf()-0.5f) * 10.0f }, jeffs[i].co );
  74       v4_copy( (v4f){ vg_randf(), vg_randf(), vg_randf(), vg_randf() },
  75                jeffs[i].q );
  76       q_normalize( jeffs[i].q );
  77
  78       jeffs[i].type = k_rb_shape_capsule;
  79       jeffs[i].inf.capsule.radius = 0.75f;
  80       jeffs[i].inf.capsule.height = 3.0f;
  81
  82       rb_init( &jeffs[i] );
  83    }
  84 }
  85
  86 static void physics_test_start(void)
  87 {
  88    q_axis_angle( funnel[0].q, (v3f){1.0f,0.0f,0.0f},  0.6f );
  89    q_axis_angle( funnel[1].q, (v3f){1.0f,0.0f,0.0f}, -0.6f );
  90    q_axis_angle( funnel[2].q, (v3f){0.0f,0.0f,1.0f},  0.6f );
  91    q_axis_angle( funnel[3].q, (v3f){0.0f,0.0f,1.0f}, -0.6f );
  92
  93    for( int i=0; i<4; i++ )
  94       rb_init( &funnel[i] );
  95
  96    reorg_jeffs();
  97
  98    rb_init( &ground );
  99    rb_init( &ball );
 100    rb_init( &ball1 );
 101    rb_init( &jeff1 );
 102    rb_init( &blocky );
 103 }
 104
 105 static void physics_test_update(void)
 106 {
 107    player_freecam();
 108    player_camera_update();
 109
 110
 111    for( int i=0; i<4; i++ )
 112       rb_debug( &funnel[i], 0xff0060e0 );
 113    rb_debug( &ground, 0xff00ff00 );
 114    rb_debug( &ball, 0xffe00040 );
 115    rb_debug( &ball1, 0xff00e050 );
 116
 117    rb_debug( &blocky, 0xffcccccc );
 118    rb_debug( &jeff1, 0xff00ffff );
 119
 120    for( int i=0; i<vg_list_size(jeffs); i++ )
 121    {
 122       rb_debug( &jeffs[i], (u32[]){ 0xff0000ff, 0xff00ff00, 0xff00ffff,
 123                                    0xffff0000, 0xffff00ff, 0xffffff00,
 124                                    }[i%6] );
 125       rb_iter( jeffs+i );
 126    }
 127
 128    {
 129
 130    rb_iter( &ball );
 131    rb_iter( &ball1 );
 132    rb_iter( &jeff1 );
 133
 134    rb_solver_reset();
 135
 136    for( int i=0; i<4; i++ )
 137    {
 138       rigidbody *fn = &funnel[i];
 139       rb_contact_count += rb_sphere_vs_box( &ball, fn, rb_global_ct());
 140       rb_contact_count += rb_sphere_vs_box( &ball1, fn, rb_global_ct());
 141       rb_contact_count += rb_capsule_vs_box( &jeff1, fn, rb_global_ct() );
 142
 143       for( int i=0; i<vg_list_size(jeffs); i++ )
 144          rb_contact_count += rb_capsule_vs_box( jeffs+i, fn, rb_global_ct() );
 145    }
 146
 147    for( int i=0; i<vg_list_size(jeffs)-1; i++ )
 148    {
 149       for( int j=i+1; j<vg_list_size(jeffs); j++ )
 150       {
 151          rb_contact_count += rb_capsule_vs_capsule( jeffs+i, jeffs+j,
 152                rb_global_ct() );
 153       }
 154    }
 155
 156    for( int i=0; i<vg_list_size(jeffs); i++ )
 157    {
 158       rb_contact_count += rb_capsule_vs_box( jeffs+i, &ground, rb_global_ct() );
 159       rb_contact_count += rb_capsule_vs_sphere( jeffs+i, &ball, rb_global_ct() );
 160       rb_contact_count += rb_capsule_vs_sphere( jeffs+i, &ball1, rb_global_ct() );
 161       rb_contact_count += rb_capsule_vs_capsule( jeffs+i, &jeff1, rb_global_ct() );
 162    }
 163
 164    rb_contact_count += rb_capsule_vs_box( &jeff1, &ground, rb_global_ct() );
 165    rb_contact_count += rb_capsule_vs_box( &jeff1, &blocky, rb_global_ct() );
 166    rb_contact_count += rb_capsule_vs_sphere( &jeff1, &ball, rb_global_ct() );
 167    rb_contact_count += rb_capsule_vs_sphere( &jeff1, &ball1, rb_global_ct() );
 168
 169    rb_contact_count += rb_sphere_vs_box( &ball, &ground, rb_global_ct() );
 170    rb_contact_count += rb_sphere_vs_box( &ball1, &ground, rb_global_ct() );
 171    rb_contact_count += rb_sphere_vs_sphere( &ball1, &ball, rb_global_ct() );
 172
 173    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 174    for( int i=0; i<8; i++ )
 175       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 176
 177    for( int i=0; i<vg_list_size(jeffs); i++ )
 178    {
 179       rb_update_transform(jeffs+i);
 180    }
 181
 182    rb_update_transform( &ball );
 183    rb_update_transform( &ball1 );
 184    rb_update_transform( &jeff1 );
 185
 186    }
 187
 188    if(glfwGetKey( vg_window, GLFW_KEY_L ))
 189    {
 190       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, jeff1.co );
 191       v3_zero( jeff1.v );
 192       v3_zero( jeff1.w );
 193    }
 194    if(glfwGetKey( vg_window, GLFW_KEY_K ))
 195    {
 196       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball.co );
 197       v3_zero( ball.v );
 198       v3_zero( ball.w );
 199    }
 200    if(glfwGetKey( vg_window, GLFW_KEY_J ))
 201    {
 202       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball1.co );
 203       v3_zero( ball1.v );
 204       v3_zero( ball1.w );
 205    }
 206
 207    if(glfwGetKey( vg_window, GLFW_KEY_H ))
 208    {
 209       reorg_jeffs();
 210    }
 211 }
 212
 213 static void physics_test_render(void)
 214 {
 215    m4x4f world_4x4;
 216    m4x3_expand( player.camera_inverse, world_4x4 );
 217
 218    gpipeline.fov = 60.0f;
 219    m4x4_projection( vg_pv, gpipeline.fov,
 220          (float)vg_window_x / (float)vg_window_y,
 221          0.1f, 2100.0f );
 222
 223    m4x4_mul( vg_pv, world_4x4, vg_pv );
 224    glEnable( GL_DEPTH_TEST );
 225
 226    glDisable( GL_DEPTH_TEST );
 227    vg_lines_drawall( (float *)vg_pv );
 228 }
 229
 230 #endif /* PHYSICS_TEST_H */