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 = {0.0f,0.0f,0.0f,1.0f}
  53 };
  54
  55 rigidbody ball = { .type = k_rb_shape_sphere,
  56                    .inf.sphere = { .radius = 2.0f },
  57                    .co = {0.0f,6.0f,0.0f},
  58                    .q = {0.0f,0.0f,0.0f,1.0f}},
  59
  60           ball1= { .type = k_rb_shape_sphere,
  61                    .inf.sphere = { .radius = 1.0f },
  62                    .co = {0.1f,9.0f,0.2f},
  63                    .q = {0.0f,0.0f,0.0f,1.0f}};
  64
  65 static void physics_test_start(void)
  66 {
  67    q_axis_angle( funnel[0].q, (v3f){1.0f,0.0f,0.0f},  0.3f );
  68    q_axis_angle( funnel[1].q, (v3f){1.0f,0.0f,0.0f}, -0.3f );
  69    q_axis_angle( funnel[2].q, (v3f){0.0f,0.0f,1.0f},  0.3f );
  70    q_axis_angle( funnel[3].q, (v3f){0.0f,0.0f,1.0f}, -0.3f );
  71
  72    for( int i=0; i<4; i++ )
  73       rb_init( &funnel[i] );
  74
  75    rb_init( &ground );
  76    rb_init( &ball );
  77    rb_init( &ball1 );
  78    rb_init( &jeff1 );
  79    rb_init( &blocky );
  80 }
  81
  82 static void physics_test_update(void)
  83 {
  84    player_freecam();
  85    player_camera_update();
  86
  87    {
  88
  89    rb_iter( &ball );
  90    rb_iter( &ball1 );
  91    rb_iter( &jeff1 );
  92
  93    rb_solver_reset();
  94
  95    for( int i=0; i<4; i++ )
  96    {
  97       rb_contact_count += rb_sphere_vs_box( &ball, &funnel[i], rb_global_ct());
  98       rb_contact_count += rb_sphere_vs_box( &ball1, &funnel[i], rb_global_ct());
  99    }
 100
 101    rb_contact_count += rb_sphere_vs_box( &ball, &ground, rb_global_ct() );
 102    rb_contact_count += rb_sphere_vs_box( &ball1, &ground, rb_global_ct() );
 103    rb_contact_count += rb_sphere_vs_sphere( &ball, &ball1, rb_global_ct() );
 104
 105    rb_contact_count += rb_capsule_vs_box( &jeff1, &ground, rb_global_ct() );
 106    rb_contact_count += rb_capsule_vs_box( &jeff1, &blocky, rb_global_ct() );
 107
 108    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 109
 110    for( int i=0; i<5; i++ )
 111       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 112
 113    rb_update_transform( &ball );
 114    rb_update_transform( &ball1 );
 115    rb_update_transform( &jeff1 );
 116
 117    }
 118
 119    if(glfwGetKey( vg_window, GLFW_KEY_L ))
 120    {
 121       v3_copy( player.camera_pos, jeff1.co );
 122       v3_zero( jeff1.v );
 123       v3_zero( jeff1.w );
 124    }
 125
 126    for( int i=0; i<4; i++ )
 127       rb_debug( &funnel[i], 0xff0060e0 );
 128    rb_debug( &ground, 0xff00ff00 );
 129    rb_debug( &ball, 0xffe00040 );
 130    rb_debug( &ball1, 0xff00e050 );
 131
 132    rb_debug( &blocky, 0xffcccccc );
 133    rb_debug( &jeff1, 0xff00ffff );
 134 }
 135
 136 static void physics_test_render(void)
 137 {
 138    m4x4f world_4x4;
 139    m4x3_expand( player.camera_inverse, world_4x4 );
 140
 141    gpipeline.fov = 60.0f;
 142    m4x4_projection( vg_pv, gpipeline.fov,
 143          (float)vg_window_x / (float)vg_window_y,
 144          0.1f, 2100.0f );
 145
 146    m4x4_mul( vg_pv, world_4x4, vg_pv );
 147    glEnable( GL_DEPTH_TEST );
 148
 149    glDisable( GL_DEPTH_TEST );
 150    vg_lines_drawall( (float *)vg_pv );
 151 }
 152
 153 #endif /* PHYSICS_TEST_H */