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 rigidbody funnel[4] = {
  13    {
  14       .type = k_rb_shape_box,
  15       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  16       .co = {-10.0f,5.0f,0.0f},
  17       .is_world = 1
  18    },
  19    {
  20       .type = k_rb_shape_box,
  21       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  22       .co = { 10.0f,5.0f,0.0f},
  23       .is_world = 1
  24    },
  25    {
  26       .type = k_rb_shape_box,
  27       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  28       .co = { 0.0f,5.0f,10.0f},
  29       .is_world = 1
  30    },
  31    {
  32       .type = k_rb_shape_box,
  33       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  34       .co = {0.0f,5.0f,-10.0f},
  35       .is_world = 1
  36    }
  37 };
  38
  39
  40 rigidbody ball = { .type = k_rb_shape_sphere,
  41                    .inf.sphere = { .radius = 2.0f },
  42                    .co = {0.0f,6.0f,0.0f},
  43                    .q = {0.0f,0.0f,0.0f,1.0f}},
  44
  45           ball1= { .type = k_rb_shape_sphere,
  46                    .inf.sphere = { .radius = 1.0f },
  47                    .co = {0.1f,9.0f,0.2f},
  48                    .q = {0.0f,0.0f,0.0f,1.0f}};
  49
  50 static void physics_test_start(void)
  51 {
  52    q_axis_angle( funnel[0].q, (v3f){1.0f,0.0f,0.0f},  0.3f );
  53    q_axis_angle( funnel[1].q, (v3f){1.0f,0.0f,0.0f}, -0.3f );
  54    q_axis_angle( funnel[2].q, (v3f){0.0f,0.0f,1.0f},  0.3f );
  55    q_axis_angle( funnel[3].q, (v3f){0.0f,0.0f,1.0f}, -0.3f );
  56
  57    for( int i=0; i<4; i++ )
  58       rb_init( &funnel[i] );
  59
  60    rb_init( &ground );
  61    rb_init( &ball );
  62    rb_init( &ball1 );
  63 }
  64
  65 static void physics_test_update(void)
  66 {
  67    player_freecam();
  68    player_camera_update();
  69
  70    {
  71
  72    rb_iter( &ball );
  73    rb_iter( &ball1 );
  74
  75    rb_solver_reset();
  76
  77    for( int i=0; i<4; i++ )
  78    {
  79       rb_contact_count += rb_sphere_vs_box( &ball, &funnel[i], rb_global_ct());
  80       rb_contact_count += rb_sphere_vs_box( &ball1, &funnel[i], rb_global_ct());
  81    }
  82
  83    rb_contact_count += rb_sphere_vs_box( &ball, &ground, rb_global_ct() );
  84    rb_contact_count += rb_sphere_vs_box( &ball1, &ground, rb_global_ct() );
  85    rb_contact_count += rb_sphere_vs_sphere( &ball, &ball1, rb_global_ct() );
  86
  87    rb_presolve_contacts();
  88
  89    for( int i=0; i<5; i++ )
  90       rb_solve_contacts();
  91
  92    rb_update_transform( &ball );
  93    rb_update_transform( &ball1 );
  94
  95    }
  96
  97    if(glfwGetKey( vg_window, GLFW_KEY_L ))
  98    {
  99       v3_copy( player.camera_pos, ball.co );
 100       v3_zero( ball.v );
 101       v3_zero( ball.w );
 102    }
 103
 104    for( int i=0; i<4; i++ )
 105       rb_debug( &funnel[i], 0xff0060e0 );
 106    rb_debug( &ground, 0xff00ff00 );
 107    rb_debug( &ball, 0xffe00040 );
 108    rb_debug( &ball1, 0xff00e050 );
 109 }
 110
 111 static void physics_test_render(void)
 112 {
 113    m4x4f world_4x4;
 114    m4x3_expand( player.camera_inverse, world_4x4 );
 115
 116    gpipeline.fov = freecam? 60.0f: 135.0f; /* 120 */
 117    m4x4_projection( vg_pv, gpipeline.fov,
 118          (float)vg_window_x / (float)vg_window_y,
 119          0.1f, 2100.0f );
 120
 121    m4x4_mul( vg_pv, world_4x4, vg_pv );
 122    glEnable( GL_DEPTH_TEST );
 123
 124    glDisable( GL_DEPTH_TEST );
 125    vg_lines_drawall( (float *)vg_pv );
 126 }
 127
 128 #endif /* PHYSICS_TEST_H */