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 marko =
  23 {
  24    .type = k_rb_shape_box,
  25    .bbx = {{-0.5f,-0.5f,-0.5f},{0.5f,0.5f,0.5f}},
  26    .co = {-36.0f,8.0f,-36.0f},
  27    .q = {0.0f,0.0f,0.0f,1.0f},
  28    .is_world = 0
  29 };
  30
  31 scene epic_scene;
  32
  33 rigidbody epic_scene_rb =
  34 {
  35    .type = k_rb_shape_scene,
  36    .co = {0.0f,0.0f,0.0f},
  37    .q = {0.0f,0.0f,0.0f,1.0f},
  38    .is_world = 1,
  39    .inf.scene = { .pscene = &epic_scene }
  40 };
  41
  42 rigidbody funnel[4] = {
  43    {
  44       .type = k_rb_shape_box,
  45       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  46       .co = {-10.0f,5.0f,0.0f},
  47       .is_world = 1
  48    },
  49    {
  50       .type = k_rb_shape_box,
  51       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  52       .co = { 10.0f,5.0f,0.0f},
  53       .is_world = 1
  54    },
  55    {
  56       .type = k_rb_shape_box,
  57       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  58       .co = { 0.0f,5.0f,10.0f},
  59       .is_world = 1
  60    },
  61    {
  62       .type = k_rb_shape_box,
  63       .bbx = {{-20.0f,-1.0f,-20.0f},{20.0f,1.0f,20.0f}},
  64       .co = {0.0f,5.0f,-10.0f},
  65       .is_world = 1
  66    }
  67 };
  68
  69 rigidbody jeff1 = { .type = k_rb_shape_capsule,
  70                     .inf.capsule = { .radius = 0.75f, .height = 3.0f },
  71                     .co = {30.0f, 4.0f, 30.0f },
  72                     .q = {1.0f,0.0f,0.0f,0.0f}
  73 };
  74
  75 rigidbody ball = { .type = k_rb_shape_sphere,
  76                    .inf.sphere = { .radius = 2.0f },
  77                    .co = {0.0f,20.0f,2.0f},
  78                    .q = {0.0f,0.0f,0.0f,1.0f}},
  79
  80           ball1= { .type = k_rb_shape_sphere,
  81                    .inf.sphere = { .radius = 2.0f },
  82                    .co = {0.1f,25.0f,0.2f},
  83                    .q = {0.0f,0.0f,0.0f,1.0f}};
  84
  85 rigidbody jeffs[16];
  86
  87 static void reorg_jeffs(void)
  88 {
  89    for( int i=0; i<vg_list_size(jeffs); i++ )
  90    {
  91       v3_copy( (v3f){ (vg_randf()-0.5f) * 10.0f,
  92                       (vg_randf()-0.5f) * 10.0f + 17.0f,
  93                       (vg_randf()-0.5f) * 10.0f }, jeffs[i].co );
  94       v4_copy( (v4f){ vg_randf(), vg_randf(), vg_randf(), vg_randf() },
  95                jeffs[i].q );
  96       q_normalize( jeffs[i].q );
  97
  98       jeffs[i].type = k_rb_shape_capsule;
  99       jeffs[i].inf.capsule.radius = 0.75f;
 100       jeffs[i].inf.capsule.height = 3.0f;
 101
 102       rb_init( &jeffs[i] );
 103    }
 104 }
 105
 106 static void physics_test_start(void)
 107 {
 108    q_axis_angle( funnel[0].q, (v3f){1.0f,0.0f,0.0f},  0.6f );
 109    q_axis_angle( funnel[1].q, (v3f){1.0f,0.0f,0.0f}, -0.6f );
 110    q_axis_angle( funnel[2].q, (v3f){0.0f,0.0f,1.0f},  0.6f );
 111    q_axis_angle( funnel[3].q, (v3f){0.0f,0.0f,1.0f}, -0.6f );
 112
 113    for( int i=0; i<4; i++ )
 114       rb_init( &funnel[i] );
 115
 116    reorg_jeffs();
 117
 118    rb_init( &ground );
 119    rb_init( &ball );
 120    rb_init( &ball1 );
 121    rb_init( &jeff1 );
 122    rb_init( &blocky );
 123
 124    scene_init( &epic_scene );
 125
 126    mdl_header *mdl = mdl_load( "models/epic_scene.mdl" );
 127
 128    m4x3f transform;
 129    m4x3_identity( transform );
 130
 131    for( int i=0; i<mdl->node_count; i++ )
 132    {
 133       mdl_node *pnode = mdl_node_from_id( mdl, i );
 134
 135       for( int j=0; j<pnode->submesh_count; j++ )
 136       {
 137          mdl_submesh *sm = mdl_node_submesh( mdl, pnode, j );
 138          scene_add_submesh( &epic_scene, mdl, sm, transform );
 139       }
 140    }
 141
 142    free( mdl );
 143    scene_bh_create( &epic_scene );
 144
 145    rb_init( &epic_scene_rb );
 146    rb_init( &marko );
 147 }
 148
 149 static void physics_test_update(void)
 150 {
 151    player_freecam();
 152    player_camera_update();
 153
 154    for( int i=0; i<4; i++ )
 155       rb_debug( &funnel[i], 0xff0060e0 );
 156    rb_debug( &ground, 0xff00ff00 );
 157    rb_debug( &ball, 0xffe00040 );
 158    rb_debug( &ball1, 0xff00e050 );
 159
 160    rb_debug( &blocky, 0xffcccccc );
 161    rb_debug( &jeff1, 0xff00ffff );
 162
 163    rb_debug( &epic_scene_rb, 0xffcccccc );
 164    rb_debug( &marko, 0xffffcc00 );
 165
 166    {
 167
 168    rb_solver_reset();
 169
 170    for( int i=0; i<4; i++ )
 171    {
 172       rigidbody *fn = &funnel[i];
 173       rb_collide( &ball, fn );
 174       rb_collide( &ball1, fn );
 175       rb_collide( &jeff1, fn );
 176
 177       for( int i=0; i<vg_list_size(jeffs); i++ )
 178          rb_collide( jeffs+i, fn );
 179    }
 180
 181    for( int i=0; i<vg_list_size(jeffs)-1; i++ )
 182    {
 183       for( int j=i+1; j<vg_list_size(jeffs); j++ )
 184       {
 185          rb_collide( jeffs+i, jeffs+j );
 186       }
 187    }
 188
 189    for( int i=0; i<vg_list_size(jeffs); i++ )
 190    {
 191       rb_collide( jeffs+i, &ground );
 192       rb_collide( jeffs+i, &ball );
 193       rb_collide( jeffs+i, &ball1 );
 194       rb_collide( jeffs+i, &jeff1 );
 195    }
 196
 197    rb_collide( &jeff1, &ground );
 198    rb_collide( &jeff1, &blocky );
 199    rb_collide( &jeff1, &ball );
 200    rb_collide( &jeff1, &ball1 );
 201
 202    rb_collide( &ball, &ground );
 203    rb_collide( &ball1, &ground );
 204    rb_collide( &ball1, &ball );
 205    rb_collide( &marko, &epic_scene_rb );
 206
 207    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
 208    for( int i=0; i<8; i++ )
 209       rb_solve_contacts( rb_contact_buffer, rb_contact_count );
 210
 211
 212    /* ITERATE */
 213    {
 214    for( int i=0; i<vg_list_size(jeffs); i++ )
 215    {
 216       rb_debug( &jeffs[i], (u32[]){ 0xff0000ff, 0xff00ff00, 0xff00ffff,
 217                                    0xffff0000, 0xffff00ff, 0xffffff00,
 218                                    }[i%6] );
 219       rb_iter( jeffs+i );
 220    }
 221
 222    rb_iter( &ball );
 223    rb_iter( &ball1 );
 224    rb_iter( &jeff1 );
 225    rb_iter( &marko );
 226    }
 227
 228    /* POSITION OVERRIDE */
 229    {
 230    if(glfwGetKey( vg_window, GLFW_KEY_L ))
 231    {
 232       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, marko.co );
 233       v3_zero( marko.v );
 234       v3_zero( marko.w );
 235    }
 236    if(glfwGetKey( vg_window, GLFW_KEY_K ))
 237    {
 238       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball.co );
 239       v3_zero( ball.v );
 240       v3_zero( ball.w );
 241    }
 242    if(glfwGetKey( vg_window, GLFW_KEY_J ))
 243    {
 244       m4x3_mulv( player.camera, (v3f){0.0f,0.0f,-5.0f}, ball1.co );
 245       v3_zero( ball1.v );
 246       v3_zero( ball1.w );
 247    }
 248
 249    if(glfwGetKey( vg_window, GLFW_KEY_H ))
 250    {
 251       reorg_jeffs();
 252    }
 253    }
 254
 255    /* UPDATE TRANSFORMS */
 256    for( int i=0; i<vg_list_size(jeffs); i++ )
 257    {
 258       rb_update_transform(jeffs+i);
 259    }
 260
 261    rb_update_transform( &ball );
 262    rb_update_transform( &ball1 );
 263    rb_update_transform( &jeff1 );
 264    rb_update_transform( &marko );
 265
 266    }
 267 }
 268
 269 static void physics_test_render(void)
 270 {
 271    m4x4f world_4x4;
 272    m4x3_expand( player.camera_inverse, world_4x4 );
 273
 274    gpipeline.fov = 60.0f;
 275    m4x4_projection( vg_pv, gpipeline.fov,
 276          (float)vg_window_x / (float)vg_window_y,
 277          0.1f, 2100.0f );
 278
 279    m4x4_mul( vg_pv, world_4x4, vg_pv );
 280    glEnable( GL_DEPTH_TEST );
 281
 282    glDisable( GL_DEPTH_TEST );
 283    vg_lines_drawall( (float *)vg_pv );
 284 }
 285
 286 #endif /* PHYSICS_TEST_H */