From: hgn <hgodden00@gmail.com>
Date: Sat, 23 Jul 2022 05:44:50 +0000 (+0100)
Subject: latest
X-Git-Url: https://skaterift.com/git/?a=commitdiff_plain;h=be0f28b651e5c39943e476c0cd68c146e9952857;p=carveJwlIkooP6JGAAIwe30JlM.git

latest
---

diff --git a/character.h b/character.h
index 3421d3a..daa2e99 100644
--- a/character.h
+++ b/character.h
@@ -4,8 +4,10 @@
 #include "common.h"
 #include "model.h"
 #include "scene.h"
+#include "world.h"
 #include "ik.h"
 #include "rigidbody.h"
+#include "render.h"
 #include "shaders/character.h"
 
 vg_tex2d tex_pallet = { .path = "textures/ch_gradient.qoi" };
@@ -882,22 +884,14 @@ static void character_debug_ragdoll( struct character *ch )
 
 static void character_ragdoll_iter( struct character *ch )
 {
+   /* TODO: Lots of the RB functions unimplemented here currently */
+
+   return;
    rb_solver_reset();
 
    for( int i=0; i<PART_COUNT; i++ )
    {
-      rb_build_manifold_terrain( &ch->ragdoll[i] );
-
-      /* TODO: Cars, piece-to-piece collision */
-#if 0
-      u32 colliders[16];
-      int len = bh_select( &world.bhcubes, ch->ragdoll[i].bbx_world, 
-            colliders, 16 );
-      
-      for( int j=0; j<len; j++ )
-         rb_build_manifold_rb_static( &ch->ragdoll[i], 
-               &world.temp_rbs[colliders[j]] );
-#endif
+      rb_collide( &ch->ragdoll[i], &world.rb_geo );
    }
 
    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
diff --git a/main.c b/main.c
index f3b5b8c..d8a2ceb 100644
--- a/main.c
+++ b/main.c
@@ -17,7 +17,7 @@ vg_tex2d tex_water = { .path = "textures/water.qoi" };
 static int debugview = 0;
 static int sv_debugcam = 0;
 static int lightedit = 0;
-static int sv_scene = 1;
+static int sv_scene = 0;
 
 /* Components */
 #include "road.h"
@@ -55,6 +55,7 @@ void vg_register(void)
 
 static void init_other(void)
 {
+   player_init();
    render_init();
    gate_init();
    world_init();
@@ -92,14 +93,6 @@ static int playermodel( int argc, char const *argv[] )
 
 void vg_start(void)
 {
-   vg_convar_push( (struct vg_convar){
-      .name = "scene",
-      .data = &sv_scene,
-      .data_type = k_convar_dtype_i32,
-      .opt_i32 = { .min=0, .max=1, .clamp=1 },
-      .persistent = 1
-   });
-
    vg_convar_push( (struct vg_convar){
       .name = "fc",
       .data = &freecam,
@@ -173,7 +166,7 @@ void vg_start(void)
 
    if( sv_scene == 0 )
    {
-      character_load( &player.mdl, "ch_default" );
+      character_load( &player.mdl, "ch_outlaw" );
       character_init_ragdoll( &player.mdl );
 
       world_load();
diff --git a/models/mp_dev.mdl b/models/mp_dev.mdl
index d2a152d..3a57c6c 100644
Binary files a/models/mp_dev.mdl and b/models/mp_dev.mdl differ
diff --git a/physics_test.h b/physics_test.h
index 8143c1d..d3b9f06 100644
--- a/physics_test.h
+++ b/physics_test.h
@@ -136,39 +136,38 @@ static void physics_test_update(void)
    for( int i=0; i<4; i++ )
    {
       rigidbody *fn = &funnel[i];
-      rb_contact_count += rb_sphere_vs_box( &ball, fn, rb_global_ct());
-      rb_contact_count += rb_sphere_vs_box( &ball1, fn, rb_global_ct());
-      rb_contact_count += rb_capsule_vs_box( &jeff1, fn, rb_global_ct() );
+      rb_collide( &ball, fn );
+      rb_collide( &ball1, fn );
+      rb_collide( &jeff1, fn );
 
       for( int i=0; i<vg_list_size(jeffs); i++ )
-         rb_contact_count += rb_capsule_vs_box( jeffs+i, fn, rb_global_ct() );
+         rb_collide( jeffs+i, fn );
    }
 
    for( int i=0; i<vg_list_size(jeffs)-1; i++ )
    {
       for( int j=i+1; j<vg_list_size(jeffs); j++ )
       {
-         rb_contact_count += rb_capsule_vs_capsule( jeffs+i, jeffs+j, 
-               rb_global_ct() );
+         rb_collide( jeffs+i, jeffs+j );
       }
    }
 
    for( int i=0; i<vg_list_size(jeffs); i++ )
    {
-      rb_contact_count += rb_capsule_vs_box( jeffs+i, &ground, rb_global_ct() );
-      rb_contact_count += rb_capsule_vs_sphere( jeffs+i, &ball, rb_global_ct() );
-      rb_contact_count += rb_capsule_vs_sphere( jeffs+i, &ball1, rb_global_ct() );
-      rb_contact_count += rb_capsule_vs_capsule( jeffs+i, &jeff1, rb_global_ct() );
+      rb_collide( jeffs+i, &ground );
+      rb_collide( jeffs+i, &ball );
+      rb_collide( jeffs+i, &ball1 );
+      rb_collide( jeffs+i, &jeff1 );
    }
 
-   rb_contact_count += rb_capsule_vs_box( &jeff1, &ground, rb_global_ct() );
-   rb_contact_count += rb_capsule_vs_box( &jeff1, &blocky, rb_global_ct() );
-   rb_contact_count += rb_capsule_vs_sphere( &jeff1, &ball, rb_global_ct() );
-   rb_contact_count += rb_capsule_vs_sphere( &jeff1, &ball1, rb_global_ct() );
+   rb_collide( &jeff1, &ground );
+   rb_collide( &jeff1, &blocky );
+   rb_collide( &jeff1, &ball );
+   rb_collide( &jeff1, &ball1 );
 
-   rb_contact_count += rb_sphere_vs_box( &ball, &ground, rb_global_ct() );
-   rb_contact_count += rb_sphere_vs_box( &ball1, &ground, rb_global_ct() );
-   rb_contact_count += rb_sphere_vs_sphere( &ball1, &ball, rb_global_ct() );
+   rb_collide( &ball, &ground );
+   rb_collide( &ball1, &ground );
+   rb_collide( &ball1, &ball );
 
    rb_presolve_contacts( rb_contact_buffer, rb_contact_count );
    for( int i=0; i<8; i++ )
diff --git a/player.h b/player.h
index a378f72..1d54fe9 100644
--- a/player.h
+++ b/player.h
@@ -3,6 +3,7 @@
 
 #include "audio.h"
 #include "common.h"
+#include "world.h"
 #include "character.h"
 #include "bvh.h"
 
@@ -31,7 +32,7 @@ static int walk_grid_iterations = 1;
 static struct gplayer
 {
    /* Physics */
-   rigidbody rb;
+   rigidbody rb, collide_front, collide_back;
 
    v3f a, v_last, m, bob, vl;
 
@@ -68,7 +69,8 @@ player =
 {
    .on_board = 1,
 
-   .rb = { .type = k_rb_shape_capsule }
+   .collide_front = { .type = k_rb_shape_sphere, .inf.sphere.radius = 0.3f },
+   .collide_back  = { .type = k_rb_shape_sphere, .inf.sphere.radius = 0.3f }
 };
 
 /* 
@@ -163,7 +165,7 @@ static void player_start_air(void)
    float best_velocity_mod = 0.0f,
          best_velocity_delta = -9999.9f;
 
-   float k_bias = 0.97f;
+   float k_bias = 0.96f;
 
    v3f axis;
    v3_cross( player.rb.up, player.rb.v, axis );
@@ -392,42 +394,44 @@ static void player_physics_control_air(void)
    v2_lerp( player.board_xy, target, ktimestep*3.0f, player.board_xy );
 }
 
+static void player_init(void)
+{
+   rb_init( &player.collide_front );
+   rb_init( &player.collide_back  );
+}
+
 static void player_physics(void)
 {
    /*
-    * Player physics uses a customized routine seperate from the main
-    * rigidbody implementation. It requires some non-standard impulse
-    * responses being applied for example limiting the effect on certain axises
-    * ( especially for angular velocity )
-    *
-    * The capsule collider is also at a different angle to the players roation.
+    * Update collision fronts
     */
+   
+   rigidbody *rbf = &player.collide_front,
+             *rbb = &player.collide_back;
 
-   m4x3f mboard;
-   v3_copy( player.rb.to_world[0], mboard[0] );
-   v3_copy( player.rb.to_world[2], mboard[1] );
-   v3_copy( player.rb.to_world[1], mboard[2] );
-   m4x3_mulv( player.rb.to_world, (v3f){ 0.0f, 0.3f, 0.0f }, mboard[3] );
+   m3x3_copy( player.rb.to_world, player.collide_front.to_world );
+   m3x3_copy( player.rb.to_world, player.collide_back.to_world );
+   m4x3_mulv( player.rb.to_world, (v3f){0.0f,0.0f,-k_board_length}, rbf->co );
+   v3_copy( rbf->co, rbf->to_world[3] );
+   m4x3_mulv( player.rb.to_world, (v3f){0.0f,0.0f, k_board_length}, rbb->co );
+   v3_copy( rbb->co, rbb->to_world[3] );
 
-   debug_capsule( mboard, k_board_length*2.0f, k_board_radius, 0xff0000ff );
+   m4x3_invert_affine( rbf->to_world, rbf->to_local );
+   m4x3_invert_affine( rbb->to_world, rbb->to_local );
 
-   boxf region = {{ -k_board_radius, -k_board_length, -k_board_radius },
-                  {  k_board_radius,  k_board_length,  k_board_radius }};
-   m4x3_transform_aabb( mboard, region );
-   
-   u32 geo[256];
-   v3f tri[3];
-   int len = bh_select( &world.geo.bhtris, region, geo, 256 );
+   rb_update_bounds( rbf );
+   rb_update_bounds( rbb );
 
-   v3f poles[2];
-   m4x3_mulv(mboard, (v3f){0.0f,-k_board_length+k_board_radius,0.0f}, poles[0]);
-   m4x3_mulv(mboard, (v3f){0.0f, k_board_length-k_board_radius,0.0f}, poles[1]);
-   
-   struct contact manifold[12];
-   int manifold_count = 0;
+   rb_debug( rbf, 0xff00ffff );
+   rb_debug( rbb, 0xffffff00 );
 
-   v3f surface_avg = {0.0f, 0.0f, 0.0f};
+   rb_ct manifold[24];
+   int len = 0;
+
+   len += rb_sphere_vs_scene( rbf, &world.rb_geo, manifold+len );
+   len += rb_sphere_vs_scene( rbb, &world.rb_geo, manifold+len );
 
+#if 0
    for( int i=0; i<len; i++ )
    {
       u32 *ptri = &world.geo.indices[ geo[i]*3 ];
@@ -458,14 +462,20 @@ static void player_physics(void)
 
       v3_copy( temp, player.rb.co );
    }
-   rb_presolve_contacts( manifold, manifold_count );
+#endif
+
+   rb_presolve_contacts( manifold, len );
+   v3f surface_avg = {0.0f, 0.0f, 0.0f};
 
-   if( !manifold_count )
+   if( !len )
    {
       player_start_air();
    }
    else
    {
+      for( int i=0; i<len; i++ )
+         v3_add( manifold[i].n, surface_avg, surface_avg );
+
       v3_normalize( surface_avg );
 
       if( v3_dot( player.rb.v, surface_avg ) > 0.5f )
@@ -478,7 +488,7 @@ static void player_physics(void)
 
    for( int j=0; j<5; j++ )
    {
-      for( int i=0; i<manifold_count; i++ )
+      for( int i=0; i<len; i++ )
       {
          struct contact *ct = &manifold[i];
          
@@ -1642,7 +1652,7 @@ static void player_animate(void)
    character_pose_reset( &player.mdl );
 
    /* TODO */
-   float fstand1 = 1.0f-(1.0f-fstand)*0.3f;
+   float fstand1 = 1.0f-(1.0f-fstand)*0.0f;
 
    float amt_air = ffly*ffly,
          amt_ground = 1.0f-amt_air,
@@ -1665,7 +1675,6 @@ static void player_animate(void)
 
    character_final_pose( &player.mdl, (v3f){0.0f,0.0f,0.0f}, 
          &pose_fly, amt_air );
-   
 
    /* 
     * Additive effects
diff --git a/render.h b/render.h
index aa73842..f77f106 100644
--- a/render.h
+++ b/render.h
@@ -1,9 +1,15 @@
-#ifndef RENDER_H
-#define RENDER_H
-
 #include "common.h"
 #include "model.h"
 
+static void render_water_texture( m4x3f camera );
+static void render_water_surface( m4x4f pv, m4x3f camera );
+static void render_world( m4x4f projection, m4x3f camera );
+static void shader_link_standard_ub( GLuint shader, int texture_id );
+static void render_world_depth( m4x4f projection, m4x3f camera );
+
+#ifndef RENDER_H
+#define RENDER_H
+
 static struct pipeline
 {
    float fov;
@@ -72,11 +78,6 @@ gpipeline =
    }
 };
 
-static void render_water_texture( m4x3f camera );
-static void render_water_surface( m4x4f pv, m4x3f camera );
-static void render_world( m4x4f projection, m4x3f camera );
-static void render_world_depth( m4x4f projection, m4x3f camera );
-
 /* 
  * Matrix Projections
  */
diff --git a/rigidbody.h b/rigidbody.h
index b140cbb..14bc060 100644
--- a/rigidbody.h
+++ b/rigidbody.h
@@ -5,6 +5,7 @@
 
 #include "common.h"
 #include "bvh.h"
+#include "scene.h"
 
 static void rb_tangent_basis( v3f n, v3f tx, v3f ty );
 static bh_system bh_system_rigidbodies;
@@ -12,7 +13,7 @@ static bh_system bh_system_rigidbodies;
 #ifndef RIGIDBODY_H
 #define RIGIDBODY_H
 
-#define RB_DEPR 
+//#define RB_DEPR 
 #define k_rb_rate  60.0f
 #define k_rb_delta (1.0f/k_rb_rate)
 
@@ -26,9 +27,10 @@ struct rigidbody
 
    enum rb_shape
    {
-      k_rb_shape_box,
-      k_rb_shape_sphere,
-      k_rb_shape_capsule
+      k_rb_shape_box     = 0,
+      k_rb_shape_sphere  = 1,
+      k_rb_shape_capsule = 2,
+      k_rb_shape_scene   = 3
    } 
    type;
    
@@ -45,6 +47,12 @@ struct rigidbody
          float height, radius;
       } 
       capsule;
+
+      struct rb_scene
+      {
+         scene *pscene;
+      }
+      scene;
    }
    inf;
 
@@ -55,10 +63,17 @@ struct rigidbody
    boxf bbx, bbx_world;
    float inv_mass;
 
-   v3f delta;  /* where is the origin of this in relation to a parent body */
+   v3f delta;  /* where is the origin of this in relation to a parent body
+                  TODO: Move this somewhere other than rigidbody struct
+                        it is only used by character.h's ragdoll
+               */
    m4x3f to_world, to_local;
 };
 
+#ifdef RB_DEPR
+/*
+ * Impulses on static objects get re-routed here
+ */
 static rigidbody rb_static_null = 
 {
    .co={0.0f,0.0f,0.0f},
@@ -68,6 +83,7 @@ static rigidbody rb_static_null =
    .is_world = 1,
    .inv_mass = 0.0f
 };
+#endif
 
 static void rb_debug( rigidbody *rb, u32 colour );
 
@@ -81,6 +97,12 @@ static struct contact
 rb_contact_buffer[256];
 static int rb_contact_count = 0;
 
+static void rb_update_bounds( rigidbody *rb )
+{
+   box_copy( rb->bbx, rb->bbx_world );
+   m4x3_transform_aabb( rb->to_world, rb->bbx_world );
+}
+
 static void rb_update_transform( rigidbody *rb )
 {
    q_normalize( rb->q );
@@ -89,12 +111,11 @@ static void rb_update_transform( rigidbody *rb )
 
    m4x3_invert_affine( rb->to_world, rb->to_local );
 
-   box_copy( rb->bbx, rb->bbx_world );
-   m4x3_transform_aabb( rb->to_world, rb->bbx_world );
-
    m3x3_mulv( rb->to_world, (v3f){1.0f,0.0f, 0.0f}, rb->right );
    m3x3_mulv( rb->to_world, (v3f){0.0f,1.0f, 0.0f}, rb->up );
    m3x3_mulv( rb->to_world, (v3f){0.0f,0.0f,-1.0f}, rb->forward );
+
+   rb_update_bounds( rb );
 }
 
 static float sphere_volume( float radius )
@@ -130,6 +151,11 @@ static void rb_init( rigidbody *rb )
       rb->bbx[0][1] = -h;
       rb->bbx[1][1] =  h;
    }
+   else if( rb->type == k_rb_shape_scene )
+   {
+      rb->is_world = 1;
+      box_copy( rb->inf.scene.pscene->bbx, rb->bbx );
+   }
 
    if( rb->is_world )
    {
@@ -195,8 +221,10 @@ static void rb_tangent_basis( v3f n, v3f tx, v3f ty )
 }
 
 static void rb_solver_reset(void);
+#ifdef RB_DEPR
 static void rb_build_manifold_terrain( rigidbody *rb );
 static void rb_build_manifold_terrain_sphere( rigidbody *rb );
+#endif
 static void rb_solve_contacts( rb_ct *buf, int len );
 static void rb_presolve_contacts( rb_ct *buffer, int len );
 
@@ -814,6 +842,88 @@ static int rb_sphere_vs_sphere( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
    return 0;
 }
 
+/* TODO: these guys */
+
+static int rb_capsule_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+   u32 geo[128];
+   v3f tri[3];
+   int len = bh_select( &rbb->inf.scene.pscene->bhtris, 
+                         rba->bbx_world, geo, 128 );
+
+   return 0;
+}
+
+static int rb_sphere_vs_triangle( rigidbody *rba, rigidbody *rbb, 
+                                  v3f tri[3], rb_ct *buf )
+{
+   v3f delta, co;
+
+   closest_on_triangle( rba->co, tri, co );
+   v3_sub( rba->co, co, delta );
+
+   vg_line( rba->co, co, 0xffff0000 );
+   vg_line_pt3( rba->co, 0.1f, 0xff00ffff );
+
+   float d2 = v3_length2( delta ),
+          r = rba->inf.sphere.radius;
+
+   if( d2 < r*r )
+   {
+      rb_ct *ct = buf;
+
+      v3f ab, ac, tn;
+      v3_sub( tri[2], tri[0], ab );
+      v3_sub( tri[1], tri[0], ac );
+      v3_cross( ac, ab, tn );
+      v3_copy( tn, ct->n );
+      v3_normalize( ct->n );
+
+      float d = sqrtf(d2);
+
+      v3_copy( co, ct->co );
+      ct->p = r-d;
+      ct->rba = rba;
+      ct->rbb = rbb;
+      return 1;
+   }
+
+   return 0;
+}
+
+static int rb_sphere_vs_scene( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
+{
+   scene *sc = rbb->inf.scene.pscene;
+   
+   u32 geo[128];
+   v3f tri[3];
+   int len = bh_select( &sc->bhtris, rba->bbx_world, geo, 128 );
+
+   int count = 0;
+
+   for( int i=0; i<len; i++ )
+   {
+      u32 *ptri = &sc->indices[ geo[i]*3 ];
+
+      for( int j=0; j<3; j++ )
+         v3_copy( sc->verts[ptri[j]].co, tri[j] );
+
+      vg_line(tri[0],tri[1],0xff00ff00 );
+      vg_line(tri[1],tri[2],0xff00ff00 );
+      vg_line(tri[2],tri[0],0xff00ff00 );
+
+      count += rb_sphere_vs_triangle( rba, rbb, tri, buf+count );
+
+      if( count == 12 )
+      {
+         vg_warn( "Exceeding sphere_vs_scene capacity. Geometry too dense!\n" );
+         return count;
+      }
+   }
+
+   return count;
+}
+
 static int RB_MATRIX_ERROR( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 {
    vg_error( "Collision type is unimplemented between types %d and %d\n",
@@ -841,16 +951,45 @@ static int (*rb_jump_table[4][4])( rigidbody *rba, rigidbody *rbb, rb_ct *buf )
 = {
               /* box */         /* Sphere */         /* Capsule */
 /*box    */ { RB_MATRIX_ERROR,  rb_box_vs_sphere,    rb_box_vs_capsule,    RB_MATRIX_ERROR },
-/*sphere */ { rb_sphere_vs_box, rb_sphere_vs_sphere, rb_sphere_vs_capsule, RB_MATRIX_ERROR },
+/*sphere */ { rb_sphere_vs_box, rb_sphere_vs_sphere, rb_sphere_vs_capsule, rb_sphere_vs_scene },
 /*capsule*/ { rb_capsule_vs_box,rb_capsule_vs_sphere,rb_capsule_vs_capsule,RB_MATRIX_ERROR },
 /*mesh   */ { RB_MATRIX_ERROR,  RB_MATRIX_ERROR,     RB_MATRIX_ERROR,      RB_MATRIX_ERROR }
 };
 
+static int rb_collide( rigidbody *rba, rigidbody *rbb )
+{
+   int (*collider_jump)(rigidbody *rba, rigidbody *rbb, rb_ct *buf ) 
+      = rb_jump_table[rba->type][rbb->type];
+
+   /* 
+    * 12 is the maximum manifold size we can generate, so we are forced to abort
+    * potentially checking any more.
+    */
+   if( rb_contact_count + 12 > vg_list_size(rb_contact_buffer) )
+   {
+      vg_warn( "Too many contacts made in global collider buffer (%d of %d\n)",
+               rb_contact_count, vg_list_size(rb_contact_buffer) );
+      return 0;
+   }
+
+   /*
+    * TODO: Replace this with a more dedicated broad phase pass
+    */
+   if( box_overlap( rba->bbx_world, rbb->bbx_world ) )
+   {
+      int count = collider_jump( rba, rbb, rb_contact_buffer+rb_contact_count); 
+      rb_contact_count += count;
+      return count;
+   }
+   else
+      return 0;
+}
 
 /*
  * Generic functions
  */
 
+#ifdef RB_DEPR
 /* 
  * This function does not accept triangle as a dynamic object, it is assumed
  * to always be static.
@@ -891,8 +1030,6 @@ static int rb_sphere_vs_triangle( rigidbody *rba, v3f tri[3], rb_ct *buf )
    return 0;
 }
 
-
-RB_DEPR
 static int sphere_vs_triangle( v3f c, float r, v3f tri[3], 
       v3f co, v3f norm, float *p )
 {
@@ -926,6 +1063,7 @@ static int sphere_vs_triangle( v3f c, float r, v3f tri[3],
 }
 
 #include "world.h"
+#endif
 
 static void rb_solver_reset(void)
 {
@@ -937,6 +1075,7 @@ static rb_ct *rb_global_ct(void)
    return rb_contact_buffer + rb_contact_count;
 }
 
+#ifdef RB_DEPR
 static struct contact *rb_start_contact(void)
 {
    if( rb_contact_count == vg_list_size(rb_contact_buffer) )
@@ -1004,7 +1143,6 @@ static void rb_build_manifold_terrain_sphere( rigidbody *rb )
 
 }
 
-RB_DEPR
 static void rb_build_manifold_terrain( rigidbody *rb )
 {
    v3f *box = rb->bbx;
@@ -1069,6 +1207,7 @@ static void rb_build_manifold_terrain( rigidbody *rb )
       }
    }
 }
+#endif
 
 /*
  * Initializing things like tangent vectors
@@ -1235,7 +1374,6 @@ static void rb_constraint_angle_limit( struct rb_angle_limit *limit )
 
 }
 
-RB_DEPR
 static void rb_constraint_angle( rigidbody *rba, v3f va,
                                  rigidbody *rbb, v3f vb, 
                                  float max, float spring )
@@ -1483,8 +1621,13 @@ static void rb_debug( rigidbody *rb, u32 colour )
 
       debug_capsule( rb->to_world, r, h, colour );
    }
+   else if( rb->type == k_rb_shape_scene )
+   {
+      vg_line_boxf( rb->bbx, colour );
+   }
 }
 
+#ifdef RB_DEPR
 /*
  * out penetration distance, normal
  */
@@ -1577,4 +1720,6 @@ static bh_system bh_system_rigidbodies =
    .cast_ray = NULL
 };
 
+#endif
+
 #endif /* RIGIDBODY_H */
diff --git a/world.h b/world.h
index 9242023..0ebf23a 100644
--- a/world.h
+++ b/world.h
@@ -51,6 +51,7 @@ static struct gworld
    
    /* Rendering & geometry */
    scene geo, foliage;
+   rigidbody rb_geo;
 
    mdl_submesh sm_geo_std_oob, sm_geo_std, sm_geo_vb;
 
@@ -401,10 +402,22 @@ static void world_init(void)
    mdl_node *nholden = mdl_node_from_name( mcars, "holden" );
    world.car_holden = *mdl_node_submesh( mcars, nholden, 0 );
    free(mcars);
+
+   /*
+    * Setup scene collider 
+    */
+   v3_zero( world.rb_geo.co );
+   q_identity( world.rb_geo.q );
+
+   world.rb_geo.type = k_rb_shape_scene;
+   world.rb_geo.inf.scene.pscene = &world.geo;
+   world.rb_geo.is_world = 1;
+   rb_init( &world.rb_geo );
 }
 
 static void world_update(void)
 {
+#if 0
    rb_solver_reset();
    rb_build_manifold_terrain_sphere( &world.mr_ball );
    
@@ -414,6 +427,7 @@ static void world_update(void)
    rb_iter( &world.mr_ball );
    rb_update_transform( &world.mr_ball );
    rb_debug( &world.mr_ball, 0 );
+#endif
 
    for( int i=0; i<vg_list_size(world.van_man); i++ )
    {