pp refactor progress
This commit is contained in:
parent
1f27a0fe1e
commit
eabefaa16d
@ -1412,7 +1412,7 @@ void UpdateUser(P_Window *window)
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#if COLLIDER_DEBUG
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if (HasProp(ent, Prop_CollisionDebug))
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{
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CollisionDebugData *data = &ent->collision_debug_data;
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ContactDebugData *data = &ent->collision_debug_data;
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CLD_CollisionData collision_reuslt = data->collision_result;
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Entity *e0 = EntityFromId(g->ss_blended, data->e0);
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Entity *e1 = EntityFromId(g->ss_blended, data->e1);
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@ -185,7 +185,7 @@ Struct(Entity)
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CLD_Shape local_collider;
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#if COLLIDER_DEBUG
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CollisionDebugData collision_debug_data;
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ContactDebugData collision_debug_data;
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#endif
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SpaceEntryHandle space_handle;
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153
src/pp/pp_phys.c
153
src/pp/pp_phys.c
@ -1,11 +1,7 @@
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#define CONTACT_SPRING_HZ 25
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#define CONTACT_SPRING_DAMP 10
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////////////////////////////////
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//~ Contact
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/* ========================== *
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* Contact
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* ========================== */
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internal b32 can_contact(Entity *e0, Entity *e1)
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b32 CanEntitiesContact(Entity *e0, Entity *e1)
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{
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b32 result = 0;
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result = e0 != e1 &&
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@ -14,14 +10,14 @@ internal b32 can_contact(Entity *e0, Entity *e1)
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return result;
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}
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void phys_create_and_update_contacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_iteration)
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void CreateAndUpdateContacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_iteration)
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{
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__prof;
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SimStepCtx *sim_step_ctx = ctx->sim_step_ctx;
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Snapshot *ss = sim_step_ctx->world;
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Space *space = sim_step_ctx->accel->space;
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EntityId local_player = ss->local_player;
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phys_collision_callback_func *collision_callback = ctx->collision_callback;
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CollisionCallbackFunc *collision_callback = ctx->collision_callback;
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Entity *root = EntityFromId(ss, RootEntityId);
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u64 tick = ss->tick;
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@ -43,7 +39,7 @@ void phys_create_and_update_contacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_
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if (!IsValidAndActive(check1)) continue;
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if (!(HasProp(check1, Prop_Solid) || HasProp(check1, Prop_Sensor))) continue;
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if (check1->local_collider.count <= 0) continue;
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if (!can_contact(check0, check1)) continue;
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if (!CanEntitiesContact(check0, check1)) continue;
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/* Deterministic order based on entity id */
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Entity *e0;
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@ -236,7 +232,7 @@ void phys_create_and_update_contacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_
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EnableProp(dbg_ent, Prop_CollisionDebug);
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}
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CollisionDebugData *dbg = &dbg_ent->collision_debug_data;
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ContactDebugData *dbg = &dbg_ent->collision_debug_data;
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dbg->e0 = e0->id;
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dbg->e1 = e1->id;
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@ -265,7 +261,7 @@ void phys_create_and_update_contacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_
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}
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}
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void phys_prepare_contacts(PhysStepCtx *ctx, u64 phys_iteration)
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void PrepareContacts(PhysStepCtx *ctx, u64 phys_iteration)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -359,7 +355,7 @@ void phys_prepare_contacts(PhysStepCtx *ctx, u64 phys_iteration)
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if (!ShouldSimulate(dbg_ent)) continue;
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if (!HasProp(dbg_ent, Prop_CollisionDebug)) continue;
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CollisionDebugData *dbg = &dbg_ent->collision_debug_data;
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ContactDebugData *dbg = &dbg_ent->collision_debug_data;
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Entity *e0 = EntityFromId(ss, dbg->e0);
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Entity *e1 = EntityFromId(ss, dbg->e1);
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@ -375,7 +371,7 @@ void phys_prepare_contacts(PhysStepCtx *ctx, u64 phys_iteration)
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#endif
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}
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void phys_warm_start_contacts(PhysStepCtx *ctx)
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void WarmStartContacts(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -427,7 +423,7 @@ void phys_warm_start_contacts(PhysStepCtx *ctx)
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}
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}
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void phys_solve_contacts(PhysStepCtx *ctx, f32 dt, b32 apply_bias)
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void SolveContacts(PhysStepCtx *ctx, f32 dt, b32 apply_bias)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -477,7 +473,7 @@ void phys_solve_contacts(PhysStepCtx *ctx, f32 dt, b32 apply_bias)
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velocity_bias = separation / dt;
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} else if (apply_bias) {
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/* Soft constraint */
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SoftSpring softness = MakeSpring(CONTACT_SPRING_HZ, CONTACT_SPRING_DAMP, dt);
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SoftSpring softness = MakeSpring(ContactSpringHz, ContactSpringDamp, dt);
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f32 pushout_velocity = constraint->pushout_velocity;
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mass_scale = softness.mass_scale;
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impulse_scale = softness.impulse_scale;
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@ -544,17 +540,16 @@ void phys_solve_contacts(PhysStepCtx *ctx, f32 dt, b32 apply_bias)
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}
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}
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/* ========================== *
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* Motor joint
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* ========================== */
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////////////////////////////////
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//~ Motor joint
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MotorJointDesc phys_motor_joint_def_init(void)
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MotorJointDesc CreateMotorJointDef(void)
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{
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MotorJointDesc def = ZI;
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return def;
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}
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MotorJoint phys_motor_joint_from_def(MotorJointDesc def)
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MotorJoint MotorJointFromDef(MotorJointDesc def)
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{
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MotorJoint result = ZI;
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result.e0 = def.e0;
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@ -565,7 +560,7 @@ MotorJoint phys_motor_joint_from_def(MotorJointDesc def)
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return result;
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}
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void phys_prepare_motor_joints(PhysStepCtx *ctx)
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void PrepareMotorJoints(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -629,7 +624,7 @@ void phys_prepare_motor_joints(PhysStepCtx *ctx)
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}
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}
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void phys_warm_start_motor_joints(PhysStepCtx *ctx)
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void WarmStartMotorJoints(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -661,7 +656,7 @@ void phys_warm_start_motor_joints(PhysStepCtx *ctx)
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}
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}
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void phys_solve_motor_joints(PhysStepCtx *ctx, f32 dt)
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void SolveMotorJoints(PhysStepCtx *ctx, f32 dt)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -738,11 +733,10 @@ void phys_solve_motor_joints(PhysStepCtx *ctx, f32 dt)
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}
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}
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/* ========================== *
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* Mouse joint
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* ========================== */
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////////////////////////////////
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//~ Mouse joint
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MouseJointDesc phys_mouse_joint_def_init(void)
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MouseJointDesc CreateMouseJointDef(void)
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{
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MouseJointDesc def = ZI;
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def.linear_spring_hz = 5.0f;
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@ -753,7 +747,7 @@ MouseJointDesc phys_mouse_joint_def_init(void)
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return def;
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}
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MouseJoint phys_mouse_joint_from_def(MouseJointDesc def)
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MouseJoint MouseJointFromDef(MouseJointDesc def)
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{
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MouseJoint result = ZI;
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result.target = def.target;
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@ -767,7 +761,7 @@ MouseJoint phys_mouse_joint_from_def(MouseJointDesc def)
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return result;
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}
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void phys_prepare_mouse_joints(PhysStepCtx *ctx)
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void PrepareMouseJoints(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -814,7 +808,7 @@ void phys_prepare_mouse_joints(PhysStepCtx *ctx)
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}
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}
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void phys_warm_start_mouse_joints(PhysStepCtx *ctx)
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void WarmStartMouseJoints(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -836,7 +830,7 @@ void phys_warm_start_mouse_joints(PhysStepCtx *ctx)
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}
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}
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void phys_solve_mouse_joints(PhysStepCtx *ctx, f32 dt)
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void SolveMouseJoints(PhysStepCtx *ctx, f32 dt)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -905,11 +899,10 @@ void phys_solve_mouse_joints(PhysStepCtx *ctx, f32 dt)
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}
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}
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/* ========================== *
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* Weld joint
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* ========================== */
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////////////////////////////////
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//~ Weld joint
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WeldJointDesc phys_weld_joint_def_init(void)
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WeldJointDesc CreateWeldJointDef(void)
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{
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WeldJointDesc def = ZI;
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def.linear_spring_hz = 50;
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@ -919,7 +912,7 @@ WeldJointDesc phys_weld_joint_def_init(void)
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return def;
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}
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WeldJoint phys_weld_joint_from_def(WeldJointDesc def)
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WeldJoint WeldJointFromDef(WeldJointDesc def)
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{
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WeldJoint result = ZI;
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result.e0 = def.e0;
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@ -932,7 +925,7 @@ WeldJoint phys_weld_joint_from_def(WeldJointDesc def)
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return result;
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}
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void phys_prepare_weld_joints(PhysStepCtx *ctx)
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void PrepareWeldJoints(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -981,7 +974,7 @@ void phys_prepare_weld_joints(PhysStepCtx *ctx)
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}
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}
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void phys_warm_start_weld_joints(PhysStepCtx *ctx)
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void WarmStartWeldJoints(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -1018,7 +1011,7 @@ void phys_warm_start_weld_joints(PhysStepCtx *ctx)
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}
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}
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void phys_solve_weld_joints(PhysStepCtx *ctx, f32 dt)
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void SolveWeldJoints(PhysStepCtx *ctx, f32 dt)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -1082,11 +1075,10 @@ void phys_solve_weld_joints(PhysStepCtx *ctx, f32 dt)
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}
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}
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/* ========================== *
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* Integration
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* ========================== */
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////////////////////////////////
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//~ Integration
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internal Xform get_derived_xform(Entity *ent, f32 dt)
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Xform GetDerivedEntityXform(Entity *ent, f32 dt)
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{
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Xform xf = XformFromEntity(ent);
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@ -1098,7 +1090,7 @@ internal Xform get_derived_xform(Entity *ent, f32 dt)
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return xf;
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}
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void phys_integrate_forces(PhysStepCtx *ctx, f32 dt)
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void IntegrateForces(PhysStepCtx *ctx, f32 dt)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -1140,7 +1132,7 @@ void phys_integrate_forces(PhysStepCtx *ctx, f32 dt)
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}
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}
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void phys_integrate_velocities(PhysStepCtx *ctx, f32 dt)
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void IntegrateVelocities(PhysStepCtx *ctx, f32 dt)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -1149,16 +1141,15 @@ void phys_integrate_velocities(PhysStepCtx *ctx, f32 dt)
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if (!ShouldSimulate(ent)) continue;
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if (!HasProp(ent, Prop_Dynamic) && !HasProp(ent, Prop_Kinematic)) continue;
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Xform xf = get_derived_xform(ent, dt);
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Xform xf = GetDerivedEntityXform(ent, dt);
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SetXform(ent, xf);
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}
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}
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/* ========================== *
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* Earliest time of impact
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* ========================== */
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////////////////////////////////
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//~ Earliest time of impact
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f32 phys_determine_earliest_toi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u32 max_iterations)
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f32 DetermineEarliestToi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u32 max_iterations)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -1174,7 +1165,7 @@ f32 phys_determine_earliest_toi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u3
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CLD_Shape e0_collider = e0->local_collider;
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Xform e0_xf_t0 = XformFromEntity(e0);
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Xform e0_xf_t1 = get_derived_xform(e0, step_dt);
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Xform e0_xf_t1 = GetDerivedEntityXform(e0, step_dt);
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/* TODO: Use swept aabb rather than combined aabb. This should prevent spikes from bullets returning 0 positive TOIs with irrelevant entities. */
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Aabb aabb_t0 = CLD_AabbFromShape(&e0_collider, e0_xf_t0);
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@ -1188,11 +1179,11 @@ f32 phys_determine_earliest_toi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u3
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if (!ShouldSimulate(e1)) continue;
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if (!(HasProp(e1, Prop_Solid) || HasProp(e1, Prop_Sensor))) continue;
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if (e1->local_collider.count <= 0) continue;
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if (!can_contact(e0, e1)) continue;
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if (!CanEntitiesContact(e0, e1)) continue;
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CLD_Shape e1_collider = e1->local_collider;
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Xform e1_xf_t0 = XformFromEntity(e1);
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Xform e1_xf_t1 = get_derived_xform(e1, step_dt);
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Xform e1_xf_t1 = GetDerivedEntityXform(e1, step_dt);
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f32 t = CLD_TimeOfImpact(&e0_collider, &e1_collider, e0_xf_t0, e1_xf_t0, e0_xf_t1, e1_xf_t1, tolerance, max_iterations);
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if (t != 0 && t < smallest_t) {
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@ -1205,11 +1196,10 @@ f32 phys_determine_earliest_toi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u3
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return smallest_t;
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}
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/* ========================== *
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* Space
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* ========================== */
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////////////////////////////////
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//~ Spatial
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void phys_update_aabbs(PhysStepCtx *ctx)
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void UpdateAabbs(PhysStepCtx *ctx)
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{
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__prof;
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Snapshot *ss = ctx->sim_step_ctx->world;
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@ -1230,19 +1220,18 @@ void phys_update_aabbs(PhysStepCtx *ctx)
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}
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}
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/* ========================== *
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* Step
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* ========================== */
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////////////////////////////////
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//~ Step
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/* Returns phys iteration to be fed into next step. Supplied iteration must be > 0. */
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void phys_step(PhysStepCtx *ctx, f32 timestep)
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void StepPhys(PhysStepCtx *ctx, f32 timestep)
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{
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__prof;
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phys_integrate_forces(ctx, timestep);
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IntegrateForces(ctx, timestep);
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Snapshot *ss = ctx->sim_step_ctx->world;
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u64 phys_iteration = ss->phys_iteration;
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phys_update_aabbs(ctx);
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UpdateAabbs(ctx);
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f32 remaining_dt = timestep;
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while (remaining_dt > 0) {
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@ -1257,20 +1246,20 @@ void phys_step(PhysStepCtx *ctx, f32 timestep)
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const f32 min_toi = 0.000001f;
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const f32 tolerance = 0.0001f;
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const u32 max_iterations = 16;
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f32 earliest_toi = MaxF32(phys_determine_earliest_toi(ctx, step_dt, tolerance, max_iterations), min_toi);
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f32 earliest_toi = MaxF32(DetermineEarliestToi(ctx, step_dt, tolerance, max_iterations), min_toi);
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step_dt = remaining_dt * earliest_toi;
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#else
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LAX phys_determine_earliest_toi;
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LAX DetermineEarliestToi;
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#endif
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}
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remaining_dt -= step_dt;
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phys_create_and_update_contacts(ctx, timestep - remaining_dt, phys_iteration);
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CreateAndUpdateContacts(ctx, timestep - remaining_dt, phys_iteration);
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phys_prepare_contacts(ctx, phys_iteration);
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phys_prepare_motor_joints(ctx);
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phys_prepare_mouse_joints(ctx);
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phys_prepare_weld_joints(ctx);
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PrepareContacts(ctx, phys_iteration);
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PrepareMotorJoints(ctx);
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PrepareMouseJoints(ctx);
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PrepareWeldJoints(ctx);
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f32 substep_dt = step_dt / SIM_PHYSICS_SUBSTEPS;
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for (u32 i = 0; i < SIM_PHYSICS_SUBSTEPS; ++i) {
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@ -1278,30 +1267,30 @@ void phys_step(PhysStepCtx *ctx, f32 timestep)
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/* Warm start */
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#if SIM_PHYSICS_ENABLE_WARM_STARTING
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phys_warm_start_contacts(ctx);
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phys_warm_start_motor_joints(ctx);
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phys_warm_start_mouse_joints(ctx);
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phys_warm_start_weld_joints(ctx);
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WarmStartContacts(ctx);
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WarmStartMotorJoints(ctx);
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WarmStartMouseJoints(ctx);
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WarmStartWeldJoints(ctx);
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#endif
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/* Solve */
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#if SIM_PHYSICS_ENABLE_COLLISION
|
||||
phys_solve_contacts(ctx, substep_dt, 1);
|
||||
SolveContacts(ctx, substep_dt, 1);
|
||||
#endif
|
||||
phys_solve_motor_joints(ctx, substep_dt);
|
||||
phys_solve_mouse_joints(ctx, substep_dt);
|
||||
phys_solve_weld_joints(ctx, substep_dt);
|
||||
SolveMotorJoints(ctx, substep_dt);
|
||||
SolveMouseJoints(ctx, substep_dt);
|
||||
SolveWeldJoints(ctx, substep_dt);
|
||||
|
||||
/* Integrate */
|
||||
phys_integrate_velocities(ctx, substep_dt);
|
||||
IntegrateVelocities(ctx, substep_dt);
|
||||
|
||||
/* Relaxation solve */
|
||||
#if SIM_PHYSICS_ENABLE_COLLISION && SIM_PHYSICS_ENABLE_RELAXATION
|
||||
phys_solve_contacts(ctx, substep_dt, 0);
|
||||
SolveContacts(ctx, substep_dt, 0);
|
||||
#endif
|
||||
}
|
||||
|
||||
phys_update_aabbs(ctx);
|
||||
UpdateAabbs(ctx);
|
||||
EndScratch(scratch);
|
||||
}
|
||||
|
||||
|
||||
172
src/pp/pp_phys.h
172
src/pp/pp_phys.h
@ -1,5 +1,11 @@
|
||||
typedef struct CollisionData CollisionData;
|
||||
struct CollisionData {
|
||||
////////////////////////////////
|
||||
//~ Collision data types
|
||||
|
||||
#define ContactSpringHz 25
|
||||
#define ContactSpringDamp 10
|
||||
|
||||
Struct(CollisionData)
|
||||
{
|
||||
EntityId e0;
|
||||
EntityId e1;
|
||||
Vec2 point;
|
||||
@ -10,23 +16,25 @@ struct CollisionData {
|
||||
};
|
||||
|
||||
/* Callback can return 1 to prevent the physics system from resolving */
|
||||
typedef struct SimStepCtx SimStepCtx;
|
||||
#define PHYS_COLLISION_CALLBACK_FUNC_DEF(name, arg_collision_data, arg_sim_step_ctx) b32 name(CollisionData *arg_collision_data, SimStepCtx *arg_sim_step_ctx)
|
||||
typedef PHYS_COLLISION_CALLBACK_FUNC_DEF(phys_collision_callback_func, collision_data, ctx);
|
||||
struct SimStepCtx;
|
||||
#define CollisionCallbackFuncDef(name, arg_collision_data, arg_sim_step_ctx) b32 name(CollisionData *arg_collision_data, struct SimStepCtx *arg_sim_step_ctx)
|
||||
typedef CollisionCallbackFuncDef(CollisionCallbackFunc, collision_data, ctx);
|
||||
|
||||
////////////////////////////////
|
||||
//~ Step ctx
|
||||
|
||||
/* Structure containing data used for a single physics step */
|
||||
typedef struct PhysStepCtx PhysStepCtx;
|
||||
struct PhysStepCtx {
|
||||
SimStepCtx *sim_step_ctx;
|
||||
phys_collision_callback_func *collision_callback;
|
||||
Struct(PhysStepCtx)
|
||||
{
|
||||
struct SimStepCtx *sim_step_ctx;
|
||||
CollisionCallbackFunc *collision_callback;
|
||||
};
|
||||
|
||||
/* ========================== *
|
||||
* Contact
|
||||
* ========================== */
|
||||
////////////////////////////////
|
||||
//~ Contact types
|
||||
|
||||
typedef struct ContactPoint ContactPoint;
|
||||
struct ContactPoint {
|
||||
Struct(ContactPoint)
|
||||
{
|
||||
/* Contact point relative to the center of each entity.
|
||||
*
|
||||
* NOTE: We use fixed (non-rotated) points relative to the entities
|
||||
@ -51,8 +59,8 @@ struct ContactPoint {
|
||||
#endif
|
||||
};
|
||||
|
||||
typedef struct ContactConstraint ContactConstraint;
|
||||
struct ContactConstraint {
|
||||
Struct(ContactConstraint)
|
||||
{
|
||||
u64 last_phys_iteration; /* To avoid checking collisions for the same constraint twice in one tick */
|
||||
b32 skip_solve;
|
||||
b32 wrong_dir;
|
||||
@ -73,8 +81,8 @@ struct ContactConstraint {
|
||||
f32 pushout_velocity;
|
||||
};
|
||||
|
||||
typedef struct CollisionDebugData CollisionDebugData;
|
||||
struct CollisionDebugData {
|
||||
Struct(ContactDebugData)
|
||||
{
|
||||
EntityId e0;
|
||||
EntityId e1;
|
||||
CLD_CollisionData collision_result;
|
||||
@ -89,17 +97,11 @@ struct CollisionDebugData {
|
||||
Xform xf1;
|
||||
};
|
||||
|
||||
void phys_create_and_update_contacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_iteration);
|
||||
void phys_prepare_contacts(PhysStepCtx *ctx, u64 phys_iteration);
|
||||
void phys_warm_start_contacts(PhysStepCtx *ctx);
|
||||
void phys_solve_contacts(PhysStepCtx *ctx, f32 dt, b32 apply_bias);
|
||||
////////////////////////////////
|
||||
//~ Motor joint types
|
||||
|
||||
/* ========================== *
|
||||
* Motor joint
|
||||
* ========================== */
|
||||
|
||||
typedef struct MotorJointDesc MotorJointDesc;
|
||||
struct MotorJointDesc {
|
||||
Struct(MotorJointDesc)
|
||||
{
|
||||
EntityId e0;
|
||||
EntityId e1;
|
||||
f32 correction_rate;
|
||||
@ -107,8 +109,8 @@ struct MotorJointDesc {
|
||||
f32 max_torque;
|
||||
};
|
||||
|
||||
typedef struct MotorJoint MotorJoint;
|
||||
struct MotorJoint {
|
||||
Struct(MotorJoint)
|
||||
{
|
||||
EntityId e0;
|
||||
EntityId e1;
|
||||
f32 correction_rate;
|
||||
@ -130,18 +132,11 @@ struct MotorJoint {
|
||||
f32 angular_mass;
|
||||
};
|
||||
|
||||
MotorJointDesc phys_motor_joint_def_init(void);
|
||||
MotorJoint phys_motor_joint_from_def(MotorJointDesc def);
|
||||
void phys_prepare_motor_joints(PhysStepCtx *ctx);
|
||||
void phys_warm_start_motor_joints(PhysStepCtx *ctx);
|
||||
void phys_solve_motor_joints(PhysStepCtx *ctx, f32 dt);
|
||||
////////////////////////////////
|
||||
//~ Mouse joint types
|
||||
|
||||
/* ========================== *
|
||||
* Mouse joint
|
||||
* ========================== */
|
||||
|
||||
typedef struct MouseJointDesc MouseJointDesc;
|
||||
struct MouseJointDesc {
|
||||
Struct(MouseJointDesc)
|
||||
{
|
||||
EntityId target;
|
||||
Vec2 point_local_start;
|
||||
Vec2 point_end;
|
||||
@ -152,8 +147,8 @@ struct MouseJointDesc {
|
||||
f32 max_force;
|
||||
};
|
||||
|
||||
typedef struct MouseJoint MouseJoint;
|
||||
struct MouseJoint {
|
||||
Struct(MouseJoint)
|
||||
{
|
||||
EntityId target;
|
||||
Vec2 point_local_start;
|
||||
Vec2 point_end;
|
||||
@ -172,18 +167,11 @@ struct MouseJoint {
|
||||
Xform linear_mass_xf;
|
||||
};
|
||||
|
||||
MouseJointDesc phys_mouse_joint_def_init(void);
|
||||
MouseJoint phys_mouse_joint_from_def(MouseJointDesc def);
|
||||
void phys_prepare_mouse_joints(PhysStepCtx *ctx);
|
||||
void phys_warm_start_mouse_joints(PhysStepCtx *ctx);
|
||||
void phys_solve_mouse_joints(PhysStepCtx *ctx, f32 dt);
|
||||
////////////////////////////////
|
||||
//~ Weld joint types
|
||||
|
||||
/* ========================== *
|
||||
* Weld joint
|
||||
* ========================== */
|
||||
|
||||
typedef struct WeldJointDesc WeldJointDesc;
|
||||
struct WeldJointDesc {
|
||||
Struct(WeldJointDesc)
|
||||
{
|
||||
EntityId e0;
|
||||
EntityId e1;
|
||||
|
||||
@ -197,8 +185,8 @@ struct WeldJointDesc {
|
||||
f32 angular_spring_damp;
|
||||
};
|
||||
|
||||
typedef struct WeldJoint WeldJoint;
|
||||
struct WeldJoint {
|
||||
Struct(WeldJoint)
|
||||
{
|
||||
EntityId e0;
|
||||
EntityId e1;
|
||||
Xform xf0_to_xf1;
|
||||
@ -219,33 +207,61 @@ struct WeldJoint {
|
||||
f32 angular_impulse1;
|
||||
};
|
||||
|
||||
WeldJointDesc phys_weld_joint_def_init(void);
|
||||
WeldJoint phys_weld_joint_from_def(WeldJointDesc def);
|
||||
void phys_prepare_weld_joints(PhysStepCtx *ctx);
|
||||
void phys_warm_start_weld_joints(PhysStepCtx *ctx);
|
||||
void phys_solve_weld_joints(PhysStepCtx *ctx, f32 dt);
|
||||
////////////////////////////////
|
||||
//~ Contact operations
|
||||
|
||||
/* ========================== *
|
||||
* Integration
|
||||
* ========================== */
|
||||
b32 CanEntitiesContact(struct Entity *e0, struct Entity *e1);
|
||||
void CreateAndUpdateContacts(PhysStepCtx *ctx, f32 elapsed_dt, u64 phys_iteration);
|
||||
void PrepareContacts(PhysStepCtx *ctx, u64 phys_iteration);
|
||||
void WarmStartContacts(PhysStepCtx *ctx);
|
||||
void SolveContacts(PhysStepCtx *ctx, f32 dt, b32 apply_bias);
|
||||
|
||||
void phys_integrate_forces(PhysStepCtx *ctx, f32 dt);
|
||||
void phys_integrate_velocities(PhysStepCtx *ctx, f32 dt);
|
||||
////////////////////////////////
|
||||
//~ Motor joint operations
|
||||
|
||||
/* ========================== *
|
||||
* Earliest time of impact
|
||||
* ========================== */
|
||||
MotorJointDesc CreateMotorJointDef(void);
|
||||
MotorJoint MotorJointFromDef(MotorJointDesc def);
|
||||
void PrepareMotorJoints(PhysStepCtx *ctx);
|
||||
void WarmStartMotorJoints(PhysStepCtx *ctx);
|
||||
void SolveMotorJoints(PhysStepCtx *ctx, f32 dt);
|
||||
|
||||
f32 phys_determine_earliest_toi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u32 max_iterations);
|
||||
////////////////////////////////
|
||||
//~ Mouse joint operations
|
||||
|
||||
/* ========================== *
|
||||
* Space
|
||||
* ========================== */
|
||||
MouseJointDesc CreateMouseJointDef(void);
|
||||
MouseJoint MouseJointFromDef(MouseJointDesc def);
|
||||
void PrepareMouseJoints(PhysStepCtx *ctx);
|
||||
void WarmStartMouseJoints(PhysStepCtx *ctx);
|
||||
void SolveMouseJoints(PhysStepCtx *ctx, f32 dt);
|
||||
|
||||
void phys_update_aabbs(PhysStepCtx *ctx);
|
||||
////////////////////////////////
|
||||
//~ Weld joint operations
|
||||
|
||||
/* ========================== *
|
||||
* Step
|
||||
* ========================== */
|
||||
WeldJointDesc CreateWeldJointDef(void);
|
||||
WeldJoint WeldJointFromDef(WeldJointDesc def);
|
||||
void PrepareWeldJoints(PhysStepCtx *ctx);
|
||||
void WarmStartWeldJoints(PhysStepCtx *ctx);
|
||||
void SolveWeldJoints(PhysStepCtx *ctx, f32 dt);
|
||||
|
||||
void phys_step(PhysStepCtx *ctx, f32 timestep);
|
||||
////////////////////////////////
|
||||
//~ Integration operations
|
||||
|
||||
struct Entity;
|
||||
Xform GetDerivedEntityXform(struct Entity *ent, f32 dt);
|
||||
void IntegrateForces(PhysStepCtx *ctx, f32 dt);
|
||||
void IntegrateVelocities(PhysStepCtx *ctx, f32 dt);
|
||||
|
||||
////////////////////////////////
|
||||
//~ Time of impact operations
|
||||
|
||||
f32 DetermineEarliestToi(PhysStepCtx *ctx, f32 step_dt, f32 tolerance, u32 max_iterations);
|
||||
|
||||
////////////////////////////////
|
||||
//~ Spatial operations
|
||||
|
||||
void UpdateAabbs(PhysStepCtx *ctx);
|
||||
|
||||
////////////////////////////////
|
||||
//~ Step
|
||||
|
||||
void StepPhys(PhysStepCtx *ctx, f32 timestep);
|
||||
|
||||
@ -689,7 +689,7 @@ void GenerateTestWalls(Snapshot *world)
|
||||
////////////////////////////////
|
||||
//~ On collision
|
||||
|
||||
PHYS_COLLISION_CALLBACK_FUNC_DEF(OnEntityCollision, data, step_ctx)
|
||||
CollisionCallbackFuncDef(OnEntityCollision, data, step_ctx)
|
||||
{
|
||||
Snapshot *world = step_ctx->world;
|
||||
Entity *e0 = EntityFromId(world, data->e0);
|
||||
@ -1423,7 +1423,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
Xform xf0_to_xf1 = MulXform(InvertXform(xf0), xf1);
|
||||
|
||||
EnableProp(joint_ent, Prop_WeldJoint);
|
||||
WeldJointDesc def = phys_weld_joint_def_init();
|
||||
WeldJointDesc def = CreateWeldJointDef();
|
||||
def.e0 = ent->id;
|
||||
def.e1 = target->id;
|
||||
def.xf = xf0_to_xf1;
|
||||
@ -1431,7 +1431,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
def.linear_spring_damp = 0.3f;
|
||||
def.angular_spring_hz = 10;
|
||||
def.angular_spring_damp = 0.3f;
|
||||
joint_ent->weld_joint_data = phys_weld_joint_from_def(def);
|
||||
joint_ent->weld_joint_data = WeldJointFromDef(def);
|
||||
ent->chucker_joint = joint_ent->id;
|
||||
}
|
||||
}
|
||||
@ -1462,13 +1462,13 @@ void StepSim(SimStepCtx *ctx)
|
||||
ent->move_joint = joint_ent->id;
|
||||
|
||||
EnableProp(joint_ent, Prop_MotorJoint);
|
||||
MotorJointDesc def = phys_motor_joint_def_init();
|
||||
MotorJointDesc def = CreateMotorJointDef();
|
||||
def.e0 = joint_ent->id; /* Re-using joint entity as e0 */
|
||||
def.e1 = ent->id;
|
||||
def.correction_rate = 0;
|
||||
def.max_force = ent->control_force;
|
||||
def.max_torque = 0;
|
||||
joint_ent->motor_joint_data = phys_motor_joint_from_def(def);
|
||||
joint_ent->motor_joint_data = MotorJointFromDef(def);
|
||||
}
|
||||
|
||||
if (ShouldSimulate(joint_ent)) {
|
||||
@ -1502,12 +1502,12 @@ void StepSim(SimStepCtx *ctx)
|
||||
EnableProp(joint_ent, Prop_Active);
|
||||
ent->aim_joint = joint_ent->id;
|
||||
|
||||
MotorJointDesc def = phys_motor_joint_def_init();
|
||||
MotorJointDesc def = CreateMotorJointDef();
|
||||
def.e0 = joint_ent->id; /* Re-using joint entity as e0 */
|
||||
def.e1 = ent->id;
|
||||
def.max_force = 0;
|
||||
def.max_torque = ent->control_torque;
|
||||
joint_ent->motor_joint_data = phys_motor_joint_from_def(def);
|
||||
joint_ent->motor_joint_data = MotorJointFromDef(def);
|
||||
}
|
||||
|
||||
if (ShouldSimulate(joint_ent)) {
|
||||
@ -1586,7 +1586,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
|
||||
Entity *joint_ent = EntityFromId(world, ent->ground_friction_joint);
|
||||
|
||||
MotorJointDesc def = phys_motor_joint_def_init();
|
||||
MotorJointDesc def = CreateMotorJointDef();
|
||||
def.e0 = root->id;
|
||||
def.e1 = ent->id;
|
||||
def.correction_rate = 0;
|
||||
@ -1598,7 +1598,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
joint_ent->predictor = ent->predictor;
|
||||
EnableProp(joint_ent, Prop_MotorJoint);
|
||||
EnableProp(joint_ent, Prop_Active);
|
||||
joint_ent->motor_joint_data = phys_motor_joint_from_def(def);
|
||||
joint_ent->motor_joint_data = MotorJointFromDef(def);
|
||||
ent->ground_friction_joint = joint_ent->id;
|
||||
}
|
||||
}
|
||||
@ -1639,7 +1639,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
}
|
||||
Xform xf = XformFromEntity(target_ent);
|
||||
|
||||
MouseJointDesc def = phys_mouse_joint_def_init();
|
||||
MouseJointDesc def = CreateMouseJointDef();
|
||||
def.target = target_ent->id;
|
||||
if (EqId(joint_ent->mouse_joint_data.target, target_ent->id)) {
|
||||
def.point_local_start = joint_ent->mouse_joint_data.point_local_start;
|
||||
@ -1652,7 +1652,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
def.linear_spring_damp = 0.7f;
|
||||
def.angular_spring_hz = 1;
|
||||
def.angular_spring_damp = 0.1f;
|
||||
joint_ent->mouse_joint_data = phys_mouse_joint_from_def(def);
|
||||
joint_ent->mouse_joint_data = MouseJointFromDef(def);
|
||||
} else if (IsValidAndActive(joint_ent)) {
|
||||
joint_ent->mouse_joint_data.target = target_ent->id;
|
||||
}
|
||||
@ -1666,7 +1666,7 @@ void StepSim(SimStepCtx *ctx)
|
||||
PhysStepCtx phys = ZI;
|
||||
phys.sim_step_ctx = ctx;
|
||||
phys.collision_callback = OnEntityCollision;
|
||||
phys_step(&phys, sim_dt);
|
||||
StepPhys(&phys, sim_dt);
|
||||
}
|
||||
|
||||
|
||||
|
||||
@ -60,7 +60,7 @@ void GenerateTestWalls(Snapshot *world);
|
||||
////////////////////////////////
|
||||
//~ Collision response
|
||||
|
||||
PHYS_COLLISION_CALLBACK_FUNC_DEF(OnEntityCollision, data, step_ctx);
|
||||
CollisionCallbackFuncDef(OnEntityCollision, data, step_ctx);
|
||||
|
||||
////////////////////////////////
|
||||
//~ Step
|
||||
|
||||
Loading…
Reference in New Issue
Block a user