Adjust contact constraint

README.md

@@ -57,11 +57,7 @@ where `/home/james/Blender/blender-2.93.1-linux-x64` is the folder where blender
 
 ## Current TODO list
 
-Allow player to press button -- kinda
+Allow player to press button -- kinda done
 Cylinder raycasting
-Radio
-    Create radio model
-    Create radio texture
-    Implement 3D sound
 cube dispenser
 nan in overlap

src/physics/contact_solver.c

@@ -8,7 +8,7 @@
 
 #include <string.h>
 
-#define Q3_BAUMGARTE 0.1f
+#define Q3_BAUMGARTE 0.15f
 
 #define Q3_PENETRATION_SLOP 0.001f
 

src/physics/point_constraint.c

@@ -2,7 +2,9 @@
 
 #include "../util/time.h"
 
-void pointConstraintMoveToPoint(struct RigidBody* rigidBody, struct Vector3* worldPoint, float maxImpulse) {
+void pointConstraintMoveToPoint(struct CollisionObject* object, struct Vector3* worldPoint, float maxImpulse) {
+    struct RigidBody* rigidBody = object->body;
+
     vector3Sub(worldPoint, &rigidBody->transform.position, &rigidBody->velocity);
     struct Vector3 targetVelocity;
     vector3Scale(&rigidBody->velocity, &targetVelocity, 1.0f / FIXED_DELTA_TIME);
@@ -10,6 +12,16 @@ void pointConstraintMoveToPoint(struct RigidBody* rigidBody, struct Vector3* wor
     struct Vector3 delta;
     vector3Sub(&targetVelocity, &rigidBody->velocity, &delta);
 
+    // struct ContactManifold* manifold = contactSolverNextManifold(&gContactSolver, object, NULL);
+
+    // while (manifold) {
+    //     int isFirst = manifold->shapeA == object;
+
+
+
+    //     manifold = contactSolverNextManifold(&gContactSolver, object, manifold);
+    // }
+
     float deltaSqrd = vector3MagSqrd(&delta);
     if (deltaSqrd < maxImpulse * maxImpulse) {
         rigidBody->velocity = targetVelocity;

src/physics/point_constraint.h

@@ -2,8 +2,9 @@
 #define __POINT_CONSTRAINT_H__
 
 #include "rigid_body.h"
+#include "collision_object.h"
 
-void pointConstraintMoveToPoint(struct RigidBody* rigidBody, struct Vector3* worldPoint, float maxImpulse);
+void pointConstraintMoveToPoint(struct CollisionObject* object, struct Vector3* worldPoint, float maxImpulse);
 void pointConstraintRotateTo(struct RigidBody* rigidBody, struct Quaternion* worldRotation, float maxImpulse);
 
 #endif

src/player/player.c

@@ -131,7 +131,7 @@ void playerUpdateGrabbedObject(struct Player* player) {
             player->collisionObject.collisionLayers = 0;
 
             if (collisionSceneRaycast(&gCollisionScene, player->body.currentRoom, &ray, COLLISION_LAYERS_GRABBABLE | COLLISION_LAYERS_TANGIBLE, GRAB_RAYCAST_DISTANCE, 1, &hit) && hit.object->body && (hit.object->body->flags & RigidBodyFlagsGrabbable)) {
-                player->grabbing = hit.object->body;
+                player->grabbing = hit.object;
 
                 if (hit.throughPortal) {
                     player->grabbingThroughPortal = hit.throughPortal == gCollisionScene.portalTransforms[0] ? 0 : 1;
@@ -153,11 +153,11 @@ void playerUpdateGrabbedObject(struct Player* player) {
             playerApplyPortalGrab(player, 0);
         }
 
-        if (player->grabbing->flags & RigidBodyFlagsCrossedPortal0) {
+        if (player->grabbing->body->flags & RigidBodyFlagsCrossedPortal0) {
             playerApplyPortalGrab(player, 0);
         }
 
-        if (player->grabbing->flags & RigidBodyFlagsCrossedPortal1) {
+        if (player->grabbing->body->flags & RigidBodyFlagsCrossedPortal1) {
             playerApplyPortalGrab(player, 1);
         }
 
@@ -182,8 +182,8 @@ void playerUpdateGrabbedObject(struct Player* player) {
             grabRotation = finalRotation;
         }
 
-        pointConstraintMoveToPoint(player->grabbing, &grabPoint, 20.0f);
-        pointConstraintRotateTo(player->grabbing, &grabRotation, 5.0f);
+        pointConstraintMoveToPoint(player->grabbing, &grabPoint, 8.0f);
+        pointConstraintRotateTo(player->grabbing->body, &grabRotation, 5.0f);
     }
 }
 

src/player/player.h

@@ -20,7 +20,7 @@ struct Player {
     struct RigidBody body;
     struct Transform lookTransform;
     short grabbingThroughPortal;
-    struct RigidBody* grabbing;
+    struct CollisionObject* grabbing;
     float pitchVelocity;
     float yawVelocity;
     enum PlayerFlags flags;