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Break physics engine

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This commit is contained in:
James Lambert 2023-01-07 20:26:43 -07:00
parent e290a60856
commit ae1da1ef30
2 changed files with 19 additions and 43 deletions
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11
src/physics/collision_object.c
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@ -87,6 +87,15 @@ void collisionObjectCollideWithQuad(struct CollisionObject* object, struct Colli
contactInsert(contact, &result);
}
void collisionObjectHandleSweptCollision(struct CollisionObject* object, struct Vector3* normal, float restitution) {
float velocityDot = vector3Dot(normal, &object->body->velocity);
if (velocityDot < 0.0f) {
vector3AddScaled(&object->body->velocity, normal, (1 + restitution) * -velocityDot, &object->body->velocity);
vector3AddScaled(&object->body->transform.position, normal, -0.01f, &object->body->transform.position);
}
}
void collisionObjectCollideWithQuadSwept(struct CollisionObject* object, struct Vector3* objectPrevPos, struct Box3D* sweptBB, struct CollisionObject* quadObject, struct ContactSolver* contactSolver) {
if ((object->collisionLayers & quadObject->collisionLayers) == 0) {
return;
@ -160,6 +169,8 @@ void collisionObjectCollideWithQuadSwept(struct CollisionObject* object, struct
transformPointInverseNoScale(&object->body->transform, &result.contactB, &result.contactB);
contactInsert(contact, &result);
collisionObjectHandleSweptCollision(object, &contact->normal, contact->restitution);
}

51
src/physics/collision_scene.c
View file

@ -603,7 +603,6 @@ void collisionSceneUpdateDynamics() {
for (unsigned i = 0; i < gCollisionScene.dynamicObjectCount; ++i) {
// added back in by contactSolverRemoveUnusedContacts if there are actually contacts
gCollisionScene.dynamicObjects[i]->flags &= ~COLLISION_OBJECT_HAS_CONTACTS;
// gCollisionScene.dynamicObjects[i]->flags |= COLLISION_OBJECT_HAS_CONTACTS;
}
contactSolverRemoveUnusedContacts(&gContactSolver);
@ -613,6 +612,10 @@ void collisionSceneUpdateDynamics() {
for (unsigned i = 0; i < gCollisionScene.dynamicObjectCount; ++i) {
struct CollisionObject* object = gCollisionScene.dynamicObjects[i];
prevPosList[i] = object->body->transform.position;
sweptBB[i] = object->boundingBox;
if (!collisionObjectShouldGenerateConctacts(object)) {
continue;
}
@ -633,44 +636,11 @@ void collisionSceneUpdateDynamics() {
continue;
}
prevPosList[i] = object->body->transform.position;
rigidBodyUpdate(object->body);
collisionObjectUpdateBB(object);
box3DUnion(&sweptBB[i], &object->boundingBox, &sweptBB[i]);
if (object->flags & COLLISION_OBJECT_HAS_CONTACTS || !collisionObjectIsActive(object)) {
collisionObjectCollideWithScene(object, &gCollisionScene, &gContactSolver);
} else {
sweptBB[i] = object->boundingBox;
rigidBodyUpdate(object->body);
collisionObjectUpdateBB(object);
box3DUnion(&sweptBB[i], &object->boundingBox, &sweptBB[i]);
collisionObjectCollideWithSceneSwept(object, &prevPosList[i], &sweptBB[i], &gCollisionScene, &gContactSolver);
struct ContactManifold* manifold = contactSolverNextManifold(&gContactSolver, object, NULL);
struct ContactManifold* contact = NULL;
while (manifold) {
contactSolverCleanupManifold(manifold);
if (manifold->contactCount) {
contact = manifold;
}
manifold = contactSolverNextManifold(&gContactSolver, object, manifold);
}
if (contact) {
float velocityDot = vector3Dot(&contact->normal, &object->body->velocity);
if (velocityDot < 0.0f) {
vector3AddScaled(&object->body->velocity, &contact->normal, (1 + contact->restitution) * -velocityDot, &object->body->velocity);
vector3AddScaled(&object->body->transform.position, &contact->normal, -0.01f, &object->body->transform.position);
}
}
collisionObjectUpdateBB(object);
}
collisionObjectCollideMixed(object, &prevPosList[i], &sweptBB[i], &gCollisionScene, &gContactSolver);
}
collisionSceneCollideDynamicPairs(&gCollisionScene, prevPosList, sweptBB);
@ -694,11 +664,6 @@ void collisionSceneUpdateDynamics() {
continue;
}
// if the object has no contacts then the rigidBodyUpdate
// was already done before before doing a swept collision
if (collisionObject->flags & COLLISION_OBJECT_HAS_CONTACTS) {
rigidBodyUpdate(collisionObject->body);
}
rigidBodyCheckPortals(collisionObject->body);
collisionObjectUpdateBB(collisionObject);
}