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Clean up, switch to vector macros, refactor physics code a bit

This commit is contained in:
ABelliqueux 2021-07-01 15:09:18 +02:00
parent 8469e7aeb0
commit 06c799aca2
7 changed files with 133 additions and 120 deletions
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1
custom_types.h
View File

@ -51,6 +51,7 @@ typedef struct MESH {
MATRIX mat;
VECTOR pos;
SVECTOR rot;
short isProp;
short isRigidBody;
short isStaticBody;
short isRound;

11
include/macros.h
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@ -8,13 +8,18 @@
(v0).vy * (v1).vy + \
(v0).vz * (v1).vz
// min value
// return min value
#define min(a,b) \
(a)-(b)>0?(b):(a)
// max
// return max value
#define max(a,b) \
(a)-(b)>0?(a):(b)
// add 2 vector and store in a third vector
#define addVector2(v0, v1, v2) \
(v2)->vx = (v0)->vx + (v1)->vx, \
(v2)->vy = (v0)->vy + (v1)->vy, \
(v2)->vz = (v0)->vz + (v1)->vz \
// substract vector
#define subVector(v0, v1) \
(v0).vx - (v1).vx, \

2
include/physics.h
View File

@ -10,6 +10,8 @@ short checkLineW( VECTOR * pointA, VECTOR * pointB, MESH * mesh );
short checkLineS( VECTOR * pointA, VECTOR * pointB, MESH * mesh );
VECTOR getIntCollision(BODY one, BODY two);
VECTOR getExtCollision(BODY one, BODY two);
void checkBodyCol(BODY * one, BODY * two);
void applyAngMom(LEVEL curLvl );
void ResolveCollision( BODY * one, BODY * two );
VECTOR angularMom(BODY body);
void applyAcceleration(BODY * actor);

4
levels/level0.c
View File

@ -114,6 +114,7 @@ MESH level0_meshCube = {
{0},
{0,-236,23, 0},
{0,-1024,0, 0},
1, // isProp
1, // isRigidBody
0, // isStaticBody
0, // isRound
@ -127,7 +128,7 @@ MESH level0_meshCube = {
0,
&level0_modelCube_body,
0,
0,
&level0_nodePlane,
0,
};
@ -913,6 +914,7 @@ MESH level0_meshPlane = {
{0},
{0,0,0, 0},
{0,0,0, 0},
0, // isProp
0, // isRigidBody
0, // isStaticBody
0, // isRound

15
levels/level1.c
View File

@ -977,6 +977,7 @@ MESH level1_meshCube = {
{-282,-45,128, 0},
{0,899,0},
0,
0,
1,
0,
0,
@ -1821,6 +1822,7 @@ MESH level1_meshCylindre = {
{-1,-57,523, 0},
{0,0,0},
0,
0,
1,
0,
0,
@ -2294,6 +2296,7 @@ MESH level1_meshgnd = {
0,
0,
0,
0,
1,
0,
0,
@ -2612,6 +2615,7 @@ MESH level1_meshgnd_001 = {
0,
0,
0,
0,
1,
0,
0,
@ -2930,6 +2934,7 @@ MESH level1_meshgnd_003 = {
0,
0,
0,
0,
1,
0,
0,
@ -3248,6 +3253,7 @@ MESH level1_meshgnd_002 = {
0,
0,
0,
0,
1,
0,
0,
@ -8855,6 +8861,7 @@ MESH level1_meshLara = {
{59,-78,106, 0},
{0,-3141,0},
0,
0,
1,
0,
0,
@ -9015,6 +9022,7 @@ MESH level1_meshobject = {
{400,-22,-147, 0},
{0,2565,0},
0,
0,
1,
0,
0,
@ -9091,6 +9099,7 @@ MESH level1_meshPlan = {
{-40,-40,194, 0},
{0,0,0},
0,
0,
1,
0,
0,
@ -9554,6 +9563,7 @@ MESH level1_meshSphere = {
{0},
{333,-129,-298, 0},
{0,0,0},
0,
1,
0,
0,
@ -10019,6 +10029,7 @@ MESH level1_meshSphere_001 = {
{44,-73,92, 0},
{0,0,0},
1,
1,
0,
1,
0,
@ -10197,6 +10208,7 @@ MESH level1_meshwall = {
0,
0,
0,
0,
&level1_modelwall_body,
0,
0,
@ -10433,6 +10445,7 @@ MESH level1_meshwall_001 = {
0,
0,
0,
0,
&level1_modelwall_001_body,
0,
0,
@ -10669,6 +10682,7 @@ MESH level1_meshwall_002 = {
0,
0,
0,
0,
&level1_modelwall_002_body,
0,
0,
@ -10837,6 +10851,7 @@ MESH level1_meshwall_003 = {
0,
0,
0,
0,
&level1_modelwall_003_body,
0,
0,

198
src/main.c
View File

@ -36,13 +36,11 @@ u_long overlaySize = 0;
#include "../levels/level0.h"
#include "../levels/level1.h"
// Levels
volatile u_char level = 1;
// level 1 : 8003F05C -2147225508
// level 0 : 800AF744 -2146764988
// 80010000 -2147418112 -> -2147483648
// ovl : 800b80d4 -2146729772
u_short levelWas = 0;
u_short levelHasChanged = 0;
// Overlay
static char* overlayFile;
// Display and draw environments, double buffered
DISPENV disp[2];
@ -55,22 +53,23 @@ char primbuff[2][PRIMBUFFLEN] = {0}; // Primitive list // That's our
int primcnt=0; // Primitive counter
char * nextpri = primbuff[0]; // Primitive counter
char db = 0; // Current buffer counter
// Lighting
CVECTOR BGc = {128, 128, 128, 0}; // Default Far color - This can be set in each level.
VECTOR BKc = {128, 128, 128, 0}; // Back color
SVECTOR lgtang = {0, 0, 0};
MATRIX rotlgt, light;
short vs;
CAMERA camera = {0};
// physics
// Physics
u_long time = 0;
u_long timeS = 0;
//Pad
//Pads
Controller_Buffer controllers[2]; // Buffers for reading controllers
Controller_Data theControllers[8]; // Processed controller data
int pressed = 0;
u_short timer = 0;
// Cam stuff
int camMode = ACTOR;
int camMode = ACTOR; // Cam mode, see defines.h, l.6
VECTOR angle = {250,0,0,0};
VECTOR angleCam = {0,0,0,0};
int dist = 150;
@ -78,6 +77,7 @@ int lerping = 0;
short curCamAngle = 0;
// Inverted Cam coordinates for Forward Vector calc
VECTOR InvCamPos = {0,0,0,0};
// Actor's forward vector (used for dualshock)
VECTOR fVecActor = {0,0,0,0};
u_long triCount = 0;
// Default level : Initialize everything to 0
@ -103,9 +103,10 @@ LEVEL curLvl = {
&curNode
};
LEVEL * loadLvl;
// Pad
// Callback function is used for pads
void callback();
int main() {
// Load level file according to level, l.39
if ( level == 0 ){
overlayFile = "\\level0.bin;1";
overlaySize = __lvl0_end;
@ -115,7 +116,7 @@ int main() {
overlaySize = __lvl1_end;
loadLvl = &level1;
}
// Load overlay
// Load overlay from cd
#ifdef USECD
CdInit();
LoadLevelCD(overlayFile, &load_all_overlays_here);
@ -128,45 +129,34 @@ int main() {
LvlPtrSet( &curLvl, &level1);
}
levelWas = level;
// Overlay
VECTOR sp = {CENTERX,CENTERY,0};
VECTOR wp = {0,0,0};
// FIXME : Poly subdiv
//~ DIVPOLYGON4 div4 = { 0 };
//~ div4.pih = SCREENXRES;
//~ div4.piv = SCREENYRES;
//~ div4.ndiv = 2;
//~ long OTc = 0;
//~ DIVPOLYGON3 div3 = { 0 };
//~ div3.pih = SCREENXRES;
//~ div3.piv = SCREENYRES;
//~ div3.ndiv = 1;
// Init dislay, Gte..
init(disp, draw, db, curLvl.cmat, curLvl.BGc, curLvl.BKc);
// Init Pads
InitPAD(controllers[0].pad, 34, controllers[1].pad, 34);
StartPAD();
// Generate Cos table
generateTable();
// Set function 'callback' on v-sync
VSyncCallback(callback);
// Load textures
for (int k = 0; k < *curLvl.meshes_length ; k++){
LoadTexture(curLvl.meshes[k]->tim_data, curLvl.meshes[k]->tim);
}
// Load current BG
// Load current BG if exists
if (curLvl.camPtr->tim_data){
LoadTexture(curLvl.camPtr->tim_data, curLvl.camPtr->BGtim);
}
// Physics
// Physics/collisions
short physics = 1;
long dt;
VECTOR col_lvl, col_sphere, col_sphere_act = {0};
VECTOR col = {0};
// Cam stuff
VECTOR posToActor = {0, 0, 0, 0}; // position of camera relative to actor
VECTOR camAngleToAct = {0, 0, 0, 0}; // rotation angles for the camera to point at actor
// Sprite system
VECTOR posToCam = {0, 0, 0, 0};
VECTOR objAngleToCam = {0, 0, 0, 0};
//~ int angle = 0; //PSX units = 4096 == 360° = 2Pi
//PSX units
// Animation timing
// time % timediv == animation time
// Time divisor
short timediv = 1;
// Animation time, see l.206
int atime = 0;
// Polycount
for (int k = 0; k < *curLvl.meshes_length; k++){
@ -181,10 +171,12 @@ int main() {
}
}
// Main loop
//~ while (1) {
while ( VSync(1) ) {
timeS = VSync(-1) / 60;
// Check if level has changed
// TODO : Proper level system / loader
if ( levelWas != level ){
// If so, load other level
switch ( level ){
case 0:
overlayFile = "\\level0.bin;1";
@ -206,19 +198,17 @@ int main() {
#endif
SwitchLevel( &curLvl, loadLvl);
setLightEnv(draw, curLvl.BGc, curLvl.BKc, curLvl.cmat);
//~ levelHasChanged = 0;
levelWas = level;
}
FntPrint("Ovl:%s\nLvl : %x\nLvl: %d %d \n%x", overlayFile, &level, level, levelWas, loadLvl);
//~ FntPrint("%x\n", curLvl.actorPtr->tim);
// Clear the main OT
ClearOTagR(otdisc[db], OT2LEN);
// Clear Secondary OT
ClearOTagR(ot[db], OTLEN);
// timeB = time;
time ++;
// atime is used for animations timing
timediv = 1;
// If timediv is > 1, animation time will be slower
if (time % timediv == 0){
atime ++;
}
@ -227,51 +217,50 @@ int main() {
camAngleToAct.vy = (patan(-posToActor.vx, -posToActor.vz) / 16) - 3076 ;
camAngleToAct.vx = patan(dist, posToActor.vy) >> 4;
// Find Actor's forward vector
fVecActor = curLvl.actorPtr->pos;
fVecActor.vx = curLvl.actorPtr->pos.vx + (nsin(curLvl.actorPtr->rot.vy/2));
fVecActor.vz = curLvl.actorPtr->pos.vz - (ncos(curLvl.actorPtr->rot.vy/2));
setVector( &fVecActor,
curLvl.actorPtr->pos.vx + (nsin(curLvl.actorPtr->rot.vy/2)),
curLvl.actorPtr->pos.vy,
curLvl.actorPtr->pos.vz - (ncos(curLvl.actorPtr->rot.vy/2))
);
// TODO : Test with real HW/DS
//~ fVecActor = curLvl.actorPtr->pos;
//~ fVecActor.vx = curLvl.actorPtr->pos.vx + (nsin(curLvl.actorPtr->rot.vy/2));
//~ fVecActor.vz = curLvl.actorPtr->pos.vz - (ncos(curLvl.actorPtr->rot.vy/2));
// Camera modes
if(camMode != 2) {
camera.rot.vy = camAngleToAct.vy;
// using csin/ccos, no need for theta
//~ camera.rot.vy = angle;
camera.rot.vx = camAngleToAct.vx;
}
if(camMode < 4 ) {
lerping = 0;
}
// Camera follows actor with lerp for rotations
// Camera follows actor
if(camMode == 0) {
dist = 200;
camera.pos.vx = -(camera.x/ONE);
camera.pos.vy = -(camera.y/ONE);
camera.pos.vz = -(camera.z/ONE);
setVector(&camera.pos, -(camera.x/ONE), -(camera.y/ONE), -(camera.z/ONE));
angle.vy = -(curLvl.actorPtr->rot.vy / 2) + angleCam.vy;
// Camera horizontal position
// Camera horizontal and vertical position
getCameraZY(&camera.z, &camera.y, curLvl.actorPtr->pos.vz, curLvl.actorPtr->pos.vy, angle.vx, dist);
getCameraXZ(&camera.x, &camera.z, curLvl.actorPtr->pos.vx, curLvl.actorPtr->pos.vz, angle.vy, dist);
// FIXME! camera lerping to pos
//~ angle += lerp(camera.rot.vy, -curLvl.actorPtr->rot->vy, 128);
//~ angle = lerpD(camera.rot.vy << 12, curLvl.actorPtr->rot->vy << 12, 1024 << 12) >> 12;
}
// Camera rotates continuously around actor
if (camMode == 1) {
if (camMode == 1) {
// Set distance between cam and actor
dist = 150;
camera.pos.vx = -(camera.x/ONE);
//~ camera.pos.vy = -(camera.y/ONE);
camera.pos.vy = 100;
camera.pos.vz = -(camera.z/ONE);
// Set camera position
setVector(&camera.pos, -(camera.x/ONE), 100, -(camera.z/ONE));
// Find new camera position
getCameraXZ(&camera.x, &camera.z, curLvl.actorPtr->pos.vx, curLvl.actorPtr->pos.vz, angle.vy, dist);
// Set rotation amount
angle.vy += 10;
}
// Fixed Camera with actor tracking
if (camMode == 3) {
// Using precalc sqrt
dist = psqrt( (posToActor.vx * posToActor.vx ) + (posToActor.vz * posToActor.vz) );
camera.pos.vx = 190;
camera.pos.vz = 100;
camera.pos.vy = 180;
// Set camera position
setVector(&camera.pos, 190, 100, 180);
}
// Fixed Camera angle
if (camMode == 2) {
@ -313,9 +302,7 @@ int main() {
// Lerping sequence has not begun
if (!lerping){
// Set cam start position ( first key pos )
camera.pos.vx = curLvl.camPath->points[curLvl.camPath->cursor].vx;
camera.pos.vy = curLvl.camPath->points[curLvl.camPath->cursor].vy;
camera.pos.vz = curLvl.camPath->points[curLvl.camPath->cursor].vz;
copyVector(&camera.pos, &curLvl.camPath->points[curLvl.camPath->cursor]);
// Lerping sequence is starting
lerping = 1;
// Set cam pos index to 0
@ -325,9 +312,11 @@ int main() {
dist = psqrt( (posToActor.vx * posToActor.vx ) + (posToActor.vz * posToActor.vz));
// Fixed point precision 2^12 == 4096
int precision = 12;
camera.pos.vx = lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vx << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vx << precision, curLvl.camPath->pos << precision) >> precision;
camera.pos.vy = lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vy << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vy << precision, curLvl.camPath->pos << precision) >> precision;
camera.pos.vz = lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vz << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vz << precision, curLvl.camPath->pos << precision) >> precision;
setVector( &camera.pos,
lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vx << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vx << precision, curLvl.camPath->pos << precision) >> precision,
lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vy << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vy << precision, curLvl.camPath->pos << precision) >> precision,
lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vz << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vz << precision, curLvl.camPath->pos << precision) >> precision
);
// Linearly increment the lerp factor
curLvl.camPath->pos += 20;
// If camera has reached next key pos, reset pos index, move cursor to next key pos
@ -353,9 +342,7 @@ int main() {
// Lerping sequence has not begun
if (!lerping){
// Set cam start position ( first key pos )
camera.pos.vx = curLvl.camPath->points[curLvl.camPath->cursor].vx;
camera.pos.vy = curLvl.camPath->points[curLvl.camPath->cursor].vy;
camera.pos.vz = curLvl.camPath->points[curLvl.camPath->cursor].vz;
copyVector(&camera.pos, &curLvl.camPath->points[curLvl.camPath->cursor]);
// Lerping sequence is starting
lerping = 1;
// Set cam pos index to 0
@ -365,9 +352,11 @@ int main() {
dist = psqrt( (posToActor.vx * posToActor.vx ) + (posToActor.vz * posToActor.vz));
// Fixed point precision 2^12 == 4096
short precision = 12;
camera.pos.vx = lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vx << precision, curLvl.camPath->points[curLvl.camPath->cursor + 1].vx << precision, curLvl.camPath->pos << precision) >> precision;
camera.pos.vy = lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vy << precision, curLvl.camPath->points[curLvl.camPath->cursor + 1].vy << precision, curLvl.camPath->pos << precision) >> precision;
camera.pos.vz = lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vz << precision, curLvl.camPath->points[curLvl.camPath->cursor + 1].vz << precision, curLvl.camPath->pos << precision) >> precision;
setVector( &camera.pos,
lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vx << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vx << precision, curLvl.camPath->pos << precision) >> precision,
lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vy << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vy << precision, curLvl.camPath->pos << precision) >> precision,
lerpD(curLvl.camPath->points[curLvl.camPath->cursor].vz << precision, curLvl.camPath->points[curLvl.camPath->cursor+1].vz << precision, curLvl.camPath->pos << precision) >> precision
);
// Ony move cam if position is between first curLvl.camPath->vx and last curLvl.camPath->vx
if ( camAngleToAct.vy < -50 && camera.pos.vx > curLvl.camPath->points[curLvl.camPath->len - 1].vx ) {
// Clamp curLvl.camPath position to cameraSpeed
@ -417,57 +406,41 @@ int main() {
if ( physics ) {
// if(time%1 == 0){
for ( int k = 0; k < *curLvl.meshes_length; k ++ ) {
//~ for ( int k = 0; k < curLvl.curNode->objects->index ; k ++){
if ( ( curLvl.meshes[k]->isRigidBody == 1 ) ) {
//~ if ( ( *curLvl.curNode->rigidbodies->list[k]->isRigidBody == 1 ) ) {
//~ applyAcceleration(curLvl.curNode->rigidbodies->list[k]->body);
if ( curLvl.meshes[k]->isRigidBody == 1 ) {
applyAcceleration( curLvl.meshes[k]->body );
// Get col with level ( modelgnd_body )
col_lvl = getIntCollision( *curLvl.meshes[k]->body , *curLvl.levelPtr->body );
col_sphere = getIntCollision( *curLvl.propPtr->body, *curLvl.propPtr->node->plane->body );
// col_sphere = getIntCollision( *propPtr->body, *levelPtr->body );
col_sphere_act = getExtCollision( *curLvl.actorPtr->body, *curLvl.propPtr->body );
// If no col with ground, fall off
if ( col_lvl.vy ) {
if ( !col_lvl.vx && !col_lvl.vz ) {
curLvl.actorPtr->body->position.vy = curLvl.actorPtr->body->min.vy;
}
// Get col between actor and level
if ( curLvl.meshes[k]->isActor ){
checkBodyCol( curLvl.meshes[k]->body , curLvl.levelPtr->body );
}
if (col_sphere.vy){
if ( !col_sphere.vx && !col_sphere.vz ) {
curLvl.propPtr->body->position.vy = curLvl.propPtr->body->min.vy;
}
// Get col between props and level
if ( curLvl.meshes[k]->isProp ){
checkBodyCol( curLvl.meshes[k]->body , curLvl.meshes[k]->node->plane->body );
}
if (col_sphere_act.vx && col_sphere_act.vz ) {
curLvl.propPtr->body->velocity.vx += curLvl.actorPtr->body->velocity.vx;
curLvl.propPtr->body->velocity.vz += curLvl.actorPtr->body->velocity.vz;
if ( curLvl.propPtr->isRound && curLvl.propPtr->body->velocity.vx ) {
VECTOR L = angularMom( *curLvl.propPtr->body );
curLvl.propPtr->rot.vz -= L.vx;
}
if ( curLvl.propPtr->isRound && curLvl.propPtr->body->velocity.vz ) {
VECTOR L = angularMom( *curLvl.propPtr->body );
curLvl.propPtr->rot.vx -= L.vz;
}
// Get col between actor and props
col = getExtCollision( *curLvl.meshes[k]->body, *curLvl.propPtr->body );
if (col.vx && col.vz ) {
setVector( &curLvl.propPtr->body->velocity,
curLvl.meshes[k]->body->velocity.vx,
0,
curLvl.meshes[k]->body->velocity.vz
);
// If prop is spherical, make it roll
applyAngMom(curLvl);
}
curLvl.meshes[k]->pos.vx = curLvl.meshes[k]->body->position.vx;
curLvl.meshes[k]->pos.vy = curLvl.meshes[k]->body->position.vy ;
curLvl.meshes[k]->pos.vz = curLvl.meshes[k]->body->position.vz;
// Synchronize mesh to body position
copyVector(&curLvl.meshes[k]->pos, &curLvl.meshes[k]->body->position);
}
curLvl.meshes[k]->body->velocity.vy = 0;
curLvl.meshes[k]->body->velocity.vx = 0;
curLvl.meshes[k]->body->velocity.vz = 0;
setVector(&curLvl.meshes[k]->body->velocity, 0, 0, 0);
}
// }
}
// Get actor's screen coordinates (used with fixed BGs)
if ( (camMode == 2) && (curLvl.camPtr->tim_data ) ) {
worldToScreen( &curLvl.actorPtr->pos, &curLvl.actorPtr->pos2D );
}
// Camera setup
// position of cam relative to actor
posToActor.vx = curLvl.actorPtr->pos.vx + camera.pos.vx;
posToActor.vz = curLvl.actorPtr->pos.vz + camera.pos.vz;
posToActor.vy = curLvl.actorPtr->pos.vy + camera.pos.vy;
// Get position of cam relative to actor
addVector2(&curLvl.actorPtr->pos, &camera.pos, &posToActor);
// Polygon drawing
if (curLvl.curNode){
static long Flag;
@ -511,22 +484,15 @@ int main() {
}
}
}
// Find and apply light rotation matrix
// Update global light matrix
RotMatrix_gte(&lgtang, &rotlgt);
MulMatrix0(curLvl.lgtmat, &rotlgt, &light);
SetLightMatrix(&light);
// Set camera
applyCamera(&camera);
// Add secondary OT to main OT
AddPrims(otdisc[db], ot[db] + OTLEN - 1, ot[db]);
//~ FntPrint("curLvl.curNode : %x\nIndex: %d", curLvl.curNode, curLvl.curNode->siblings->index);
FntPrint("Time : %d dt :%d", timeS, dt);
//~ FntPrint("%d\n", curCamAngle );
//~ FntPrint("%x\n", primbuff[db]);
FntPrint("Time : %d", timeS);
FntFlush(-1);
display( &disp[db], &draw[db], otdisc[db], primbuff[db], &nextpri, &db);
}

22
src/physics.c
View File

@ -104,6 +104,28 @@ VECTOR getExtCollision(BODY one, BODY two){
col.vz = d1.vz > 0 && d2.vz > 0;
return col;
};
void checkBodyCol(BODY * one, BODY * two){
VECTOR colInt, colExt;
colInt = getIntCollision( *one , *two );
colExt = getExtCollision( *one , *two );
if ( colInt.vy ) {
if ( !colInt.vx && !colInt.vz ) {
one->position.vy = one->min.vy;
}
}
};
void applyAngMom(LEVEL curLvl ){
if (curLvl.propPtr->isRound){
if ( curLvl.propPtr->body->velocity.vx ) {
VECTOR L = angularMom( *curLvl.propPtr->body );
curLvl.propPtr->rot.vz -= L.vx;
}
if ( curLvl.propPtr->body->velocity.vz ) {
VECTOR L = angularMom( *curLvl.propPtr->body );
curLvl.propPtr->rot.vx -= L.vz;
}
}
};
void applyAcceleration(BODY * actor){
short dt = 1;
VECTOR acceleration = {actor->invMass * actor->gForce.vx , (actor->invMass * actor->gForce.vy) + (GRAVITY * ONE), actor->invMass * actor->gForce.vz};