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fixing physics

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ABelliqueux 2021-02-04 15:31:04 +01:00
parent 228dc9f8f0
commit 49f97dba44
1 changed files with 104 additions and 14 deletions
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116
3dcam-cosTable-lerp-atantable-psqrt-nodpq-quads.c
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@ -42,6 +42,24 @@
// atantable // atantable
#define SWAP(a,b,c) {(c)=(a); (a)=(b); (b)=(c);} // swap(x, y, buffer) #define SWAP(a,b,c) {(c)=(a); (a)=(b); (b)=(c);} // swap(x, y, buffer)
// dotproduct of two vectors
#define dotProduct(v0, v1) \
(v0).vx * (v1).vx + \
(v0).vy * (v1).vy + \
(v0).vz * (v1).vz
// min value
#define min(a,b) \
(a)-(b)>0?(b):(a)
// max
#define max(a,b) \
(a)-(b)>0?(a):(b)
#define subVector(v0, v1) \
(v0).vx - (v1).vx, \
(v0).vy - (v1).vy, \
(v0).vz - (v1).vz
//~ extern ushort rcossin_tbl[]; //~ extern ushort rcossin_tbl[];
// Display and draw environments, double buffered // Display and draw environments, double buffered
@ -174,6 +192,8 @@ void setCameraPos(VECTOR pos, SVECTOR rot);
// Physics // Physics
VECTOR getIntCollision(BODY one, BODY two); VECTOR getIntCollision(BODY one, BODY two);
VECTOR getExtCollision(BODY one, BODY two); VECTOR getExtCollision(BODY one, BODY two);
void ResolveCollision( BODY * one, BODY * two );
void applyAcceleration(BODY * actor); void applyAcceleration(BODY * actor);
@ -219,6 +239,8 @@ int main() {
short physics = 1; short physics = 1;
long time = 0; long time = 0;
long dt;
VECTOR col_lvl, col_sphere = {0}; VECTOR col_lvl, col_sphere = {0};
// Actor start pos // Actor start pos
@ -261,7 +283,7 @@ int main() {
//~ timediv = 1; //~ timediv = 1;
long dt;
//~ // Physics //~ // Physics
//~ if (time%2 == 0){ //~ if (time%2 == 0){
@ -389,6 +411,8 @@ int main() {
applyAcceleration(meshes[k]->body); applyAcceleration(meshes[k]->body);
//~ VECTOR col_lvl, col_sphere = {0}; //~ VECTOR col_lvl, col_sphere = {0};
// Get col with level ( modelgnd_body ) // Get col with level ( modelgnd_body )
@ -418,14 +442,20 @@ int main() {
col_lvl.vy || col_lvl.vy ||
col_lvl.vz col_lvl.vz
) { ) {
meshes[k]->body->velocity.vy = meshes[k]->body->velocity.vx = meshes[k]->body->velocity.vz = 0; //~ meshes[k]->body->velocity.vy = meshes[k]->body->velocity.vx = meshes[k]->body->velocity.vz = 0;
//~ meshes[k]->body->velocity.vy = meshes[k]->body->velocity.vz = 0;
} }
if ( col_sphere.vx ) { meshes[k]->body->gForce.vx *= -1; modelSphere_body.gForce.vx = -meshes[k]->body->gForce.vx/2; } if ( col_sphere.vx ) { meshes[k]->body->gForce.vx *= -1; modelSphere_body.gForce.vx = -meshes[k]->body->gForce.vx/4; //~ ResolveCollision(&modelobject_body, &modelSphere_body);
}
if ( col_sphere.vz ) { meshes[k]->body->gForce.vz *= -1; } if ( col_sphere.vz ) { meshes[k]->body->gForce.vz *= -1; }
//~ if ( col_sphere.vy ) { meshes[k]->body->gForce.vy *= -1; } //~ if ( col_sphere.vy ) { meshes[k]->body->gForce.vy *= -1; }
//~ if (modelSphere_body.gForce.vx){modelSphere_body.gForce.vx -= 5;}
meshes[k]->body->position.vx = meshes[k]->pos->vx;
meshes[k]->body->position.vy = meshes[k]->pos->vy;
meshes[k]->body->position.vz = meshes[k]->pos->vz;
} }
} }
@ -718,9 +748,15 @@ int main() {
} }
FntPrint("ColSphere: %d\n", (modelobject_body.position.vy + modelobject_body.max.vy) - (modelSphere_body.position.vy + modelSphere_body.min.vy) ); //~ FntPrint("ColSphere: %d\n", (modelobject_body.position.vy + modelobject_body.max.vy) - (modelSphere_body.position.vy + modelSphere_body.min.vy) );
FntPrint("ColSphere: %d\n", (modelSphere_body.position.vy + modelSphere_body.max.vy) - (modelobject_body.position.vy + modelobject_body.min.vy) ); //~ FntPrint("ColSphere: %d\n", (modelSphere_body.position.vy + modelSphere_body.max.vy) - (modelobject_body.position.vy + modelobject_body.min.vy) );
FntPrint("Col %d\n", col_sphere.vy ); //~ FntPrint("Col %d\n", col_sphere.vy );
FntPrint("Obj: %d,%d,%d\n",modelobject_body.velocity.vx,modelobject_body.velocity.vy,modelobject_body.velocity.vz);
FntPrint("Sph: %d,%d,%d\n",modelSphere_body.velocity.vx,modelSphere_body.velocity.vy,modelSphere_body.velocity.vz);
//~ FntPrint("%d, %d\n",modelobject_body.position.vx, modelobject_pos.vx);
//~ FntPrint("Time : %d %d dt :%d\n",time, atime, dt); //~ FntPrint("Time : %d %d dt :%d\n",time, atime, dt);
//~ FntPrint("Tricount: %d OTz: %d\nOTc: %d, p: %d\n",triCount, OTz, OTc, *meshes[2]->p); //~ FntPrint("Tricount: %d OTz: %d\nOTc: %d, p: %d\n",triCount, OTz, OTc, *meshes[2]->p);
@ -925,20 +961,74 @@ VECTOR getExtCollision(BODY one, BODY two){
void applyAcceleration(BODY * actor){ void applyAcceleration(BODY * actor){
short dt = 3076; short dt = 1;
VECTOR acceleration = {actor->gForce.vx / actor->mass, actor->gForce.vy / actor->mass, actor->gForce.vz / actor->mass}; VECTOR acceleration = {actor->gForce.vx / actor->mass, actor->gForce.vy / actor->mass, actor->gForce.vz / actor->mass};
actor->velocity.vx += (acceleration.vx * dt) / (ONE /4); actor->velocity.vx += (acceleration.vx * dt);
actor->velocity.vy += (acceleration.vy * dt) / (ONE /4); actor->velocity.vy += (acceleration.vy * dt);
actor->velocity.vz += (acceleration.vz * dt) / (ONE /4); actor->velocity.vz += (acceleration.vz * dt);
actor->position.vx += (actor->velocity.vx * dt) / ONE/4; actor->position.vx += (actor->velocity.vx * dt);
actor->position.vy += (actor->velocity.vy * dt) / ONE/4; actor->position.vy += (actor->velocity.vy * dt);
actor->position.vz += (actor->velocity.vz * dt) / ONE/4; actor->position.vz += (actor->velocity.vz * dt);
} }
//~ // https://gamedevelopment.tutsplus.com/tutorials/how-to-create-a-custom-2d-physics-engine-the-basics-and-impulse-resolution--gamedev-6331
void ResolveCollision( BODY * one, BODY * two ){
// Calculate relative velocity
VECTOR rv = { subVector(two->velocity, one->velocity) };
//~ FntPrint("rv: %d, %d, %d\n", rv.vx,rv.vy,rv.vz);
// Collision normal
VECTOR normal = { subVector( two->position, one->position ) };
//~ FntPrint("norm: %d, %d, %d\n", normal.vx,normal.vy,normal.vz);
// Calculate relative velocity in terms of the normal direction
long velAlongNormal = dotProduct( rv, normal );
//~ FntPrint("velN: %d\n", velAlongNormal);
// Do not resolve if velocities are separating
if(velAlongNormal > 0)
return;
// Calculate restitution
long e = min( one->restitution, two->restitution );
//~ FntPrint("e: %d\n", e);
//~ // Calculate impulse scalar
long j = -(1 + e) * velAlongNormal;
long k = ONE / one->mass;
long l = ONE / two->mass;
j /= k + l;
j /= ONE;
//~ FntPrint("j: %d\n", j);
// Apply impulse
applyVector(&normal, j, j, j, *=);
VECTOR velOne = normal;
VECTOR velTwo = normal;
FntPrint("vel1: %d, %d, %d\n", velOne.vx,velOne.vy,velOne.vz);
FntPrint("vel2: %d, %d, %d\n", velTwo.vx,velTwo.vy,velTwo.vz);
applyVector(&velOne,k/ONE,k/ONE,k/ONE, *=);
applyVector(&velTwo,l/ONE,l/ONE,l/ONE, *=);
applyVector(&one->velocity, velOne.vx, velOne.vy, velOne.vz, -=);
applyVector(&two->velocity, velTwo.vx, velTwo.vy, velTwo.vz, +=);
}
// A few notes on the following code : // A few notes on the following code :
int ncos(unsigned int t) { int ncos(unsigned int t) {