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physics

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ABelliqueux 2021-02-08 13:37:02 +01:00
parent 49f97dba44
commit b2f3b8351f
1 changed files with 92 additions and 34 deletions
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126
3dcam-cosTable-lerp-atantable-psqrt-nodpq-quads.c
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@ -404,15 +404,13 @@ int main() {
//~ dt = time/180+1 - time/180; //~ dt = time/180+1 - time/180;
if (physics){ if (physics){
if(time%1 == 0){ //~ if(time%1 == 0){
for ( int k = 0; k < sizeof(meshes)/sizeof(meshes[0]);k ++){ for ( int k = 0; k < sizeof(meshes)/sizeof(meshes[0]);k ++){
if ( *meshes[k]->isRigidBody == 1 ) { if ( *meshes[k]->isRigidBody == 1 ) {
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 )
@ -432,34 +430,84 @@ int main() {
if ( col_lvl.vx ) { meshes[k]->body->gForce.vx *= -1; } if ( col_lvl.vx ) { meshes[k]->body->gForce.vx *= -1; }
if ( col_lvl.vy ) { meshes[k]->body->gForce.vy *= -1; } if ( col_lvl.vy ) {
//~ meshes[k]->body->gForce.vy *= -1;
//~ meshes[k]->body->velocity.vy = 0;
//~ meshes[k]->body->position.vy = modelgnd_body.max.vy - meshes[k]->body->max.vy ;
}
if ( col_lvl.vz ) { meshes[k]->body->gForce.vz *= -1; } if ( col_lvl.vz ) { meshes[k]->body->gForce.vz *= -1; }
// If col, reset velocity // If col, reset velocity
if ( col_lvl.vx || //~ if ( col_lvl.vx ||
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; //~ //meshes[k]->body->velocity.vy = meshes[k]->body->velocity.vz = 0;
//~ }
ResolveCollision(&modelobject_body, &modelSphere_body);
//~ FntPrint("Col: %d\n", col_sphere.vx);
if ( !col_sphere.vx ) {
//~ ResolveCollision(&modelobject_body, &modelSphere_body);
//~ modelSphere_body.restitution = -meshes[k]->body->gForce.vx/2;
//~ modelSphere_body.velocity.vx -= 1;
} }
//~ modelSphere_body.restitution = -meshes[k]->body->gForce.vx/2;
//~ meshes[k]->body->gForce.vx *= -1;
int w = ONE / ( (modelSphere_body.velocity.vx * ONE) / ((modelSphere_body.max.vx - modelSphere_body.min.vx)/2) ) * col_sphere.vx;
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 (modelSphere_body.velocity.vx){
} //~ modelSphere_rot.vz -= 10;
if ( col_sphere.vz ) { meshes[k]->body->gForce.vz *= -1; } //angular velocity w = v/r
modelSphere_rot.vz += w;
if ( !col_sphere.vx & modelSphere_body.velocity.vx > 0 ) {
//~ ResolveCollision(&modelobject_body, &modelSphere_body);
//~ modelSphere_body.restitution = -meshes[k]->body->gForce.vx/2;
modelSphere_body.velocity.vx -= 1;
}
FntPrint("W: %d\n", w);
//~ FntPrint("G: %d\n", modelSphere_body.velocity.vx);
//~ FntPrint("F: %d\n", modelSphere_body.gForce.vx);
}
//~ if (modelSphere_body.inertia){
//~ modelSphere_body.velocity.vx =
//~ modelSphere_body.inertia --;
//~ }
//~ if (modelSphere_body.gForce.vx){
//~ modelSphere_body.gForce.vx -= 10;
//~ }
//~ 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; }
//~ ResolveCollision(&modelobject_body, &modelSphere_body);
//~ if (modelSphere_body.gForce.vx){modelSphere_body.gForce.vx -= 5;} //~ if (modelSphere_body.gForce.vx){modelSphere_body.gForce.vx -= 5;}
meshes[k]->body->position.vx = meshes[k]->pos->vx; meshes[k]->pos->vx = meshes[k]->body->position.vx;
meshes[k]->body->position.vy = meshes[k]->pos->vy; //~ meshes[k]->pos->vy = meshes[k]->body->position.vy;
meshes[k]->body->position.vz = meshes[k]->pos->vz; meshes[k]->pos->vz = meshes[k]->body->position.vz;
//~ if(modelSphere_body.restitution > 0) {
//~ modelSphere_body.position.vx += lerp(modelSphere_body.restitution,modelSphere_body.position.vx,48);
//~ modelSphere_body.restitution += lerp(modelSphere_body.restitution,modelSphere_body.position.vx,48);
//~ }
meshes[k]->body->velocity.vy = meshes[k]->body->velocity.vx = meshes[k]->body->velocity.vz = 0;
} }
} }
} //~ }
} }
// Camera setup // Camera setup
@ -755,7 +803,7 @@ int main() {
FntPrint("Obj: %d,%d,%d\n",modelobject_body.velocity.vx,modelobject_body.velocity.vy,modelobject_body.velocity.vz); 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("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("%d, %d\n",modelSphere_body.restitution, 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);
@ -963,11 +1011,11 @@ void applyAcceleration(BODY * actor){
short dt = 1; short dt = 1;
VECTOR acceleration = {actor->gForce.vx / actor->mass, actor->gForce.vy / actor->mass, actor->gForce.vz / actor->mass}; VECTOR acceleration = {actor->invMass * actor->gForce.vx , actor->invMass * actor->gForce.vy, actor->invMass * actor->gForce.vz};
actor->velocity.vx += (acceleration.vx * dt); actor->velocity.vx += (acceleration.vx * dt) / 4096;
actor->velocity.vy += (acceleration.vy * dt); actor->velocity.vy += (acceleration.vy * dt) / 4096;
actor->velocity.vz += (acceleration.vz * dt); actor->velocity.vz += (acceleration.vz * dt) / 4096;
actor->position.vx += (actor->velocity.vx * dt); actor->position.vx += (actor->velocity.vx * dt);
actor->position.vy += (actor->velocity.vy * dt); actor->position.vy += (actor->velocity.vy * dt);
@ -979,13 +1027,18 @@ void applyAcceleration(BODY * actor){
void ResolveCollision( BODY * one, BODY * two ){ void ResolveCollision( BODY * one, BODY * two ){
// Calculate relative velocity // Calculate relative velocity
VECTOR rv = { subVector(two->velocity, one->velocity) }; VECTOR rv = { subVector( one->velocity, two->velocity) };
//~ FntPrint("rv: %d, %d, %d\n", rv.vx,rv.vy,rv.vz); //~ FntPrint("rv: %d, %d, %d\n", rv.vx,rv.vy,rv.vz);
// Collision normal // Collision normal
VECTOR normal = { subVector( two->position, one->position ) }; VECTOR normal = { subVector( two->position, one->position ) };
// Normalize collision normal
normal.vx = normal.vx > 32 ? 1 : normal.vx < -32 ? -1 : 0 ;
normal.vy = normal.vy > 256 ? 1 : normal.vy < -256 ? -1 : 0 ;
normal.vz = normal.vz > 32 ? 1 : normal.vz < -32 ? -1 : 0 ;
//~ FntPrint("norm: %d, %d, %d\n", normal.vx,normal.vy,normal.vz); //~ FntPrint("norm: %d, %d, %d\n", normal.vx,normal.vy,normal.vz);
// Calculate relative velocity in terms of the normal direction // Calculate relative velocity in terms of the normal direction
@ -1003,28 +1056,33 @@ void ResolveCollision( BODY * one, BODY * two ){
//~ FntPrint("e: %d\n", e); //~ FntPrint("e: %d\n", e);
//~ // Calculate impulse scalar //~ // Calculate impulse scalar
long j = -(1 + e) * velAlongNormal; long j = -(1 + e) * velAlongNormal * ONE;
long k = ONE / one->mass; j /= one->invMass + two->invMass;
long l = ONE / two->mass; //~ j /= ONE;
j /= k + l;
j /= ONE;
//~ FntPrint("j: %d\n", j); //~ FntPrint("j: %d\n", j);
// Apply impulse // Apply impulse
applyVector(&normal, j, j, j, *=); applyVector(&normal, j, j, j, *=);
//~ FntPrint("Cnormal %d %d %d\n",normal.vx,normal.vy,normal.vz);
VECTOR velOne = normal; VECTOR velOne = normal;
VECTOR velTwo = normal; VECTOR velTwo = normal;
FntPrint("vel1: %d, %d, %d\n", velOne.vx,velOne.vy,velOne.vz); applyVector(&velOne,one->invMass,one->invMass,one->invMass, *=);
FntPrint("vel2: %d, %d, %d\n", velTwo.vx,velTwo.vy,velTwo.vz); applyVector(&velTwo,two->invMass,two->invMass,two->invMass, *=);
applyVector(&velOne,k/ONE,k/ONE,k/ONE, *=); //~ FntPrint("V1 %d %d %d\n", velOne.vx/4096/4096,velOne.vy/4096/4096,velOne.vz/4096/4096);
applyVector(&velTwo,l/ONE,l/ONE,l/ONE, *=); //~ FntPrint("V2 %d %d %d\n", velTwo.vx/4096/4096,velTwo.vy/4096/4096,velTwo.vz/4096/4096);
applyVector(&one->velocity, velOne.vx, velOne.vy, velOne.vz, -=); applyVector(&one->velocity, velOne.vx/4096/4096, velOne.vy/4096/4096, velOne.vz/4096/4096, -=);
applyVector(&two->velocity, velTwo.vx, velTwo.vy, velTwo.vz, +=); applyVector(&two->velocity, velTwo.vx/4096/4096, velTwo.vy/4096/4096, velTwo.vz/4096/4096, +=);
//~ FntPrint("V1 %d %d %d\n", velOne.vx/4096/4096,velOne.vy/4096/4096,velOne.vz/4096/4096);
//~ FntPrint("V2 %d %d %d\n", velTwo.vx/4096/4096,velTwo.vy/4096/4096,velTwo.vz/4096/4096);
} }