1978 lines
79 KiB
C
1978 lines
79 KiB
C
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/**********************************************************************************************
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*
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* Physac v1.1 - 2D Physics library for videogames
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*
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* DESCRIPTION:
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*
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* Physac is a small 2D physics engine written in pure C. The engine uses a fixed time-step thread loop
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* to simluate physics. A physics step contains the following phases: get collision information,
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* apply dynamics, collision solving and position correction. It uses a very simple struct for physic
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* bodies with a position vector to be used in any 3D rendering API.
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*
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* CONFIGURATION:
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*
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* #define PHYSAC_IMPLEMENTATION
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* Generates the implementation of the library into the included file.
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* If not defined, the library is in header only mode and can be included in other headers
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* or source files without problems. But only ONE file should hold the implementation.
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*
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* #define PHYSAC_DEBUG
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* Show debug traces log messages about physic bodies creation/destruction, physic system errors,
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* some calculations results and NULL reference exceptions.
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*
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* #define PHYSAC_AVOID_TIMMING_SYSTEM
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* Disables internal timming system, used by UpdatePhysics() to launch timmed physic steps,
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* it allows just running UpdatePhysics() automatically on a separate thread at a desired time step.
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* In case physics steps update needs to be controlled by user with a custom timming mechanism,
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* just define this flag and the internal timming mechanism will be avoided, in that case,
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* timming libraries are neither required by the module.
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*
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* #define PHYSAC_MALLOC()
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* #define PHYSAC_CALLOC()
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* #define PHYSAC_FREE()
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* You can define your own malloc/free implementation replacing stdlib.h malloc()/free() functions.
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* Otherwise it will include stdlib.h and use the C standard library malloc()/free() function.
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*
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* COMPILATION:
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*
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* Use the following code to compile with GCC:
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* gcc -o $(NAME_PART).exe $(FILE_NAME) -s -static -lraylib -lopengl32 -lgdi32 -lwinmm -std=c99
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*
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* VERSIONS HISTORY:
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* 1.1 (20-Jan-2021) @raysan5: Library general revision
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* Removed threading system (up to the user)
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* Support MSVC C++ compilation using CLITERAL()
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* Review DEBUG mechanism for TRACELOG() and all TRACELOG() messages
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* Review internal variables/functions naming for consistency
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* Allow option to avoid internal timming system, to allow app manage the steps
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* 1.0 (12-Jun-2017) First release of the library
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*
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*
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* LICENSE: zlib/libpng
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*
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* Copyright (c) 2016-2021 Victor Fisac (@victorfisac) and Ramon Santamaria (@raysan5)
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*
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* This software is provided "as-is", without any express or implied warranty. In no event
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* will the authors be held liable for any damages arising from the use of this software.
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*
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* Permission is granted to anyone to use this software for any purpose, including commercial
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* applications, and to alter it and redistribute it freely, subject to the following restrictions:
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*
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* 1. The origin of this software must not be misrepresented; you must not claim that you
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* wrote the original software. If you use this software in a product, an acknowledgment
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* in the product documentation would be appreciated but is not required.
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*
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* 2. Altered source versions must be plainly marked as such, and must not be misrepresented
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* as being the original software.
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*
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* 3. This notice may not be removed or altered from any source distribution.
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*
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**********************************************************************************************/
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#if !defined(PHYSAC_H)
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#define PHYSAC_H
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#ifndef PHYSACDEF
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#define PHYSACDEF // We are building or using physac as a static library
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#endif
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// Allow custom memory allocators
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#ifndef PHYSAC_MALLOC
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#define PHYSAC_MALLOC(size) malloc(size)
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#endif
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#ifndef PHYSAC_CALLOC
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#define PHYSAC_CALLOC(size, n) calloc(size, n)
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#endif
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#ifndef PHYSAC_FREE
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#define PHYSAC_FREE(ptr) free(ptr)
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#endif
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//----------------------------------------------------------------------------------
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// Defines and Macros
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//----------------------------------------------------------------------------------
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#define PHYSAC_MAX_BODIES 64 // Maximum number of physic bodies supported
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#define PHYSAC_MAX_MANIFOLDS 4096 // Maximum number of physic bodies interactions (64x64)
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#define PHYSAC_MAX_VERTICES 24 // Maximum number of vertex for polygons shapes
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#define PHYSAC_DEFAULT_CIRCLE_VERTICES 24 // Default number of vertices for circle shapes
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#define PHYSAC_COLLISION_ITERATIONS 100
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#define PHYSAC_PENETRATION_ALLOWANCE 0.05f
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#define PHYSAC_PENETRATION_CORRECTION 0.4f
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#define PHYSAC_PI 3.14159265358979323846f
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#define PHYSAC_DEG2RAD (PHYSAC_PI/180.0f)
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//----------------------------------------------------------------------------------
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// Data Types Structure Definition
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//----------------------------------------------------------------------------------
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#if defined(__STDC__) && __STDC_VERSION__ >= 199901L
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#include <stdbool.h>
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#endif
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typedef enum PhysicsShapeType { PHYSICS_CIRCLE = 0, PHYSICS_POLYGON } PhysicsShapeType;
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// Previously defined to be used in PhysicsShape struct as circular dependencies
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typedef struct PhysicsBodyData *PhysicsBody;
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#if !defined(RL_VECTOR2_TYPE)
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// Vector2 type
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typedef struct Vector2 {
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float x;
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float y;
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} Vector2;
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#endif
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// Matrix2x2 type (used for polygon shape rotation matrix)
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typedef struct Matrix2x2 {
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float m00;
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float m01;
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float m10;
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float m11;
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} Matrix2x2;
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typedef struct PhysicsVertexData {
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unsigned int vertexCount; // Vertex count (positions and normals)
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Vector2 positions[PHYSAC_MAX_VERTICES]; // Vertex positions vectors
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Vector2 normals[PHYSAC_MAX_VERTICES]; // Vertex normals vectors
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} PhysicsVertexData;
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typedef struct PhysicsShape {
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PhysicsShapeType type; // Shape type (circle or polygon)
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PhysicsBody body; // Shape physics body data pointer
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PhysicsVertexData vertexData; // Shape vertices data (used for polygon shapes)
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float radius; // Shape radius (used for circle shapes)
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Matrix2x2 transform; // Vertices transform matrix 2x2
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} PhysicsShape;
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typedef struct PhysicsBodyData {
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unsigned int id; // Unique identifier
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bool enabled; // Enabled dynamics state (collisions are calculated anyway)
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Vector2 position; // Physics body shape pivot
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Vector2 velocity; // Current linear velocity applied to position
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Vector2 force; // Current linear force (reset to 0 every step)
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float angularVelocity; // Current angular velocity applied to orient
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float torque; // Current angular force (reset to 0 every step)
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float orient; // Rotation in radians
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float inertia; // Moment of inertia
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float inverseInertia; // Inverse value of inertia
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float mass; // Physics body mass
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float inverseMass; // Inverse value of mass
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float staticFriction; // Friction when the body has not movement (0 to 1)
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float dynamicFriction; // Friction when the body has movement (0 to 1)
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float restitution; // Restitution coefficient of the body (0 to 1)
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bool useGravity; // Apply gravity force to dynamics
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bool isGrounded; // Physics grounded on other body state
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bool freezeOrient; // Physics rotation constraint
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PhysicsShape shape; // Physics body shape information (type, radius, vertices, transform)
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} PhysicsBodyData;
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typedef struct PhysicsManifoldData {
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unsigned int id; // Unique identifier
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PhysicsBody bodyA; // Manifold first physics body reference
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PhysicsBody bodyB; // Manifold second physics body reference
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float penetration; // Depth of penetration from collision
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Vector2 normal; // Normal direction vector from 'a' to 'b'
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Vector2 contacts[2]; // Points of contact during collision
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unsigned int contactsCount; // Current collision number of contacts
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float restitution; // Mixed restitution during collision
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float dynamicFriction; // Mixed dynamic friction during collision
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float staticFriction; // Mixed static friction during collision
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} PhysicsManifoldData, *PhysicsManifold;
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//----------------------------------------------------------------------------------
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// Module Functions Declaration
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//----------------------------------------------------------------------------------
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#if defined(__cplusplus)
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extern "C" { // Prevents name mangling of functions
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#endif
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// Physics system management
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PHYSACDEF void InitPhysics(void); // Initializes physics system
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PHYSACDEF void UpdatePhysics(void); // Update physics system
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PHYSACDEF void ResetPhysics(void); // Reset physics system (global variables)
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PHYSACDEF void ClosePhysics(void); // Close physics system and unload used memory
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PHYSACDEF void SetPhysicsTimeStep(double delta); // Sets physics fixed time step in milliseconds. 1.666666 by default
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PHYSACDEF void SetPhysicsGravity(float x, float y); // Sets physics global gravity force
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// Physic body creation/destroy
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PHYSACDEF PhysicsBody CreatePhysicsBodyCircle(Vector2 pos, float radius, float density); // Creates a new circle physics body with generic parameters
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PHYSACDEF PhysicsBody CreatePhysicsBodyRectangle(Vector2 pos, float width, float height, float density); // Creates a new rectangle physics body with generic parameters
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PHYSACDEF PhysicsBody CreatePhysicsBodyPolygon(Vector2 pos, float radius, int sides, float density); // Creates a new polygon physics body with generic parameters
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PHYSACDEF void DestroyPhysicsBody(PhysicsBody body); // Destroy a physics body
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// Physic body forces
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PHYSACDEF void PhysicsAddForce(PhysicsBody body, Vector2 force); // Adds a force to a physics body
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PHYSACDEF void PhysicsAddTorque(PhysicsBody body, float amount); // Adds an angular force to a physics body
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PHYSACDEF void PhysicsShatter(PhysicsBody body, Vector2 position, float force); // Shatters a polygon shape physics body to little physics bodies with explosion force
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PHYSACDEF void SetPhysicsBodyRotation(PhysicsBody body, float radians); // Sets physics body shape transform based on radians parameter
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// Query physics info
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PHYSACDEF PhysicsBody GetPhysicsBody(int index); // Returns a physics body of the bodies pool at a specific index
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PHYSACDEF int GetPhysicsBodiesCount(void); // Returns the current amount of created physics bodies
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PHYSACDEF int GetPhysicsShapeType(int index); // Returns the physics body shape type (PHYSICS_CIRCLE or PHYSICS_POLYGON)
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PHYSACDEF int GetPhysicsShapeVerticesCount(int index); // Returns the amount of vertices of a physics body shape
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PHYSACDEF Vector2 GetPhysicsShapeVertex(PhysicsBody body, int vertex); // Returns transformed position of a body shape (body position + vertex transformed position)
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#if defined(__cplusplus)
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}
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#endif
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#endif // PHYSAC_H
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/***********************************************************************************
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*
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* PHYSAC IMPLEMENTATION
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*
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************************************************************************************/
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#if defined(PHYSAC_IMPLEMENTATION)
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// Support TRACELOG macros
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#if defined(PHYSAC_DEBUG)
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#include <stdio.h> // Required for: printf()
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#define TRACELOG(...) printf(__VA_ARGS__)
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#else
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#define TRACELOG(...) (void)0;
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#endif
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#include <stdlib.h> // Required for: malloc(), calloc(), free()
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#include <math.h> // Required for: cosf(), sinf(), fabs(), sqrtf()
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#if !defined(PHYSAC_AVOID_TIMMING_SYSTEM)
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// Time management functionality
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#include <time.h> // Required for: time(), clock_gettime()
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#if defined(_WIN32)
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#if defined(__cplusplus)
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extern "C" { // Prevents name mangling of functions
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#endif
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// Functions required to query time on Windows
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int __stdcall QueryPerformanceCounter(unsigned long long int *lpPerformanceCount);
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int __stdcall QueryPerformanceFrequency(unsigned long long int *lpFrequency);
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#if defined(__cplusplus)
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}
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#endif
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#endif
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#if defined(__linux__) || defined(__FreeBSD__)
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#if _POSIX_C_SOURCE < 199309L
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#undef _POSIX_C_SOURCE
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#define _POSIX_C_SOURCE 199309L // Required for CLOCK_MONOTONIC if compiled with c99 without gnu ext.
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#endif
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#include <sys/time.h> // Required for: timespec
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#endif
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#if defined(__APPLE__) // macOS also defines __MACH__
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#include <mach/mach_time.h> // Required for: mach_absolute_time()
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#endif
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#endif
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// NOTE: MSVC C++ compiler does not support compound literals (C99 feature)
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// Plain structures in C++ (without constructors) can be initialized from { } initializers.
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#if defined(__cplusplus)
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#define CLITERAL(type) type
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#else
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#define CLITERAL(type) (type)
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#endif
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//----------------------------------------------------------------------------------
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// Defines and Macros
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//----------------------------------------------------------------------------------
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#define PHYSAC_MIN(a,b) (((a)<(b))?(a):(b))
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#define PHYSAC_MAX(a,b) (((a)>(b))?(a):(b))
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#define PHYSAC_FLT_MAX 3.402823466e+38f
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#define PHYSAC_EPSILON 0.000001f
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#define PHYSAC_K 1.0f/3.0f
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#define PHYSAC_VECTOR_ZERO CLITERAL(Vector2){ 0.0f, 0.0f }
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//----------------------------------------------------------------------------------
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// Global Variables Definition
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//----------------------------------------------------------------------------------
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static double deltaTime = 1.0/60.0/10.0 * 1000; // Delta time in milliseconds used for physics steps
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#if !defined(PHYSAC_AVOID_TIMMING_SYSTEM)
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// Time measure variables
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static double baseClockTicks = 0.0; // Offset clock ticks for MONOTONIC clock
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static unsigned long long int frequency = 0; // Hi-res clock frequency
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static double startTime = 0.0; // Start time in milliseconds
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static double currentTime = 0.0; // Current time in milliseconds
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#endif
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// Physics system configuration
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static PhysicsBody bodies[PHYSAC_MAX_BODIES]; // Physics bodies pointers array
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static unsigned int physicsBodiesCount = 0; // Physics world current bodies counter
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static PhysicsManifold contacts[PHYSAC_MAX_MANIFOLDS]; // Physics bodies pointers array
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static unsigned int physicsManifoldsCount = 0; // Physics world current manifolds counter
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static Vector2 gravityForce = { 0.0f, 9.81f }; // Physics world gravity force
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// Utilities variables
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static unsigned int usedMemory = 0; // Total allocated dynamic memory
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//----------------------------------------------------------------------------------
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// Module Internal Functions Declaration
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//----------------------------------------------------------------------------------
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#if !defined(PHYSAC_AVOID_TIMMING_SYSTEM)
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// Timming measure functions
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static void InitTimerHiRes(void); // Initializes hi-resolution MONOTONIC timer
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static unsigned long long int GetClockTicks(void); // Get hi-res MONOTONIC time measure in mseconds
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static double GetCurrentTime(void); // Get current time measure in milliseconds
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#endif
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static void UpdatePhysicsStep(void); // Update physics step (dynamics, collisions and position corrections)
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static int FindAvailableBodyIndex(); // Finds a valid index for a new physics body initialization
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static int FindAvailableManifoldIndex(); // Finds a valid index for a new manifold initialization
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static PhysicsVertexData CreateDefaultPolygon(float radius, int sides); // Creates a random polygon shape with max vertex distance from polygon pivot
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static PhysicsVertexData CreateRectanglePolygon(Vector2 pos, Vector2 size); // Creates a rectangle polygon shape based on a min and max positions
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static void InitializePhysicsManifolds(PhysicsManifold manifold); // Initializes physics manifolds to solve collisions
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static PhysicsManifold CreatePhysicsManifold(PhysicsBody a, PhysicsBody b); // Creates a new physics manifold to solve collision
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static void DestroyPhysicsManifold(PhysicsManifold manifold); // Unitializes and destroys a physics manifold
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static void SolvePhysicsManifold(PhysicsManifold manifold); // Solves a created physics manifold between two physics bodies
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static void SolveCircleToCircle(PhysicsManifold manifold); // Solves collision between two circle shape physics bodies
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static void SolveCircleToPolygon(PhysicsManifold manifold); // Solves collision between a circle to a polygon shape physics bodies
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static void SolvePolygonToCircle(PhysicsManifold manifold); // Solves collision between a polygon to a circle shape physics bodies
|
||
|
|
static void SolvePolygonToPolygon(PhysicsManifold manifold); // Solves collision between two polygons shape physics bodies
|
||
|
|
static void IntegratePhysicsForces(PhysicsBody body); // Integrates physics forces into velocity
|
||
|
|
static void IntegratePhysicsVelocity(PhysicsBody body); // Integrates physics velocity into position and forces
|
||
|
|
static void IntegratePhysicsImpulses(PhysicsManifold manifold); // Integrates physics collisions impulses to solve collisions
|
||
|
|
static void CorrectPhysicsPositions(PhysicsManifold manifold); // Corrects physics bodies positions based on manifolds collision information
|
||
|
|
static void FindIncidentFace(Vector2 *v0, Vector2 *v1, PhysicsShape ref, PhysicsShape inc, int index); // Finds two polygon shapes incident face
|
||
|
|
static float FindAxisLeastPenetration(int *faceIndex, PhysicsShape shapeA, PhysicsShape shapeB); // Finds polygon shapes axis least penetration
|
||
|
|
|
||
|
|
// Math required functions
|
||
|
|
static Vector2 MathVector2Product(Vector2 vector, float value); // Returns the product of a vector and a value
|
||
|
|
static float MathVector2CrossProduct(Vector2 v1, Vector2 v2); // Returns the cross product of two vectors
|
||
|
|
static float MathVector2SqrLen(Vector2 vector); // Returns the len square root of a vector
|
||
|
|
static float MathVector2DotProduct(Vector2 v1, Vector2 v2); // Returns the dot product of two vectors
|
||
|
|
static inline float MathVector2SqrDistance(Vector2 v1, Vector2 v2); // Returns the square root of distance between two vectors
|
||
|
|
static void MathVector2Normalize(Vector2 *vector); // Returns the normalized values of a vector
|
||
|
|
static Vector2 MathVector2Add(Vector2 v1, Vector2 v2); // Returns the sum of two given vectors
|
||
|
|
static Vector2 MathVector2Subtract(Vector2 v1, Vector2 v2); // Returns the subtract of two given vectors
|
||
|
|
static Matrix2x2 MathMatFromRadians(float radians); // Returns a matrix 2x2 from a given radians value
|
||
|
|
static inline Matrix2x2 MathMatTranspose(Matrix2x2 matrix); // Returns the transpose of a given matrix 2x2
|
||
|
|
static inline Vector2 MathMatVector2Product(Matrix2x2 matrix, Vector2 vector); // Returns product between matrix 2x2 and vector
|
||
|
|
static int MathVector2Clip(Vector2 normal, Vector2 *faceA, Vector2 *faceB, float clip); // Returns clipping value based on a normal and two faces
|
||
|
|
static Vector2 MathTriangleBarycenter(Vector2 v1, Vector2 v2, Vector2 v3); // Returns the barycenter of a triangle given by 3 points
|
||
|
|
|
||
|
|
//----------------------------------------------------------------------------------
|
||
|
|
// Module Functions Definition
|
||
|
|
//----------------------------------------------------------------------------------
|
||
|
|
|
||
|
|
// Initializes physics values, pointers and creates physics loop thread
|
||
|
|
void InitPhysics(void)
|
||
|
|
{
|
||
|
|
#if !defined(PHYSAC_AVOID_TIMMING_SYSTEM)
|
||
|
|
// Initialize high resolution timer
|
||
|
|
InitTimerHiRes();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
TRACELOG("[PHYSAC] Physics module initialized successfully\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Sets physics global gravity force
|
||
|
|
void SetPhysicsGravity(float x, float y)
|
||
|
|
{
|
||
|
|
gravityForce.x = x;
|
||
|
|
gravityForce.y = y;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a new circle physics body with generic parameters
|
||
|
|
PhysicsBody CreatePhysicsBodyCircle(Vector2 pos, float radius, float density)
|
||
|
|
{
|
||
|
|
PhysicsBody body = CreatePhysicsBodyPolygon(pos, radius, PHYSAC_DEFAULT_CIRCLE_VERTICES, density);
|
||
|
|
return body;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a new rectangle physics body with generic parameters
|
||
|
|
PhysicsBody CreatePhysicsBodyRectangle(Vector2 pos, float width, float height, float density)
|
||
|
|
{
|
||
|
|
// NOTE: Make sure body data is initialized to 0
|
||
|
|
PhysicsBody body = (PhysicsBody)PHYSAC_CALLOC(sizeof(PhysicsBodyData), 1);
|
||
|
|
usedMemory += sizeof(PhysicsBodyData);
|
||
|
|
|
||
|
|
int id = FindAvailableBodyIndex();
|
||
|
|
if (id != -1)
|
||
|
|
{
|
||
|
|
// Initialize new body with generic values
|
||
|
|
body->id = id;
|
||
|
|
body->enabled = true;
|
||
|
|
body->position = pos;
|
||
|
|
body->shape.type = PHYSICS_POLYGON;
|
||
|
|
body->shape.body = body;
|
||
|
|
body->shape.transform = MathMatFromRadians(0.0f);
|
||
|
|
body->shape.vertexData = CreateRectanglePolygon(pos, CLITERAL(Vector2){ width, height });
|
||
|
|
|
||
|
|
// Calculate centroid and moment of inertia
|
||
|
|
Vector2 center = { 0.0f, 0.0f };
|
||
|
|
float area = 0.0f;
|
||
|
|
float inertia = 0.0f;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < body->shape.vertexData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
// Triangle vertices, third vertex implied as (0, 0)
|
||
|
|
Vector2 p1 = body->shape.vertexData.positions[i];
|
||
|
|
unsigned int nextIndex = (((i + 1) < body->shape.vertexData.vertexCount) ? (i + 1) : 0);
|
||
|
|
Vector2 p2 = body->shape.vertexData.positions[nextIndex];
|
||
|
|
|
||
|
|
float D = MathVector2CrossProduct(p1, p2);
|
||
|
|
float triangleArea = D/2;
|
||
|
|
|
||
|
|
area += triangleArea;
|
||
|
|
|
||
|
|
// Use area to weight the centroid average, not just vertex position
|
||
|
|
center.x += triangleArea*PHYSAC_K*(p1.x + p2.x);
|
||
|
|
center.y += triangleArea*PHYSAC_K*(p1.y + p2.y);
|
||
|
|
|
||
|
|
float intx2 = p1.x*p1.x + p2.x*p1.x + p2.x*p2.x;
|
||
|
|
float inty2 = p1.y*p1.y + p2.y*p1.y + p2.y*p2.y;
|
||
|
|
inertia += (0.25f*PHYSAC_K*D)*(intx2 + inty2);
|
||
|
|
}
|
||
|
|
|
||
|
|
center.x *= 1.0f/area;
|
||
|
|
center.y *= 1.0f/area;
|
||
|
|
|
||
|
|
// Translate vertices to centroid (make the centroid (0, 0) for the polygon in model space)
|
||
|
|
// Note: this is not really necessary
|
||
|
|
for (unsigned int i = 0; i < body->shape.vertexData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
body->shape.vertexData.positions[i].x -= center.x;
|
||
|
|
body->shape.vertexData.positions[i].y -= center.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
body->mass = density*area;
|
||
|
|
body->inverseMass = ((body->mass != 0.0f) ? 1.0f/body->mass : 0.0f);
|
||
|
|
body->inertia = density*inertia;
|
||
|
|
body->inverseInertia = ((body->inertia != 0.0f) ? 1.0f/body->inertia : 0.0f);
|
||
|
|
body->staticFriction = 0.4f;
|
||
|
|
body->dynamicFriction = 0.2f;
|
||
|
|
body->restitution = 0.0f;
|
||
|
|
body->useGravity = true;
|
||
|
|
body->isGrounded = false;
|
||
|
|
body->freezeOrient = false;
|
||
|
|
|
||
|
|
// Add new body to bodies pointers array and update bodies count
|
||
|
|
bodies[physicsBodiesCount] = body;
|
||
|
|
physicsBodiesCount++;
|
||
|
|
|
||
|
|
TRACELOG("[PHYSAC] Physic body created successfully (id: %i)\n", body->id);
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] Physic body could not be created, PHYSAC_MAX_BODIES reached\n");
|
||
|
|
|
||
|
|
return body;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a new polygon physics body with generic parameters
|
||
|
|
PhysicsBody CreatePhysicsBodyPolygon(Vector2 pos, float radius, int sides, float density)
|
||
|
|
{
|
||
|
|
PhysicsBody body = (PhysicsBody)PHYSAC_MALLOC(sizeof(PhysicsBodyData));
|
||
|
|
usedMemory += sizeof(PhysicsBodyData);
|
||
|
|
|
||
|
|
int id = FindAvailableBodyIndex();
|
||
|
|
if (id != -1)
|
||
|
|
{
|
||
|
|
// Initialize new body with generic values
|
||
|
|
body->id = id;
|
||
|
|
body->enabled = true;
|
||
|
|
body->position = pos;
|
||
|
|
body->velocity = PHYSAC_VECTOR_ZERO;
|
||
|
|
body->force = PHYSAC_VECTOR_ZERO;
|
||
|
|
body->angularVelocity = 0.0f;
|
||
|
|
body->torque = 0.0f;
|
||
|
|
body->orient = 0.0f;
|
||
|
|
body->shape.type = PHYSICS_POLYGON;
|
||
|
|
body->shape.body = body;
|
||
|
|
body->shape.transform = MathMatFromRadians(0.0f);
|
||
|
|
body->shape.vertexData = CreateDefaultPolygon(radius, sides);
|
||
|
|
|
||
|
|
// Calculate centroid and moment of inertia
|
||
|
|
Vector2 center = { 0.0f, 0.0f };
|
||
|
|
float area = 0.0f;
|
||
|
|
float inertia = 0.0f;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < body->shape.vertexData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
// Triangle vertices, third vertex implied as (0, 0)
|
||
|
|
Vector2 position1 = body->shape.vertexData.positions[i];
|
||
|
|
unsigned int nextIndex = (((i + 1) < body->shape.vertexData.vertexCount) ? (i + 1) : 0);
|
||
|
|
Vector2 position2 = body->shape.vertexData.positions[nextIndex];
|
||
|
|
|
||
|
|
float cross = MathVector2CrossProduct(position1, position2);
|
||
|
|
float triangleArea = cross/2;
|
||
|
|
|
||
|
|
area += triangleArea;
|
||
|
|
|
||
|
|
// Use area to weight the centroid average, not just vertex position
|
||
|
|
center.x += triangleArea*PHYSAC_K*(position1.x + position2.x);
|
||
|
|
center.y += triangleArea*PHYSAC_K*(position1.y + position2.y);
|
||
|
|
|
||
|
|
float intx2 = position1.x*position1.x + position2.x*position1.x + position2.x*position2.x;
|
||
|
|
float inty2 = position1.y*position1.y + position2.y*position1.y + position2.y*position2.y;
|
||
|
|
inertia += (0.25f*PHYSAC_K*cross)*(intx2 + inty2);
|
||
|
|
}
|
||
|
|
|
||
|
|
center.x *= 1.0f/area;
|
||
|
|
center.y *= 1.0f/area;
|
||
|
|
|
||
|
|
// Translate vertices to centroid (make the centroid (0, 0) for the polygon in model space)
|
||
|
|
// Note: this is not really necessary
|
||
|
|
for (unsigned int i = 0; i < body->shape.vertexData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
body->shape.vertexData.positions[i].x -= center.x;
|
||
|
|
body->shape.vertexData.positions[i].y -= center.y;
|
||
|
|
}
|
||
|
|
|
||
|
|
body->mass = density*area;
|
||
|
|
body->inverseMass = ((body->mass != 0.0f) ? 1.0f/body->mass : 0.0f);
|
||
|
|
body->inertia = density*inertia;
|
||
|
|
body->inverseInertia = ((body->inertia != 0.0f) ? 1.0f/body->inertia : 0.0f);
|
||
|
|
body->staticFriction = 0.4f;
|
||
|
|
body->dynamicFriction = 0.2f;
|
||
|
|
body->restitution = 0.0f;
|
||
|
|
body->useGravity = true;
|
||
|
|
body->isGrounded = false;
|
||
|
|
body->freezeOrient = false;
|
||
|
|
|
||
|
|
// Add new body to bodies pointers array and update bodies count
|
||
|
|
bodies[physicsBodiesCount] = body;
|
||
|
|
physicsBodiesCount++;
|
||
|
|
|
||
|
|
TRACELOG("[PHYSAC] Physic body created successfully (id: %i)\n", body->id);
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] Physics body could not be created, PHYSAC_MAX_BODIES reached\n");
|
||
|
|
|
||
|
|
return body;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Adds a force to a physics body
|
||
|
|
void PhysicsAddForce(PhysicsBody body, Vector2 force)
|
||
|
|
{
|
||
|
|
if (body != NULL) body->force = MathVector2Add(body->force, force);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Adds an angular force to a physics body
|
||
|
|
void PhysicsAddTorque(PhysicsBody body, float amount)
|
||
|
|
{
|
||
|
|
if (body != NULL) body->torque += amount;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Shatters a polygon shape physics body to little physics bodies with explosion force
|
||
|
|
void PhysicsShatter(PhysicsBody body, Vector2 position, float force)
|
||
|
|
{
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
if (body->shape.type == PHYSICS_POLYGON)
|
||
|
|
{
|
||
|
|
PhysicsVertexData vertexData = body->shape.vertexData;
|
||
|
|
bool collision = false;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < vertexData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
Vector2 positionA = body->position;
|
||
|
|
Vector2 positionB = MathMatVector2Product(body->shape.transform, MathVector2Add(body->position, vertexData.positions[i]));
|
||
|
|
unsigned int nextIndex = (((i + 1) < vertexData.vertexCount) ? (i + 1) : 0);
|
||
|
|
Vector2 positionC = MathMatVector2Product(body->shape.transform, MathVector2Add(body->position, vertexData.positions[nextIndex]));
|
||
|
|
|
||
|
|
// Check collision between each triangle
|
||
|
|
float alpha = ((positionB.y - positionC.y)*(position.x - positionC.x) + (positionC.x - positionB.x)*(position.y - positionC.y))/
|
||
|
|
((positionB.y - positionC.y)*(positionA.x - positionC.x) + (positionC.x - positionB.x)*(positionA.y - positionC.y));
|
||
|
|
|
||
|
|
float beta = ((positionC.y - positionA.y)*(position.x - positionC.x) + (positionA.x - positionC.x)*(position.y - positionC.y))/
|
||
|
|
((positionB.y - positionC.y)*(positionA.x - positionC.x) + (positionC.x - positionB.x)*(positionA.y - positionC.y));
|
||
|
|
|
||
|
|
float gamma = 1.0f - alpha - beta;
|
||
|
|
|
||
|
|
if ((alpha > 0.0f) && (beta > 0.0f) & (gamma > 0.0f))
|
||
|
|
{
|
||
|
|
collision = true;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (collision)
|
||
|
|
{
|
||
|
|
int count = vertexData.vertexCount;
|
||
|
|
Vector2 bodyPos = body->position;
|
||
|
|
Vector2 *vertices = (Vector2 *)PHYSAC_MALLOC(sizeof(Vector2)*count);
|
||
|
|
Matrix2x2 trans = body->shape.transform;
|
||
|
|
for (int i = 0; i < count; i++) vertices[i] = vertexData.positions[i];
|
||
|
|
|
||
|
|
// Destroy shattered physics body
|
||
|
|
DestroyPhysicsBody(body);
|
||
|
|
|
||
|
|
for (int i = 0; i < count; i++)
|
||
|
|
{
|
||
|
|
int nextIndex = (((i + 1) < count) ? (i + 1) : 0);
|
||
|
|
Vector2 center = MathTriangleBarycenter(vertices[i], vertices[nextIndex], PHYSAC_VECTOR_ZERO);
|
||
|
|
center = MathVector2Add(bodyPos, center);
|
||
|
|
Vector2 offset = MathVector2Subtract(center, bodyPos);
|
||
|
|
|
||
|
|
PhysicsBody body = CreatePhysicsBodyPolygon(center, 10, 3, 10); // Create polygon physics body with relevant values
|
||
|
|
|
||
|
|
PhysicsVertexData vertexData = { 0 };
|
||
|
|
vertexData.vertexCount = 3;
|
||
|
|
|
||
|
|
vertexData.positions[0] = MathVector2Subtract(vertices[i], offset);
|
||
|
|
vertexData.positions[1] = MathVector2Subtract(vertices[nextIndex], offset);
|
||
|
|
vertexData.positions[2] = MathVector2Subtract(position, center);
|
||
|
|
|
||
|
|
// Separate vertices to avoid unnecessary physics collisions
|
||
|
|
vertexData.positions[0].x *= 0.95f;
|
||
|
|
vertexData.positions[0].y *= 0.95f;
|
||
|
|
vertexData.positions[1].x *= 0.95f;
|
||
|
|
vertexData.positions[1].y *= 0.95f;
|
||
|
|
vertexData.positions[2].x *= 0.95f;
|
||
|
|
vertexData.positions[2].y *= 0.95f;
|
||
|
|
|
||
|
|
// Calculate polygon faces normals
|
||
|
|
for (unsigned int j = 0; j < vertexData.vertexCount; j++)
|
||
|
|
{
|
||
|
|
unsigned int nextVertex = (((j + 1) < vertexData.vertexCount) ? (j + 1) : 0);
|
||
|
|
Vector2 face = MathVector2Subtract(vertexData.positions[nextVertex], vertexData.positions[j]);
|
||
|
|
|
||
|
|
vertexData.normals[j] = CLITERAL(Vector2){ face.y, -face.x };
|
||
|
|
MathVector2Normalize(&vertexData.normals[j]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Apply computed vertex data to new physics body shape
|
||
|
|
body->shape.vertexData = vertexData;
|
||
|
|
body->shape.transform = trans;
|
||
|
|
|
||
|
|
// Calculate centroid and moment of inertia
|
||
|
|
center = PHYSAC_VECTOR_ZERO;
|
||
|
|
float area = 0.0f;
|
||
|
|
float inertia = 0.0f;
|
||
|
|
|
||
|
|
for (unsigned int j = 0; j < body->shape.vertexData.vertexCount; j++)
|
||
|
|
{
|
||
|
|
// Triangle vertices, third vertex implied as (0, 0)
|
||
|
|
Vector2 p1 = body->shape.vertexData.positions[j];
|
||
|
|
unsigned int nextVertex = (((j + 1) < body->shape.vertexData.vertexCount) ? (j + 1) : 0);
|
||
|
|
Vector2 p2 = body->shape.vertexData.positions[nextVertex];
|
||
|
|
|
||
|
|
float D = MathVector2CrossProduct(p1, p2);
|
||
|
|
float triangleArea = D/2;
|
||
|
|
|
||
|
|
area += triangleArea;
|
||
|
|
|
||
|
|
// Use area to weight the centroid average, not just vertex position
|
||
|
|
center.x += triangleArea*PHYSAC_K*(p1.x + p2.x);
|
||
|
|
center.y += triangleArea*PHYSAC_K*(p1.y + p2.y);
|
||
|
|
|
||
|
|
float intx2 = p1.x*p1.x + p2.x*p1.x + p2.x*p2.x;
|
||
|
|
float inty2 = p1.y*p1.y + p2.y*p1.y + p2.y*p2.y;
|
||
|
|
inertia += (0.25f*PHYSAC_K*D)*(intx2 + inty2);
|
||
|
|
}
|
||
|
|
|
||
|
|
center.x *= 1.0f/area;
|
||
|
|
center.y *= 1.0f/area;
|
||
|
|
|
||
|
|
body->mass = area;
|
||
|
|
body->inverseMass = ((body->mass != 0.0f) ? 1.0f/body->mass : 0.0f);
|
||
|
|
body->inertia = inertia;
|
||
|
|
body->inverseInertia = ((body->inertia != 0.0f) ? 1.0f/body->inertia : 0.0f);
|
||
|
|
|
||
|
|
// Calculate explosion force direction
|
||
|
|
Vector2 pointA = body->position;
|
||
|
|
Vector2 pointB = MathVector2Subtract(vertexData.positions[1], vertexData.positions[0]);
|
||
|
|
pointB.x /= 2.0f;
|
||
|
|
pointB.y /= 2.0f;
|
||
|
|
Vector2 forceDirection = MathVector2Subtract(MathVector2Add(pointA, MathVector2Add(vertexData.positions[0], pointB)), body->position);
|
||
|
|
MathVector2Normalize(&forceDirection);
|
||
|
|
forceDirection.x *= force;
|
||
|
|
forceDirection.y *= force;
|
||
|
|
|
||
|
|
// Apply force to new physics body
|
||
|
|
PhysicsAddForce(body, forceDirection);
|
||
|
|
}
|
||
|
|
|
||
|
|
PHYSAC_FREE(vertices);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: PhysicsShatter: NULL physic body\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the current amount of created physics bodies
|
||
|
|
int GetPhysicsBodiesCount(void)
|
||
|
|
{
|
||
|
|
return physicsBodiesCount;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns a physics body of the bodies pool at a specific index
|
||
|
|
PhysicsBody GetPhysicsBody(int index)
|
||
|
|
{
|
||
|
|
PhysicsBody body = NULL;
|
||
|
|
|
||
|
|
if (index < (int)physicsBodiesCount)
|
||
|
|
{
|
||
|
|
body = bodies[index];
|
||
|
|
|
||
|
|
if (body == NULL) TRACELOG("[PHYSAC] WARNING: GetPhysicsBody: NULL physic body\n");
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: Physic body index is out of bounds\n");
|
||
|
|
|
||
|
|
return body;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the physics body shape type (PHYSICS_CIRCLE or PHYSICS_POLYGON)
|
||
|
|
int GetPhysicsShapeType(int index)
|
||
|
|
{
|
||
|
|
int result = -1;
|
||
|
|
|
||
|
|
if (index < (int)physicsBodiesCount)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[index];
|
||
|
|
|
||
|
|
if (body != NULL) result = body->shape.type;
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: GetPhysicsShapeType: NULL physic body\n");
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: Physic body index is out of bounds\n");
|
||
|
|
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the amount of vertices of a physics body shape
|
||
|
|
int GetPhysicsShapeVerticesCount(int index)
|
||
|
|
{
|
||
|
|
int result = 0;
|
||
|
|
|
||
|
|
if (index < (int)physicsBodiesCount)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[index];
|
||
|
|
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
switch (body->shape.type)
|
||
|
|
{
|
||
|
|
case PHYSICS_CIRCLE: result = PHYSAC_DEFAULT_CIRCLE_VERTICES; break;
|
||
|
|
case PHYSICS_POLYGON: result = body->shape.vertexData.vertexCount; break;
|
||
|
|
default: break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: GetPhysicsShapeVerticesCount: NULL physic body\n");
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: Physic body index is out of bounds\n");
|
||
|
|
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns transformed position of a body shape (body position + vertex transformed position)
|
||
|
|
Vector2 GetPhysicsShapeVertex(PhysicsBody body, int vertex)
|
||
|
|
{
|
||
|
|
Vector2 position = { 0.0f, 0.0f };
|
||
|
|
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
switch (body->shape.type)
|
||
|
|
{
|
||
|
|
case PHYSICS_CIRCLE:
|
||
|
|
{
|
||
|
|
position.x = body->position.x + cosf(360.0f/PHYSAC_DEFAULT_CIRCLE_VERTICES*vertex*PHYSAC_DEG2RAD)*body->shape.radius;
|
||
|
|
position.y = body->position.y + sinf(360.0f/PHYSAC_DEFAULT_CIRCLE_VERTICES*vertex*PHYSAC_DEG2RAD)*body->shape.radius;
|
||
|
|
} break;
|
||
|
|
case PHYSICS_POLYGON:
|
||
|
|
{
|
||
|
|
PhysicsVertexData vertexData = body->shape.vertexData;
|
||
|
|
position = MathVector2Add(body->position, MathMatVector2Product(body->shape.transform, vertexData.positions[vertex]));
|
||
|
|
} break;
|
||
|
|
default: break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: GetPhysicsShapeVertex: NULL physic body\n");
|
||
|
|
|
||
|
|
return position;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Sets physics body shape transform based on radians parameter
|
||
|
|
void SetPhysicsBodyRotation(PhysicsBody body, float radians)
|
||
|
|
{
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
body->orient = radians;
|
||
|
|
|
||
|
|
if (body->shape.type == PHYSICS_POLYGON) body->shape.transform = MathMatFromRadians(radians);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Unitializes and destroys a physics body
|
||
|
|
void DestroyPhysicsBody(PhysicsBody body)
|
||
|
|
{
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
int id = body->id;
|
||
|
|
int index = -1;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
if (bodies[i]->id == id)
|
||
|
|
{
|
||
|
|
index = i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (index == -1)
|
||
|
|
{
|
||
|
|
TRACELOG("[PHYSAC] WARNING: Requested body (id: %i) can not be found\n", id);
|
||
|
|
return; // Prevent access to index -1
|
||
|
|
}
|
||
|
|
|
||
|
|
// Free body allocated memory
|
||
|
|
PHYSAC_FREE(body);
|
||
|
|
usedMemory -= sizeof(PhysicsBodyData);
|
||
|
|
bodies[index] = NULL;
|
||
|
|
|
||
|
|
// Reorder physics bodies pointers array and its catched index
|
||
|
|
for (unsigned int i = index; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
if ((i + 1) < physicsBodiesCount) bodies[i] = bodies[i + 1];
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update physics bodies count
|
||
|
|
physicsBodiesCount--;
|
||
|
|
|
||
|
|
TRACELOG("[PHYSAC] Physic body destroyed successfully (id: %i)\n", id);
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: DestroyPhysicsBody: NULL physic body\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Destroys created physics bodies and manifolds and resets global values
|
||
|
|
void ResetPhysics(void)
|
||
|
|
{
|
||
|
|
if (physicsBodiesCount > 0)
|
||
|
|
{
|
||
|
|
// Unitialize physics bodies dynamic memory allocations
|
||
|
|
for (int i = physicsBodiesCount - 1; i >= 0; i--)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[i];
|
||
|
|
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
PHYSAC_FREE(body);
|
||
|
|
bodies[i] = NULL;
|
||
|
|
usedMemory -= sizeof(PhysicsBodyData);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
physicsBodiesCount = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (physicsManifoldsCount > 0)
|
||
|
|
{
|
||
|
|
// Unitialize physics manifolds dynamic memory allocations
|
||
|
|
for (int i = physicsManifoldsCount - 1; i >= 0; i--)
|
||
|
|
{
|
||
|
|
PhysicsManifold manifold = contacts[i];
|
||
|
|
|
||
|
|
if (manifold != NULL)
|
||
|
|
{
|
||
|
|
PHYSAC_FREE(manifold);
|
||
|
|
contacts[i] = NULL;
|
||
|
|
usedMemory -= sizeof(PhysicsManifoldData);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
physicsManifoldsCount = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
TRACELOG("[PHYSAC] Physics module reseted successfully\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Unitializes physics pointers and exits physics loop thread
|
||
|
|
void ClosePhysics(void)
|
||
|
|
{
|
||
|
|
// Unitialize physics manifolds dynamic memory allocations
|
||
|
|
if (physicsManifoldsCount > 0)
|
||
|
|
{
|
||
|
|
for (int i = physicsManifoldsCount - 1; i >= 0; i--) DestroyPhysicsManifold(contacts[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Unitialize physics bodies dynamic memory allocations
|
||
|
|
if (physicsBodiesCount > 0)
|
||
|
|
{
|
||
|
|
for (int i = physicsBodiesCount - 1; i >= 0; i--) DestroyPhysicsBody(bodies[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Trace log info
|
||
|
|
if ((physicsBodiesCount > 0) || (usedMemory != 0))
|
||
|
|
{
|
||
|
|
TRACELOG("[PHYSAC] WARNING: Physics module closed with unallocated bodies (BODIES: %i, MEMORY: %i bytes)\n", physicsBodiesCount, usedMemory);
|
||
|
|
}
|
||
|
|
else if ((physicsManifoldsCount > 0) || (usedMemory != 0))
|
||
|
|
{
|
||
|
|
TRACELOG("[PHYSAC] WARNING: Pysics module closed with unallocated manifolds (MANIFOLDS: %i, MEMORY: %i bytes)\n", physicsManifoldsCount, usedMemory);
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] Physics module closed successfully\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update physics system
|
||
|
|
// Physics steps are launched at a fixed time step if enabled
|
||
|
|
void UpdatePhysics(void)
|
||
|
|
{
|
||
|
|
#if !defined(PHYSAC_AVOID_TIMMING_SYSTEM)
|
||
|
|
static double deltaTimeAccumulator = 0.0;
|
||
|
|
|
||
|
|
// Calculate current time (ms)
|
||
|
|
currentTime = GetCurrentTime();
|
||
|
|
|
||
|
|
// Calculate current delta time (ms)
|
||
|
|
const double delta = currentTime - startTime;
|
||
|
|
|
||
|
|
// Store the time elapsed since the last frame began
|
||
|
|
deltaTimeAccumulator += delta;
|
||
|
|
|
||
|
|
// Fixed time stepping loop
|
||
|
|
while (deltaTimeAccumulator >= deltaTime)
|
||
|
|
{
|
||
|
|
UpdatePhysicsStep();
|
||
|
|
deltaTimeAccumulator -= deltaTime;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Record the starting of this frame
|
||
|
|
startTime = currentTime;
|
||
|
|
#else
|
||
|
|
UpdatePhysicsStep();
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
void SetPhysicsTimeStep(double delta)
|
||
|
|
{
|
||
|
|
deltaTime = delta;
|
||
|
|
}
|
||
|
|
|
||
|
|
//----------------------------------------------------------------------------------
|
||
|
|
// Module Internal Functions Definition
|
||
|
|
//----------------------------------------------------------------------------------
|
||
|
|
#if !defined(PHYSAC_AVOID_TIMMING_SYSTEM)
|
||
|
|
// Initializes hi-resolution MONOTONIC timer
|
||
|
|
static void InitTimerHiRes(void)
|
||
|
|
{
|
||
|
|
#if defined(_WIN32)
|
||
|
|
QueryPerformanceFrequency((unsigned long long int *) &frequency);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if defined(__EMSCRIPTEN__) || defined(__linux__)
|
||
|
|
struct timespec now;
|
||
|
|
if (clock_gettime(CLOCK_MONOTONIC, &now) == 0) frequency = 1000000000;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if defined(__APPLE__)
|
||
|
|
mach_timebase_info_data_t timebase;
|
||
|
|
mach_timebase_info(&timebase);
|
||
|
|
frequency = (timebase.denom*1e9)/timebase.numer;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
baseClockTicks = (double)GetClockTicks(); // Get MONOTONIC clock time offset
|
||
|
|
startTime = GetCurrentTime(); // Get current time in milliseconds
|
||
|
|
}
|
||
|
|
|
||
|
|
// Get hi-res MONOTONIC time measure in clock ticks
|
||
|
|
static unsigned long long int GetClockTicks(void)
|
||
|
|
{
|
||
|
|
unsigned long long int value = 0;
|
||
|
|
|
||
|
|
#if defined(_WIN32)
|
||
|
|
QueryPerformanceCounter((unsigned long long int *) &value);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if defined(__linux__)
|
||
|
|
struct timespec now;
|
||
|
|
clock_gettime(CLOCK_MONOTONIC, &now);
|
||
|
|
value = (unsigned long long int)now.tv_sec*(unsigned long long int)1000000000 + (unsigned long long int)now.tv_nsec;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if defined(__APPLE__)
|
||
|
|
value = mach_absolute_time();
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return value;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Get current time in milliseconds
|
||
|
|
static double GetCurrentTime(void)
|
||
|
|
{
|
||
|
|
return (double)(GetClockTicks() - baseClockTicks)/frequency*1000;
|
||
|
|
}
|
||
|
|
#endif // !PHYSAC_AVOID_TIMMING_SYSTEM
|
||
|
|
|
||
|
|
// Update physics step (dynamics, collisions and position corrections)
|
||
|
|
static void UpdatePhysicsStep(void)
|
||
|
|
{
|
||
|
|
// Clear previous generated collisions information
|
||
|
|
for (int i = (int)physicsManifoldsCount - 1; i >= 0; i--)
|
||
|
|
{
|
||
|
|
PhysicsManifold manifold = contacts[i];
|
||
|
|
if (manifold != NULL) DestroyPhysicsManifold(manifold);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Reset physics bodies grounded state
|
||
|
|
for (unsigned int i = 0; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[i];
|
||
|
|
body->isGrounded = false;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Generate new collision information
|
||
|
|
for (unsigned int i = 0; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = bodies[i];
|
||
|
|
|
||
|
|
if (bodyA != NULL)
|
||
|
|
{
|
||
|
|
for (unsigned int j = i + 1; j < physicsBodiesCount; j++)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyB = bodies[j];
|
||
|
|
|
||
|
|
if (bodyB != NULL)
|
||
|
|
{
|
||
|
|
if ((bodyA->inverseMass == 0) && (bodyB->inverseMass == 0)) continue;
|
||
|
|
|
||
|
|
PhysicsManifold manifold = CreatePhysicsManifold(bodyA, bodyB);
|
||
|
|
SolvePhysicsManifold(manifold);
|
||
|
|
|
||
|
|
if (manifold->contactsCount > 0)
|
||
|
|
{
|
||
|
|
// Create a new manifold with same information as previously solved manifold and add it to the manifolds pool last slot
|
||
|
|
PhysicsManifold manifold = CreatePhysicsManifold(bodyA, bodyB);
|
||
|
|
manifold->penetration = manifold->penetration;
|
||
|
|
manifold->normal = manifold->normal;
|
||
|
|
manifold->contacts[0] = manifold->contacts[0];
|
||
|
|
manifold->contacts[1] = manifold->contacts[1];
|
||
|
|
manifold->contactsCount = manifold->contactsCount;
|
||
|
|
manifold->restitution = manifold->restitution;
|
||
|
|
manifold->dynamicFriction = manifold->dynamicFriction;
|
||
|
|
manifold->staticFriction = manifold->staticFriction;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Integrate forces to physics bodies
|
||
|
|
for (unsigned int i = 0; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[i];
|
||
|
|
if (body != NULL) IntegratePhysicsForces(body);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Initialize physics manifolds to solve collisions
|
||
|
|
for (unsigned int i = 0; i < physicsManifoldsCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsManifold manifold = contacts[i];
|
||
|
|
if (manifold != NULL) InitializePhysicsManifolds(manifold);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Integrate physics collisions impulses to solve collisions
|
||
|
|
for (unsigned int i = 0; i < PHYSAC_COLLISION_ITERATIONS; i++)
|
||
|
|
{
|
||
|
|
for (unsigned int j = 0; j < physicsManifoldsCount; j++)
|
||
|
|
{
|
||
|
|
PhysicsManifold manifold = contacts[i];
|
||
|
|
if (manifold != NULL) IntegratePhysicsImpulses(manifold);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Integrate velocity to physics bodies
|
||
|
|
for (unsigned int i = 0; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[i];
|
||
|
|
if (body != NULL) IntegratePhysicsVelocity(body);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Correct physics bodies positions based on manifolds collision information
|
||
|
|
for (unsigned int i = 0; i < physicsManifoldsCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsManifold manifold = contacts[i];
|
||
|
|
if (manifold != NULL) CorrectPhysicsPositions(manifold);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Clear physics bodies forces
|
||
|
|
for (unsigned int i = 0; i < physicsBodiesCount; i++)
|
||
|
|
{
|
||
|
|
PhysicsBody body = bodies[i];
|
||
|
|
if (body != NULL)
|
||
|
|
{
|
||
|
|
body->force = PHYSAC_VECTOR_ZERO;
|
||
|
|
body->torque = 0.0f;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Finds a valid index for a new physics body initialization
|
||
|
|
static int FindAvailableBodyIndex()
|
||
|
|
{
|
||
|
|
int index = -1;
|
||
|
|
for (int i = 0; i < PHYSAC_MAX_BODIES; i++)
|
||
|
|
{
|
||
|
|
int currentId = i;
|
||
|
|
|
||
|
|
// Check if current id already exist in other physics body
|
||
|
|
for (unsigned int k = 0; k < physicsBodiesCount; k++)
|
||
|
|
{
|
||
|
|
if (bodies[k]->id == currentId)
|
||
|
|
{
|
||
|
|
currentId++;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// If it is not used, use it as new physics body id
|
||
|
|
if (currentId == (int)i)
|
||
|
|
{
|
||
|
|
index = (int)i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return index;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a default polygon shape with max vertex distance from polygon pivot
|
||
|
|
static PhysicsVertexData CreateDefaultPolygon(float radius, int sides)
|
||
|
|
{
|
||
|
|
PhysicsVertexData data = { 0 };
|
||
|
|
data.vertexCount = sides;
|
||
|
|
|
||
|
|
// Calculate polygon vertices positions
|
||
|
|
for (unsigned int i = 0; i < data.vertexCount; i++)
|
||
|
|
{
|
||
|
|
data.positions[i].x = (float)cosf(360.0f/sides*i*PHYSAC_DEG2RAD)*radius;
|
||
|
|
data.positions[i].y = (float)sinf(360.0f/sides*i*PHYSAC_DEG2RAD)*radius;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Calculate polygon faces normals
|
||
|
|
for (int i = 0; i < (int)data.vertexCount; i++)
|
||
|
|
{
|
||
|
|
int nextIndex = (((i + 1) < sides) ? (i + 1) : 0);
|
||
|
|
Vector2 face = MathVector2Subtract(data.positions[nextIndex], data.positions[i]);
|
||
|
|
|
||
|
|
data.normals[i] = CLITERAL(Vector2){ face.y, -face.x };
|
||
|
|
MathVector2Normalize(&data.normals[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
return data;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a rectangle polygon shape based on a min and max positions
|
||
|
|
static PhysicsVertexData CreateRectanglePolygon(Vector2 pos, Vector2 size)
|
||
|
|
{
|
||
|
|
PhysicsVertexData data = { 0 };
|
||
|
|
data.vertexCount = 4;
|
||
|
|
|
||
|
|
// Calculate polygon vertices positions
|
||
|
|
data.positions[0] = CLITERAL(Vector2){ pos.x + size.x/2, pos.y - size.y/2 };
|
||
|
|
data.positions[1] = CLITERAL(Vector2){ pos.x + size.x/2, pos.y + size.y/2 };
|
||
|
|
data.positions[2] = CLITERAL(Vector2){ pos.x - size.x/2, pos.y + size.y/2 };
|
||
|
|
data.positions[3] = CLITERAL(Vector2){ pos.x - size.x/2, pos.y - size.y/2 };
|
||
|
|
|
||
|
|
// Calculate polygon faces normals
|
||
|
|
for (unsigned int i = 0; i < data.vertexCount; i++)
|
||
|
|
{
|
||
|
|
int nextIndex = (((i + 1) < data.vertexCount) ? (i + 1) : 0);
|
||
|
|
Vector2 face = MathVector2Subtract(data.positions[nextIndex], data.positions[i]);
|
||
|
|
|
||
|
|
data.normals[i] = CLITERAL(Vector2){ face.y, -face.x };
|
||
|
|
MathVector2Normalize(&data.normals[i]);
|
||
|
|
}
|
||
|
|
|
||
|
|
return data;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Finds a valid index for a new manifold initialization
|
||
|
|
static int FindAvailableManifoldIndex()
|
||
|
|
{
|
||
|
|
int index = -1;
|
||
|
|
for (int i = 0; i < PHYSAC_MAX_MANIFOLDS; i++)
|
||
|
|
{
|
||
|
|
int currentId = i;
|
||
|
|
|
||
|
|
// Check if current id already exist in other physics body
|
||
|
|
for (unsigned int k = 0; k < physicsManifoldsCount; k++)
|
||
|
|
{
|
||
|
|
if (contacts[k]->id == currentId)
|
||
|
|
{
|
||
|
|
currentId++;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// If it is not used, use it as new physics body id
|
||
|
|
if (currentId == i)
|
||
|
|
{
|
||
|
|
index = i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return index;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a new physics manifold to solve collision
|
||
|
|
static PhysicsManifold CreatePhysicsManifold(PhysicsBody a, PhysicsBody b)
|
||
|
|
{
|
||
|
|
PhysicsManifold manifold = (PhysicsManifold)PHYSAC_MALLOC(sizeof(PhysicsManifoldData));
|
||
|
|
usedMemory += sizeof(PhysicsManifoldData);
|
||
|
|
|
||
|
|
int id = FindAvailableManifoldIndex();
|
||
|
|
if (id != -1)
|
||
|
|
{
|
||
|
|
// Initialize new manifold with generic values
|
||
|
|
manifold->id = id;
|
||
|
|
manifold->bodyA = a;
|
||
|
|
manifold->bodyB = b;
|
||
|
|
manifold->penetration = 0;
|
||
|
|
manifold->normal = PHYSAC_VECTOR_ZERO;
|
||
|
|
manifold->contacts[0] = PHYSAC_VECTOR_ZERO;
|
||
|
|
manifold->contacts[1] = PHYSAC_VECTOR_ZERO;
|
||
|
|
manifold->contactsCount = 0;
|
||
|
|
manifold->restitution = 0.0f;
|
||
|
|
manifold->dynamicFriction = 0.0f;
|
||
|
|
manifold->staticFriction = 0.0f;
|
||
|
|
|
||
|
|
// Add new body to bodies pointers array and update bodies count
|
||
|
|
contacts[physicsManifoldsCount] = manifold;
|
||
|
|
physicsManifoldsCount++;
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] Physic manifold could not be created, PHYSAC_MAX_MANIFOLDS reached\n");
|
||
|
|
|
||
|
|
return manifold;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Unitializes and destroys a physics manifold
|
||
|
|
static void DestroyPhysicsManifold(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
if (manifold != NULL)
|
||
|
|
{
|
||
|
|
int id = manifold->id;
|
||
|
|
int index = -1;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < physicsManifoldsCount; i++)
|
||
|
|
{
|
||
|
|
if (contacts[i]->id == id)
|
||
|
|
{
|
||
|
|
index = i;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (index == -1) return; // Prevent access to index -1
|
||
|
|
|
||
|
|
// Free manifold allocated memory
|
||
|
|
PHYSAC_FREE(manifold);
|
||
|
|
usedMemory -= sizeof(PhysicsManifoldData);
|
||
|
|
contacts[index] = NULL;
|
||
|
|
|
||
|
|
// Reorder physics manifolds pointers array and its catched index
|
||
|
|
for (unsigned int i = index; i < physicsManifoldsCount; i++)
|
||
|
|
{
|
||
|
|
if ((i + 1) < physicsManifoldsCount) contacts[i] = contacts[i + 1];
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update physics manifolds count
|
||
|
|
physicsManifoldsCount--;
|
||
|
|
}
|
||
|
|
else TRACELOG("[PHYSAC] WARNING: DestroyPhysicsManifold: NULL physic manifold\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
// Solves a created physics manifold between two physics bodies
|
||
|
|
static void SolvePhysicsManifold(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
switch (manifold->bodyA->shape.type)
|
||
|
|
{
|
||
|
|
case PHYSICS_CIRCLE:
|
||
|
|
{
|
||
|
|
switch (manifold->bodyB->shape.type)
|
||
|
|
{
|
||
|
|
case PHYSICS_CIRCLE: SolveCircleToCircle(manifold); break;
|
||
|
|
case PHYSICS_POLYGON: SolveCircleToPolygon(manifold); break;
|
||
|
|
default: break;
|
||
|
|
}
|
||
|
|
} break;
|
||
|
|
case PHYSICS_POLYGON:
|
||
|
|
{
|
||
|
|
switch (manifold->bodyB->shape.type)
|
||
|
|
{
|
||
|
|
case PHYSICS_CIRCLE: SolvePolygonToCircle(manifold); break;
|
||
|
|
case PHYSICS_POLYGON: SolvePolygonToPolygon(manifold); break;
|
||
|
|
default: break;
|
||
|
|
}
|
||
|
|
} break;
|
||
|
|
default: break;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update physics body grounded state if normal direction is down and grounded state is not set yet in previous manifolds
|
||
|
|
if (!manifold->bodyB->isGrounded) manifold->bodyB->isGrounded = (manifold->normal.y < 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Solves collision between two circle shape physics bodies
|
||
|
|
static void SolveCircleToCircle(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = manifold->bodyA;
|
||
|
|
PhysicsBody bodyB = manifold->bodyB;
|
||
|
|
|
||
|
|
if ((bodyA == NULL) || (bodyB == NULL)) return;
|
||
|
|
|
||
|
|
// Calculate translational vector, which is normal
|
||
|
|
Vector2 normal = MathVector2Subtract(bodyB->position, bodyA->position);
|
||
|
|
|
||
|
|
float distSqr = MathVector2SqrLen(normal);
|
||
|
|
float radius = bodyA->shape.radius + bodyB->shape.radius;
|
||
|
|
|
||
|
|
// Check if circles are not in contact
|
||
|
|
if (distSqr >= radius*radius)
|
||
|
|
{
|
||
|
|
manifold->contactsCount = 0;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
float distance = sqrtf(distSqr);
|
||
|
|
manifold->contactsCount = 1;
|
||
|
|
|
||
|
|
if (distance == 0.0f)
|
||
|
|
{
|
||
|
|
manifold->penetration = bodyA->shape.radius;
|
||
|
|
manifold->normal = CLITERAL(Vector2){ 1.0f, 0.0f };
|
||
|
|
manifold->contacts[0] = bodyA->position;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
manifold->penetration = radius - distance;
|
||
|
|
manifold->normal = CLITERAL(Vector2){ normal.x/distance, normal.y/distance }; // Faster than using MathVector2Normalize() due to sqrt is already performed
|
||
|
|
manifold->contacts[0] = CLITERAL(Vector2){ manifold->normal.x*bodyA->shape.radius + bodyA->position.x, manifold->normal.y*bodyA->shape.radius + bodyA->position.y };
|
||
|
|
}
|
||
|
|
|
||
|
|
// Update physics body grounded state if normal direction is down
|
||
|
|
if (!bodyA->isGrounded) bodyA->isGrounded = (manifold->normal.y < 0);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Solves collision between a circle to a polygon shape physics bodies
|
||
|
|
static void SolveCircleToPolygon(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = manifold->bodyA;
|
||
|
|
PhysicsBody bodyB = manifold->bodyB;
|
||
|
|
|
||
|
|
if ((bodyA == NULL) || (bodyB == NULL)) return;
|
||
|
|
|
||
|
|
manifold->contactsCount = 0;
|
||
|
|
|
||
|
|
// Transform circle center to polygon transform space
|
||
|
|
Vector2 center = bodyA->position;
|
||
|
|
center = MathMatVector2Product(MathMatTranspose(bodyB->shape.transform), MathVector2Subtract(center, bodyB->position));
|
||
|
|
|
||
|
|
// Find edge with minimum penetration
|
||
|
|
// It is the same concept as using support points in SolvePolygonToPolygon
|
||
|
|
float separation = -PHYSAC_FLT_MAX;
|
||
|
|
int faceNormal = 0;
|
||
|
|
PhysicsVertexData vertexData = bodyB->shape.vertexData;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < vertexData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
float currentSeparation = MathVector2DotProduct(vertexData.normals[i], MathVector2Subtract(center, vertexData.positions[i]));
|
||
|
|
|
||
|
|
if (currentSeparation > bodyA->shape.radius) return;
|
||
|
|
|
||
|
|
if (currentSeparation > separation)
|
||
|
|
{
|
||
|
|
separation = currentSeparation;
|
||
|
|
faceNormal = i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Grab face's vertices
|
||
|
|
Vector2 v1 = vertexData.positions[faceNormal];
|
||
|
|
int nextIndex = (((faceNormal + 1) < (int)vertexData.vertexCount) ? (faceNormal + 1) : 0);
|
||
|
|
Vector2 v2 = vertexData.positions[nextIndex];
|
||
|
|
|
||
|
|
// Check to see if center is within polygon
|
||
|
|
if (separation < PHYSAC_EPSILON)
|
||
|
|
{
|
||
|
|
manifold->contactsCount = 1;
|
||
|
|
Vector2 normal = MathMatVector2Product(bodyB->shape.transform, vertexData.normals[faceNormal]);
|
||
|
|
manifold->normal = CLITERAL(Vector2){ -normal.x, -normal.y };
|
||
|
|
manifold->contacts[0] = CLITERAL(Vector2){ manifold->normal.x*bodyA->shape.radius + bodyA->position.x, manifold->normal.y*bodyA->shape.radius + bodyA->position.y };
|
||
|
|
manifold->penetration = bodyA->shape.radius;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Determine which voronoi region of the edge center of circle lies within
|
||
|
|
float dot1 = MathVector2DotProduct(MathVector2Subtract(center, v1), MathVector2Subtract(v2, v1));
|
||
|
|
float dot2 = MathVector2DotProduct(MathVector2Subtract(center, v2), MathVector2Subtract(v1, v2));
|
||
|
|
manifold->penetration = bodyA->shape.radius - separation;
|
||
|
|
|
||
|
|
if (dot1 <= 0.0f) // Closest to v1
|
||
|
|
{
|
||
|
|
if (MathVector2SqrDistance(center, v1) > bodyA->shape.radius*bodyA->shape.radius) return;
|
||
|
|
|
||
|
|
manifold->contactsCount = 1;
|
||
|
|
Vector2 normal = MathVector2Subtract(v1, center);
|
||
|
|
normal = MathMatVector2Product(bodyB->shape.transform, normal);
|
||
|
|
MathVector2Normalize(&normal);
|
||
|
|
manifold->normal = normal;
|
||
|
|
v1 = MathMatVector2Product(bodyB->shape.transform, v1);
|
||
|
|
v1 = MathVector2Add(v1, bodyB->position);
|
||
|
|
manifold->contacts[0] = v1;
|
||
|
|
}
|
||
|
|
else if (dot2 <= 0.0f) // Closest to v2
|
||
|
|
{
|
||
|
|
if (MathVector2SqrDistance(center, v2) > bodyA->shape.radius*bodyA->shape.radius) return;
|
||
|
|
|
||
|
|
manifold->contactsCount = 1;
|
||
|
|
Vector2 normal = MathVector2Subtract(v2, center);
|
||
|
|
v2 = MathMatVector2Product(bodyB->shape.transform, v2);
|
||
|
|
v2 = MathVector2Add(v2, bodyB->position);
|
||
|
|
manifold->contacts[0] = v2;
|
||
|
|
normal = MathMatVector2Product(bodyB->shape.transform, normal);
|
||
|
|
MathVector2Normalize(&normal);
|
||
|
|
manifold->normal = normal;
|
||
|
|
}
|
||
|
|
else // Closest to face
|
||
|
|
{
|
||
|
|
Vector2 normal = vertexData.normals[faceNormal];
|
||
|
|
|
||
|
|
if (MathVector2DotProduct(MathVector2Subtract(center, v1), normal) > bodyA->shape.radius) return;
|
||
|
|
|
||
|
|
normal = MathMatVector2Product(bodyB->shape.transform, normal);
|
||
|
|
manifold->normal = CLITERAL(Vector2){ -normal.x, -normal.y };
|
||
|
|
manifold->contacts[0] = CLITERAL(Vector2){ manifold->normal.x*bodyA->shape.radius + bodyA->position.x, manifold->normal.y*bodyA->shape.radius + bodyA->position.y };
|
||
|
|
manifold->contactsCount = 1;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Solves collision between a polygon to a circle shape physics bodies
|
||
|
|
static void SolvePolygonToCircle(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = manifold->bodyA;
|
||
|
|
PhysicsBody bodyB = manifold->bodyB;
|
||
|
|
|
||
|
|
if ((bodyA == NULL) || (bodyB == NULL)) return;
|
||
|
|
|
||
|
|
manifold->bodyA = bodyB;
|
||
|
|
manifold->bodyB = bodyA;
|
||
|
|
SolveCircleToPolygon(manifold);
|
||
|
|
|
||
|
|
manifold->normal.x *= -1.0f;
|
||
|
|
manifold->normal.y *= -1.0f;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Solves collision between two polygons shape physics bodies
|
||
|
|
static void SolvePolygonToPolygon(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
if ((manifold->bodyA == NULL) || (manifold->bodyB == NULL)) return;
|
||
|
|
|
||
|
|
PhysicsShape bodyA = manifold->bodyA->shape;
|
||
|
|
PhysicsShape bodyB = manifold->bodyB->shape;
|
||
|
|
manifold->contactsCount = 0;
|
||
|
|
|
||
|
|
// Check for separating axis with A shape's face planes
|
||
|
|
int faceA = 0;
|
||
|
|
float penetrationA = FindAxisLeastPenetration(&faceA, bodyA, bodyB);
|
||
|
|
if (penetrationA >= 0.0f) return;
|
||
|
|
|
||
|
|
// Check for separating axis with B shape's face planes
|
||
|
|
int faceB = 0;
|
||
|
|
float penetrationB = FindAxisLeastPenetration(&faceB, bodyB, bodyA);
|
||
|
|
if (penetrationB >= 0.0f) return;
|
||
|
|
|
||
|
|
int referenceIndex = 0;
|
||
|
|
bool flip = false; // Always point from A shape to B shape
|
||
|
|
|
||
|
|
PhysicsShape refPoly; // Reference
|
||
|
|
PhysicsShape incPoly; // Incident
|
||
|
|
|
||
|
|
// Determine which shape contains reference face
|
||
|
|
// Checking bias range for penetration
|
||
|
|
if (penetrationA >= (penetrationB*0.95f + penetrationA*0.01f))
|
||
|
|
{
|
||
|
|
refPoly = bodyA;
|
||
|
|
incPoly = bodyB;
|
||
|
|
referenceIndex = faceA;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
refPoly = bodyB;
|
||
|
|
incPoly = bodyA;
|
||
|
|
referenceIndex = faceB;
|
||
|
|
flip = true;
|
||
|
|
}
|
||
|
|
|
||
|
|
// World space incident face
|
||
|
|
Vector2 incidentFace[2];
|
||
|
|
FindIncidentFace(&incidentFace[0], &incidentFace[1], refPoly, incPoly, referenceIndex);
|
||
|
|
|
||
|
|
// Setup reference face vertices
|
||
|
|
PhysicsVertexData refData = refPoly.vertexData;
|
||
|
|
Vector2 v1 = refData.positions[referenceIndex];
|
||
|
|
referenceIndex = (((referenceIndex + 1) < (int)refData.vertexCount) ? (referenceIndex + 1) : 0);
|
||
|
|
Vector2 v2 = refData.positions[referenceIndex];
|
||
|
|
|
||
|
|
// Transform vertices to world space
|
||
|
|
v1 = MathMatVector2Product(refPoly.transform, v1);
|
||
|
|
v1 = MathVector2Add(v1, refPoly.body->position);
|
||
|
|
v2 = MathMatVector2Product(refPoly.transform, v2);
|
||
|
|
v2 = MathVector2Add(v2, refPoly.body->position);
|
||
|
|
|
||
|
|
// Calculate reference face side normal in world space
|
||
|
|
Vector2 sidePlaneNormal = MathVector2Subtract(v2, v1);
|
||
|
|
MathVector2Normalize(&sidePlaneNormal);
|
||
|
|
|
||
|
|
// Orthogonalize
|
||
|
|
Vector2 refFaceNormal = { sidePlaneNormal.y, -sidePlaneNormal.x };
|
||
|
|
float refC = MathVector2DotProduct(refFaceNormal, v1);
|
||
|
|
float negSide = MathVector2DotProduct(sidePlaneNormal, v1)*-1;
|
||
|
|
float posSide = MathVector2DotProduct(sidePlaneNormal, v2);
|
||
|
|
|
||
|
|
// MathVector2Clip incident face to reference face side planes (due to floating point error, possible to not have required points
|
||
|
|
if (MathVector2Clip(CLITERAL(Vector2){ -sidePlaneNormal.x, -sidePlaneNormal.y }, &incidentFace[0], &incidentFace[1], negSide) < 2) return;
|
||
|
|
if (MathVector2Clip(sidePlaneNormal, &incidentFace[0], &incidentFace[1], posSide) < 2) return;
|
||
|
|
|
||
|
|
// Flip normal if required
|
||
|
|
manifold->normal = (flip ? CLITERAL(Vector2){ -refFaceNormal.x, -refFaceNormal.y } : refFaceNormal);
|
||
|
|
|
||
|
|
// Keep points behind reference face
|
||
|
|
int currentPoint = 0; // MathVector2Clipped points behind reference face
|
||
|
|
float separation = MathVector2DotProduct(refFaceNormal, incidentFace[0]) - refC;
|
||
|
|
if (separation <= 0.0f)
|
||
|
|
{
|
||
|
|
manifold->contacts[currentPoint] = incidentFace[0];
|
||
|
|
manifold->penetration = -separation;
|
||
|
|
currentPoint++;
|
||
|
|
}
|
||
|
|
else manifold->penetration = 0.0f;
|
||
|
|
|
||
|
|
separation = MathVector2DotProduct(refFaceNormal, incidentFace[1]) - refC;
|
||
|
|
|
||
|
|
if (separation <= 0.0f)
|
||
|
|
{
|
||
|
|
manifold->contacts[currentPoint] = incidentFace[1];
|
||
|
|
manifold->penetration += -separation;
|
||
|
|
currentPoint++;
|
||
|
|
|
||
|
|
// Calculate total penetration average
|
||
|
|
manifold->penetration /= currentPoint;
|
||
|
|
}
|
||
|
|
|
||
|
|
manifold->contactsCount = currentPoint;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Integrates physics forces into velocity
|
||
|
|
static void IntegratePhysicsForces(PhysicsBody body)
|
||
|
|
{
|
||
|
|
if ((body == NULL) || (body->inverseMass == 0.0f) || !body->enabled) return;
|
||
|
|
|
||
|
|
body->velocity.x += (float)((body->force.x*body->inverseMass)*(deltaTime/2.0));
|
||
|
|
body->velocity.y += (float)((body->force.y*body->inverseMass)*(deltaTime/2.0));
|
||
|
|
|
||
|
|
if (body->useGravity)
|
||
|
|
{
|
||
|
|
body->velocity.x += (float)(gravityForce.x*(deltaTime/1000/2.0));
|
||
|
|
body->velocity.y += (float)(gravityForce.y*(deltaTime/1000/2.0));
|
||
|
|
}
|
||
|
|
|
||
|
|
if (!body->freezeOrient) body->angularVelocity += (float)(body->torque*body->inverseInertia*(deltaTime/2.0));
|
||
|
|
}
|
||
|
|
|
||
|
|
// Initializes physics manifolds to solve collisions
|
||
|
|
static void InitializePhysicsManifolds(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = manifold->bodyA;
|
||
|
|
PhysicsBody bodyB = manifold->bodyB;
|
||
|
|
|
||
|
|
if ((bodyA == NULL) || (bodyB == NULL)) return;
|
||
|
|
|
||
|
|
// Calculate average restitution, static and dynamic friction
|
||
|
|
manifold->restitution = sqrtf(bodyA->restitution*bodyB->restitution);
|
||
|
|
manifold->staticFriction = sqrtf(bodyA->staticFriction*bodyB->staticFriction);
|
||
|
|
manifold->dynamicFriction = sqrtf(bodyA->dynamicFriction*bodyB->dynamicFriction);
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < manifold->contactsCount; i++)
|
||
|
|
{
|
||
|
|
// Caculate radius from center of mass to contact
|
||
|
|
Vector2 radiusA = MathVector2Subtract(manifold->contacts[i], bodyA->position);
|
||
|
|
Vector2 radiusB = MathVector2Subtract(manifold->contacts[i], bodyB->position);
|
||
|
|
|
||
|
|
Vector2 crossA = MathVector2Product(radiusA, bodyA->angularVelocity);
|
||
|
|
Vector2 crossB = MathVector2Product(radiusB, bodyB->angularVelocity);
|
||
|
|
|
||
|
|
Vector2 radiusV = { 0.0f, 0.0f };
|
||
|
|
radiusV.x = bodyB->velocity.x + crossB.x - bodyA->velocity.x - crossA.x;
|
||
|
|
radiusV.y = bodyB->velocity.y + crossB.y - bodyA->velocity.y - crossA.y;
|
||
|
|
|
||
|
|
// Determine if we should perform a resting collision or not;
|
||
|
|
// The idea is if the only thing moving this object is gravity, then the collision should be performed without any restitution
|
||
|
|
if (MathVector2SqrLen(radiusV) < (MathVector2SqrLen(CLITERAL(Vector2){ (float)(gravityForce.x*deltaTime/1000), (float)(gravityForce.y*deltaTime/1000) }) + PHYSAC_EPSILON)) manifold->restitution = 0;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Integrates physics collisions impulses to solve collisions
|
||
|
|
static void IntegratePhysicsImpulses(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = manifold->bodyA;
|
||
|
|
PhysicsBody bodyB = manifold->bodyB;
|
||
|
|
|
||
|
|
if ((bodyA == NULL) || (bodyB == NULL)) return;
|
||
|
|
|
||
|
|
// Early out and positional correct if both objects have infinite mass
|
||
|
|
if (fabs(bodyA->inverseMass + bodyB->inverseMass) <= PHYSAC_EPSILON)
|
||
|
|
{
|
||
|
|
bodyA->velocity = PHYSAC_VECTOR_ZERO;
|
||
|
|
bodyB->velocity = PHYSAC_VECTOR_ZERO;
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < manifold->contactsCount; i++)
|
||
|
|
{
|
||
|
|
// Calculate radius from center of mass to contact
|
||
|
|
Vector2 radiusA = MathVector2Subtract(manifold->contacts[i], bodyA->position);
|
||
|
|
Vector2 radiusB = MathVector2Subtract(manifold->contacts[i], bodyB->position);
|
||
|
|
|
||
|
|
// Calculate relative velocity
|
||
|
|
Vector2 radiusV = { 0.0f, 0.0f };
|
||
|
|
radiusV.x = bodyB->velocity.x + MathVector2Product(radiusB, bodyB->angularVelocity).x - bodyA->velocity.x - MathVector2Product(radiusA, bodyA->angularVelocity).x;
|
||
|
|
radiusV.y = bodyB->velocity.y + MathVector2Product(radiusB, bodyB->angularVelocity).y - bodyA->velocity.y - MathVector2Product(radiusA, bodyA->angularVelocity).y;
|
||
|
|
|
||
|
|
// Relative velocity along the normal
|
||
|
|
float contactVelocity = MathVector2DotProduct(radiusV, manifold->normal);
|
||
|
|
|
||
|
|
// Do not resolve if velocities are separating
|
||
|
|
if (contactVelocity > 0.0f) return;
|
||
|
|
|
||
|
|
float raCrossN = MathVector2CrossProduct(radiusA, manifold->normal);
|
||
|
|
float rbCrossN = MathVector2CrossProduct(radiusB, manifold->normal);
|
||
|
|
|
||
|
|
float inverseMassSum = bodyA->inverseMass + bodyB->inverseMass + (raCrossN*raCrossN)*bodyA->inverseInertia + (rbCrossN*rbCrossN)*bodyB->inverseInertia;
|
||
|
|
|
||
|
|
// Calculate impulse scalar value
|
||
|
|
float impulse = -(1.0f + manifold->restitution)*contactVelocity;
|
||
|
|
impulse /= inverseMassSum;
|
||
|
|
impulse /= (float)manifold->contactsCount;
|
||
|
|
|
||
|
|
// Apply impulse to each physics body
|
||
|
|
Vector2 impulseV = { manifold->normal.x*impulse, manifold->normal.y*impulse };
|
||
|
|
|
||
|
|
if (bodyA->enabled)
|
||
|
|
{
|
||
|
|
bodyA->velocity.x += bodyA->inverseMass*(-impulseV.x);
|
||
|
|
bodyA->velocity.y += bodyA->inverseMass*(-impulseV.y);
|
||
|
|
if (!bodyA->freezeOrient) bodyA->angularVelocity += bodyA->inverseInertia*MathVector2CrossProduct(radiusA, CLITERAL(Vector2){ -impulseV.x, -impulseV.y });
|
||
|
|
}
|
||
|
|
|
||
|
|
if (bodyB->enabled)
|
||
|
|
{
|
||
|
|
bodyB->velocity.x += bodyB->inverseMass*(impulseV.x);
|
||
|
|
bodyB->velocity.y += bodyB->inverseMass*(impulseV.y);
|
||
|
|
if (!bodyB->freezeOrient) bodyB->angularVelocity += bodyB->inverseInertia*MathVector2CrossProduct(radiusB, impulseV);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Apply friction impulse to each physics body
|
||
|
|
radiusV.x = bodyB->velocity.x + MathVector2Product(radiusB, bodyB->angularVelocity).x - bodyA->velocity.x - MathVector2Product(radiusA, bodyA->angularVelocity).x;
|
||
|
|
radiusV.y = bodyB->velocity.y + MathVector2Product(radiusB, bodyB->angularVelocity).y - bodyA->velocity.y - MathVector2Product(radiusA, bodyA->angularVelocity).y;
|
||
|
|
|
||
|
|
Vector2 tangent = { radiusV.x - (manifold->normal.x*MathVector2DotProduct(radiusV, manifold->normal)), radiusV.y - (manifold->normal.y*MathVector2DotProduct(radiusV, manifold->normal)) };
|
||
|
|
MathVector2Normalize(&tangent);
|
||
|
|
|
||
|
|
// Calculate impulse tangent magnitude
|
||
|
|
float impulseTangent = -MathVector2DotProduct(radiusV, tangent);
|
||
|
|
impulseTangent /= inverseMassSum;
|
||
|
|
impulseTangent /= (float)manifold->contactsCount;
|
||
|
|
|
||
|
|
float absImpulseTangent = (float)fabs(impulseTangent);
|
||
|
|
|
||
|
|
// Don't apply tiny friction impulses
|
||
|
|
if (absImpulseTangent <= PHYSAC_EPSILON) return;
|
||
|
|
|
||
|
|
// Apply coulumb's law
|
||
|
|
Vector2 tangentImpulse = { 0.0f, 0.0f };
|
||
|
|
if (absImpulseTangent < impulse*manifold->staticFriction) tangentImpulse = CLITERAL(Vector2){ tangent.x*impulseTangent, tangent.y*impulseTangent };
|
||
|
|
else tangentImpulse = CLITERAL(Vector2){ tangent.x*-impulse*manifold->dynamicFriction, tangent.y*-impulse*manifold->dynamicFriction };
|
||
|
|
|
||
|
|
// Apply friction impulse
|
||
|
|
if (bodyA->enabled)
|
||
|
|
{
|
||
|
|
bodyA->velocity.x += bodyA->inverseMass*(-tangentImpulse.x);
|
||
|
|
bodyA->velocity.y += bodyA->inverseMass*(-tangentImpulse.y);
|
||
|
|
|
||
|
|
if (!bodyA->freezeOrient) bodyA->angularVelocity += bodyA->inverseInertia*MathVector2CrossProduct(radiusA, CLITERAL(Vector2){ -tangentImpulse.x, -tangentImpulse.y });
|
||
|
|
}
|
||
|
|
|
||
|
|
if (bodyB->enabled)
|
||
|
|
{
|
||
|
|
bodyB->velocity.x += bodyB->inverseMass*(tangentImpulse.x);
|
||
|
|
bodyB->velocity.y += bodyB->inverseMass*(tangentImpulse.y);
|
||
|
|
|
||
|
|
if (!bodyB->freezeOrient) bodyB->angularVelocity += bodyB->inverseInertia*MathVector2CrossProduct(radiusB, tangentImpulse);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Integrates physics velocity into position and forces
|
||
|
|
static void IntegratePhysicsVelocity(PhysicsBody body)
|
||
|
|
{
|
||
|
|
if ((body == NULL) ||!body->enabled) return;
|
||
|
|
|
||
|
|
body->position.x += (float)(body->velocity.x*deltaTime);
|
||
|
|
body->position.y += (float)(body->velocity.y*deltaTime);
|
||
|
|
|
||
|
|
if (!body->freezeOrient) body->orient += (float)(body->angularVelocity*deltaTime);
|
||
|
|
body->shape.transform = MathMatFromRadians(body->orient);
|
||
|
|
|
||
|
|
IntegratePhysicsForces(body);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Corrects physics bodies positions based on manifolds collision information
|
||
|
|
static void CorrectPhysicsPositions(PhysicsManifold manifold)
|
||
|
|
{
|
||
|
|
PhysicsBody bodyA = manifold->bodyA;
|
||
|
|
PhysicsBody bodyB = manifold->bodyB;
|
||
|
|
|
||
|
|
if ((bodyA == NULL) || (bodyB == NULL)) return;
|
||
|
|
|
||
|
|
Vector2 correction = { 0.0f, 0.0f };
|
||
|
|
correction.x = (PHYSAC_MAX(manifold->penetration - PHYSAC_PENETRATION_ALLOWANCE, 0.0f)/(bodyA->inverseMass + bodyB->inverseMass))*manifold->normal.x*PHYSAC_PENETRATION_CORRECTION;
|
||
|
|
correction.y = (PHYSAC_MAX(manifold->penetration - PHYSAC_PENETRATION_ALLOWANCE, 0.0f)/(bodyA->inverseMass + bodyB->inverseMass))*manifold->normal.y*PHYSAC_PENETRATION_CORRECTION;
|
||
|
|
|
||
|
|
if (bodyA->enabled)
|
||
|
|
{
|
||
|
|
bodyA->position.x -= correction.x*bodyA->inverseMass;
|
||
|
|
bodyA->position.y -= correction.y*bodyA->inverseMass;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (bodyB->enabled)
|
||
|
|
{
|
||
|
|
bodyB->position.x += correction.x*bodyB->inverseMass;
|
||
|
|
bodyB->position.y += correction.y*bodyB->inverseMass;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the extreme point along a direction within a polygon
|
||
|
|
static Vector2 GetSupport(PhysicsShape shape, Vector2 dir)
|
||
|
|
{
|
||
|
|
float bestProjection = -PHYSAC_FLT_MAX;
|
||
|
|
Vector2 bestVertex = { 0.0f, 0.0f };
|
||
|
|
PhysicsVertexData data = shape.vertexData;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < data.vertexCount; i++)
|
||
|
|
{
|
||
|
|
Vector2 vertex = data.positions[i];
|
||
|
|
float projection = MathVector2DotProduct(vertex, dir);
|
||
|
|
|
||
|
|
if (projection > bestProjection)
|
||
|
|
{
|
||
|
|
bestVertex = vertex;
|
||
|
|
bestProjection = projection;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return bestVertex;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Finds polygon shapes axis least penetration
|
||
|
|
static float FindAxisLeastPenetration(int *faceIndex, PhysicsShape shapeA, PhysicsShape shapeB)
|
||
|
|
{
|
||
|
|
float bestDistance = -PHYSAC_FLT_MAX;
|
||
|
|
int bestIndex = 0;
|
||
|
|
|
||
|
|
PhysicsVertexData dataA = shapeA.vertexData;
|
||
|
|
//PhysicsVertexData dataB = shapeB.vertexData;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < dataA.vertexCount; i++)
|
||
|
|
{
|
||
|
|
// Retrieve a face normal from A shape
|
||
|
|
Vector2 normal = dataA.normals[i];
|
||
|
|
Vector2 transNormal = MathMatVector2Product(shapeA.transform, normal);
|
||
|
|
|
||
|
|
// Transform face normal into B shape's model space
|
||
|
|
Matrix2x2 buT = MathMatTranspose(shapeB.transform);
|
||
|
|
normal = MathMatVector2Product(buT, transNormal);
|
||
|
|
|
||
|
|
// Retrieve support point from B shape along -n
|
||
|
|
Vector2 support = GetSupport(shapeB, CLITERAL(Vector2){ -normal.x, -normal.y });
|
||
|
|
|
||
|
|
// Retrieve vertex on face from A shape, transform into B shape's model space
|
||
|
|
Vector2 vertex = dataA.positions[i];
|
||
|
|
vertex = MathMatVector2Product(shapeA.transform, vertex);
|
||
|
|
vertex = MathVector2Add(vertex, shapeA.body->position);
|
||
|
|
vertex = MathVector2Subtract(vertex, shapeB.body->position);
|
||
|
|
vertex = MathMatVector2Product(buT, vertex);
|
||
|
|
|
||
|
|
// Compute penetration distance in B shape's model space
|
||
|
|
float distance = MathVector2DotProduct(normal, MathVector2Subtract(support, vertex));
|
||
|
|
|
||
|
|
// Store greatest distance
|
||
|
|
if (distance > bestDistance)
|
||
|
|
{
|
||
|
|
bestDistance = distance;
|
||
|
|
bestIndex = i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
*faceIndex = bestIndex;
|
||
|
|
return bestDistance;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Finds two polygon shapes incident face
|
||
|
|
static void FindIncidentFace(Vector2 *v0, Vector2 *v1, PhysicsShape ref, PhysicsShape inc, int index)
|
||
|
|
{
|
||
|
|
PhysicsVertexData refData = ref.vertexData;
|
||
|
|
PhysicsVertexData incData = inc.vertexData;
|
||
|
|
|
||
|
|
Vector2 referenceNormal = refData.normals[index];
|
||
|
|
|
||
|
|
// Calculate normal in incident's frame of reference
|
||
|
|
referenceNormal = MathMatVector2Product(ref.transform, referenceNormal); // To world space
|
||
|
|
referenceNormal = MathMatVector2Product(MathMatTranspose(inc.transform), referenceNormal); // To incident's model space
|
||
|
|
|
||
|
|
// Find most anti-normal face on polygon
|
||
|
|
int incidentFace = 0;
|
||
|
|
float minDot = PHYSAC_FLT_MAX;
|
||
|
|
|
||
|
|
for (unsigned int i = 0; i < incData.vertexCount; i++)
|
||
|
|
{
|
||
|
|
float dot = MathVector2DotProduct(referenceNormal, incData.normals[i]);
|
||
|
|
|
||
|
|
if (dot < minDot)
|
||
|
|
{
|
||
|
|
minDot = dot;
|
||
|
|
incidentFace = i;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
// Assign face vertices for incident face
|
||
|
|
*v0 = MathMatVector2Product(inc.transform, incData.positions[incidentFace]);
|
||
|
|
*v0 = MathVector2Add(*v0, inc.body->position);
|
||
|
|
incidentFace = (((incidentFace + 1) < (int)incData.vertexCount) ? (incidentFace + 1) : 0);
|
||
|
|
*v1 = MathMatVector2Product(inc.transform, incData.positions[incidentFace]);
|
||
|
|
*v1 = MathVector2Add(*v1, inc.body->position);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns clipping value based on a normal and two faces
|
||
|
|
static int MathVector2Clip(Vector2 normal, Vector2 *faceA, Vector2 *faceB, float clip)
|
||
|
|
{
|
||
|
|
int sp = 0;
|
||
|
|
Vector2 out[2] = { *faceA, *faceB };
|
||
|
|
|
||
|
|
// Retrieve distances from each endpoint to the line
|
||
|
|
float distanceA = MathVector2DotProduct(normal, *faceA) - clip;
|
||
|
|
float distanceB = MathVector2DotProduct(normal, *faceB) - clip;
|
||
|
|
|
||
|
|
// If negative (behind plane)
|
||
|
|
if (distanceA <= 0.0f) out[sp++] = *faceA;
|
||
|
|
if (distanceB <= 0.0f) out[sp++] = *faceB;
|
||
|
|
|
||
|
|
// If the points are on different sides of the plane
|
||
|
|
if ((distanceA*distanceB) < 0.0f)
|
||
|
|
{
|
||
|
|
// Push intersection point
|
||
|
|
float alpha = distanceA/(distanceA - distanceB);
|
||
|
|
out[sp] = *faceA;
|
||
|
|
Vector2 delta = MathVector2Subtract(*faceB, *faceA);
|
||
|
|
delta.x *= alpha;
|
||
|
|
delta.y *= alpha;
|
||
|
|
out[sp] = MathVector2Add(out[sp], delta);
|
||
|
|
sp++;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Assign the new converted values
|
||
|
|
*faceA = out[0];
|
||
|
|
*faceB = out[1];
|
||
|
|
|
||
|
|
return sp;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the barycenter of a triangle given by 3 points
|
||
|
|
static Vector2 MathTriangleBarycenter(Vector2 v1, Vector2 v2, Vector2 v3)
|
||
|
|
{
|
||
|
|
Vector2 result = { 0.0f, 0.0f };
|
||
|
|
|
||
|
|
result.x = (v1.x + v2.x + v3.x)/3;
|
||
|
|
result.y = (v1.y + v2.y + v3.y)/3;
|
||
|
|
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the cross product of a vector and a value
|
||
|
|
static inline Vector2 MathVector2Product(Vector2 vector, float value)
|
||
|
|
{
|
||
|
|
Vector2 result = { -value*vector.y, value*vector.x };
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the cross product of two vectors
|
||
|
|
static inline float MathVector2CrossProduct(Vector2 v1, Vector2 v2)
|
||
|
|
{
|
||
|
|
return (v1.x*v2.y - v1.y*v2.x);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the len square root of a vector
|
||
|
|
static inline float MathVector2SqrLen(Vector2 vector)
|
||
|
|
{
|
||
|
|
return (vector.x*vector.x + vector.y*vector.y);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the dot product of two vectors
|
||
|
|
static inline float MathVector2DotProduct(Vector2 v1, Vector2 v2)
|
||
|
|
{
|
||
|
|
return (v1.x*v2.x + v1.y*v2.y);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the square root of distance between two vectors
|
||
|
|
static inline float MathVector2SqrDistance(Vector2 v1, Vector2 v2)
|
||
|
|
{
|
||
|
|
Vector2 dir = MathVector2Subtract(v1, v2);
|
||
|
|
return MathVector2DotProduct(dir, dir);
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the normalized values of a vector
|
||
|
|
static void MathVector2Normalize(Vector2 *vector)
|
||
|
|
{
|
||
|
|
float length, ilength;
|
||
|
|
|
||
|
|
Vector2 aux = *vector;
|
||
|
|
length = sqrtf(aux.x*aux.x + aux.y*aux.y);
|
||
|
|
|
||
|
|
if (length == 0) length = 1.0f;
|
||
|
|
|
||
|
|
ilength = 1.0f/length;
|
||
|
|
|
||
|
|
vector->x *= ilength;
|
||
|
|
vector->y *= ilength;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the sum of two given vectors
|
||
|
|
static inline Vector2 MathVector2Add(Vector2 v1, Vector2 v2)
|
||
|
|
{
|
||
|
|
Vector2 result = { v1.x + v2.x, v1.y + v2.y };
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the subtract of two given vectors
|
||
|
|
static inline Vector2 MathVector2Subtract(Vector2 v1, Vector2 v2)
|
||
|
|
{
|
||
|
|
Vector2 result = { v1.x - v2.x, v1.y - v2.y };
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Creates a matrix 2x2 from a given radians value
|
||
|
|
static Matrix2x2 MathMatFromRadians(float radians)
|
||
|
|
{
|
||
|
|
float cos = cosf(radians);
|
||
|
|
float sin = sinf(radians);
|
||
|
|
|
||
|
|
Matrix2x2 result = { cos, -sin, sin, cos };
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Returns the transpose of a given matrix 2x2
|
||
|
|
static inline Matrix2x2 MathMatTranspose(Matrix2x2 matrix)
|
||
|
|
{
|
||
|
|
Matrix2x2 result = { matrix.m00, matrix.m10, matrix.m01, matrix.m11 };
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Multiplies a vector by a matrix 2x2
|
||
|
|
static inline Vector2 MathMatVector2Product(Matrix2x2 matrix, Vector2 vector)
|
||
|
|
{
|
||
|
|
Vector2 result = { matrix.m00*vector.x + matrix.m01*vector.y, matrix.m10*vector.x + matrix.m11*vector.y };
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif // PHYSAC_IMPLEMENTATION
|