322 lines
7.2 KiB
Odin
322 lines
7.2 KiB
Odin
package physics
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import "core:fmt"
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import "core:log"
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import "core:math"
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import lg "core:math/linalg"
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import "game:debug"
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import he "game:halfedge"
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import "game:ui"
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import rl "libs:raylib"
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import "libs:raylib/rlgl"
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import "libs:tracy"
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_ :: log
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_ :: math
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_ :: debug
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_ :: he
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draw_debug_shape :: proc(
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sim_state: ^Sim_State,
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shape: Collision_Shape,
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pos: Vec3,
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rot: Quat,
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color: rl.Color,
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) {
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mat := lg.matrix4_from_trs(pos, rot, 1)
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rlgl.PushMatrix()
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defer rlgl.PopMatrix()
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rlgl.LoadIdentity()
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rlgl.MultMatrixf(cast([^]f32)&mat)
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switch s in shape {
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case Shape_Box:
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rl.DrawCubeV(0, s.size, color)
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case Internal_Shape_Convex:
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mesh := convex_container_get_mesh(&sim_state.convex_container, s.mesh)
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he.debug_draw_mesh_wires(mesh, color)
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}
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}
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draw_debug_scene :: proc(scene: ^Scene) {
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tracy.Zone()
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sim_state := get_sim_state(scene)
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for _, i in sim_state.bodies {
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body := &sim_state.bodies_slice[i]
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if body.alive {
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pos := body.x
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q := body.q
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x := lg.quaternion_mul_vector3(q, Vec3{1, 0, 0})
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y := lg.quaternion_mul_vector3(q, Vec3{0, 1, 0})
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z := lg.quaternion_mul_vector3(q, Vec3{0, 0, 1})
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rl.DrawLine3D(pos, pos + x, rl.RED)
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rl.DrawLine3D(pos, pos + y, rl.GREEN)
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rl.DrawLine3D(pos, pos + z, rl.BLUE)
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draw_debug_shape(
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sim_state,
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body.shape,
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body_get_shape_pos(body),
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body.q,
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debug.int_to_color(i32(i + 2)),
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)
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}
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}
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for _, i in sim_state.suspension_constraints {
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wheel := &sim_state.suspension_constraints_slice[i]
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if wheel.alive {
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body := get_body(sim_state, wheel.body)
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pos := body.x
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rot := body.q
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pos += lg.quaternion_mul_vector3(rot, wheel.rel_pos)
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rel_wheel_pos := wheel_get_rel_wheel_pos(body, wheel)
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wheel_pos := body_local_to_world(body, rel_wheel_pos)
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right := wheel_get_right_vec(body, wheel)
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rotation_dir := body_local_to_world_vec(
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body,
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lg.matrix3_rotate(wheel.q, Vec3{-1, 0, 0}) * Vec3{0, 1, 0},
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)
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rl.DrawLine3D(
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wheel_pos - right * 0.1,
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wheel_pos - right * 0.1 + rotation_dir * wheel.radius,
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rl.ORANGE,
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)
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rl.DrawLine3D(
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wheel_pos + right * 0.1,
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wheel_pos + right * 0.1 + rotation_dir * wheel.radius,
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rl.ORANGE,
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)
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rl.DrawCylinderWiresEx(
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wheel_pos - right * 0.1,
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wheel_pos + right * 0.1,
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wheel.radius,
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wheel.radius,
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16,
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rl.RED,
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)
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// rl.DrawLine3D(wheel_pos, wheel_pos + right * 10, rl.RED)
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if wheel.hit {
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// rl.DrawLine3D(
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// pos + t * dir,
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// pos + t * dir + wheel.applied_impulse.x * right * 10,
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// rl.RED,
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// )
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}
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if wheel.hit {
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rl.DrawSphereWires(wheel.hit_point, 0.1, 4, 4, rl.RED)
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}
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}
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}
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if true {
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for &contact, contact_idx in sim_state.contact_container.contacts {
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points_a := contact.manifold.points_a
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points_b := contact.manifold.points_b
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points_a_slice, points_b_slice :=
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points_a[:contact.manifold.points_len], points_b[:contact.manifold.points_len]
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debug_transform_points_local_to_world(get_body(sim_state, contact.a), points_a_slice)
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debug_transform_points_local_to_world(get_body(sim_state, contact.b), points_b_slice)
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debug_draw_manifold_points(
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contact,
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-1,
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points_a_slice,
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color = debug.int_to_color(i32(contact_idx * 2 + 0)),
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)
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debug_draw_manifold_points(
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contact,
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1,
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points_b_slice,
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color = debug.int_to_color(i32(contact_idx * 2 + 1)),
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)
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}
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}
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}
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draw_debug_ui :: proc(ctx: ^ui.Context, scene: ^Scene, config: Solver_Config) {
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tracy.Zone()
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sim_state := get_sim_state(scene)
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active_wheels := []int{0, 1}
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w, h: i32 = 500, 500
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window_x: i32 = 0
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for i in 0 ..< len(sim_state.suspension_constraints_slice) {
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s := &sim_state.suspension_constraints_slice[i]
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if s.alive {
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for idx in active_wheels {
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if i == idx {
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if ui.window(
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ctx,
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fmt.tprintf("Wheel %v", i),
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ui.Rect{x = window_x, y = 0, w = w, h = h},
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ui.Options{},
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) {
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NUM_SAMPLES :: 100
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dt := f32(config.timestep) / f32(config.substreps_minus_one + 1)
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inv_dt := 1.0 / dt
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{
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ui.layout_row(ctx, {-1}, 300)
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{
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ui.begin_line(ctx, ui.Color{255, 0, 0, 255})
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defer ui.end_line(ctx)
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for j in 0 ..< NUM_SAMPLES {
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alpha := f32(j) / f32(NUM_SAMPLES - 1)
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x := alpha * 200.0 - 100.0
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long_friction := abs(
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pacejka_94_longitudinal(
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s.pacejka_long,
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x,
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max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
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),
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)
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ui.push_line_point(
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ctx,
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ui.Vec2f{alpha, long_friction * -0.5 + 1},
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)
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}
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long_friction := abs(
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pacejka_94_longitudinal(
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s.pacejka_long,
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s.slip_ratio,
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max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
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),
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)
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rect := ui.get_line(ctx).rect
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cur_point :=
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Vec2 {
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(s.slip_ratio + 100.0) / 200.0,
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long_friction * -0.5 + 1,
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} *
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Vec2{f32(rect.w), f32(rect.h)} +
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Vec2{f32(rect.x), f32(rect.y)}
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ui.draw_rect(
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ctx,
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ui.rect_from_point_extent(
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ui.Vec2{i32(cur_point.x), i32(cur_point.y)},
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2,
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),
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ui.Color{255, 255, 0, 255},
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)
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}
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}
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{
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ui.layout_row(ctx, {-1}, 300)
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ui.begin_line(ctx, ui.Color{0, 255, 0, 255})
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defer ui.end_line(ctx)
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for j in 0 ..< NUM_SAMPLES {
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alpha := f32(j) / f32(NUM_SAMPLES - 1)
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x := alpha * 180.0 - 90.0
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lat_friction := abs(
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pacejka_94_lateral(
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s.pacejka_lat,
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x,
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max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
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0.0,
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),
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)
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ui.push_line_point(ctx, ui.Vec2f{alpha, lat_friction * -0.5 + 1})
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}
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lat_friction := abs(
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pacejka_94_lateral(
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s.pacejka_lat,
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s.slip_angle,
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max(abs(s.spring_impulse), 0.001) * inv_dt * 0.001,
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0.0,
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),
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)
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rect := ui.get_line(ctx).rect
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cur_point :=
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Vec2{(s.slip_angle + 100.0) / 200.0, lat_friction * -0.5 + 1} *
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Vec2{f32(rect.w), f32(rect.h)} +
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Vec2{f32(rect.x), f32(rect.y)}
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ui.draw_rect(
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ctx,
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ui.rect_from_point_extent(
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ui.Vec2{i32(cur_point.x), i32(cur_point.y)},
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2,
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),
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ui.Color{255, 255, 0, 255},
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)
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}
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window_x += w
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}
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}
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}
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}
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}
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}
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debug_transform_points_local_to_world :: proc(body: Body_Ptr, points: []Vec3) {
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for i in 0 ..< len(points) {
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points[i] = body_local_to_world(body, points[i])
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}
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}
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debug_draw_manifold_points :: proc(
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contact: Contact,
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impulse_sign: f32,
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points: []Vec3,
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color: rl.Color,
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) {
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if len(points) >= 3 {
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// Triangle or quad
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v1 := points[0]
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for i in 2 ..< len(points) {
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v2, v3 := points[i - 1], points[i]
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rl.DrawTriangle3D(v1, v2, v3, color)
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}
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} else if len(points) == 2 {
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// Line
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rl.DrawLine3D(points[0], points[1], color)
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}
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for point_idx in 0 ..< len(points) {
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p := points[point_idx]
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total_impulse :=
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contact.total_normal_impulse[point_idx] * contact.manifold.normal +
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contact.total_friction_impulse[point_idx].x * contact.manifold.tangent +
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contact.total_friction_impulse[point_idx].y * contact.manifold.bitangent
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rl.DrawLine3D(p, p + total_impulse * impulse_sign, color)
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rl.DrawSphereWires(p, 0.1, 4, 4, color)
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}
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}
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