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dynamics.cpp
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dynamics.cpp
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#include "dynamics.h"
#include "collision_testing.h"
#include "collision.h"
#include "profile.h"
#define DYDT_FUNC(name) \
void name(vec3 Fext[][2], vec3 Fc[][2], rigid_body RigidBodies[], int RBCount, \
const constraint Constraints[], int ConstraintCount, float t0, float t1, \
int IterationCount, const physics_params* Params, const physics_switches* Switches)
typedef DYDT_FUNC(dydt_func);
hull g_CubeHull;
void
ComputeExternalForcesAndTorques(vec3 F[][2], const rigid_body RigidBodies[], int RBCount,
const physics_params* Params, const physics_switches* Switches)
{
for(int i = 0; i < RBCount; i++)
{
F[i][0] = {};
F[i][1] = {};
if(Switches->UseGravity && RigidBodies[i].RegardGravity)
{
F[i][0] += vec3{ 0, -9.81f * RigidBodies[i].Mass, 0 };
}
// TempTesting code
if(Switches->ApplyExternalForce)
{
F[i][0] += Params->ExternalForce;
}
if(Switches->ApplyExternalTorque)
{
vec3 Radius = (Params->ExternalForceStart + Params->ExternalForce) - RigidBodies[i].X;
F[i][1] += Math::Cross(Radius, Params->ExternalForce);
}
}
}
void
FillEpsilonJmapJspLambdaMinMaxLambdaDependencies(float Epsilon[], int Jmap[][2], vec3 Jsp[][4],
float LambdaMinMax[][2], int32_t Dependencies[],
const rigid_body RigidBodies[], int RBCount,
const constraint Constraints[],
int ConstraintCount, float Mu, float Bias)
{
for(int i = 0; i < ConstraintCount; i++)
{
int IndA = Constraints[i].IndA;
int IndB = Constraints[i].IndB;
assert(0 <= IndA && IndA < RBCount);
Dependencies[i] = -1;
assert(0 <= Constraints[i].Type && Constraints[i].Type < CONSTRAINT_Count);
if(Constraints[i].Type == CONSTRAINT_Distance)
{
LambdaMinMax[i][0] = -INFINITY;
LambdaMinMax[i][1] = INFINITY;
vec3 rA = Math::MulMat3Vec3(RigidBodies[IndA].R, Constraints[i].BodyRa);
vec3 rB = Math::MulMat3Vec3(RigidBodies[IndB].R, Constraints[i].BodyRb);
vec3 d = RigidBodies[IndB].X + rB - RigidBodies[IndA].X - rA;
float C = 0.5f * (Math::Dot(d, d) - Constraints[i].L * Constraints[i].L);
Epsilon[i] = -(Bias * C);
Jmap[i][0] = IndA;
Jmap[i][1] = IndB;
Jsp[i][0] = -d;
Jsp[i][1] = -Math::Cross(rA, d);
Jsp[i][2] = d;
Jsp[i][3] = Math::Cross(rB, d);
}
else if(Constraints[i].Type == CONSTRAINT_Point)
{
LambdaMinMax[i][0] = -INFINITY;
LambdaMinMax[i][1] = INFINITY;
vec3 rA = Math::MulMat3Vec3(RigidBodies[IndA].R, Constraints[i].BodyRa);
vec3 d = Constraints[i].P - (RigidBodies[IndA].X + rA);
float C = 0.5f * (Math::Dot(d, d) - Constraints[i].L * Constraints[i].L);
Epsilon[i] = -(Bias * C);
Jmap[i][0] = IndA;
Jmap[i][1] = -1;
Jsp[i][0] = -d;
Jsp[i][1] = -Math::Cross(rA, d);
Jsp[i][2] = {};
Jsp[i][3] = {};
}
else if(Constraints[i].Type == CONSTRAINT_Contact)
{
LambdaMinMax[i][0] = 0;
LambdaMinMax[i][1] = INFINITY;
vec3 rA = Constraints[i].BodyRa;
vec3 rB = Constraints[i].BodyRb;
vec3 n = Constraints[i].n;
float C = Constraints[i].Penetration;
Epsilon[i] = -(Bias * C);
Jmap[i][0] = IndA;
Jmap[i][1] = IndB;
Jsp[i][0] = -n;
Jsp[i][1] = -Math::Cross(rA, n);
Jsp[i][2] = n;
Jsp[i][3] = Math::Cross(rB, n);
}
else if(Constraints[i].Type == CONSTRAINT_Friction)
{
LambdaMinMax[i][0] = -Mu; //-Mu;
LambdaMinMax[i][1] = Mu; // Mu;
vec3 rA = Constraints[i].BodyRa;
vec3 rB = Constraints[i].BodyRb;
vec3 u = Constraints[i].Tangent;
Epsilon[i] = 0;
Dependencies[i] = Constraints[i].ContactIndex;
Jmap[i][0] = IndA;
Jmap[i][1] = IndB;
Jsp[i][0] = -u;
Jsp[i][1] = -Math::Cross(rA, u);
Jsp[i][2] = u;
Jsp[i][3] = Math::Cross(rB, u);
}
}
}
void
FillMDiagInvMatrix(mat3 MDiagInv[][2], rigid_body RB[], int RBCount)
{
for(int i = 0; i < RBCount; i++)
{
assert(FloatsEqualByThreshold(Math::Length(RB[i].q), 1.0f, 0.001f));
RB[i].R = Math::QuatToMat3(RB[i].q);
RB[i].InertiaInv =
Math::MulMat3(RB[i].R, Math::MulMat3(RB[i].InertiaBodyInv, Math::Transposed3(RB[i].R)));
MDiagInv[i][0] = Math::Mat3Scale(RB[i].MassInv, RB[i].MassInv, RB[i].MassInv);
MDiagInv[i][1] = RB[i].InertiaInv;
}
}
void
FillV1(vec3 V[][2], const rigid_body RigidBodies[], int RBCount)
{
for(int i = 0; i < RBCount; i++)
{
V[i][0] = RigidBodies[i].v;
V[i][1] = RigidBodies[i].w;
}
}
DYDT_FUNC(DYDT_PGS)
{
vec3 Jsp[CONSTRAINT_MAX_COUNT][4];
int Jmap[CONSTRAINT_MAX_COUNT][2];
vec3 V1[RIGID_BODY_MAX_COUNT][2];
float Epsilon[CONSTRAINT_MAX_COUNT];
float Lambda[CONSTRAINT_MAX_COUNT];
float LambdaMinMax[CONSTRAINT_MAX_COUNT][2];
int32_t LambdaDependencies[CONSTRAINT_MAX_COUNT];
mat3 MDiagInv[RIGID_BODY_MAX_COUNT][2];
float a[CONSTRAINT_MAX_COUNT][CONSTRAINT_MAX_COUNT]; // J*(M^-1)*Jt
float b[CONSTRAINT_MAX_COUNT]; // epsilon/dt - J*V1/dt - J*(M^-1) - J*(M^-1)*Fext
FillV1(V1, RigidBodies, RBCount);
FillMDiagInvMatrix(MDiagInv, RigidBodies, RBCount);
FillEpsilonJmapJspLambdaMinMaxLambdaDependencies(Epsilon, Jmap, Jsp, LambdaMinMax,
LambdaDependencies, RigidBodies, RBCount,
Constraints, ConstraintCount, Params->Mu,
Params->Beta);
ComputeExternalForcesAndTorques(Fext, RigidBodies, RBCount, Params, Switches);
const float dt = t1 - t0;
for(int i = 0; i < ConstraintCount; i++)
{
// b
b[i] = 0;
b[i] += Epsilon[i] / dt;
int IndA = Jmap[i][0];
int IndB = Jmap[i][1];
b[i] -= (Math::Dot(Jsp[i][0], V1[IndA][0]) + Math::Dot(Jsp[i][1], V1[IndA][1])) / dt;
vec3 MInvFext_a_f = Math::MulMat3Vec3(MDiagInv[IndA][0], Fext[IndA][0]);
vec3 MInvFext_a_t = Math::MulMat3Vec3(MDiagInv[IndA][1], Fext[IndA][1]);
b[i] -= Math::Dot(Jsp[i][0], MInvFext_a_f) + Math::Dot(Jsp[i][1], MInvFext_a_t);
if(0 <= IndB)
{
b[i] -= (Math::Dot(Jsp[i][2], V1[IndB][0]) + Math::Dot(Jsp[i][3], V1[IndB][1])) / dt;
vec3 MInvFext_b_f = Math::MulMat3Vec3(MDiagInv[IndB][0], Fext[IndB][0]);
vec3 MInvFext_b_t = Math::MulMat3Vec3(MDiagInv[IndB][1], Fext[IndB][1]);
b[i] -= Math::Dot(Jsp[i][2], MInvFext_b_f) + Math::Dot(Jsp[i][3], MInvFext_b_t);
}
// a
for(int j = 0; j < ConstraintCount; j++)
{
int IndAj = Jmap[j][0];
int IndBj = Jmap[j][1];
bool MatchAtA = (IndA == IndAj);
bool MatchAtB = (IndB == IndBj && 0 <= IndB && 0 <= IndBj);
a[i][j] = 0;
a[i][j] +=
MatchAtA ? Math::Dot(Jsp[i][0], Math::MulMat3Vec3(MDiagInv[IndA][0], Jsp[j][0])) : 0;
a[i][j] +=
MatchAtA ? Math::Dot(Jsp[i][1], Math::MulMat3Vec3(MDiagInv[IndA][1], Jsp[j][1])) : 0;
a[i][j] +=
MatchAtB ? Math::Dot(Jsp[i][2], Math::MulMat3Vec3(MDiagInv[IndB][0], Jsp[j][2])) : 0;
a[i][j] +=
MatchAtB ? Math::Dot(Jsp[i][3], Math::MulMat3Vec3(MDiagInv[IndB][1], Jsp[j][3])) : 0;
}
}
for(int i = 0; i < ConstraintCount; i++)
{
Lambda[i] = 0.0f;
}
// Solve for lambda (PGS)
for(int k = 0; k < IterationCount; k++)
{
for(int i = 0; i < ConstraintCount; i++)
{
// if(Constraints[i].Type != CONSTRAINT_Friction)
{
float Delta = 0.0f;
{
for(int j = 0; j < i; j++)
{
// if(Constraints[j].Type != CONSTRAINT_Friction)
Delta += a[i][j] * Lambda[j];
}
for(int j = i + 1; j < ConstraintCount; j++)
{
// if(Constraints[j].Type != CONSTRAINT_Friction)
Delta += a[i][j] * Lambda[j];
}
}
// TODO(Lukas) Remove magic value or other solution
if(0.000001f < a[i][i])
{
Lambda[i] = (b[i] - Delta) / a[i][i];
}
float S = 1.0f;
if(0 <= LambdaDependencies[i])
{
S = Lambda[LambdaDependencies[i]];
}
assert(LambdaMinMax[0] < LambdaMinMax[1]);
Lambda[i] = ClampFloat(LambdaMinMax[i][0] * S, Lambda[i], LambdaMinMax[i][1] * S);
}
}
}
for(int i = 0; i < RBCount; i++)
{
Fc[i][0] = {};
Fc[i][1] = {};
}
for(int i = 0; i < ConstraintCount; i++)
{
int IndA = Jmap[i][0];
int IndB = Jmap[i][1];
Fc[IndA][0] += Jsp[i][0] * Lambda[i];
Fc[IndA][1] += Jsp[i][1] * Lambda[i];
Fc[IndB][0] += Jsp[i][2] * Lambda[i];
Fc[IndB][1] += Jsp[i][3] * Lambda[i];
if(Switches->VisualizeFcComponents)
{
vec3 Pa0 = RigidBodies[IndA].X + Constraints[i].BodyRa;
vec3 Pa1 = Pa0 + Jsp[i][0] * Lambda[i];
switch(Constraints[i].Type)
{
case CONSTRAINT_Contact:
{
Debug::PushLine(Pa0, Pa1, { 1, 0, 0.5f, 1 });
Debug::PushWireframeSphere(Pa1, 0.05f, { 1, 0, 0.5f, 1 });
break;
}
case CONSTRAINT_Friction:
{
Debug::PushLine(Pa0, Pa1, { 1, 1, 0, 1 });
Debug::PushWireframeSphere(Pa1, 0.05f, { 1, 1, 0, 1 });
break;
}
}
}
}
}
void
ODE(rigid_body RigidBodies[], int RBCount, const constraint Constraints[], int ConstraintCount,
float t0, float t1, dydt_func dydt, int32_t IterationCount, bool UpdateState,
const physics_params* Params, const physics_switches* Switches)
{
TIMED_BLOCK(ODE);
vec3 Fext[RIGID_BODY_MAX_COUNT][2];
vec3 Fc[RIGID_BODY_MAX_COUNT][2];
dydt(Fext, Fc, RigidBodies, RBCount, Constraints, ConstraintCount, t0, t1, IterationCount, Params,
Switches);
const float dt = t1 - t0;
// Euler step
for(int i = 0; i < RBCount; i++)
{
if(Switches->VisualizeFc)
{
Debug::PushLine(RigidBodies[i].X, RigidBodies[i].X + Fext[i][0], { 0, 0, 1, 1 });
Debug::PushWireframeSphere(RigidBodies[i].X + Fext[i][0], 0.05f, { 0, 0, 1, 1 });
}
if(Switches->VisualizeFc)
{
Debug::PushLine(RigidBodies[i].X, RigidBodies[i].X + Fc[i][0]);
Debug::PushWireframeSphere(RigidBodies[i].X + Fc[i][0], 0.05f);
}
if(UpdateState)
{
// update v and w first
RigidBodies[i].v += dt * (RigidBodies[i].MassInv * (Fext[i][0] + Fc[i][0]));
RigidBodies[i].w += dt * Math::MulMat3Vec3(RigidBodies[i].InertiaInv, Fext[i][1] + Fc[i][1]);
// update X and q after
RigidBodies[i].X += dt * RigidBodies[i].v;
quat qOmega = {};
qOmega.V = RigidBodies[i].w;
quat qDot = 0.5f * (qOmega * RigidBodies[i].q);
RigidBodies[i].q = RigidBodies[i].q + dt * qDot;
if(0.0001f < Math::Length(RigidBodies[i].q))
{
Math::Normalize(&RigidBodies[i].q);
}
else
{
RigidBodies[i].q = { 1, 0, 0, 0 };
}
}
}
}
void
SimulateDynamics(physics_world* World)
{
TIMED_BLOCK(SimulateDynamics);
if(1 <= World->RBCount)
{
SetUpCubeHull(&g_CubeHull);
{ // Constrainttest
World->Constraints.Clear();
/*constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Distance;
TestConstraint.IndA = 5;
TestConstraint.IndB = 6;
TestConstraint.L = 0;
TestConstraint.BodyRa = { 1, -1, 1 };
TestConstraint.BodyRb = { -1, -1, 1 };
World->Constraints.Push(TestConstraint);
World->Constraints.Push(TestConstraint);
TestConstraint.BodyRa = { 1, -1, -1 };
TestConstraint.BodyRb = { -1, -1, -1 };
World->Constraints.Push(TestConstraint);
TestConstraint.IndA = 6;
TestConstraint.IndB = 7;
TestConstraint.BodyRa = { -1, 1, 1 };
TestConstraint.BodyRb = { -1, -1, -1 };
World->Constraints.Push(TestConstraint);
TestConstraint.IndA = 6;
TestConstraint.IndB = 7;
TestConstraint.BodyRa = { 1, 1, 1 };
TestConstraint.BodyRb = { -1, 1, -1 };
World->Constraints.Push(TestConstraint);
TestConstraint.Type = CONSTRAINT_Point;
TestConstraint.P = {};
TestConstraint.L = 0;
TestConstraint.IndA = 0;
World->Constraints.Push(TestConstraint);*/
/*TestConstraint.Type = CONSTRAINT_Point;
TestConstraint.IndA = 2;
TestConstraint.IndB = 3;
TestConstraint.BodyRa = { -1, 1, 1 };
TestConstraint.BodyRb = { 1, 1, 1 };
World->Constraints.Push(TestConstraint);*/
/*{
constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Point;
TestConstraint.IndA = 1;
TestConstraint.BodyRa = {1.0f, 1.0f, 1.0f};
TestConstraint.P = {0.0f, 7.0f, 0.0f};
TestConstraint.L = 0;
World->Constraints.Push(TestConstraint);
}*/
#if 0
{
constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Distance;
TestConstraint.IndA = 1;
TestConstraint.IndB = 2;
TestConstraint.BodyRa = {-1.0f, -1.0f, -1.0f};
TestConstraint.BodyRb = {1.0f, 1.0f, 1.0f};
TestConstraint.L = 5;
World->Constraints.Push(TestConstraint);
{
int IndA = TestConstraint.IndA;
int IndB = TestConstraint.IndB;
vec3 P0 = World->RigidBodies[IndA].X + Math::MulMat3Vec3(World->RigidBodies[IndA].R, TestConstraint.BodyRa);
vec3 P1 = World->RigidBodies[IndB].X + Math::MulMat3Vec3(World->RigidBodies[IndB].R, TestConstraint.BodyRb);
Debug::PushLine(P0, P1, vec4{0, 1, 0, 1});
}
}
{
constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Distance;
TestConstraint.IndA = 2;
TestConstraint.IndB = 3;
TestConstraint.BodyRa = {-1.0f, -1.0f, -1.0f};
TestConstraint.BodyRb = {1.0f, 1.0f, 1.0f};
TestConstraint.L = 0.5;
World->Constraints.Push(TestConstraint);
{
int IndA = TestConstraint.IndA;
int IndB = TestConstraint.IndB;
vec3 P0 = World->RigidBodies[IndA].X + Math::MulMat3Vec3(World->RigidBodies[IndA].R, TestConstraint.BodyRa);
vec3 P1 = World->RigidBodies[IndB].X + Math::MulMat3Vec3(World->RigidBodies[IndB].R, TestConstraint.BodyRb);
Debug::PushLine(P0, P1, vec4{0, 1, 0, 1});
}
}
{
constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Distance;
TestConstraint.IndA = 2;
TestConstraint.IndB = 3;
TestConstraint.BodyRa = {-1.0f, 1.0f, -1.0f};
TestConstraint.BodyRb = {1.0f, -1.0f, 1.0f};
TestConstraint.L = 0.5;
World->Constraints.Push(TestConstraint);
{
int IndA = TestConstraint.IndA;
int IndB = TestConstraint.IndB;
vec3 P0 = World->RigidBodies[IndA].X + Math::MulMat3Vec3(World->RigidBodies[IndA].R, TestConstraint.BodyRa);
vec3 P1 = World->RigidBodies[IndB].X + Math::MulMat3Vec3(World->RigidBodies[IndB].R, TestConstraint.BodyRb);
Debug::PushLine(P0, P1, vec4{0, 1, 0, 1});
}
}
{
constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Distance;
TestConstraint.IndA = 3;
TestConstraint.IndB = 4;
TestConstraint.BodyRa = {-1.0f, -1.0f, -1.0f};
TestConstraint.BodyRb = {1.0f, 1.0f, 1.0f};
TestConstraint.L = 1;
World->Constraints.Push(TestConstraint);
{
int IndA = TestConstraint.IndA;
int IndB = TestConstraint.IndB;
vec3 P0 = World->RigidBodies[IndA].X + Math::MulMat3Vec3(World->RigidBodies[IndA].R, TestConstraint.BodyRa);
vec3 P1 = World->RigidBodies[IndB].X + Math::MulMat3Vec3(World->RigidBodies[IndB].R, TestConstraint.BodyRb);
Debug::PushLine(P0, P1, vec4{0, 1, 0, 1});
}
}
{
constraint TestConstraint = {};
TestConstraint.Type = CONSTRAINT_Distance;
TestConstraint.IndA = 3;
TestConstraint.IndB = 4;
TestConstraint.BodyRa = {-1.0f, 1.0f, -1.0f};
TestConstraint.BodyRb = {1.0f, -1.0f, 1.0f};
TestConstraint.L = 1;
World->Constraints.Push(TestConstraint);
{
int IndA = TestConstraint.IndA;
int IndB = TestConstraint.IndB;
vec3 P0 = World->RigidBodies[IndA].X + Math::MulMat3Vec3(World->RigidBodies[IndA].R, TestConstraint.BodyRa);
vec3 P1 = World->RigidBodies[IndB].X + Math::MulMat3Vec3(World->RigidBodies[IndB].R, TestConstraint.BodyRb);
Debug::PushLine(P0, P1, vec4{0, 1, 0, 1});
}
}
#endif
for(int i = 0; i < World->RBCount; i++)
{
for(int j = 0; j < i; j++)
{
// Anim::transform ATransform = GameState->Entities[i].Transform;
mat4 TransformA = Math::MulMat4(Math::Mat4Translate(World->RigidBodies[i].X),
Math::MulMat4(Math::Mat3ToMat4(World->RigidBodies[i].R),
World->RigidBodies[i].Mat4Scale));
// Anim::transform BTransform = GameState->Entities[j].Transform;
mat4 TransformB = Math::MulMat4(Math::Mat4Translate(World->RigidBodies[j].X),
Math::MulMat4(Math::Mat3ToMat4(World->RigidBodies[j].R),
World->RigidBodies[j].Mat4Scale));
/*Math::PrintMat4(Math::MulMat4(Math::Mat4Translate(World->RigidBodies[1].X),
Math::MulMat4(Math::Mat3ToMat4(World->RigidBodies[1].R),
World->RigidBodies[1].Mat4Scale)));
Math::PrintMat4(Math::MulMat4(Math::Mat4Translate(World->RigidBodies[1].X),
Math::MulMat4(World->RigidBodies[1].Mat4Scale,
Math::Mat3ToMat4(World->RigidBodies[1].R))));
*/
/*
mat4 RotationMat = Math::Mat4Rotate(ATransform.Rotation);
printf("\n1. Euler\n");
Math::PrintMat4(RotationMat);
printf("\n2. Quat\n");
Math::PrintMat4(Math::Mat3ToMat4(Math::Mat4ToMat3(RotationMat)));
printf("\n1. T * R * S\n");
Math::PrintMat4(Math::MulMat4(Math::Mat4Translate(ATransform.Translation),
Math::MulMat4(Math::Mat4Rotate(ATransform.Rotation),
Math::Mat4Scale(ATransform.Scale))));
printf("\n2. T * S * R\n");
Math::PrintMat4(Math::MulMat4(Math::Mat4Translate(ATransform.Translation),
Math::MulMat4(Math::Mat4Scale(ATransform.Scale),
Math::Mat4Rotate(ATransform.Rotation))));
*/
sat_contact_manifold Manifold;
if(SAT(&Manifold, TransformA, &g_CubeHull, TransformB, &g_CubeHull))
{
constraint Constraint;
for(int c = 0; c < Manifold.PointCount; ++c)
{
Constraint.Type = CONSTRAINT_Contact;
// Constraint
assert(Manifold.Points[c].Penetration < 0);
vec3 P = Manifold.Points[c].Position;
Constraint.Penetration = Manifold.Points[c].Penetration;
Constraint.n = Manifold.Normal;
if(Manifold.NormalFromA)
{
Constraint.IndA = i;
Constraint.IndB = j;
}
else
{
Constraint.IndA = j;
Constraint.IndB = i;
}
Constraint.BodyRa = P - World->RigidBodies[Constraint.IndA].X;
Constraint.BodyRb = (P - Manifold.Points[c].Penetration * Constraint.n) -
World->RigidBodies[Constraint.IndB].X;
int32_t ContactIndex = World->Constraints.Count;
World->Constraints.Push(Constraint);
// Friction
if(World->Switches.SimulateFriction)
{
vec3 U1 =
Math::Normalized(Math::Cross(Manifold.Normal, Manifold.Normal + vec3{ 1, 1, 1 }));
vec3 U2 = Math::Normalized(Math::Cross(Manifold.Normal, U1));
Constraint.Type = CONSTRAINT_Friction;
Constraint.ContactIndex = ContactIndex;
Constraint.Tangent = U1;
World->Constraints.Push(Constraint);
if(World->Switches.VisualizeFriction)
{
Debug::PushLine(P, P + Constraint.Tangent, { 0, 0.7f, 0, 1 });
Debug::PushWireframeSphere(P + Constraint.Tangent, 0.05f, { 0, 0.7f, 0, 1 });
}
Constraint.Tangent = U2;
World->Constraints.Push(Constraint);
if(World->Switches.VisualizeFriction)
{
Debug::PushLine(P, P + Constraint.Tangent, { 0, 7, 0, 1 });
Debug::PushWireframeSphere(P + Constraint.Tangent, 0.05f, { 0, 0.7f, 0, 1 });
}
}
}
}
}
}
}
bool UpdateState = (World->Switches.SimulateDynamics || World->Switches.PerformDynamicsStep);
ODE(World->RigidBodies, World->RBCount, World->Constraints.Elements, World->Constraints.Count,
0.0f, (FRAME_TIME_MS / 1000.0f), DYDT_PGS, World->Params.PGSIterationCount, UpdateState,
&World->Params, &World->Switches);
// Visualize constraints
{
}
}
}