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johnruina
2026-11-08 07:45:01 -05:00
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Physics.h
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#ifndef PHYSICS_CLASS
#define PHYSICS_CLASS
#include <iostream>
#include <random>
#include <vector>
#include <memory>
#include <cmath>
#include <optional>
#include <algorithm>
#include <glad/glad.h>
#include <GLFW/glfw3.h>
#include <glm/glm.hpp>
#include <glm/gtc/matrix_transform.hpp>
#include <glm/gtc/type_ptr.hpp>
#include <glm/gtc/quaternion.hpp>
#include "common.h"
#include "Engine.h"
#include "Camera.h"
#include "t.h"
#include "tFunctions.h"
#include "CollisionMesh.h"
// ============================================================================
// Tuneable constants
// ============================================================================
static constexpr float PHYSICS_LINEAR_DAMPING = 0.995f;
static constexpr float PHYSICS_ANGULAR_DAMPING = 0.990f;
static constexpr float PHYSICS_BAUMGARTE_FACTOR = 0.1f;
static constexpr float PHYSICS_BAUMGARTE_SLOP = 0.02f;
static constexpr float PHYSICS_SLEEP_LINEAR_SQ = 0.05f * 0.05f; // m/s
static constexpr float PHYSICS_SLEEP_ANGULAR_SQ = 0.08f * 0.08f; // rad/s
static constexpr float PHYSICS_SLEEP_TIME_THRESHOLD = 0.5f;
static constexpr float PHYSICS_RESTITUTION_THRESHOLD = 1.0f;
static constexpr int PHYSICS_CONTACT_ITERATIONS = 8; // per step with no joints around
static constexpr int PHYSICS_JOINT_ITERATIONS = 12;
static constexpr float PHYSICS_JOINT_BIAS = 0.2f;
static constexpr float PHYSICS_JOINT_MAX_BIAS_SPEED = 5.0f;
static constexpr float PHYSICS_JOINT_DAMPING = 5.0f;
static constexpr int PHYSICS_MAX_MESH_CONTACTS = 4;
static constexpr float PHYSICS_MAX_MESH_DEPTH = 0.1f;
static constexpr float PHYSICS_MESH_PAIR_FRICTION = 0.25f; // two meshes catch on each other, so they slide easier
static constexpr float PHYSICS_MIN_IMPACT_IMPULSE = 1.0f; // newton seconds, softer contacts like resting aren't recorded
// ============================================================================
// Physics body
// ============================================================================
class p {
friend class Physics;
public:
p() {
pointer = nullptr;
std::cout << "PHYSICS OBJECT INITIALIZED WITHOUT POINTER IN CONSTRUCTOR!!!\n";
}
p(t_package* t) : pointer(t) {}
void SetLinearVelocity(glm::vec3 nf) { linearvelocity = nf; }
void SetMass(float newmass) { mass = newmass; }
void EnableCollision() { collision = true; }
void DisableCollision() { collision = false; }
void EnableVelocity() { velocity = true; }
void DisableVelocity() { velocity = false; }
void AddForce(const glm::vec3& f) { if (velocity) { force += f; WakeUp(); } }
void AddTorque(const glm::vec3& t) { if (velocity) { torque += t; WakeUp(); } }
float GetMass() const noexcept { return mass; }
float GetInvMass() const noexcept { return velocity ? 1.0f / mass : 0.0f; }
void WakeUp() { isSleeping = false; sleepTimer = 0.0f; }
public:
t_package* pointer = nullptr;
bool collision = true;
bool velocity = true;
bool isSleeping = false;
bool lockRotation = false;
bool frozen = false; // parked until something touches its group
bool isHitbox = false; // only collides with loose objects, never with other characters
// Set this to collide triangle by triangle, otherwise the body is its t's box
const CollisionMesh* collisionMesh = nullptr;
int collisionGroup = 0; // non zero groups don't collide with themselves
float mass = 1.0f;
float restitution = 0.2f;
float friction = 0.5f;
float maxSpeed = 0.0f; // 0 = no limit
float maxAngularSpeed = 0.0f;
glm::vec3 linearvelocity = { 0.0f, 0.0f, 0.0f };
glm::vec3 angularvelocity = { 0.0f, 0.0f, 0.0f };
glm::vec3 force = { 0.0f, 0.0f, 0.0f };
glm::vec3 torque = { 0.0f, 0.0f, 0.0f };
glm::mat3 invInertia = glm::mat3(0.0f); // world space, refreshed at the start of each step
float sleepTimer = 0.0f;
// For drawing it smoothly between physics ticks, see Physics::ApplyInterpolation
glm::vec3 previousPosition = glm::vec3(0.0f);
glm::quat previousOrientation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
glm::vec3 simulatedPosition = glm::vec3(0.0f);
glm::quat simulatedOrientation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
bool hasPrevious = false; // false until its first tick, so new bodies don't slide in from nowhere
bool interpolated = false; // t currently holds the blended pose, not the real one
// World bounds, kept until t changes. Most bodies sit still most of the time.
BoundingBox bounds;
unsigned int boundsVersion = 0;
};
// ============================================================================
// Collision manifold
// ============================================================================
struct Collision {
glm::vec3 POI;
glm::vec3 CN;
float overlap = 0.0f;
float correctionWeight = 1.0f; // shares positional correction between a pair's contacts
float frictionScale = 1.0f;
p* ObjA = nullptr;
p* ObjB = nullptr;
// Filled in by PrepareContact, these can't change during a step's iterations
glm::vec3 rA = glm::vec3(0.0f);
glm::vec3 rB = glm::vec3(0.0f);
glm::vec3 tangent1 = glm::vec3(0.0f);
glm::vec3 tangent2 = glm::vec3(0.0f);
float inverseDenomN = 0.0f;
float inverseDenomT1 = 0.0f;
float inverseDenomT2 = 0.0f;
float targetSpeed = 0.0f; // how fast it should be separating afterwards, the bounce
float mu = 0.0f;
// Running totals over the iterations
float normalImpulse = 0.0f;
glm::vec2 tangentImpulse = glm::vec2(0.0f);
Collision(p* a, p* b) : ObjA(a), ObjB(b) {}
};
// ============================================================================
// One angular constraint on a joint, worked out once per step
// ============================================================================
struct AngularRow {
glm::vec3 axis = glm::vec3(0.0f);
float targetSpeed = 0.0f;
float inverseDenom = 0.0f;
bool oneSided = false; // a limit only pushes back, the rest also hold the bodies together
};
// ============================================================================
// Ball joint with a swing cone and a twist limit, or a one axis hinge
// Anchors and axes are local to each body: rotated, but not scaled.
// The twist limit assumes both bodies started out unrotated.
// ============================================================================
struct BallJoint {
p* parent = nullptr;
p* child = nullptr;
glm::vec3 anchorParent = glm::vec3(0.0f);
glm::vec3 anchorChild = glm::vec3(0.0f);
glm::vec3 axisParent = glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 axisChild = glm::vec3(0.0f, 1.0f, 0.0f);
float maxAngle = 0.0f; // radians between the two axes
float maxTwist = 0.0f; // radians either way around axisChild
// Hinges ignore the limits above and bend around one axis, like an elbow.
// The bend is the angle from hingeRefParent to hingeRefChild around the hinge axis.
bool isHinge = false;
glm::vec3 hingeAxisParent = glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 hingeAxisChild = glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 hingeRefParent = glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 hingeRefChild = glm::vec3(0.0f, 1.0f, 0.0f);
float minBend = 0.0f;
float maxBend = 0.0f;
// Filled in by PrepareJoint, these can't change during a step's iterations
glm::vec3 worldAnchorParent = glm::vec3(0.0f);
glm::vec3 worldAnchorChild = glm::vec3(0.0f);
glm::vec3 bias = glm::vec3(0.0f);
glm::mat3 inverseK = glm::mat3(1.0f);
AngularRow rows[3];
int rowCount = 0;
};
// One contact pushing two bodies apart during a step. impulse is in newton seconds.
struct Impact {
p* a = nullptr;
p* b = nullptr;
glm::vec3 point = glm::vec3(0.0f);
float impulse = 0.0f;
};
struct BroadPhaseEntry {
p* body = nullptr;
BoundingBox bounds;
};
// ============================================================================
// Physics world
// ============================================================================
class Physics {
private:
std::vector<p*> objects;
std::vector<BallJoint*> joints;
glm::vec3 gravity = glm::vec3(0.0f, -9.81f, 0.0f);
// Kept between steps so they don't get reallocated. The broad phase also keeps its order,
// and is only rebuilt when bodies come or go.
std::vector<BroadPhaseEntry> broadPhase;
unsigned int objectsVersion = 1;
unsigned int broadPhaseVersion = 0;
std::vector<Collision> collisions;
std::vector<Collision> meshContacts;
std::vector<int> meshCandidates;
static glm::mat3 ComputeInvInertiaTensor(const p* body);
static bool UpdateSleep(p* body, float dt);
void PrepareContact(Collision& c);
void SolveContact(Collision& c);
void CorrectContactPosition(Collision& c);
void FindCollisions();
void CollideTriangles(p* a, p* b);
void CollideBoxes(p* a, p* b, const TInTInfo& info);
void WakeGroup(int group);
void WakeAround(p* removed);
void PrepareJoint(BallJoint& joint, float dt);
void SolveJoint(BallJoint& joint);
void DampJoint(BallJoint& joint, float dt);
public:
Physics() {}
const glm::vec3& GetGravity() const noexcept { return gravity; }
void SetGravity(const glm::vec3& g) noexcept { gravity = g; }
int GetObjectAmount() const noexcept { return (int)objects.size(); }
void AddObject(p* obj) { objects.push_back(obj); objectsVersion++; }
void AddJoint(BallJoint* joint) { joints.push_back(joint); }
void RemoveJoint(BallJoint* joint) {
auto it = std::find(joints.begin(), joints.end(), joint);
if (it != joints.end()) joints.erase(it);
}
const std::vector<p*>& GetObjects() const { return objects; }
p* PPointerOfObject(t_package* pointer) const {
for (p* obj : objects)
if (obj->pointer == pointer) return obj;
return nullptr;
}
void RemoveP(p* obj) {
objects.erase(std::find(objects.begin(), objects.end(), obj));
objectsVersion++;
WakeAround(obj);
}
void RemoveObject(t_package* pointer) {
for (int i = 0; i < (int)objects.size(); i++) {
if (objects[i]->pointer == pointer) {
p* removed = objects[i];
objects.erase(objects.begin() + i);
objectsVersion++;
WakeAround(removed);
delete removed;
return;
}
}
}
void Step(float dt);
// One fixed physics tick, split into substeps so fast things don't pass through each other.
// Remembers where everything was beforehand, for ApplyInterpolation.
void Tick(float dt, int substeps);
// Moves every moving body's t partway from where it was before the last tick (0) to where it is now (1),
// so things drawn between ticks don't step along at the tick rate. Nothing may move bodies until
// RemoveInterpolation puts the real positions back.
void ApplyInterpolation(float alpha);
void RemoveInterpolation();
void ResolveCollisions(float dt);
// Every contact since the last ClearImpacts, for working out what hit what and how hard
const std::vector<Impact>& GetImpacts() const { return impacts; }
void ClearImpacts() { impacts.clear(); }
private:
std::vector<Impact> impacts;
};
#endif