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@@ -0,0 +1,586 @@
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+#define TPE_LOG puts
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+
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+#include "tinyphysicsengine.h"
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+#include <SDL2/SDL.h>
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+#include <math.h>
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+
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+#define S3L_RESOLUTION_X 640
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+#define S3L_RESOLUTION_Y 480
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+#define S3L_PIXEL_FUNCTION drawPixel
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+
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+#define S3L_Z_BUFFER 1
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+#include "small3dlib.h"
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+
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+#define PIXELS_SIZE (S3L_RESOLUTION_X * S3L_RESOLUTION_Y * 4)
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+
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+#define FPS 30
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+#define MSPF (1000 / (FPS))
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+
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+TPE_World world;
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+TPE_Body bodies[128];
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+
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+S3L_Unit cubeVertices[] = { S3L_CUBE_VERTICES(1024) };
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+S3L_Index cubeTriangles[] = { S3L_CUBE_TRIANGLES };
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+S3L_Model3D cube;
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+
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+uint8_t pixels[PIXELS_SIZE];
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+
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+uint8_t red = 100;
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+
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+TPE_Vec3 environmentDistance(TPE_Vec3 p, TPE_Unit distLim)
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+{
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+
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+
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+ TPE_Vec3 r, rMin = p;
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+ TPE_Unit d, dMin = 10000000;
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+
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+#define testShape(c) \
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+ r = c; if (p.x == r.x && p.y == r.y && p.z == r.z) return p; \
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+ d = TPE_DISTANCE(p,r); if (d < dMin) { dMin = d; rMin = r; }
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+
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+/*
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+testShape( TPE_envHalfPlane(p,TPE_vec3(-1000,0,0),TPE_vec3(20,20,0)) )
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+testShape( TPE_envHalfPlane(p,TPE_vec3(+1000,0,0),TPE_vec3(-20,20,0)) )
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+*/
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+ testShape( TPE_envAABoxInside(p,TPE_vec3(0,0,0),TPE_vec3(16000,6000,16000)) )
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+ testShape( TPE_envSphere(p,TPE_vec3(2000,-3500,2000),2000) )
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+ testShape( TPE_envSphere(p,TPE_vec3(-2000,-3500,0),2000) )
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+
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+#undef testShape
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+
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+ return rMin;
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+}
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+
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+void drawPixel(S3L_PixelInfo *p)
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+{
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+ uint32_t index = (p->y * S3L_RESOLUTION_X + p->x) * 4;
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+ pixels[index + 1] = p->triangleIndex * 16;
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+ pixels[index + 2] = 255 - p->triangleIndex * 16;
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+ pixels[index + 3] = red;
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+}
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+
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+void draw2DPoint(int x, int y, int r, int g, int b)
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+{
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+ if (x < 1 || x > S3L_RESOLUTION_X - 3 ||
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+ y < 1 || y > S3L_RESOLUTION_Y - 3)
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+ return;
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+
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+ uint32_t index = ((y - 1) * S3L_RESOLUTION_X + x) * 4;
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+
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+ #define d pixels[index] = 0; pixels[index + 1] = b; pixels[index + 2] = g; pixels[index + 3] = r;
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+
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+ d
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+ index += S3L_RESOLUTION_X * 4 - 4;
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+ d
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+ index += 4;
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+ d
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+ index += 4;
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+ d
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+ index += S3L_RESOLUTION_X * 4 - 4;
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+ d
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+
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+ #undef d
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+}
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+
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+void debugDrawPixel(uint16_t x, uint16_t y, uint8_t color)
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+{
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+ draw2DPoint(x,y,255 - color * 64,color * 128,color * 64);
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+}
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+
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+void drawLine(int x1, int y1, int x2, int y2, int r, int g, int b)
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+{
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+ #define STEPS 20
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+
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+ float dx = (x2 - x1) / ((float) STEPS);
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+ float dy = (y2 - y1) / ((float) STEPS);
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+
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+ for (int i = 0; i < STEPS; ++i)
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+ draw2DPoint(x1 + dx * i, y1 + dy * i,r,g,b);
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+
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+ #undef STEPS
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+}
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+
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+S3L_Scene sphereScene;
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+
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+void draw3DLine(int x1, int y1, int z1, int x2, int y2, int z2)
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+{
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+ S3L_Vec4 p1, p2, r1, r2;
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+
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+ S3L_vec4Set(&p1,x1,y1,z1,0);
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+ S3L_vec4Set(&p2,x2,y2,z2,0);
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+
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+ S3L_project3DPointToScreen(p1,sphereScene.camera,&r1);
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+ S3L_project3DPointToScreen(p2,sphereScene.camera,&r2);
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+
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+ if (r1.z > 0 && r2.z > 0)
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+ drawLine(r1.x,r1.y,r2.x,r2.y,200,100,200);
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+}
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+
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+void drawSphere(S3L_Unit x, S3L_Unit y, S3L_Unit z, S3L_Unit r)
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+{
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+ sphereScene.models[0].transform.translation.x = x;
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+ sphereScene.models[0].transform.translation.y = y;
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+ sphereScene.models[0].transform.translation.z = z;
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+ sphereScene.models[0].transform.scale.x = r;
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+ sphereScene.models[0].transform.scale.y = r;
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+ sphereScene.models[0].transform.scale.z = r;
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+ S3L_drawScene(sphereScene);
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+}
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+
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+void drawBody(TPE_Body *body, uint8_t color)
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+{
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+ red = color;
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+
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+ for (int i = 0; i < body->jointCount; ++i)
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+ drawSphere(
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+ body->joints[i].position.x,
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+ body->joints[i].position.y,
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+ body->joints[i].position.z,
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+ TPE_JOINT_SIZE(body->joints[i]));
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+
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+ for (int i = 0; i < body->connectionCount; ++i)
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+ {
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+ S3L_Vec4 p1, p2, r1, r2;
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+
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+ S3L_vec4Set(&p1,
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+ body->joints[body->connections[i].joint1].position.x,
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+ body->joints[body->connections[i].joint1].position.y,
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+ body->joints[body->connections[i].joint1].position.z,0);
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+
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+ S3L_vec4Set(&p2,
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+ body->joints[body->connections[i].joint2].position.x,
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+ body->joints[body->connections[i].joint2].position.y,
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+ body->joints[body->connections[i].joint2].position.z,0);
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+
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+ S3L_project3DPointToScreen(p1,sphereScene.camera,&r1);
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+ S3L_project3DPointToScreen(p2,sphereScene.camera,&r2);
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+
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+ if (r1.z > 0 && r2.z > 0)
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+ drawLine(r1.x,r1.y,r2.x,r2.y,100,200,300);
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+ }
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+}
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+
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+#define SPHERE_VERTEX_COUNT 42
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+const S3L_Unit sphereVertices[SPHERE_VERTEX_COUNT * 3] = {
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+ 0, -512, 0, // 0
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+ 370, -228, -269, // 3
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+ -141, -228, -435, // 6
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+ -457, -228, 0, // 9
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+ -141, -228, 435, // 12
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+ 370, -228, 269, // 15
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+ 141, 228, -435, // 18
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+ -370, 228, -269, // 21
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+ -370, 228, 269, // 24
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+ 141, 228, 435, // 27
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+ 457, 228, 0, // 30
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+ 0, 512, 0, // 33
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+ -83, -435, -255, // 36
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+ 217, -435, -158, // 39
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+ 134, -269, -414, // 42
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+ 435, -269, 0, // 45
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+ 217, -435, 158, // 48
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+ -269, -435, 0, // 51
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+ -352, -269, -255, // 54
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+ -83, -435, 255, // 57
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+ -352, -269, 255, // 60
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+ 134, -269, 414, // 63
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+ 486, 0, -158, // 66
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+ 486, 0, 158, // 69
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+ 0, 0, -512, // 72
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+ 300, 0, -414, // 75
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+ -486, 0, -158, // 78
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+ -300, 0, -414, // 81
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+ -300, 0, 414, // 84
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+ -486, 0, 158, // 87
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+ 300, 0, 414, // 90
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+ 0, 0, 512, // 93
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+ 352, 269, -255, // 96
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+ -134, 269, -414, // 99
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+ -435, 269, 0, // 102
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+ -134, 269, 414, // 105
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+ 352, 269, 255, // 108
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+ 83, 435, -255, // 111
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+ 269, 435, 0, // 114
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+ -217, 435, -158, // 117
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+ -217, 435, 158, // 120
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+ 83, 435, 255 // 123
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+}; // sphereVertices
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+
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+#define SPHERE_TRIANGLE_COUNT 80
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+const S3L_Index sphereTriangleIndices[SPHERE_TRIANGLE_COUNT * 3] = {
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+ 0, 13, 12, // 0
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+ 1, 13, 15, // 3
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+ 0, 12, 17, // 6
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+ 0, 17, 19, // 9
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+ 0, 19, 16, // 12
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+ 1, 15, 22, // 15
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+ 2, 14, 24, // 18
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+ 3, 18, 26, // 21
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+ 4, 20, 28, // 24
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+ 5, 21, 30, // 27
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+ 1, 22, 25, // 30
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+ 2, 24, 27, // 33
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+ 3, 26, 29, // 36
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+ 4, 28, 31, // 39
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+ 5, 30, 23, // 42
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+ 6, 32, 37, // 45
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+ 7, 33, 39, // 48
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+ 8, 34, 40, // 51
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+ 9, 35, 41, // 54
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+ 10, 36, 38, // 57
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+ 38, 41, 11, // 60
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+ 38, 36, 41, // 63
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+ 36, 9, 41, // 66
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+ 41, 40, 11, // 69
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+ 41, 35, 40, // 72
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+ 35, 8, 40, // 75
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+ 40, 39, 11, // 78
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+ 40, 34, 39, // 81
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+ 34, 7, 39, // 84
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+ 39, 37, 11, // 87
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+ 39, 33, 37, // 90
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+ 33, 6, 37, // 93
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+ 37, 38, 11, // 96
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+ 37, 32, 38, // 99
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+ 32, 10, 38, // 102
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+ 23, 36, 10, // 105
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+ 23, 30, 36, // 108
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+ 30, 9, 36, // 111
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+ 31, 35, 9, // 114
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+ 31, 28, 35, // 117
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+ 28, 8, 35, // 120
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+ 29, 34, 8, // 123
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+ 29, 26, 34, // 126
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+ 26, 7, 34, // 129
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+ 27, 33, 7, // 132
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+ 27, 24, 33, // 135
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+ 24, 6, 33, // 138
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+ 25, 32, 6, // 141
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+ 25, 22, 32, // 144
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+ 22, 10, 32, // 147
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+ 30, 31, 9, // 150
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+ 30, 21, 31, // 153
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+ 21, 4, 31, // 156
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+ 28, 29, 8, // 159
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+ 28, 20, 29, // 162
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+ 20, 3, 29, // 165
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+ 26, 27, 7, // 168
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+ 26, 18, 27, // 171
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+ 18, 2, 27, // 174
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+ 24, 25, 6, // 177
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+ 24, 14, 25, // 180
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+ 14, 1, 25, // 183
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+ 22, 23, 10, // 186
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+ 22, 15, 23, // 189
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+ 15, 5, 23, // 192
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+ 16, 21, 5, // 195
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+ 16, 19, 21, // 198
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+ 19, 4, 21, // 201
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+ 19, 20, 4, // 204
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+ 19, 17, 20, // 207
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+ 17, 3, 20, // 210
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+ 17, 18, 3, // 213
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+ 17, 12, 18, // 216
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+ 12, 2, 18, // 219
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+ 15, 16, 5, // 222
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+ 15, 13, 16, // 225
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+ 13, 0, 16, // 228
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+ 12, 14, 2, // 231
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+ 12, 13, 14, // 234
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+ 13, 1, 14 // 237
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+}; // sphereTriangleIndices
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+
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+int main(void)
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+{
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+ SDL_Window *window = SDL_CreateWindow("test", SDL_WINDOWPOS_UNDEFINED, SDL_WINDOWPOS_UNDEFINED, S3L_RESOLUTION_X, S3L_RESOLUTION_Y, SDL_WINDOW_SHOWN);
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+ SDL_Renderer *renderer = SDL_CreateRenderer(window,-1,0);
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+ SDL_Texture *textureSDL = SDL_CreateTexture(renderer,SDL_PIXELFORMAT_RGBX8888, SDL_TEXTUREACCESS_STATIC, S3L_RESOLUTION_X, S3L_RESOLUTION_Y);
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+ SDL_Surface *screenSurface = SDL_GetWindowSurface(window);
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+ SDL_Event event;
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+
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+ int running = 1;
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+
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+ S3L_Model3D sphereModel;
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+
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+ S3L_model3DInit(sphereVertices,SPHERE_VERTEX_COUNT,sphereTriangleIndices,
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+ SPHERE_TRIANGLE_COUNT,&sphereModel);
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+
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+ S3L_model3DInit(cubeVertices,S3L_CUBE_VERTEX_COUNT,cubeTriangles,
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+ S3L_CUBE_TRIANGLE_COUNT,&cube);
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+
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+ S3L_sceneInit(&sphereModel,1,&sphereScene);
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+
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+ sphereScene.camera.transform.translation.z = -512 -512 -512;
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+
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+ int frame = 0;
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+
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+TPE_Joint joints[100];
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+TPE_Connection connections[100];
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+
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+#define MASS 200
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+
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+switch (1)
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+{
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+ case 0:
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+ TPE_make2Line(joints,connections,1500,512);
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+ TPE_bodyInit(bodies,joints,2,connections,1,MASS);
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+ break;
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+
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+ case 1:
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+ TPE_makeBox(joints,connections,1000,1000,1000,500);
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+// TPE_bodyInit(bodies,joints,8,connections,16,MASS);
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+TPE_bodyInit(bodies,joints,1,connections,0,MASS);
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+ break;
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+
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+ case 2:
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+ TPE_makeCenterRect(joints,connections,1300,1000,512);
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+ TPE_bodyInit(bodies,joints,5,connections,8,MASS);
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+ break;
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+
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+ case 3:
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+ TPE_makeCenterBox(joints,connections,1000,1000,1000,512);
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+ joints[8].sizeDivided *= 3;
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+ joints[8].sizeDivided /= 2;
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+ TPE_bodyInit(bodies,joints,9,connections,18,MASS);
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+ break;
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+
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+ case 4:
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+ TPE_makeTriangle(joints,connections,2000,512);
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+ TPE_bodyInit(bodies,joints,3,connections,3,MASS);
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+ break;
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+
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+ case 5:
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+ TPE_make2Line(joints,connections,1500,200);
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+ TPE_bodyInit(bodies,joints,1,connections,0,MASS);
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+ break;
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+
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+ default: break;
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+}
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+
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+//TPE_make2Line(joints + 20,connections + 20,1000,200);
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+//TPE_bodyInit(bodies + 1,joints + 20,1,connections + 20,0,MASS);
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+
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+TPE_makeBox(joints + 20,connections + 20,1000,1000,1000,500);
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+TPE_bodyInit(bodies + 1,joints + 20,8,connections + 20,16,100);
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+
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+//bodies[0].flags |= TPE_BODY_FLAG_SOFT;
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+
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+//bodies[0].elasticity = 256;
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+
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+
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+
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+
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+TPE_worldInit(&world,bodies,2,environmentDistance);
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+
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+#define FR 256
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+world.bodies[0].friction = FR;
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+world.bodies[1].friction = FR;
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+
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+TPE_bodyMove(world.bodies,TPE_vec3(500,-200,400));
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+TPE_bodyMove(&world.bodies[1],TPE_vec3(-500,800,400));
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+
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+
|
|
|
+TPE_bodyStop(world.bodies);
|
|
|
+TPE_bodyStop(world.bodies + 1);
|
|
|
+
|
|
|
+TPE_bodyAccelerate(world.bodies,TPE_vec3(-50,0,0));
|
|
|
+TPE_bodyAccelerate(world.bodies + 1,TPE_vec3(50,0,0));
|
|
|
+
|
|
|
+//TPE_bodyRotate(world.bodies,TPE_vec3(0,0,200));
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ //-------
|
|
|
+
|
|
|
+ int time;
|
|
|
+
|
|
|
+ while (running)
|
|
|
+ {
|
|
|
+ time = SDL_GetTicks();
|
|
|
+
|
|
|
+ for (uint32_t i = 0; i < PIXELS_SIZE; ++i)
|
|
|
+ pixels[i] = 0;
|
|
|
+
|
|
|
+ S3L_newFrame();
|
|
|
+
|
|
|
+
|
|
|
+//TPE_bodiesResolveCollision(world.bodies,world.bodies + 1);
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+for (int i = 0; i < world.bodyCount; ++i)
|
|
|
+{
|
|
|
+
|
|
|
+
|
|
|
+if (!(world.bodies[i].flags & TPE_BODY_FLAG_DEACTIVATED))
|
|
|
+ TPE_bodyAccelerate(world.bodies + i,TPE_vec3(0,-6,0));
|
|
|
+
|
|
|
+}
|
|
|
+
|
|
|
+TPE_worldStep(&world);
|
|
|
+
|
|
|
+
|
|
|
+ while (SDL_PollEvent(&event))
|
|
|
+ {
|
|
|
+ if (event.type == SDL_QUIT)
|
|
|
+ running = 0;
|
|
|
+ else if (event.type == SDL_KEYDOWN)
|
|
|
+ {
|
|
|
+ if (event.key.keysym.scancode == SDL_SCANCODE_Q || event.key.keysym.scancode == SDL_SCANCODE_ESCAPE)
|
|
|
+ running = 0;
|
|
|
+ }
|
|
|
+ }
|
|
|
+
|
|
|
+ const uint8_t *state = SDL_GetKeyboardState(NULL);
|
|
|
+
|
|
|
+ S3L_Vec4 camF, camR;
|
|
|
+
|
|
|
+#define SHIFT_STEP 50
|
|
|
+#define ROT_STEP 5
|
|
|
+
|
|
|
+ S3L_rotationToDirections(sphereScene.camera.transform.rotation,SHIFT_STEP,&camF,&camR,0);
|
|
|
+
|
|
|
+TPE_Vec3 forw = TPE_vec3Minus(
|
|
|
+ bodies[0].joints[2].position,
|
|
|
+ bodies[0].joints[0].position);
|
|
|
+
|
|
|
+TPE_Vec3 righ = TPE_vec3Minus(
|
|
|
+ bodies[0].joints[0].position,
|
|
|
+ bodies[0].joints[1].position);
|
|
|
+/*
|
|
|
+forw = TPE_vec3Plus(forw,
|
|
|
+ TPE_vec3Minus(
|
|
|
+ bodies[0].joints[6].position,
|
|
|
+ bodies[0].joints[4].position)
|
|
|
+ );
|
|
|
+
|
|
|
+righ = TPE_vec3Plus(righ,
|
|
|
+ TPE_vec3Minus(
|
|
|
+ bodies[0].joints[4].position,
|
|
|
+ bodies[0].joints[5].position)
|
|
|
+ );
|
|
|
+*/
|
|
|
+TPE_Vec3 rrrr = TPE_orientationFromVecs(forw,righ);
|
|
|
+
|
|
|
+cube.transform.rotation.x = rrrr.x;
|
|
|
+cube.transform.rotation.y = rrrr.y;
|
|
|
+cube.transform.rotation.z = rrrr.z;
|
|
|
+
|
|
|
+cube.transform.scale.x = 600;
|
|
|
+cube.transform.scale.y = cube.transform.scale.x;
|
|
|
+cube.transform.scale.z = cube.transform.scale.x;
|
|
|
+
|
|
|
+TPE_Vec3 ppp = TPE_bodyGetCenter(&bodies[0]);
|
|
|
+
|
|
|
+cube.transform.translation.x = ppp.x;
|
|
|
+cube.transform.translation.y = ppp.y;
|
|
|
+cube.transform.translation.z = ppp.z;
|
|
|
+
|
|
|
+TPE_Vec3 camPos = TPE_vec3(
|
|
|
+ sphereScene.camera.transform.translation.x,
|
|
|
+ sphereScene.camera.transform.translation.y,
|
|
|
+ sphereScene.camera.transform.translation.z);
|
|
|
+TPE_Vec3 camRot = TPE_vec3(
|
|
|
+ sphereScene.camera.transform.rotation.x,
|
|
|
+ sphereScene.camera.transform.rotation.y,
|
|
|
+ sphereScene.camera.transform.rotation.z);
|
|
|
+
|
|
|
+//drawEnv(TPE_vec3(-100,-100,-100),100,5);
|
|
|
+
|
|
|
+//for (int i = 0; i < world.bodyCount; ++i)
|
|
|
+// drawBody(&(world.bodies[i]),100 * i);
|
|
|
+
|
|
|
+
|
|
|
+sphereScene.models = &cube;
|
|
|
+S3L_newFrame();
|
|
|
+//S3L_drawScene(sphereScene);
|
|
|
+sphereScene.models = &sphereModel;
|
|
|
+
|
|
|
+TPE_worldDebugDraw(&world,debugDrawPixel,
|
|
|
+camPos,camRot,TPE_vec3(S3L_RESOLUTION_X,S3L_RESOLUTION_Y,sphereScene.camera.focalLength));
|
|
|
+
|
|
|
+
|
|
|
+/*
|
|
|
+draw3DLine(0,0,0,forw.x,forw.y,forw.z);
|
|
|
+draw3DLine(0,0,0,righ.x,righ.y,righ.z);
|
|
|
+*/
|
|
|
+
|
|
|
+ SDL_UpdateTexture(textureSDL,NULL,pixels,S3L_RESOLUTION_X * sizeof(uint32_t));
|
|
|
+
|
|
|
+
|
|
|
+
|
|
|
+ if (state[SDL_SCANCODE_LSHIFT])
|
|
|
+ {
|
|
|
+ if (state[SDL_SCANCODE_UP])
|
|
|
+ S3L_vec3Add(&sphereScene.camera.transform.translation,camF);
|
|
|
+ else if (state[SDL_SCANCODE_DOWN])
|
|
|
+ S3L_vec3Sub(&sphereScene.camera.transform.translation,camF);
|
|
|
+ else if (state[SDL_SCANCODE_LEFT])
|
|
|
+ S3L_vec3Sub(&sphereScene.camera.transform.translation,camR);
|
|
|
+ else if (state[SDL_SCANCODE_RIGHT])
|
|
|
+ S3L_vec3Add(&sphereScene.camera.transform.translation,camR);
|
|
|
+ }
|
|
|
+ else
|
|
|
+ {
|
|
|
+ if (state[SDL_SCANCODE_UP])
|
|
|
+ sphereScene.camera.transform.rotation.x += ROT_STEP;
|
|
|
+ else if (state[SDL_SCANCODE_DOWN])
|
|
|
+ sphereScene.camera.transform.rotation.x -= ROT_STEP;
|
|
|
+ else if (state[SDL_SCANCODE_LEFT])
|
|
|
+ sphereScene.camera.transform.rotation.y += ROT_STEP;
|
|
|
+ else if (state[SDL_SCANCODE_RIGHT])
|
|
|
+ sphereScene.camera.transform.rotation.y -= ROT_STEP;
|
|
|
+ else if (state[SDL_SCANCODE_K])
|
|
|
+ sphereScene.camera.transform.rotation.z += ROT_STEP;
|
|
|
+ else if (state[SDL_SCANCODE_L])
|
|
|
+ sphereScene.camera.transform.rotation.z -= ROT_STEP;
|
|
|
+ }
|
|
|
+
|
|
|
+if (state[SDL_SCANCODE_M])
|
|
|
+{
|
|
|
+ TPE_bodyWake(world.bodies);
|
|
|
+
|
|
|
+ TPE_bodySpin(bodies,TPE_vec3(50,40,100));
|
|
|
+
|
|
|
+ TPE_bodyAccelerate(bodies,TPE_vec3(
|
|
|
+ 500,
|
|
|
+ 500,
|
|
|
+ 30));
|
|
|
+}
|
|
|
+
|
|
|
+#define S 10
|
|
|
+if (state[SDL_SCANCODE_J])
|
|
|
+ TPE_bodyAccelerate(bodies,TPE_vec3(S,0,0));
|
|
|
+else if (state[SDL_SCANCODE_G])
|
|
|
+ TPE_bodyAccelerate(bodies,TPE_vec3(-S,0,0));
|
|
|
+
|
|
|
+if (state[SDL_SCANCODE_Y])
|
|
|
+ TPE_bodyAccelerate(bodies,TPE_vec3(0,0,S));
|
|
|
+else if (state[SDL_SCANCODE_H])
|
|
|
+ TPE_bodyAccelerate(bodies,TPE_vec3(0,0,-S));
|
|
|
+#undef S
|
|
|
+
|
|
|
+#define SHIFT_STEP 50
|
|
|
+
|
|
|
+ if (state[SDL_SCANCODE_P])
|
|
|
+ sphereScene.camera.transform.translation.y += SHIFT_STEP;
|
|
|
+ else if (state[SDL_SCANCODE_O])
|
|
|
+ sphereScene.camera.transform.translation.y -= SHIFT_STEP;
|
|
|
+
|
|
|
+#undef SHIFT_STEP
|
|
|
+
|
|
|
+ SDL_RenderClear(renderer);
|
|
|
+ SDL_RenderCopy(renderer,textureSDL,NULL,NULL);
|
|
|
+ SDL_RenderPresent(renderer);
|
|
|
+
|
|
|
+ time = time + MSPF - SDL_GetTicks();
|
|
|
+
|
|
|
+ if (time > 1)
|
|
|
+ usleep(time * 1000);
|
|
|
+
|
|
|
+ frame++;
|
|
|
+ }
|
|
|
+
|
|
|
+ return 0;
|
|
|
+}
|
Miloslav Ciz