drummyfish.tinyphysicsengine/programs/stack.c

#include "helper.h"

TPE_Vec3 environmentDistance(TPE_Vec3 p, TPE_Unit maxD)
{
  TPE_Vec3 pTest, pBest;
  TPE_Unit dTest, dBest;

  pBest = TPE_envHalfPlane(p,TPE_vec3(0,0,0),TPE_vec3(256,256,0));

  dBest = TPE_DISTANCE(p,pBest);

  pTest = TPE_envHalfPlane(p,TPE_vec3(0,0,0),TPE_vec3(-256,256,-256));

  dTest = TPE_DISTANCE(p,pTest);

  if (dTest < dBest)
  {
    pBest = pTest;
    dBest = dTest;
  }

  pTest = TPE_envHalfPlane(p,TPE_vec3(0,0,0),TPE_vec3(-256,256,256));

  dTest = TPE_DISTANCE(p,pTest);

  if (dTest < dBest)
  {
    pBest = pTest;
    dBest = dTest;
  }

  return pBest;
}

uint8_t debugDrawOn = 1;

unsigned long timeMeasure = 0;

int main(void)
{
  helper_init();

  tpe_world.environmentFunction = environmentDistance;

  s3l_scene.camera.transform.translation.y = 3000;
  s3l_scene.camera.transform.translation.z = -1000;

  for (int i = 0; i < 16; ++i)
  {
    switch (i % 5)
    {
      case 0: helper_addBox(800,800,800,400,700); break;
      case 1: helper_addTriangle(1100,200,600); break;
      case 2: helper_addBall(500,700); break;
      case 3: helper_addRect(800,800,400,800); break;
      case 4: helper_add2Line(900,200,600); break;
      default: break;
    }

    TPE_bodyMove(&tpe_world.bodies[tpe_world.bodyCount - 1],TPE_vec3((1 - (i % 4)) * 1200,8000,(2 - (i / 4)) * 1200));

//if (i % 2)
//tpe_world.bodies[tpe_world.bodyCount - 1].flags |= TPE_BODY_FLAG_NONROTATING;
  } 

  while (helper_running)
  {
    helper_frameStart();

    helper_cameraFreeMovement();

    if (helper_frame % 16 == 0)
    {
      //helper_printCPU();
      //helper_printCamera();

      if (sdl_keyboard[SDL_SCANCODE_L])
        for (int i = 0; i < tpe_world.bodyCount; ++i)
        {
          TPE_bodyActivate(&tpe_world.bodies[i]);
          TPE_bodyAccelerate(&tpe_world.bodies[i],TPE_vec3(0,500,0));
        }

      printf("world update (us): %lu\n",timeMeasure / 16);

      timeMeasure = 0;
    }

unsigned long t1 = helper_getMicroSecs();

    TPE_worldStep(&tpe_world);

timeMeasure += helper_getMicroSecs() - t1;
    
    helper_set3dColor(180,10,10); 

    for (int i = 0; i < tpe_world.bodyCount; ++i)
    {
      if (!(tpe_world.bodies[i].flags & TPE_BODY_FLAG_DEACTIVATED))
        TPE_bodyAccelerate(&tpe_world.bodies[i],TPE_vec3(0,-5,0));
  
      TPE_Joint *joints = tpe_world.bodies[i].joints;
      TPE_Vec3 pos = TPE_bodyGetCenter(&tpe_world.bodies[i]);
      TPE_Vec3 right = TPE_vec3(512,0,0);
      TPE_Vec3 forw = TPE_vec3(0,0,512);

      if (i % 5 != 2 && i % 5 != 1)
      { 
        if (i % 5 != 4)
        {
          forw = TPE_vec3Minus(joints[2].position,joints[0].position);
          right = TPE_vec3Minus(joints[1].position,joints[0].position);
        }
        else
          forw = TPE_vec3Minus(joints[1].position,joints[0].position);
      }

      TPE_Vec3 orient = TPE_orientationFromVecs(forw,right);

      switch (i % 5)
      {
        case 0: helper_draw3dCube(pos,TPE_vec3(1200,1200,1200),orient); break;
        case 1: helper_draw3dTriangle(joints[0].position,joints[1].position,joints[2].position); break;
        case 2: helper_draw3dSphere(pos,TPE_vec3(500,500,500),orient); break;
        case 3: helper_draw3dCube(pos,TPE_vec3(1200,400,1200),orient); break; 
        case 4: helper_draw3dCube(pos,TPE_vec3(200,200,1200),orient); break;
        default: break;
      }
    }

    helper_set3dColor(100,100,100); 
    helper_draw3dTriangle(TPE_vec3(0,0,0),TPE_vec3(-5000,5000,-10000),TPE_vec3(-5000,5000,10000));
    helper_set3dColor(140,140,140);
    helper_draw3dTriangle(TPE_vec3(0,0,0),TPE_vec3(-5000,5000,10000),TPE_vec3(5000,5000,0));
    helper_set3dColor(80,80,80);
    helper_draw3dTriangle(TPE_vec3(0,0,0),TPE_vec3(-5000,5000,-10000),TPE_vec3(5000,5000,0));

    if (helper_debugDrawOn)
      helper_debugDraw();

    helper_frameEnd();
  }

  helper_end();

  return 0;
}