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NE10_physics.c
/*
* Copyright 2014-15 ARM Limited and Contributors.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of ARM Limited nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY ARM LIMITED AND CONTRIBUTORS "AS IS" AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL ARM LIMITED AND CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/*
* NE10 Library : physics/NE10_physics.c
*/
#include "NE10_types.h"
static inline ne10_vec2f_t ne10_mul_matvec_float (ne10_mat2x2f_t T, ne10_vec2f_t v)
{
ne10_vec2f_t tmp;
ne10_float32_t x = (T.c2.r2 * v.x - T.c2.r1 * v.y) + T.c1.r1;
ne10_float32_t y = (T.c2.r1 * v.x + T.c2.r2 * v.y) + T.c1.r2;
tmp.x = x;
tmp.y = y;
return tmp;
}
static inline ne10_float32_t min (float a, ne10_float32_t b)
{
return a < b ? a : b;
}
static inline ne10_vec2f_t min_2f (ne10_vec2f_t a, ne10_vec2f_t b)
{
ne10_vec2f_t tmp = {min (a.x, b.x), min (a.y, b.y) };
return tmp;
}
static inline ne10_float32_t max (float a, ne10_float32_t b)
{
return a > b ? a : b;
}
static inline ne10_vec2f_t max_2f (ne10_vec2f_t a, ne10_vec2f_t b)
{
ne10_vec2f_t tmp = {max (a.x, b.x), max (a.y, b.y) };
return tmp;
}
void ne10_physics_compute_aabb_vec2f_c (ne10_mat2x2f_t *aabb,
ne10_vec2f_t *vertices,
ne10_mat2x2f_t *xf,
ne10_vec2f_t *radius,
ne10_uint32_t vertex_count)
{
ne10_vec2f_t lower = ne10_mul_matvec_float (*xf, vertices[0]);
ne10_vec2f_t upper = lower;
ne10_vec2f_t v;
ne10_int32_t i;
for (i = 1; i < vertex_count; ++i)
{
v = ne10_mul_matvec_float (*xf, vertices[i]);
lower = min_2f (lower, v);
upper = max_2f (upper, v);
}
aabb->c1.r1 = lower.x - radius->x;
aabb->c1.r2 = lower.y - radius->y;
aabb->c2.r1 = upper.x + radius->x;
aabb->c2.r2 = upper.y + radius->y;
}
void ne10_physics_relative_v_vec2f_c (ne10_vec2f_t *dv,
ne10_vec3f_t *v_wa,
ne10_vec2f_t *ra,
ne10_vec3f_t *v_wb,
ne10_vec2f_t *rb,
ne10_uint32_t count)
{
ne10_int32_t i;
ne10_vec2f_t va;
ne10_vec2f_t vb;
for (i = 0; i < count; i++)
{
va.x = v_wa->x - v_wa->z * ra->y;
va.y = v_wa->y + v_wa->z * ra->x;
vb.x = v_wb->x - v_wb->z * rb->y;
vb.y = v_wb->y + v_wb->z * rb->x;
dv->x = vb.x - va.x;
dv->y = vb.y - va.y;
v_wa++;
v_wb++;
ra++;
rb++;
dv++;
}
}
void ne10_physics_apply_impulse_vec2f_c (ne10_vec3f_t *v_wa,
ne10_vec3f_t *v_wb,
ne10_vec2f_t *ra,
ne10_vec2f_t *rb,
ne10_vec2f_t *ima,
ne10_vec2f_t *imb,
ne10_vec2f_t *p,
ne10_uint32_t count)
{
ne10_int32_t i;
for (i = 0; i < count; i++)
{
v_wa->x -= ima->x * p->x;
v_wa->y -= ima->x * p->y;
v_wa->z -= ima->y * (ra->x * p->y - ra->y * p->x);
v_wb->x += imb->x * p->x;
v_wb->y += imb->x * p->y;
v_wb->z += imb->y * (rb->x * p->y - rb->y * p->x);
v_wa++;
v_wb++;
ra++;
rb++;
ima++;
imb++;
p++;
}
}
ne10_physics_compute_aabb_vec2f_c
void ne10_physics_compute_aabb_vec2f_c(ne10_mat2x2f_t *aabb, ne10_vec2f_t *vertices, ne10_mat2x2f_t *xf, ne10_vec2f_t *radius, ne10_uint32_t vertex_count)
compute AABB for ploygon.
Definition NE10_physics.c:95
ne10_physics_apply_impulse_vec2f_c
void ne10_physics_apply_impulse_vec2f_c(ne10_vec3f_t *v_wa, ne10_vec3f_t *v_wb, ne10_vec2f_t *ra, ne10_vec2f_t *rb, ne10_vec2f_t *ima, ne10_vec2f_t *imb, ne10_vec2f_t *p, ne10_uint32_t count)
apply contact impulse.
Definition NE10_physics.c:176
ne10_physics_relative_v_vec2f_c
void ne10_physics_relative_v_vec2f_c(ne10_vec2f_t *dv, ne10_vec3f_t *v_wa, ne10_vec2f_t *ra, ne10_vec3f_t *v_wb, ne10_vec2f_t *rb, ne10_uint32_t count)
calculate relative velocity at contact.
Definition NE10_physics.c:132
ne10_vec2f_t
a 2-tuple of ne10_float32_t values.
Definition NE10_types.h:88
ne10_vec3f_t
a 3-tuple of ne10_float32_t values.
Definition NE10_types.h:97