Fixed issue with physics timestep

README.md

@@ -155,10 +155,11 @@
 
 - ## TODO
 
-	- Trimesh support
+	- Proper physics time-step and speed
+	- Fix lights type not being correctly saved/loaded from file
+	- Physics Trimesh support
 	- Debug physics mesh drawing
 	- Serializing/Deserializing physics data
-	- Proper physics time-step and speed
 	- Storing entity reference/id in rigidbody
 	- Storing rigidbody in entity
 	- Expose complete physics api with forces/joints etc

assets/test_scene.symtres

@@ -0,0 +1,455 @@
+Entity
+{
+	type : 2
+	scale : 1.000 1.000 1.000
+	rotation : 0.000 0.000 0.000 1.000
+	is_listener : false
+	position : 0.000 0.000 0.000
+	parent : NONE
+	name : ROOT
+	renderable : false
+}
+
+Entity
+{
+	type : 3
+	scale : 1.000 1.000 1.000
+	fov : 60.0000
+	rotation : 0.000 0.000 0.000 1.000
+	zoom : 1.0000
+	fbo_has_render_tex : true
+	resizeable : true
+	nearz : 0.1000
+	is_listener : false
+	position : 10.000 5.000 100.000
+	farz : 1000.0000
+	fbo_height : 720
+	parent : ROOT
+	ortho : false
+	fbo_width : 1280
+	fbo_has_depth_tex : true
+	name : player
+	renderable : false
+	has_fbo : true
+	clear_color : 0.300 0.600 0.900 1.000
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 0.000 50.000 0.000
+	parent : ROOT
+	name : Model_Entity
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 400.000 2.000 400.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 0.000 0.000 0.000
+	parent : ROOT
+	name : Ground
+	renderable : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.500 0.500 0.167
+	radius : 20.0000
+	is_listener : false
+	position : 40.000 0.000 120.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.111 0.333 0.250
+	radius : 20.0000
+	is_listener : false
+	position : 180.000 0.000 80.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.200 0.111 0.125
+	radius : 20.0000
+	is_listener : false
+	position : 100.000 0.000 160.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.500 0.167 0.100
+	radius : 20.0000
+	is_listener : false
+	position : 40.000 0.000 200.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 1.000 1.000 0.111
+	radius : 20.0000
+	is_listener : false
+	position : 20.000 0.000 180.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.167 0.125 1.000
+	radius : 20.0000
+	is_listener : false
+	position : 120.000 0.000 20.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 1.000 1.000 0.333
+	radius : 20.0000
+	is_listener : false
+	position : 20.000 0.000 60.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.143 0.167 0.200
+	radius : 20.0000
+	is_listener : false
+	position : 140.000 0.000 100.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.167 0.333 0.167
+	radius : 20.0000
+	is_listener : false
+	position : 120.000 0.000 120.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 4
+	scale : 1.000 1.000 1.000
+	inner_angle : 0.3491
+	falloff : 1.5000
+	light_type : 2
+	depth_bias : 0.0005
+	rotation : 0.000 0.000 0.000 1.000
+	cast_shadow : false
+	intensity : 1.0000
+	color : 0.125 0.250 0.100
+	radius : 20.0000
+	is_listener : false
+	position : 160.000 0.000 200.000
+	outer_angle : 0.5236
+	parent : ROOT
+	name : Light_Ent
+	pcf_enabled : false
+	renderable : false
+	valid : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 9.000 0.000 3.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 3.000 0.000 4.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 9.000 0.000 5.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 9.000 0.000 6.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 10.000 0.000 1.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 9.000 0.000 8.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 4.000 0.000 4.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 6.000 0.000 1.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 10.000 0.000 5.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 5
+	scale : 1.000 1.000 1.000
+	material : Blinn_Phong
+	rotation : 0.000 0.000 0.000 1.000
+	geometry : default.pamesh
+	is_listener : false
+	position : 6.000 0.000 9.000
+	parent : Model_Entity
+	name : Suzanne
+	renderable : true
+}
+
+Entity
+{
+	type : 6
+	scale : 1.000 1.000 1.000
+	volume : 0.5000
+	rolloff_factor : 0.9500
+	rotation : 0.000 0.000 0.000 1.000
+	loop : true
+	sound_min_distance : 1.0000
+	playing : true
+	is_listener : false
+	position : 0.000 0.000 0.000
+	source_filename : sounds/teh_beatz.wav
+	parent : Suzanne
+	sound_type : 0
+	sound_max_distance : 10.0000
+	name : Sound_Ent
+	sound_attenuation_type : 1
+	renderable : false
+}
+

build/genie.lua

@@ -104,6 +104,7 @@ solution "Symmetry"
 				"copy ..\\..\\lib\\windows\\sdl2\\SDL2.dll debug\\ /Y",
 				"copy ..\\..\\lib\\windows\\soloud\\soloud_x64_d.dll debug\\ /Y",
 				"copy ..\\..\\lib\\windows\\ode\\ode_doubled.dll debug\\ /Y",
+				"copy ..\\..\\lib\\windows\\ode\\ode_doubled.pdb debug\\ /Y",
 				"rmdir debug\\assets",
 				"mklink /D debug\\assets ..\\..\\..\\assets"
 			}

src/common/common.h

@@ -66,6 +66,8 @@ struct Physics_Api
 	Rigidbody (*box_create)(float length, float width, float height);
 	void      (*body_set_moved_callback)(Rigidbody body, RigidbodyMoveCB callback);
 	void      (*body_kinematic_set)(Rigidbody body);
+	void      (*body_mass_set)(Rigidbody body, float mass);
+	float     (*body_mass_get)(Rigidbody body);
 };
 
 struct Sound_Api

src/game/main.c

@@ -132,6 +132,8 @@ int main(int argc, char** args)
 				.body_rotation_set       = &physics_body_rotation_set,
 				.body_rotation_get       = &physics_body_rotation_get,
 				.body_kinematic_set      = &physics_body_kinematic_set,
+				.body_mass_set           = &physics_body_mass_set,
+				.body_mass_get           = &physics_body_mass_get,
 				.body_set_moved_callback = &physics_body_set_moved_callback,
 				.plane_create            = &physics_plane_create,
 				.box_create              = &physics_box_create

src/game/physics.c

@@ -34,7 +34,15 @@ void physics_init(void)
 		log_message("Physics world created");
 		Physics.space = dHashSpaceCreate(0);
 		Physics.contact_group = dJointGroupCreate(0);
-		Physics.step_size = 0.16;
+		Physics.step_size = 0.016;
+		dWorldSetCFM(Physics.world,1e-5);
+		dWorldSetAutoDisableFlag(Physics.world, 1);
+		dWorldSetLinearDamping( Physics.world, 0.00001);
+		dWorldSetAngularDamping( Physics.world, 0.005);
+		dWorldSetMaxAngularSpeed( Physics.world, 200);
+
+		dWorldSetContactMaxCorrectingVel( Physics.world,0.1);
+		dWorldSetContactSurfaceLayer( Physics.world,0.001);
 	}
 }
 
@@ -52,11 +60,19 @@ void physics_cleanup(void)
 
 void physics_step(float delta_time)
 {
+	//if(delta_time <= 0.f) delta_time = Physics.step_size;
+	//dSpaceCollide(Physics.space, NULL, physics_near_callback);
+	//dWorldQuickStep(Physics.world, delta_time);
+	////dWorldStep(Physics.world, Physics.step_size);
+	//dJointGroupEmpty(Physics.contact_group);
+
 	int steps = (int)ceilf(delta_time / Physics.step_size);
+	//log_message("Num steps : %d", steps);
 	for(int i = 0; i < steps; i++)
 	{
 		dSpaceCollide(Physics.space, NULL, physics_near_callback);
 		dWorldQuickStep(Physics.world, Physics.step_size);
+		//dWorldStep(Physics.world, Physics.step_size);
 		dJointGroupEmpty(Physics.contact_group);
 	}
 }
@@ -116,39 +132,59 @@ void physics_near_callback(void* data, dGeomID o1, dGeomID o2)
 	assert(o1);
 	assert(o2);
 
-	if(dGeomIsSpace(o1) || dGeomIsSpace(o2))
+	//if(dGeomIsSpace(o1) || dGeomIsSpace(o2))
-	{
+	//{
-		fprintf(stderr, "testing space %p %p\n", (void*)o1, (void*)o2);
+	//	fprintf(stderr, "testing space %p %p\n", (void*)o1, (void*)o2);
-		// colliding a space with something
+	//	// colliding a space with something
-		dSpaceCollide2(o1, o2, data, &physics_near_callback);
+	//	dSpaceCollide2(o1, o2, data, &physics_near_callback);
-		// Note we do not want to test intersections within a space,
+	//	// Note we do not want to test intersections within a space,
-		// only between spaces.
+	//	// only between spaces.
-		return;
+	//	return;
-	}
+	//}
 
 	//  fprintf(stderr,"testing geoms %p %p\n", o1, o2);
 
-	const int N = 32;
+	// exit without doing anything if the two bodies are connected by a joint
-	dContact contact[32];
+	dBodyID b1 = dGeomGetBody(o1);
-	int n = dCollide(o1, o2, N, &(contact[0].geom), sizeof(dContact));
+	dBodyID b2 = dGeomGetBody(o2);
+
+	if (b1 && b2 && dAreConnectedExcluding(b1,b2,dJointTypeContact))
+		return;
+
+	if(o1 == o2)
+		log_message("same body!");
+
+
+#define MAX_CONTACTS 8
+	dContact contact[MAX_CONTACTS];
+	for (int i = 0; i < MAX_CONTACTS; i++)
+	{
+		//contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+		contact[i].surface.mode = dContactBounce | dContactSoftCFM;
+		contact[i].surface.mu = dInfinity;
+		contact[i].surface.mu2 = 0;
+		contact[i].surface.bounce = 0.1;
+		contact[i].surface.bounce_vel = 0.1;
+		contact[i].surface.soft_cfm = 0.01;
+	}
+
+	int n = dCollide(o1, o2, MAX_CONTACTS, &(contact[0].geom), sizeof(dContact));
 	if(n > 0)
 	{
-		for(int i = 0; i<n; i++)
+		log_message("Collision!");
-		{
+		for(int i = 0; i < n; i++)
-			// Paranoia  <-- not working for some people, temporarily removed for 0.6
+		{	
-			//dIASSERT(dVALIDVEC3(contact[i].geom.pos));
+			//contact[i].surface.slip1 = 0.7;
-			//dIASSERT(dVALIDVEC3(contact[i].geom.normal));
+			//contact[i].surface.slip2 = 0.7;
-			//dIASSERT(!dIsNan(contact[i].geom.depth));
+			//contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
-			contact[i].surface.slip1 = 0.7;
+			//contact[i].surface.mu = 50.0; // was: dInfinity
-			contact[i].surface.slip2 = 0.7;
+			//contact[i].surface.soft_erp = 0.96;
-			contact[i].surface.mode = dContactSoftERP | dContactSoftCFM | dContactApprox1 | dContactSlip1 | dContactSlip2;
+			//contact[i].surface.soft_cfm = 0.04;
-			contact[i].surface.mu = 50.0; // was: dInfinity
+
-			contact[i].surface.soft_erp = 0.96;
-			contact[i].surface.soft_cfm = 0.04;
 			dJointID c = dJointCreateContact(Physics.world, Physics.contact_group, &contact[i]);
-			dJointAttach(c,
+			dJointAttach(c, b1, b2);
-				dGeomGetBody(contact[i].geom.g1),
+				/*dGeomGetBody(contact[i].geom.g1),
-				dGeomGetBody(contact[i].geom.g2));
+				dGeomGetBody(contact[i].geom.g2));*/
 		}
 	}
 }
@@ -167,6 +203,9 @@ Rigidbody physics_box_create(float length, float width, float height)
 	dGeomID box = dCreateBox(Physics.space, length, height, width);
 	dBodyID body = dBodyCreate(Physics.world);
 	dGeomSetBody(box, body);
+	dBodySetAngularVel(body, 0, 0, 0);
+	dBodySetLinearVel(body, 0, 0, 0);
+	dBodySetTorque(body, 0, 0, 0);
 	return body;
 }
 
@@ -182,7 +221,9 @@ float physics_body_mass_get(Rigidbody body)
 
 void physics_body_mass_set(Rigidbody body, float mass)
 {
-	
+	/*dMass dmass;
+	dMassAdjust(&dmass, mass);
+	dBodySetMass(body, &dmass);*/
 }
 
 void physics_body_kinematic_set(Rigidbody body)

src/libsymmetry/entity.c

@@ -609,28 +609,28 @@ const char* entity_type_name_get(struct Entity* entity)
 	default:              typename = "Unknown";      break;
 	};
 	return typename;
-}
+}
-
+
-void entity_apply_sound_params(struct Entity* entity)
+void entity_apply_sound_params(struct Entity* entity)
-{
+{
-	if(entity->type != ET_SOUND_SOURCE) return;
+	if(entity->type != ET_SOUND_SOURCE) return;
-
+
-	struct Sound_Source* sound_source = &entity->sound_source;
+	struct Sound_Source* sound_source = &entity->sound_source;
-
+
-	// Check if sound source has no buffer attached but filename exists, this would mean we have to load the file first
+	// Check if sound source has no buffer attached but filename exists, this would mean we have to load the file first
-	if(!sound_source->source && sound_source->source_filename)
+	if(!sound_source->source && sound_source->source_filename)
-	{
+	{
-		sound_source->source = platform->sound.source_create(sound_source->source_filename, sound_source->type);
+		sound_source->source = platform->sound.source_create(sound_source->source_filename, sound_source->type);
-		if(!sound_source->source)
+		if(!sound_source->source)
-		{
+		{
-			log_error("entity:sync_sound_params", "Failed to load file '%s' to provide sound source for entity %s", sound_source->source_filename, entity->name);
+			log_error("entity:sync_sound_params", "Failed to load file '%s' to provide sound source for entity %s", sound_source->source_filename, entity->name);
-			free(sound_source->source_filename);
+			free(sound_source->source_filename);
-			sound_source->source_filename = NULL;
+			sound_source->source_filename = NULL;
-			sound_source->source_instance = 0;
+			sound_source->source_instance = 0;
-			return;
+			return;
-		}
+		}
-	}
+	}
-
+
 	if(sound_source->source_instance == 0) sound_source->source_instance = platform->sound.source_instance_create(sound_source->source, true);
 
 	vec3 abs_pos = {0.f, 0.f,  0.f};
@@ -647,5 +647,11 @@ void entity_apply_sound_params(struct Entity* entity)
 	platform->sound.source_instance_volume_set(sound_source->source_instance, sound_source->volume);
 
 	platform->sound.update_3d();
-	if(sound_source->playing) platform->sound.source_instance_play(sound_source->source_instance);
+	if(sound_source->playing) platform->sound.source_instance_play(sound_source->source_instance);
+}
+
+
+void entity_on_rigidbody_move(Rigidbody body_A, Rigidbody body_B)
+{
+	
 }

src/libsymmetry/entity.h

@@ -141,6 +141,6 @@ bool           entity_write(struct Entity* entity, struct Parser_Object* object)
 struct Entity* entity_read(struct Parser_Object* object);
 const char*    entity_type_name_get(struct Entity* entity);
 void           entity_apply_sound_params(struct Entity* entity); // Convenience function to sync the data set in entity's sound_source with the actual sound source's instance
-
+void           entity_on_rigidbody_move(Rigidbody body_A, Rigidbody body_B);
 
 #endif