// Unit vector in the v direction
Vector3D VectorNormalize(Vector3D v)
{
float length = VectorMagnitude(v);
if (length == 0) return v;
return VectorScalarMult( v, 1.0/length);
}
V3 EulerIntegrate(V3 deltaP, V3 velcoity, float deltaT)
{
V3 offset = RVector3Scale(deltaP, 0.5f);
VectorScalarMult(&offset, deltaT * deltaT);
// 1/2at^2 * vt
V3 v = RVector3Scale(velcoity, deltaT);
return RVector3Add(offset, v);
}
/*
=================
R_DrawSpriteModel
=================
*/
void R_DrawSpriteModel (entity_t *e)
{
vec3_t point;
mspriteframe_t *frame;
float *up, *right;
vec3_t v_forward, v_right, v_up;
msprite_t *psprite;
// 2001-12-15 Oriented sprites fix by Atomizer start
vec3_t fixed_origin;
vec3_t temp;
// 2001-12-15 Oriented sprites fix by Atomizer end
// don't even bother culling, because it's just a single
// polygon without a surface cache
frame = R_GetSpriteFrame (e);
psprite = currententity->model->cache.data;
VectorCopy(e->origin,fixed_origin); // 2001-12-15 Oriented sprites fix by Atomizer
if (psprite->type == SPR_ORIENTED)
{ // bullet marks on walls
AngleVectors (currententity->angles, v_forward, v_right, v_up);
// 2001-12-15 Oriented sprites fix by Atomizer start
VectorScalarMult(v_forward,-2,temp);
VectorAdd(temp,fixed_origin,fixed_origin);
// 2001-12-15 Oriented sprites fix by Atomizer end
up = v_up;
right = v_right;
}
else
{ // normal sprite
up = vup;
right = vright;
}
glColor3f (1,1,1);
GL_DisableMultitexture();
GL_Bind(frame->gl_texturenum);
glEnable (GL_ALPHA_TEST);
glBegin (GL_QUADS);
glTexCoord2f (0, 1);
// 2001-12-15 Oriented sprites fix by Atomizer start
// VectorMA (e->origin, frame->down, up, point);
VectorMA (fixed_origin, frame->down, up, point);
// 2001-12-15 Oriented sprites fix by Atomizer end
VectorMA (point, frame->left, right, point);
glVertex3fv (point);
glTexCoord2f (0, 0);
// 2001-12-15 Oriented sprites fix by Atomizer start
// VectorMA (e->origin, frame->up, up, point);
VectorMA (fixed_origin, frame->up, up, point);
// 2001-12-15 Oriented sprites fix by Atomizer end
VectorMA (point, frame->left, right, point);
glVertex3fv (point);
glTexCoord2f (1, 0);
// 2001-12-15 Oriented sprites fix by Atomizer start
// VectorMA (e->origin, frame->up, up, point);
VectorMA (fixed_origin, frame->up, up, point);
// 2001-12-15 Oriented sprites fix by Atomizer end
VectorMA (point, frame->right, right, point);
glVertex3fv (point);
glTexCoord2f (1, 1);
// 2001-12-15 Oriented sprites fix by Atomizer start
// VectorMA (e->origin, frame->down, up, point);
VectorMA (fixed_origin, frame->down, up, point);
// 2001-12-15 Oriented sprites fix by Atomizer end
VectorMA (point, frame->right, right, point);
glVertex3fv (point);
glEnd ();
glDisable (GL_ALPHA_TEST);
}
void MoveRect(CollisionManager* manager, RigidBody* body, Rect rect, V3 deltaP, float deltaT)
{
V3 velocity;
V3 offset = EulerIntegrate(deltaP, body->v, deltaT);
float epsilon = 0.001f;
VectorAdd(&velocity, RVector3Scale(deltaP, deltaT));
//Check For Collisions
for(int it = 0; it < 4; ++it)
{
Contact contacts[5];
int contact_count = 0;
float t = 1.0f;
if( VectorLength(offset) )
{
V3 point;
int result = 0;
int bytes = 0;
u32 size = 0;
int count = 0;
char* shapes = manager->shapes;
while(bytes < manager->used)
{
u32* t_shapes = (u32*)(shapes++);
size = *t_shapes;
if(size == RECT_SIZE)
{
Rect* r = (Rect*)(shapes + bytes);
result = TestRectRect(rect, *r, &point);
if(result)
{
Contact c = {};
c.p1 = ClosestPointOnRect(body->c, *r);
c.p2 = ClosestPointOnRect(c.p1, rect);
V3 dist = RVector3Sub(c.p1, c.p2);
float tHit = Max(0.0f, VectorLength(dist) / VectorLength(offset) - epsilon);
if(tHit < t) t = tHit;
c.t = tHit;
//c.d = CalculateClosingV(body->c, body->v, , );
Rect minkowski_rect = *r;
VectorAdd(&minkowski_rect.d, rect.d);
c.normal = GetRectNormal(minkowski_rect, body->c);
contacts[contact_count++] = c;
}
}
else if(size == SPHERE_SIZE)
{
Sphere* s = (Sphere*)(shapes + bytes);
result = TestSphereRect(*s, rect, &point);
if(result)
{
//TO DO: Create Contact
}
}
else if(size == CAPSULE_SIZE)
{
Capsule* cap = (Capsule*)(shapes + bytes);
result = TestCapsuleRect(*cap, rect);
if(result)
{
}
}
else
{
//GJK
}
bytes += size;
++count;
}//End of Entities
//Calculate New Positions and Velocities
VectorAdd(&body->c, RVector3Scale(offset, t));
if(t == 1.0f) break;
{
int contact = 0;
while(contact < contact_count)
{
Contact* c = &contacts[contact++];
V3 normal = c->normal;
V3 v = body->v;
float contact_speed = Dot(normal, v);
float dot = Dot(v, normal);
VectorScalarMult(&normal, dot);
VectorSubtract(&body->v, v, normal);
normal = c->normal;
dot = Dot(offset, normal);
VectorScalarMult(&normal, dot);
VectorSubtract(&offset, offset, normal);
}
}
}
else
{
break;
}
}//End of Iteration
}
