41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
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#include "base.h"
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#include "simulation.h"
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#include "../lib/geometry.h"
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#include "collision.h"
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void phy_integrate(phy_world *world, f64 delta_t)
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{
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for(u32 i = 0; i < world->bodies_count; i++)
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{
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phy_body *body = world->bodies + i;
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body->velocity += world->gravity * body->gravity_multiplier * delta_t;
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body->position += body->velocity * delta_t;
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body->rotation += body->angular_velocity * delta_t;
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}
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}
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void phy_simulate(phy_world *world, f64 delta_t)
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{
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// @Performance: Grouping for optimizations (active/inactive, constraints)
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phy_integrate(world, delta_t);
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u32 max_pairs = 1000; // @Correctness: this should be dynamic and should reuse memory when possible
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u32 num_pairs = 0;
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phy_body_pair *pair_list = PHY_ALLOC(phy_body_pair, max_pairs);
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phy_collisions_broadphase(world, pair_list, max_pairs, &num_pairs);
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u32 max_collisions = 1000;
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u32 num_collisions = 0;
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phy_collision *collision_list = PHY_ALLOC(phy_collision, max_collisions);
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phy_collisions_detection(world, pair_list, minimum(max_pairs, num_pairs), collision_list, max_collisions, &num_collisions);
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phy_collisions_resolution(world, collision_list, minimum(max_collisions, num_collisions));
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PHY_FREE(pair_list);
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PHY_FREE(collision_list);
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}
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