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main.c

@@ -4,7 +4,6 @@
 #include <stdio.h>
 #include "objects.h"
 
-
 struct global {
   const int scwidth, scheight;
   int fps;
@@ -15,12 +14,6 @@ struct global {
 
 struct global gl = {1600, 900, 144, {}, 0, 15};
 
-float min(float a, float b)
-{return a>b?b:a;}
-
-float max(float a, float b)
-{return a>b?a:b;}
-
 void addobj(object *obj)
 {
   gl.objs[gl.obj_count++] = obj;
@@ -35,43 +28,6 @@ void drawobjs()
   }
 }
 
-Vector3 gravitation_force(object *obj1, object *obj2)
-{
-	const double GRAVITY_FACTOR = 1;
-	Vector3 force;
-	double dist, mass, total_g;
-	mass = obj1->mass * obj2->mass;
-	force = Vector3Subtract(obj2->pos, obj1->pos);
-
-	dist = Vector3Length(force);
-	force = Vector3Normalize(force);
-
-	dist = max(dist, obj1->r+obj2->r);
-
-	total_g = GRAVITY_FACTOR * mass / (dist * dist);
-	force = Vector3Scale(force, total_g);
-
-	return force;
-}
-
-void integrate_g(object *obj1, object *obj2, Vector3 force)
-{
-	Vector3 acc;
-	double f, a;
-
-	f = Vector3Length(force);
-	//acc = Vector3Scale(Vector3Subtract(obj1->pos, obj2->pos), f);
-	acc = force;
-
-	a = f / obj1->mass;
-	acc = Vector3Scale(Vector3Normalize(acc), a*GetFrameTime());
-	obj1->vel = Vector3Add(obj1->vel, acc);
-
-	a = f / obj2->mass;
-	acc = Vector3Scale(Vector3Normalize(acc), a*GetFrameTime());
-	obj2->vel = Vector3Add(obj2->vel, acc);
-}
-
 void updateobjs()
 {
   for (int i = 0; i < gl.obj_count; i++)
@@ -93,6 +49,10 @@ void updateobjs()
 			//{
 			//	Vector3SubtractValue(obj->pos, min_dist_delta);
 			//}
+			if (Vector3Distance(obj->pos, obj2->pos) < obj->r+obj2->r+0.01f)
+			{
+				resolve_collision(obj, obj2);
+			}
 		}
 		float ratio_speed_to_terminal = Vector3Length(obj->vel)/gl.terminal_v;
 		if (Vector3Length(obj->vel) > gl.terminal_v)
@@ -118,10 +78,9 @@ int main(void) {
   InitWindow(gl.scwidth, gl.scheight, "raylib engine");
 
   SetTargetFPS(gl.fps);
-  addobj(newobj((Vector3){0, 20, 0}, 3, RED, 1, 50000));
-  addobj(newobj((Vector3){4, 20, 0}, 1, BLUE, 1, 1000));
-  addobj(newobj((Vector3){-6, 18, 0}, 2, GREEN, 1, 2000));
-	gl.objs[1]->vel = (Vector3){0, 0, 2};
+  addobj(newobj((Vector3){0, 20, 0}, 1, RED, 1, 1000));
+  addobj(newobj((Vector3){8, 20, 0}, 2, BLUE, 1, 2000));
+	gl.objs[1]->vel = (Vector3){0, 0, 0};
   Camera3D camera = {{0, 20, -30}, {0, 0, 0}, {0, 1, 0}, 45, CAMERA_PERSPECTIVE};
 	DisableCursor();
 
@@ -133,7 +92,7 @@ int main(void) {
     {
       ClearBackground(BLACK);
       BeginMode3D(camera);
-      DrawPlane((Vector3){0, 0, 0}, (Vector2){100, 100}, GRAY);
+			DrawPlane((Vector3){0, 0, 0}, (Vector2){500, 500}, RAYWHITE);
       updateobjs();
       drawobjs();
       EndMode3D();

objects.c

@@ -0,0 +1,101 @@
+#include "objects.h"
+#include <math.h>
+#include <raymath.h>
+
+#define min(a, b) (a>b?b:a);
+#define max(a, b) (a>b?a:b);
+
+object *newobj(Vector3 pos, double r, Color c, double rest, double m)
+{
+  object *obj = (object*)malloc(sizeof(object));
+  obj->r = r;
+  obj->pos = pos;
+  obj->color = c;
+  obj->vel = (Vector3){0, 0, 0};
+  obj->restitution = rest;
+	obj->mass = m;
+  return obj;
+}
+
+Vector3 gravitation_force(object *obj1, object *obj2)
+{
+	const double GRAVITY_FACTOR = 1;
+	Vector3 force;
+	double dist, mass, total_g;
+	mass = obj1->mass * obj2->mass;
+	force = Vector3Subtract(obj2->pos, obj1->pos);
+
+	dist = Vector3Length(force);
+	force = Vector3Normalize(force);
+
+	dist = max(dist, obj1->r+obj2->r);
+
+	total_g = GRAVITY_FACTOR * mass / (dist * dist);
+	force = Vector3Scale(force, total_g);
+
+	return force;
+}
+
+void integrate_g(object *obj1, object *obj2, Vector3 force)
+{
+	Vector3 acc;
+	double f, a;
+
+	f = Vector3Length(force);
+	//acc = Vector3Scale(Vector3Subtract(obj1->pos, obj2->pos), f);
+	acc = force;
+
+	a = f / obj1->mass;
+	acc = Vector3Scale(Vector3Normalize(acc), a*GetFrameTime());
+	obj1->vel = Vector3Add(obj1->vel, acc);
+
+	a = f / obj2->mass;
+	acc = Vector3Scale(Vector3Normalize(acc), a*GetFrameTime());
+	obj2->vel = Vector3Add(obj2->vel, acc);
+}
+
+void resolve_collision(object *obj1, object *obj2)
+{
+	Vector3 normal = Vector3Subtract(obj1->pos, obj2->pos);
+	float distsq = Vector3LengthSqr(normal);
+	float sumrad = obj1->r+obj2->r;
+	float mindistsq = sumrad*sumrad;
+
+	if (distsq < mindistsq) {
+		float dist = sqrtf(distsq);
+
+		if (dist == 0) {
+			normal = Vector3RotateByAxisAngle(Vector3One(), (Vector3){0, 1, 1}, rand()*360);
+			dist = sumrad;
+		} else {
+			normal = Vector3Scale(normal, 1.0f / dist);
+		}
+
+		float overlap = sumrad - dist;
+		Vector3 separation = Vector3Scale(normal, overlap / 2.0f);
+
+		obj1->pos = Vector3Subtract(obj1->pos, separation);
+		obj2->pos = Vector3Add(obj2->pos, separation);
+
+	} else {
+		normal = Vector3Normalize(normal);
+	}
+
+	float vel1_normal = Vector3DotProduct(obj1->vel, normal);
+	float vel2_normal = Vector3DotProduct(obj2->vel, normal);
+
+	if (vel1_normal - vel2_normal > 0) return;
+
+	float totalmass = obj1->mass + obj2->mass;
+	float vel1_normal_final = (obj1->mass * vel1_normal + obj2->mass * vel2_normal - obj2->mass * obj2->restitution * (vel1_normal - vel2_normal)) / totalmass;
+	float vel2_normal_final = (obj1->mass * vel1_normal + obj2->mass * vel2_normal - obj2->mass * obj1->restitution * (vel2_normal - vel1_normal)) / totalmass;
+
+	Vector3 vel1_tang = Vector3Subtract(obj1->vel, Vector3Scale(normal, vel1_normal));
+	Vector3 vel2_tang = Vector3Subtract(obj2->vel, Vector3Scale(normal, vel2_normal));
+
+	obj1->vel = Vector3Add(Vector3Scale(normal, vel1_normal_final), vel1_tang);
+	obj2->vel = Vector3Add(Vector3Scale(normal, vel2_normal_final), vel2_tang);
+
+}
+
+

objects.h

@@ -1,5 +1,6 @@
 #pragma once
 #include <raylib.h>
+#include <raymath.h>
 #include <stdlib.h>
 
 typedef struct {
@@ -11,14 +12,8 @@ typedef struct {
 	double mass;
 } object;
 
-object *newobj(Vector3 pos, double r, Color c, double rest, double m)
-{
-  object *obj = (object*)malloc(sizeof(object));
-  obj->r = r;
-  obj->pos = pos;
-  obj->color = c;
-  obj->vel = (Vector3){0, 0, 0};
-  obj->restitution = rest;
-	obj->mass = m;
-  return obj;
-}
+
+object *newobj(Vector3 pos, double r, Color c, double rest, double m);
+Vector3 gravitation_force(object *obj1, object *obj2);
+void integrate_g(object *obj1, object *obj2, Vector3 force);
+void resolve_collision(object *obj1, object *obj2);