source: nanovis/trunk/shaders/update_pos_vel.cg @ 5401

/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- */
/*
 * Copyright (c) 2004-2013  HUBzero Foundation, LLC
 *
 * Authors:
 *   Wei Qiao <qiaow@purdue.edu>
 */

// update velocity and position in a single pass using MRT

#include "common.cg"

void main(in float2 uv : TEXCOORD0,
          uniform samplerRECT pos_tex,
          uniform samplerRECT vel_tex,
          uniform sampler2D terrain_tex,
          uniform float timestep = 0.01,
          uniform float damping = 0.99,
          uniform float3 gravity = float3(0, -1, 0),
          uniform float3 spherePos,
          uniform float3 sphereVel,
          out float4 new_pos : COLOR0,
          out float4 new_vel : COLOR1)
{
    const float3 terrain_scale = float3(8.0, 2.0, 8.0);
    const float3 terrain_offset = float3(-4.0, 0.01, -4.0);

    float3 pos = texRECT(pos_tex, uv).xyz;
    float3 vel = texRECT(vel_tex, uv).xyz;

    float3 pos_next = pos + vel * timestep;  // predicted position next timestep

    // update velocity
    float3 force = gravity;
    // float3 force = 0.0;
    // Gravitation(pos, spherePos, force, 0.1);

    SphereCollide(pos_next, vel, spherePos, 1.0, sphereVel, 0.5, force);
    // FloorCollide(pos_next, vel, 0.0, 0.5, force);    
    TerrainCollide(pos_next, vel, terrain_tex, terrain_scale, terrain_offset, 0.5);

    const float inv_mass = 1.0;    
    vel += force * inv_mass * timestep; // F = ma      
    vel *= damping;

    // update position
    SphereConstraint(pos, spherePos, 1.0f);
    // FloorConstraint(pos, 0.0f);
    TerrainConstraint(pos, terrain_tex, terrain_scale, terrain_offset);

    pos += vel * timestep;

    new_vel = float4(vel, 1);
    new_pos = float4(pos, 1);
}