gate groundwork

[carveJwlIkooP6JGAAIwe30JlM.git] / main.c

#define VG_3D
#define VG_FRAMEBUFFER_RESIZE 1
#include "vg/vg.h"

/* Resources */
vg_tex2d tex_norwey = { .path = "textures/norway_foliage.qoi" };
vg_tex2d tex_grid = { .path = "textures/grid.qoi" };
vg_tex2d tex_sky = { .path = "textures/sky.qoi" };
vg_tex2d tex_gradients = { .path = "textures/gradients.qoi",
                           .flags = VG_TEXTURE_CLAMP };
vg_tex2d tex_cement = { .path = "textures/cement512.qoi" };
vg_tex2d tex_pallet = { .path = "textures/ch_gradient.qoi" };

vg_tex2d *texture_list[] =
{
   &tex_norwey,
   &tex_gradients,
   &tex_grid,
   &tex_sky,
   &tex_cement,
   &tex_pallet
};

SHADER_DEFINE( shader_blit,
   "layout (location=0) in vec2 a_co;"
   "out vec2 aUv;"
   ""
        "void main()"
        "{"
                "gl_Position = vec4(a_co*2.0-1.0,0.0,1.0);"
      "aUv = a_co;"
        "}",

   /* Fragment */
        "out vec4 FragColor;"
        ""
   "uniform sampler2D uTexMain;"
   ""
   "in vec2 aUv;"
   ""
        "void main()"
        "{"
      "FragColor = texture( uTexMain, aUv );"
        "}"
        ,
        UNIFORMS({ "uTexMain" })
)

/* Convars */
static int freecam = 0;
static int debugview = 0;
static int debugsdf = 0;
static int sv_debugcam = 0;
static int sv_phys = 0;
static int thirdperson = 0;
static int clock_divider = 1;
static int replay_record = 0;

static m4x3f *replay_buffer = NULL;
static int replay_buffer_frame = 0;

#define REPLAY_LENGTH 120*60

/* Components */
#include "road.h"
#include "scene.h"
#include "ik.h"
#include "character.h"
#include "terrain.h"
#include "ragdoll.h"
#include "rigidbody.h"
#include "gate.h"

int main( int argc, char *argv[] )
{ 
   vg_init( argc, argv, "Voyager Game Engine" ); 
}

m4x3f world_matrix;

static struct gplayer
{
   /* Physics */
   v3f co, v, a, v_last;
   v4f rot;
   float vswitch, slip, slip_last,
         reverse;

   float iY;   /* Yaw inertia */
   int in_air, is_dead;

   /* Input */
   v2f joy_l;

   v3f view;
   v3f follow;
   v2f look_dir;  /* TEMP */
   v2f board_xy;
   float grab;
   float pitch;

   v3f land_target;
   v3f land_target_log[22];
   u32 land_target_colours[22];
   int land_log_count;
   m3x3f vr;

   m4x3f to_world, to_local;
   
   struct character mdl;

   v3f handl_target, handr_target,
       handl, handr;
}
player;

static struct gworld
{
   scene geo;
   submodel sm_road, sm_terrain;

   v3f tutorial;
}
world;

static struct grender
{
   GLuint fb_background,
          rgb_background;

   glmesh fsquad;
}
render;

rigidbody mr_box = {
   .bbx = {{ -1.0f, -0.25f, -0.25f }, { 1.0f, 0.25f, 0.25f }}
};

rigidbody mrs_box = {
   .bbx = {{ -0.5f, -0.25f, -0.25f }, { 0.5f, 0.25f, 0.25f }}
};

teleport_gate gate_a = {
   .co = { 0.0f, -3.0f, -15.0f },
   .q = { 0.0f, 0.0f, 0.0f, 1.0f }
}, 
gate_b = {
   .co = { -8.0f, -3.0f, -17.0f },
   .q = { 0.0f, 0.0f, 0.0f, 1.0f }
};

static void player_transform_update(void)
{
   q_normalize( player.rot );
   q_m3x3( player.rot, player.to_world );
   v3_copy( player.co, player.to_world[3] );

   m4x3_invert_affine( player.to_world, player.to_local );
}

static int reset_player( int argc, char const *argv[] )
{
   v3_zero( player.co );

   if( argc == 1 )
   {
      if( !strcmp( argv[0], "tutorial" ))
         v3_copy( world.tutorial, player.co );
   }

   v3_copy( (v3f){ 0.0f, 0.0f, -0.2f }, player.v );
   q_identity( player.rot );
   player.vswitch = 1.0f;
   player.slip_last = 0.0f;
   player.is_dead = 0;
   player.in_air = 1;
   m3x3_identity( player.vr );

   player.mdl.shoes[0] = 1;
   player.mdl.shoes[1] = 1;

   player_transform_update();
   return 0;
}

static int playermodel( int argc, char const *argv[] )
{
   if( argc < 1 ) return 0;
   
   glmesh old_mesh = player.mdl.mesh;

   if( character_load( &player.mdl, argv[0] ) )
      mesh_free( &old_mesh );

   return 1;
}

void vg_register(void)
{
   scene_register();
   gate_register();
   character_shader_register();
   SHADER_INIT( shader_blit );
}

void vg_start(void)
{
   replay_buffer = malloc( sizeof(m4x3f) * REPLAY_LENGTH * (PART_COUNT) );

   vg_tex2d_init( texture_list, vg_list_size( texture_list ) );

   rb_init( &mr_box );
   rb_init( &mrs_box );
   mrs_box.co[2] += 2.0f;

   vg_convar_push( (struct vg_convar){
      .name = "frame",
      .data = &replay_buffer_frame,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=REPLAY_LENGTH-1, .clamp=1 },
      .persistent = 0
   });

   vg_convar_push( (struct vg_convar){
      .name = "rec",
      .data = &replay_record,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=1 },
      .persistent = 0
   });

   vg_convar_push( (struct vg_convar){
      .name = "freecam",
      .data = &freecam,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=1 },
      .persistent = 1
   });

   vg_convar_push( (struct vg_convar){
      .name = "debugcam",
      .data = &sv_debugcam,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=0 },
      .persistent = 1
   });

   vg_convar_push( (struct vg_convar){
      .name = "debugview",
      .data = &debugview,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=0 },
      .persistent = 1
   });

   vg_convar_push( (struct vg_convar){
      .name = "debugsdf",
      .data = &debugsdf,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=1 },
      .persistent = 1
   });

   vg_convar_push( (struct vg_convar){
      .name = "phys",
      .data = &sv_phys,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=1 },
      .persistent = 1
   });

   vg_convar_push( (struct vg_convar){
      .name = "thirdperson",
      .data = &thirdperson,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=1 },
      .persistent = 1
   });

   vg_convar_push( (struct vg_convar){
      .name = "div",
      .data = &clock_divider,
      .data_type = k_convar_dtype_i32,
      .opt_i32 = { .min=0, .max=1, .clamp=0 },
      .persistent = 1
   });

        vg_function_push( (struct vg_cmd){
                .name = "reset",
                .function = reset_player
        });
   
   v3f lightDir = { 0.1f, 0.8f, 0.2f };
   v3_normalize( lightDir );

   character_load( &player.mdl, "ch_default" );
   character_init_ragdoll( &player.mdl );
   
   /* Setup scene */
   scene_init( &world.geo );
   model *mworld = vg_asset_read( "models/mp_dev.mdl" );

   scene_add_model( &world.geo, mworld, submodel_get( mworld, "mp_dev" ),
         (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
   scene_copy_slice( &world.geo, &world.sm_road );

   scene_add_model( &world.geo, mworld, submodel_get( mworld, "terrain" ),
         (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
   scene_copy_slice( &world.geo, &world.sm_terrain );

   v3_copy( model_marker_get( mworld, "mp_dev_tutorial" )->co, world.tutorial );


   /* GATE DEV */
   {
      model_marker *ga = model_marker_get(mworld,"gate_a"),
                   *gb = model_marker_get(mworld,"gate_a_recv");

      v3_copy( ga->co, gate_a.co );
      v3_copy( gb->co, gate_b.co );
      v4_copy( ga->q, gate_a.q );
      v4_copy( gb->q, gate_b.q );
      gate_a.other = &gate_b;
      gate_b.other = &gate_a;

      gate_transform_update( &gate_a );
      gate_transform_update( &gate_b );
   }

   free( mworld );
   scene_upload( &world.geo );
   bvh_create( &world.geo );

   reset_player( 0, NULL );
   player_transform_update();

   /* Create framebuffers */
   glGenFramebuffers( 1, &render.fb_background );
   glBindFramebuffer( GL_FRAMEBUFFER, render.fb_background );

   glGenTextures( 1, &render.rgb_background );
   glBindTexture( GL_TEXTURE_2D, render.rgb_background );
   glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, vg_window_x, vg_window_y, 
         0, GL_RGB, GL_UNSIGNED_BYTE, NULL);

   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
   glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
   glFramebufferTexture2D( GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, 
         GL_TEXTURE_2D, 
         render.rgb_background, 0);

   gate_init();

   {
      float quad[] = { 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f,
                       0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 1.0f };

      glGenVertexArrays( 1, &render.fsquad.vao );
      glGenBuffers( 1, &render.fsquad.vbo );
      glBindVertexArray( render.fsquad.vao );
      glBindBuffer( GL_ARRAY_BUFFER, render.fsquad.vbo );
      glBufferData( GL_ARRAY_BUFFER, sizeof(quad), quad, GL_STATIC_DRAW );
      glBindVertexArray( render.fsquad.vao );
      glVertexAttribPointer( 0, 2, GL_FLOAT, GL_FALSE, 
            sizeof(float)*2, (void*)0 );
      glEnableVertexAttribArray( 0 );
      VG_CHECK_GL();
   }
}

static float ktimestep = 1.0f/60.0f;

static void player_freecam(void)
{
   m4x3f cam_rot;
   m4x3_identity( cam_rot );
   m4x3_rotate_y( cam_rot, -player.look_dir[0] );
   m4x3_rotate_x( cam_rot, -player.look_dir[1] );

   v3f lookdir = { 0.0f, 0.0f, -1.0f },
       sidedir = { 1.0f, 0.0f,  0.0f };
   
   m4x3_mulv( cam_rot, lookdir, lookdir );
   m4x3_mulv( cam_rot, sidedir, sidedir );
   
   float movespeed = 5.0f;
   static v2f mouse_last,
              view_vel = { 0.0f, 0.0f };

   static v3f move_vel = { 0.0f, 0.0f, 0.0f };

   if( vg_get_button_down( "primary" ) )
      v2_copy( vg_mouse, mouse_last );
   else if( vg_get_button( "primary" ) )
   {
      v2f delta;
      v2_sub( vg_mouse, mouse_last, delta );
      v2_copy( vg_mouse, mouse_last );

      v2_muladds( view_vel, delta, 0.005f, view_vel );
   }
   
   v2_muls( view_vel, 0.75f, view_vel );
   v2_add( view_vel, player.look_dir, player.look_dir );
   player.look_dir[1] = 
      vg_clampf( player.look_dir[1], -VG_PIf*0.5f, VG_PIf*0.5f );

   if( vg_get_button( "forward" ) )
      v3_muladds( move_vel, lookdir, ktimestep * movespeed, move_vel );
   if( vg_get_button( "back" ) )
      v3_muladds( move_vel, lookdir, ktimestep *-movespeed, move_vel );
   if( vg_get_button( "left" ) )
      v3_muladds( move_vel, sidedir, ktimestep *-movespeed, move_vel );
   if( vg_get_button( "right" ) )
      v3_muladds( move_vel, sidedir, ktimestep * movespeed, move_vel );

   v3_muls( move_vel, 0.75f, move_vel );
   v3_add( move_vel, player.view, player.view );
}

static void apply_gravity( v3f vel, float const timestep )
{
   v3f gravity = { 0.0f, -9.6f, 0.0f };
   v3_muladds( vel, gravity, timestep, vel );
}

static int ray_hit_is_ramp( ray_hit *hit )
{
   return hit->tri[0] < world.sm_road.vertex_count;
}

static void player_start_air(void)
{
   player.in_air = 1;

   float pstep = ktimestep*10.0f;

   float best_velocity_mod = 0.0f,
         best_velocity_delta = -9999.9f;

   v3f axis, vup;
   m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup );
   v3_cross( vup, player.v, axis );
   v3_normalize( axis );
   player.land_log_count = 0;
   
   m3x3_identity( player.vr );

   for( int m=-3;m<=12; m++ )
   {
      float vmod = ((float)m / 15.0f)*0.09f;

      v3f pco, pco1, pv;
      v3_copy( player.co, pco );
      v3_copy( player.v, pv );
      v3_muladds( pco, pv, ktimestep, pco );

      /* 
       * Try different 'rotations' of the velocity to find the best possible
       * landing normal. This conserves magnitude at the expense of slightly
       * unrealistic results
       */

      m3x3f vr;
      v4f vr_q;

      q_axis_angle( vr_q, axis, vmod );
      q_m3x3( vr_q, vr );

      for( int i=0; i<50; i++ )
      {
         v3_copy( pco, pco1 );
         apply_gravity( pv, pstep );

         m3x3_mulv( vr, pv, pv );
         v3_muladds( pco, pv, pstep, pco );
         
         ray_hit contact;
         v3f vdir;

         v3_sub( pco, pco1, vdir );
         contact.dist = v3_length( vdir );
         v3_divs( vdir, contact.dist, vdir);

         if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
         {
            float land_delta = v3_dot( pv, contact.normal );
            u32 scolour = (u8)(vg_minf(-land_delta * 2.0f, 255.0f));

            /* Bias prediction towords ramps */
            if( ray_hit_is_ramp( &contact ) )
            {
               land_delta *= 0.1f;
               scolour |= 0x0000a000;
            }

            if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
            {
               best_velocity_delta = land_delta;
               best_velocity_mod = vmod;

               v3_copy( contact.pos, player.land_target );

               q_axis_angle( vr_q, axis, vmod*0.1f );
               q_m3x3( vr_q, player.vr );
            }

            v3_copy( contact.pos, 
                  player.land_target_log[player.land_log_count] );
            player.land_target_colours[player.land_log_count] = 
               0xff000000 | scolour;

            player.land_log_count ++;

            break;
         }
      }
   }

   //v3_rotate( player.v, best_velocity_mod, axis, player.v );
   
   return;
   v3_muls( player.v, best_velocity_mod, player.v );
}

static int sample_if_resistant( v3f pos )
{
   v3f ground;
   v3_copy( pos, ground );
   
   ray_hit hit;
   if( bvh_scene_sample( &world.geo, ground, &hit ) )
   {
      v3f angle;
      v3_copy( player.v, angle );
      v3_normalize( angle );
      float resistance = v3_dot( hit.normal, angle );

      if( resistance < 0.25f )
      {
         v3_copy( ground, pos );
         return 1;
      }
   }

   return 0;
}

static float stable_force( float current, float diff )
{
   float new = current + diff;

   if( new * current < 0.0f )
      return 0.0f;

   return new;
}

static void player_physics_ground(void)
{
   /* 
    * Getting surface collision points,
    * the contact manifold is a triangle for simplicity.
    */
   v3f contact_front, contact_back, contact_norm, vup, vside,
       axis;
   
   float klength = 0.65f;
   m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-klength}, contact_norm );
   m4x3_mulv( player.to_world, (v3f){-0.15f,0.0f,-klength}, contact_front );
   m4x3_mulv( player.to_world, (v3f){ 0.00f,0.0f, klength}, contact_back );
   m3x3_mulv( player.to_world, (v3f){ 0.0f, 1.0f, 0.0f}, vup );
   m3x3_mulv( player.to_world, (v3f){ 1.0f, 0.0f, 0.0f}, vside );

   v3f cn0, cn1, cn2;
   
   int contact_count = 
      sample_if_resistant( contact_front ) +
      sample_if_resistant( contact_back ) +
      sample_if_resistant( contact_norm );
   
   if( contact_count < 3 )
   {
      player_start_air();
      return;
   }

   v3f norm;
   v3f v0, v1;
   v3_sub( contact_norm, contact_front, v0 );
   v3_sub( contact_back, contact_front, v1 );
   v3_cross( v1, v0, norm );
   v3_normalize( norm );

   vg_line( contact_norm, contact_front, 0xff00ff00 );
   vg_line( contact_back, contact_front, 0xff0000ff );

   /* Surface alignment */
   float angle = v3_dot( vup, norm );
   v3_cross( vup, norm, axis );

   if( angle < 0.999f )
   {
      v4f correction;
      q_axis_angle( correction, axis, acosf(angle) );
      q_mul( correction, player.rot, player.rot );
   }

   float resistance = v3_dot( norm, player.v );
   if( resistance >= 0.0f )
   {
      player_start_air();
      return;
   }
   else
   {
      v3_muladds( player.v, norm, -resistance, player.v );
   }
   
   /* This is where velocity integration used to be */

   float slip = 0.0f;

   player.co[1] = (contact_front[1]+contact_back[1])*0.5f;

   v3f vel;
   m3x3_mulv( player.to_local, player.v, vel );

   /* Calculate local forces */

   slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]);
   if( fabsf( slip ) > 1.2f )
      slip = vg_signf( slip ) * 1.2f;
   player.slip = slip;
   player.reverse = -vg_signf(vel[2]);

   float substep = ktimestep * 0.2f;
   float fwd_resistance = (vg_get_button( "break" )? 5.0f: 0.02f) * -substep;

   for( int i=0; i<5; i++ )
   {
      vel[2] = stable_force( vel[2], vg_signf( vel[2] ) * fwd_resistance );
      vel[0] = stable_force( vel[0], vg_signf( vel[0] ) * -7.0f *substep );
   }
   
   static double start_push = 0.0;
   if( vg_get_button_down( "push" ) )
      start_push = vg_time;

   if( !vg_get_button("break") && vg_get_button( "push" ) )
   {
      float const k_maxpush = 16.0f,
                  k_pushaccel = 5.0f;

      float cycle_time = vg_time-start_push,
            amt = k_pushaccel * (sinf( cycle_time * 8.0f )*0.5f+0.5f)*ktimestep,
            current = v3_length( vel ),
            new_vel = vg_minf( current + amt, k_maxpush );
      new_vel -= vg_minf(current, k_maxpush);
      vel[2] -= new_vel * player.reverse;
   }
   
   m3x3_mulv( player.to_world, vel, player.v );

   if( vg_get_button( "yawl" ) )
      player.iY +=  3.6f * ktimestep;
   if( vg_get_button( "yawr" ) )
      player.iY -=  3.6f * ktimestep;
   
   float steer = vg_get_axis( "horizontal" );
   player.iY -= vg_signf(steer)*powf(steer,2.0f) * 1.5f * ktimestep;
   
   /* Too much lean and it starts to look like a snowboard here */
   v2_lerp( player.board_xy, (v2f){ slip*0.25f, 0.0f }, 
         ktimestep*5.0f, player.board_xy);
}

static void draw_cross(v3f pos,u32 colour)
{
   v3f p0, p1;
   v3_add( (v3f){ 1.0f,0.0f,0.0f}, pos, p0 );
   v3_add( (v3f){-1.0f,0.0f,0.0f}, pos, p1 );
   vg_line( p0, p1, colour );
   v3_add( (v3f){0.0f, 1.0f,0.0f}, pos, p0 );
   v3_add( (v3f){0.0f,-1.0f,0.0f}, pos, p1 );
   vg_line( p0, p1, colour );
   v3_add( (v3f){0.0f,0.0f, 1.0f}, pos, p0 );
   v3_add( (v3f){0.0f,0.0f,-1.0f}, pos, p1 );
   vg_line( p0, p1, colour );
}

static void player_physics_air(void)
{
   /* Debug prediciton */

   m3x3_mulv( player.vr, player.v, player.v );
   for( int i=0; i<player.land_log_count; i++ )
      draw_cross( player.land_target_log[i], 
            player.land_target_colours[i] );

   draw_cross( player.land_target, 0xff0000ff );

   v3f ground_pos;
   v3_copy( player.co, ground_pos );
   
   ray_hit hit;
   if( bvh_scene_sample( &world.geo, ground_pos, &hit ) )
   {
      if( ground_pos[1] > player.co[1] )
      {
         player.in_air = 0;
         
         if( !ray_hit_is_ramp( &hit ) )
         {
            player.is_dead = 1;
            m4x3_mulv( player.to_world, player.view, player.follow );
            character_ragdoll_copypose( &player.mdl, player.v );
         }

         return;
      }
   }
   
   /* Prediction 
    *
    * TODO: Find best landing surface and guide player towords it
    */
   float pstep = ktimestep*10.0f;

   v3f pco, pco1, pv;
   v3_copy( player.co, pco );
   v3_copy( player.v, pv );
   
   float time_to_impact = 0.0f;
   float limiter = 1.0f;

   for( int i=0; i<50; i++ )
   {
      v3_copy( pco, pco1 );
      apply_gravity( pv, pstep );
      v3_muladds( pco, pv, pstep, pco );

      //vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
      
      ray_hit contact;
      v3f vdir;

      v3_sub( pco, pco1, vdir );
      contact.dist = v3_length( vdir );
      v3_divs( vdir, contact.dist, vdir);
      
      float orig_dist = contact.dist;
      if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
      {
         v3f localup;
         m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );

         float angle = v3_dot( localup, contact.normal );
         v3f axis; 
         v3_cross( localup, contact.normal, axis );

         time_to_impact += (contact.dist/orig_dist)*pstep;
         limiter = vg_minf( 5.0f, time_to_impact )/5.0f;
         limiter = 1.0f-limiter;
         limiter *= limiter;
         limiter = 1.0f-limiter;

         if( angle < 0.99f )
         {
            v4f correction;
            q_axis_angle( correction, axis, acosf(angle)*0.05f*(1.0f-limiter) );
            q_mul( correction, player.rot, player.rot );
         }

         draw_cross( contact.pos, 0xffff0000 );
         break;
      }
      time_to_impact += pstep;
   }


   player.iY -= vg_get_axis( "horizontal" ) * 3.6f * ktimestep;
   {

      float iX = vg_get_axis( "vertical" ) * 3.6f * limiter * ktimestep;
      static float siX = 0.0f;
      siX = vg_lerpf( siX, iX, 0.3f );
      
      v4f rotate;
      v3f vside;
      
      m3x3_mulv( player.to_world, (v3f){1.0f,0.0f,0.0f}, vside );

      q_axis_angle( rotate, vside, siX );
      q_mul( rotate, player.rot, player.rot );
   }
   
   v2f target = {0.0f,0.0f};
   v2_muladds( target, (v2f){ vg_get_axis("h1"), vg_get_axis("v1") },
               player.grab, target );
   v2_lerp( player.board_xy, target, ktimestep*3.0f, player.board_xy );
}

static void player_animate(void);
static void player_update(void)
{
   
   if( vg_get_axis("grabl")>0.0f)
      reset_player(0,NULL);
   if( player.is_dead )
      return;

   static int clock = 0;

   /* temp */
   if( freecam )
   {
      player_freecam();
      return;
   }

   clock ++;
   if( clock >= clock_divider )
      clock = 0;
   else
      return;
   float horizontal = vg_get_axis("horizontal"),
         vertical = vg_get_axis("vertical");

   player.joy_l[0] = vg_signf(horizontal) * powf( horizontal, 2.0f );
   player.joy_l[1] = vg_signf(vertical) * powf( vertical, 2.0f );

   if( player.in_air )
      player_physics_air();

   if( !player.in_air )
      player_physics_ground();
   
   /* Integrate velocity */
   v3f prevco;
   v3_copy( player.co, prevco );
   if( sv_phys )
   {
      apply_gravity( player.v, ktimestep );
      v3_muladds( player.co, player.v, ktimestep, player.co );
   }

   /* Integrate inertia */
   v4f rotate; v3f vup = {0.0f,1.0f,0.0f};
   m3x3_mulv( player.to_world, vup, vup );

   static float siY = 0.0f;

   float lerpq = player.in_air? 0.04f: 0.3f;
   siY = vg_lerpf( siY, player.iY, lerpq );

   q_axis_angle( rotate, vup, siY );
   q_mul( rotate, player.rot, player.rot );

   player.look_dir[0] = atan2f( player.v[0], -player.v[2] );
   player.look_dir[1] = atan2f( -player.v[1], sqrtf(player.v[0]*player.v[0]+
                                       player.v[2]*player.v[2]) ) * 0.3f;

   player.iY = 0.0f; /* temp */

   /* GATE COLLISION */
   if( gate_intersect( &gate_a, player.co, prevco ) )
   {
      teleport_gate *gate = &gate_a;

      m4x3f transport;
      m4x3_mul( gate->other->to_world, gate->to_local, transport );
      m4x3_mulv( transport, player.co, player.co );
      m3x3_mulv( transport, player.v, player.v );
      m3x3_mulv( transport, player.v_last, player.v_last );

      v4f transport_rotation;
      m3x3_q( transport, transport_rotation );
      q_mul( transport_rotation, player.rot, player.rot );
   }

   /* Camera and character */
   player_transform_update();
   q_normalize(player.rot);
   player_animate();
}

void vg_update(void)
{
   player_update();

   //rb_torque( &mr_box, (v3f){0.0f,0.0f,1.0f}, 0.01f );

   if( glfwGetKey( vg_window, GLFW_KEY_F ) )
      character_ragdoll_go( &player.mdl, player.view );

   if( glfwGetKey( vg_window, GLFW_KEY_G ) )
   {
      player.is_dead = 1;
      m4x3_mulv( player.to_world, player.view, player.follow );
      character_ragdoll_copypose( &player.mdl, player.v );
   }

   static int clock = 0;

   clock ++;
   if( clock >= clock_divider )
   {
      character_debug_ragdoll( &player.mdl );

      if( player.is_dead )
         character_ragdoll_iter( &player.mdl, &world.geo );

      rb_build_manifold( &mr_box, &world.geo );
      rb_build_manifold( &mrs_box, &world.geo );
      rb_constraint_manifold( &mr_box );
      rb_constraint_manifold( &mrs_box );
      
      rb_iter( &mr_box );
      rb_iter( &mrs_box );

      rb_debug( &mr_box, 0xffffffff );
      rb_debug( &mrs_box, 0xff00ff00 );

      rb_update_transform( &mr_box );
      rb_update_transform( &mrs_box );

      clock = 0;
   }

}

static void player_animate(void)
{
   /* Camera position */
   static v3f momentum, bob;

   v3_sub( player.v, player.v_last, player.a );
   v3_copy( player.v, player.v_last );

   v3_add( momentum, player.a, momentum );
   v3_lerp( momentum, (v3f){0.0f,0.0f,0.0f}, 0.1f, momentum );
   v3f target;
   
   momentum[0] = vg_clampf( momentum[0], -2.0f, 2.0f );
   momentum[1] = vg_clampf( momentum[1], -0.2f, 5.0f );
   momentum[2] = vg_clampf( momentum[2], -2.0f, 2.0f );
   v3_copy( momentum, target );
   v3_lerp( bob, target, 0.2f, bob );

   /* Head */
   float lslip = fabsf(player.slip); //vg_minf( 0.4f, slip );
                              
   float grabt = vg_get_axis( "grabr" )*0.5f+0.5f;
   player.grab = vg_lerpf( player.grab, grabt, 0.04f );

   float kheight = 2.0f,
         kleg = 0.6f;

   v3f head;
   head[0] = 0.0f;
   head[1] = (0.3f+cosf(lslip)*0.5f*(1.0f-player.grab*0.7f)) * kheight;
   head[2] = 0.0f;

   v3f offset;
   m3x3_mulv( player.to_local, bob, offset );

   offset[0] *= 0.3333f;
   offset[1] *= -0.25f;
   offset[2] *= 0.7f;
   v3_muladds( head, offset, 0.7f, head );
   head[1] = vg_clampf( head[1], 0.3f, kheight );

#if 0
   if( !freecam )
   {
      v3_copy( head, player.view );
      v3f camoffs = {-0.2f,-0.6f,0.00f};
      v3_add( player.view, camoffs, player.view );
   }
#endif


   /* 
    * Animation blending
    * ===========================================
    */

   static float fslide = 0.0f;
   static float fdirz = 0.0f;
   static float fdirx = 0.0f;
   static float fstand = 0.0f;
   static float ffly = 0.0f;

   float speed = v3_length( player.v );
   
   fstand = vg_lerpf(fstand, 1.0f-vg_clampf(speed*0.03f,0.0f,1.0f),0.1f);
   fslide = vg_lerpf(fslide, vg_clampf(lslip+fabsf(offset[0])*0.2f,
            0.0f,1.0f), 0.04f);
   fdirz = vg_lerpf(fdirz, player.reverse > 0.0f? 1.0f: 0.0f, 0.04f );
   fdirx = vg_lerpf(fdirx, player.slip < 0.0f?    1.0f: 0.0f, 0.04f );
   ffly = vg_lerpf(ffly, player.in_air?           1.0f: 0.0f, 0.04f );

   character_pose_reset( &player.mdl );

   float amt_air = ffly*ffly,
         amt_ground = 1.0f-amt_air,
         amt_std = (1.0f-fslide) * amt_ground,
         amt_stand = amt_std * fstand,
         amt_aero = amt_std * (1.0f-fstand),
         amt_slide = amt_ground * fslide;

   character_final_pose( &player.mdl, offset, &pose_stand, amt_stand );
   character_final_pose( &player.mdl, offset, &pose_aero, amt_aero*fdirz );
   character_final_pose( &player.mdl, offset, 
         &pose_aero_reverse, amt_aero * (1.0f-fdirz) );
   character_final_pose( &player.mdl, offset, &pose_slide, amt_slide*fdirx );
   character_final_pose( &player.mdl, offset, 
         &pose_slide1, amt_slide*(1.0f-fdirx) );

   character_final_pose( &player.mdl, (v3f){0.0f,0.0f,0.0f}, 
         &pose_fly, amt_air );

   if( !freecam )
   {
      v3_copy( player.mdl.cam_pos, player.view );
      v3_muladds( player.view, offset, 0.7f, player.view );
      player.view[1] = vg_clampf( player.view[1], 0.3f, kheight );
   }

   /* 
    * Additive effects
    * ==========================
    */
   struct ik_basic *arm_l = &player.mdl.ik_arm_l,
                   *arm_r = &player.mdl.ik_arm_r;

   v3f localv;
   m3x3_mulv( player.to_local, player.v, localv );
   v3_muladds( arm_l->end, localv, -0.01f, arm_l->end );
   v3_muladds( arm_r->end, localv, -0.01f, arm_r->end );

   /* New board transformation */
   v4f board_rotation; v3f board_location;

   v4f rz, rx;
   q_axis_angle( rz, (v3f){ 0.0f, 0.0f, 1.0f }, player.board_xy[0] );
   q_axis_angle( rx, (v3f){ 1.0f, 0.0f, 0.0f }, player.board_xy[1] );
   q_mul( rx, rz, board_rotation );
   
   v3f *mboard = player.mdl.matrices[k_chpart_board];// player.mboard;
   q_m3x3( board_rotation, mboard );
   m3x3_mulv( mboard, (v3f){ 0.0f, -0.5f, 0.0f }, board_location );
   v3_add( (v3f){0.0f,0.5f,0.0f}, board_location, board_location );
   v3_copy( board_location, mboard[3] );


   float wheel_r = offset[0]*-0.4f;
   v4f qwheel;
   q_axis_angle( qwheel, (v3f){0.0f,1.0f,0.0f}, wheel_r );
   
   q_m3x3( qwheel, player.mdl.matrices[k_chpart_wb] );

   m3x3_transpose( player.mdl.matrices[k_chpart_wb],
                   player.mdl.matrices[k_chpart_wf] );
   v3_copy( player.mdl.offsets[k_chpart_wb], 
         player.mdl.matrices[k_chpart_wb][3] );
   v3_copy( player.mdl.offsets[k_chpart_wf], 
         player.mdl.matrices[k_chpart_wf][3] );
   
   m4x3_mul( mboard, player.mdl.matrices[k_chpart_wb],
                     player.mdl.matrices[k_chpart_wb] );
   m4x3_mul( mboard, player.mdl.matrices[k_chpart_wf],
                     player.mdl.matrices[k_chpart_wf] );

   m4x3_mulv( mboard, player.mdl.ik_leg_l.end, player.mdl.ik_leg_l.end );
   m4x3_mulv( mboard, player.mdl.ik_leg_r.end, player.mdl.ik_leg_r.end );


   v3_copy( player.mdl.ik_arm_l.end, player.handl_target );
   v3_copy( player.mdl.ik_arm_r.end, player.handr_target );

   if( 1||player.in_air )
   {
      float tuck = player.board_xy[1],
            tuck_amt = fabsf( tuck ) * (1.0f-fabsf(player.board_xy[0]));
      
      float crouch = player.grab*0.3f;
      v3_muladds( player.mdl.ik_body.base, (v3f){0.0f,-1.0f,0.0f}, 
            crouch, player.mdl.ik_body.base );
      v3_muladds( player.mdl.ik_body.end, (v3f){0.0f,-1.0f,0.0f}, 
            crouch*1.2f, player.mdl.ik_body.end );

      if( tuck < 0.0f )
      {
         //foot_l *= 1.0f-tuck_amt*1.5f;

         if( player.grab > 0.1f )
         {
            m4x3_mulv( mboard, (v3f){0.1f,0.14f,0.6f}, 
                  player.handl_target );
         }
      }
      else
      {
         //foot_r *= 1.0f-tuck_amt*1.4f;

         if( player.grab > 0.1f )
         {
            m4x3_mulv( mboard, (v3f){0.1f,0.14f,-0.6f}, 
                  player.handr_target );
         }
      }
   }

   v3_lerp( player.handl, player.handl_target, 0.1f, player.handl );
   v3_lerp( player.handr, player.handr_target, 0.1f, player.handr );

   v3_copy( player.handl, player.mdl.ik_arm_l.end );
   v3_copy( player.handr, player.mdl.ik_arm_r.end );

   /* Head rotation */

   static float rhead = 0.0f;
   rhead = vg_lerpf( rhead,
         vg_clampf(atan2f( localv[2], -localv[0] ),-1.0f,1.0f), 0.04f );
   player.mdl.rhead = rhead;
}

static void draw_player(void)
{
   /* Draw */
   vg_tex2d_bind( &tex_pallet, 0 );

   m4x3_copy( player.to_world, player.mdl.mroot );

   if( player.is_dead )
      character_mimic_ragdoll( &player.mdl );
   else
      character_eval( &player.mdl );

   character_draw( &player.mdl, (player.is_dead|player.in_air)? 0.0f: 1.0f );
}

static void vg_framebuffer_resize( int w, int h )
{
   glBindTexture( GL_TEXTURE_2D, render.rgb_background );
   glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, w, h, 0, 
         GL_RGB, GL_UNSIGNED_BYTE, NULL );
}

static void render_world( m4x4f projection )
{
   SHADER_USE(shader_standard_lit);

   m4x3f identity_matrix;
   m4x3_identity( identity_matrix );

        glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ), 
         1, GL_FALSE, (float *)projection );
        glUniformMatrix4x3fv( SHADER_UNIFORM( shader_standard_lit, "uMdl" ), 
         1, GL_FALSE, (float *)identity_matrix );

   vg_tex2d_bind( &tex_grid, 0 );
   glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 );
   glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
         0.4f,0.4f,0.4f,1.0f );

   scene_bind( &world.geo );
   scene_draw( &world.geo );
}

void vg_render(void) 
{
   glBindFramebuffer( GL_FRAMEBUFFER, 0 );
   glViewport( 0,0, vg_window_x, vg_window_y );

   glDisable( GL_DEPTH_TEST );
   glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
   glClearColor(111.0f/255.0f, 46.0f/255.0f, 45.0f/255.0f,1.0f);

   glClearColor( powf(0.066f,1.0f/2.2f), 
                 powf(0.050f,1.0f/2.2f), 
                 powf(0.046f,1.0f/2.2f), 1.0f );
   glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );

   v3f pos_inv;
   static v3f cam_lerped = {0.0f,0.0f,0.0f};
   v3_lerp( cam_lerped, player.view, 0.08f, cam_lerped );

   if( !freecam  )
   {
      m4x3_mulv( player.to_world, cam_lerped, pos_inv );
      
      static float air_blend = 0.0f;

      air_blend = vg_lerpf( air_blend, player.in_air, 0.04f );
      v3_muladds( pos_inv, player.v, -0.05f*air_blend, pos_inv );
   }
   else
      v3_add( player.co, player.view, pos_inv );
   v3_negate( pos_inv, pos_inv );

   static float vertical_lerp = 0.0f;
   vertical_lerp = vg_lerpf( vertical_lerp, pos_inv[1], 1.0f );
   v3f final = { pos_inv[0], vertical_lerp, pos_inv[2] };

   float speed = freecam? 0.0f: v3_length( player.v );
   v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f };
   v3_muls( shake, speed*0.01f, shake );

   static v2f cam_lerped_dir;
   
   m4x3_identity( world_matrix );
   if( player.is_dead )
   {
      v3f delta;
      v3_sub( player.mdl.ragdoll[k_chpart_head].co, player.follow, delta );
      v3_normalize(delta);

      v3f follow_pos;
      v3_muladds( player.mdl.ragdoll[k_chpart_head].co, delta, 
            -1.5f, follow_pos );
      v3_lerp( player.follow, follow_pos, 0.1f, player.follow );
      v3_negate( player.follow, final );


      float yaw = atan2f( delta[0], -delta[2] );
      float pitch = asinf( delta[1] );
      m4x3_rotate_x( world_matrix, -pitch );
      m4x3_rotate_y( world_matrix, yaw );
   }
   else
   {
      v2_lerp( cam_lerped_dir, player.look_dir, 0.04f, cam_lerped_dir );

      m4x3_rotate_x( world_matrix, 
            freecam? 
            cam_lerped_dir[1]: 
            0.6f+shake[1]*0.04f+player.look_dir[1] );

      m4x3_rotate_y( world_matrix, 
            freecam?
            cam_lerped_dir[0]:
            player.look_dir[0]+shake[0]*0.02f );
   }


   m4x3_translate( world_matrix, final );
   
   m4x4f world_4x4;
   m4x3_expand( world_matrix, world_4x4 );

   float fov = freecam? 60.0f: 120.0f;
   m4x4_projection( vg_pv,  fov, (float)vg_window_x / (float)vg_window_y, 
         0.01f, 1000.0f );

   m4x4_mul( vg_pv, world_4x4, vg_pv );

   vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 1.0f, 0.0f, 0.0f }, 0xffff0000 );
   vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 1.0f, 0.0f }, 0xff00ff00 );
   vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 0.0f, 1.0f }, 0xff0000ff );

   glEnable( GL_DEPTH_TEST );
   
   /* 
    * Draw world
    */
   SHADER_USE(shader_standard_lit);

   m4x3f identity_matrix;
   m4x3_identity( identity_matrix );

        glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ), 
         1, GL_FALSE, (float *)vg_pv );
        glUniformMatrix4x3fv( SHADER_UNIFORM( shader_standard_lit, "uMdl" ), 
         1, GL_FALSE, (float *)identity_matrix );

   vg_tex2d_bind( &tex_grid, 0 );
   glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 );

   glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
         0.4f,0.4f,0.4f,1.0f );

   scene_bind( &world.geo );
   scene_draw( &world.geo );

#if 0
   if( !replay_record )
   {
      m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];

      for( int i=0; i<PART_COUNT; i++ )
         m4x3_copy( base[i], player.mdl.matrices[i] );

      replay_buffer_frame ++;

      if( replay_buffer_frame == REPLAY_LENGTH )
         replay_buffer_frame = 0;

      vg_tex2d_bind( &tex_pallet, 0 );
      character_draw( &player.mdl, 0.0f );
      player_animate();
   }
#endif

   m4x3f cam_transform;
   m4x3_invert_affine( world_matrix, cam_transform );
   render_gate( &gate_a, cam_transform, fov );


   
   /* Copy the RGB of what we have into the background buffer */
   glBindFramebuffer( GL_READ_FRAMEBUFFER, 0 );
   glBindFramebuffer( GL_DRAW_FRAMEBUFFER, render.fb_background );
   glBlitFramebuffer( 0,0, vg_window_x, vg_window_y, 
                      0,0, vg_window_x, vg_window_y,
                      GL_COLOR_BUFFER_BIT,
                      GL_LINEAR );
   
   /* Clear out the colour buffer, but keep depth */
   glBindFramebuffer( GL_FRAMEBUFFER, 0 );
   glClearColor( 0.0f, 0.0f, 0.0f, 0.0f );

   if( !player.is_dead )
      glClear( GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT );
   else
      glClear( GL_COLOR_BUFFER_BIT );

   draw_player();

   /* Draw back in the background */
   glEnable(GL_BLEND);
   glDisable(GL_DEPTH_TEST);
   glBlendFunc(GL_ONE_MINUS_DST_ALPHA, GL_DST_ALPHA);
   glBlendEquation(GL_FUNC_ADD);
   
   SHADER_USE( shader_blit );

   glUniform1i( SHADER_UNIFORM(shader_blit,"uTexMain"), 0 );
   glActiveTexture(GL_TEXTURE0);
   glBindTexture( GL_TEXTURE_2D, render.rgb_background );

   glBindVertexArray( render.fsquad.vao );
   glDrawArrays( GL_TRIANGLES, 0, 6 );

   glDisable(GL_BLEND);

   /* Other shite */
   glDisable( GL_DEPTH_TEST );
   vg_lines_drawall( (float *)vg_pv );

   /* Debugger camera */
   glViewport( 0,0, 800, 800 );
   glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
   glClear( GL_DEPTH_BUFFER_BIT );

   m4x3_identity( world_matrix );

   v3f debugcam;
   v3_negate( player.co, debugcam );
   debugcam[2] -= 2.0f;
   debugcam[1] -= 0.7f;

   m4x3_translate( world_matrix, debugcam );
   m4x3_expand( world_matrix, world_4x4 );

   m4x4_projection( vg_pv, 
         100.0f,
         (float)128.0f / (float)128.0f,
         0.01f, 1000.0f );
   m4x4_mul( vg_pv, world_4x4, vg_pv );

   if(sv_debugcam)
   {
      glEnable( GL_DEPTH_TEST );
      draw_player();
   }

   glDisable( GL_DEPTH_TEST );
   vg_lines_drawall( (float *)vg_pv );

   glViewport( 0,0, vg_window_x, vg_window_y );

#if 0
   if( replay_record )
   {
      m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];

      for( int i=0; i<PART_COUNT; i++ )
         m4x3_copy( player.mdl.matrices[i], base[i] );

      replay_buffer_frame ++;

      if( replay_buffer_frame == REPLAY_LENGTH )
         replay_buffer_frame = 0;
   }
#endif
}

void vg_ui(void)
{
   char buf[20];

   snprintf( buf, 20, "%.2fm/s", v3_length( player.v ) );
   gui_text( (ui_px [2]){ 0, 0 }, buf, 1, k_text_align_left );
   
   snprintf( buf, 20, "%.2f %.2f %.2f m/s", 
         player.a[0], player.a[1], player.a[2] );
   gui_text( (ui_px [2]){ 0, 20 }, buf, 1, k_text_align_left );

   snprintf( buf, 20, "pos %.2f %.2f %.2f", 
         player.co[0], player.co[1], player.co[2] );
   gui_text( (ui_px [2]){ 0, 40 }, buf, 1, k_text_align_left );

   if( vg_gamepad_ready )
   {
      for( int i=0; i<6; i++ )
      {
         snprintf( buf, 20, "%.2f", vg_gamepad.axes[i] );
         gui_text( (ui_px [2]){ 0, (i+3)*20 }, buf, 1, k_text_align_left );
      }
   }
   else
   {
      gui_text( (ui_px [2]){ 0, 60 }, 
            "Gamepad not ready", 1, k_text_align_left );
   }
}

void vg_free(void){}