main.c

   1 #define VG_3D
   2 #define VG_FRAMEBUFFER_RESIZE 1
   3 #include "vg/vg.h"
   4
   5 /* Resources */
   6 vg_tex2d tex_norwey = { .path = "textures/norway_foliage.qoi" };
   7 vg_tex2d tex_grid = { .path = "textures/grid.qoi" };
   8 vg_tex2d tex_sky = { .path = "textures/sky.qoi" };
   9 vg_tex2d tex_gradients = { .path = "textures/gradients.qoi",
  10                            .flags = VG_TEXTURE_CLAMP };
  11 vg_tex2d tex_cement = { .path = "textures/cement512.qoi" };
  12 vg_tex2d tex_pallet = { .path = "textures/ch_gradient.qoi" };
  13
  14 vg_tex2d *texture_list[] =
  15 {
  16    &tex_norwey,
  17    &tex_gradients,
  18    &tex_grid,
  19    &tex_sky,
  20    &tex_cement,
  21    &tex_pallet
  22 };
  23
  24 SHADER_DEFINE( shader_blit,
  25    "layout (location=0) in vec2 a_co;"
  26    "out vec2 aUv;"
  27    ""
  28         "void main()"
  29         "{"
  30                 "gl_Position = vec4(a_co*2.0-1.0,0.0,1.0);"
  31       "aUv = a_co;"
  32         "}",
  33
  34    /* Fragment */
  35         "out vec4 FragColor;"
  36         ""
  37    "uniform sampler2D uTexMain;"
  38    ""
  39    "in vec2 aUv;"
  40    ""
  41         "void main()"
  42         "{"
  43       "FragColor = texture( uTexMain, aUv );"
  44         "}"
  45         ,
  46         UNIFORMS({ "uTexMain" })
  47 )
  48
  49 /* Convars */
  50 static int freecam = 0;
  51 static int debugview = 0;
  52 static int debugsdf = 0;
  53 static int sv_debugcam = 0;
  54 static int sv_phys = 0;
  55 static int thirdperson = 0;
  56 static int clock_divider = 1;
  57 static int replay_record = 0;
  58
  59 static m4x3f *replay_buffer = NULL;
  60 static int replay_buffer_frame = 0;
  61
  62 #define REPLAY_LENGTH 120*60
  63
  64 /* Components */
  65 #include "road.h"
  66 #include "scene.h"
  67 #include "ik.h"
  68 #include "character.h"
  69 #include "terrain.h"
  70
  71 int main( int argc, char *argv[] )
  72 {
  73    vg_init( argc, argv, "Voyager Game Engine" );
  74 }
  75
  76 m4x3f world_matrix;
  77
  78 static struct gplayer
  79 {
  80    /* Physics */
  81    v3f co, v, a;
  82    v4f rot;
  83    float vswitch, slip, slip_last,
  84          reverse;
  85
  86    float iY;   /* Yaw inertia */
  87    int in_air;
  88
  89    /* Input */
  90    v2f joy_l;
  91
  92    v3f view;
  93    v2f look_dir;  /* TEMP */
  94    v2f board_xy;
  95    float grab;
  96    float pitch;
  97
  98    v3f land_target;
  99    v3f land_target_log[12];
 100    int land_log_count;
 101    m3x3f vr;
 102
 103    m4x3f to_world, to_local;
 104
 105    struct character mdl;
 106
 107    v3f handl_target, handr_target,
 108        handl, handr;
 109 }
 110 player;
 111
 112 static struct gworld
 113 {
 114    scene geo;
 115    submodel terrain,
 116             terrain_rocks,
 117             terrain_road;
 118 }
 119 world;
 120
 121 static struct grender
 122 {
 123    GLuint fb_background,
 124           rgb_background;
 125
 126    glmesh fsquad;
 127 }
 128 render;
 129
 130 static void player_transform_update(void)
 131 {
 132    q_m3x3( player.rot, player.to_world );
 133    v3_copy( player.co, player.to_world[3] );
 134
 135    m4x3_invert_affine( player.to_world, player.to_local );
 136 }
 137
 138 static int reset_player( int argc, char const *argv[] )
 139 {
 140    v3_zero( player.co );
 141    v3_copy( (v3f){ 0.0f, 0.0f, -0.2f }, player.v );
 142    q_identity( player.rot );
 143    player.vswitch = 1.0f;
 144    player.slip_last = 0.0f;
 145
 146    player_transform_update();
 147    return 0;
 148 }
 149
 150 static int playermodel( int argc, char const *argv[] )
 151 {
 152    if( argc < 1 ) return 0;
 153
 154    glmesh old_mesh = player.mdl.mesh;
 155
 156    if( character_load( &player.mdl, argv[0] ) )
 157       mesh_free( &old_mesh );
 158
 159    return 1;
 160 }
 161
 162 void vg_register(void)
 163 {
 164    scene_register();
 165    character_shader_register();
 166    SHADER_INIT( shader_blit );
 167 }
 168
 169 void vg_start(void)
 170 {
 171    replay_buffer = malloc( sizeof(m4x3f) * REPLAY_LENGTH * (PART_COUNT) );
 172
 173    vg_tex2d_init( texture_list, vg_list_size( texture_list ) );
 174
 175    vg_convar_push( (struct vg_convar){
 176       .name = "frame",
 177       .data = &replay_buffer_frame,
 178       .data_type = k_convar_dtype_i32,
 179       .opt_i32 = { .min=0, .max=REPLAY_LENGTH-1, .clamp=1 },
 180       .persistent = 0
 181    });
 182
 183    vg_convar_push( (struct vg_convar){
 184       .name = "rec",
 185       .data = &replay_record,
 186       .data_type = k_convar_dtype_i32,
 187       .opt_i32 = { .min=0, .max=1, .clamp=1 },
 188       .persistent = 0
 189    });
 190
 191    vg_convar_push( (struct vg_convar){
 192       .name = "freecam",
 193       .data = &freecam,
 194       .data_type = k_convar_dtype_i32,
 195       .opt_i32 = { .min=0, .max=1, .clamp=1 },
 196       .persistent = 1
 197    });
 198
 199    vg_convar_push( (struct vg_convar){
 200       .name = "debugcam",
 201       .data = &sv_debugcam,
 202       .data_type = k_convar_dtype_i32,
 203       .opt_i32 = { .min=0, .max=1, .clamp=0 },
 204       .persistent = 1
 205    });
 206
 207    vg_convar_push( (struct vg_convar){
 208       .name = "debugview",
 209       .data = &debugview,
 210       .data_type = k_convar_dtype_i32,
 211       .opt_i32 = { .min=0, .max=1, .clamp=0 },
 212       .persistent = 1
 213    });
 214
 215    vg_convar_push( (struct vg_convar){
 216       .name = "debugsdf",
 217       .data = &debugsdf,
 218       .data_type = k_convar_dtype_i32,
 219       .opt_i32 = { .min=0, .max=1, .clamp=1 },
 220       .persistent = 1
 221    });
 222
 223    vg_convar_push( (struct vg_convar){
 224       .name = "phys",
 225       .data = &sv_phys,
 226       .data_type = k_convar_dtype_i32,
 227       .opt_i32 = { .min=0, .max=1, .clamp=1 },
 228       .persistent = 1
 229    });
 230
 231    vg_convar_push( (struct vg_convar){
 232       .name = "thirdperson",
 233       .data = &thirdperson,
 234       .data_type = k_convar_dtype_i32,
 235       .opt_i32 = { .min=0, .max=1, .clamp=1 },
 236       .persistent = 1
 237    });
 238
 239    vg_convar_push( (struct vg_convar){
 240       .name = "div",
 241       .data = &clock_divider,
 242       .data_type = k_convar_dtype_i32,
 243       .opt_i32 = { .min=0, .max=1, .clamp=0 },
 244       .persistent = 1
 245    });
 246
 247         vg_function_push( (struct vg_cmd){
 248                 .name = "reset",
 249                 .function = reset_player
 250         });
 251
 252    v3f lightDir = { 0.1f, 0.8f, 0.2f };
 253    v3_normalize( lightDir );
 254
 255    character_load( &player.mdl, "ch_default" );
 256
 257    /* Setup scene */
 258    scene_init( &world.geo );
 259    model *mworld = vg_asset_read( "models/mp_dev.mdl" );
 260
 261    scene_add_model( &world.geo, mworld, submodel_get( mworld, "mp_dev" ),
 262          (v3f){0.0f,0.0f,0.0f}, 0.0f, 1.0f );
 263
 264    free( mworld );
 265    scene_upload( &world.geo );
 266    bvh_create( &world.geo );
 267
 268
 269    reset_player( 0, NULL );
 270    player_transform_update();
 271
 272    /* Create framebuffers */
 273    glGenFramebuffers( 1, &render.fb_background );
 274    glBindFramebuffer( GL_FRAMEBUFFER, render.fb_background );
 275
 276    glGenTextures( 1, &render.rgb_background );
 277    glBindTexture( GL_TEXTURE_2D, render.rgb_background );
 278    glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, vg_window_x, vg_window_y,
 279          0, GL_RGB, GL_UNSIGNED_BYTE, NULL);
 280
 281    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR );
 282    glTexParameteri( GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR );
 283    glFramebufferTexture2D( GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0,
 284          GL_TEXTURE_2D,
 285          render.rgb_background, 0);
 286
 287    {
 288       float quad[] = { 0.0f, 0.0f, 1.0f, 1.0f, 0.0f, 1.0f,
 289                        0.0f, 0.0f, 1.0f, 0.0f, 1.0f, 1.0f };
 290
 291       glGenVertexArrays( 1, &render.fsquad.vao );
 292       glGenBuffers( 1, &render.fsquad.vbo );
 293       glGenBuffers( 1, &render.fsquad.ebo );
 294       glBindVertexArray( render.fsquad.vao );
 295       glBindBuffer( GL_ARRAY_BUFFER, render.fsquad.vbo );
 296       glBufferData( GL_ARRAY_BUFFER, sizeof(quad), quad, GL_STATIC_DRAW );
 297       glBindVertexArray( render.fsquad.vao );
 298       glVertexAttribPointer( 0, 2, GL_FLOAT, GL_FALSE,
 299             sizeof(float)*2, (void*)0 );
 300       glEnableVertexAttribArray( 0 );
 301       VG_CHECK_GL();
 302    }
 303 }
 304
 305 static float ktimestep = 1.0f/60.0f;
 306
 307 static void player_freecam(void)
 308 {
 309    m4x3f cam_rot;
 310    m4x3_identity( cam_rot );
 311    m4x3_rotate_y( cam_rot, -player.look_dir[0] );
 312    m4x3_rotate_x( cam_rot, -player.look_dir[1] );
 313
 314    v3f lookdir = { 0.0f, 0.0f, -1.0f },
 315        sidedir = { 1.0f, 0.0f,  0.0f };
 316
 317    m4x3_mulv( cam_rot, lookdir, lookdir );
 318    m4x3_mulv( cam_rot, sidedir, sidedir );
 319
 320    float movespeed = 5.0f;
 321    static v2f mouse_last,
 322               view_vel = { 0.0f, 0.0f };
 323
 324    static v3f move_vel = { 0.0f, 0.0f, 0.0f };
 325
 326    if( vg_get_button_down( "primary" ) )
 327       v2_copy( vg_mouse, mouse_last );
 328    else if( vg_get_button( "primary" ) )
 329    {
 330       v2f delta;
 331       v2_sub( vg_mouse, mouse_last, delta );
 332       v2_copy( vg_mouse, mouse_last );
 333
 334       v2_muladds( view_vel, delta, 0.005f, view_vel );
 335    }
 336
 337    v2_muls( view_vel, 0.75f, view_vel );
 338    v2_add( view_vel, player.look_dir, player.look_dir );
 339    player.look_dir[1] =
 340       vg_clampf( player.look_dir[1], -VG_PIf*0.5f, VG_PIf*0.5f );
 341
 342    if( vg_get_button( "forward" ) )
 343       v3_muladds( move_vel, lookdir, ktimestep * movespeed, move_vel );
 344    if( vg_get_button( "back" ) )
 345       v3_muladds( move_vel, lookdir, ktimestep *-movespeed, move_vel );
 346    if( vg_get_button( "left" ) )
 347       v3_muladds( move_vel, sidedir, ktimestep *-movespeed, move_vel );
 348    if( vg_get_button( "right" ) )
 349       v3_muladds( move_vel, sidedir, ktimestep * movespeed, move_vel );
 350
 351    v3_muls( move_vel, 0.75f, move_vel );
 352    v3_add( move_vel, player.view, player.view );
 353 }
 354
 355 static void apply_gravity( v3f vel, float const timestep )
 356 {
 357    v3f gravity = { 0.0f, -9.6f, 0.0f };
 358    v3_muladds( vel, gravity, timestep, vel );
 359 }
 360
 361 static void player_start_air(void)
 362 {
 363    player.in_air = 1;
 364
 365    float pstep = ktimestep*10.0f;
 366
 367    float best_velocity_mod = 0.0f,
 368          best_velocity_delta = -9999.9f;
 369
 370    v3f axis, vup;
 371    m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup );
 372    v3_cross( vup, player.v, axis );
 373    v3_normalize( axis );
 374    player.land_log_count = 0;
 375
 376    m3x3_identity( player.vr );
 377
 378    for( int m=0;m<=5; m++ )
 379    {
 380       float vmod = ((float)m / 5.0f)*0.09f;
 381
 382       v3f pco, pco1, pv;
 383       v3_copy( player.co, pco );
 384       v3_copy( player.v, pv );
 385
 386       /*
 387        * Try different 'rotations' of the velocity to find the best possible
 388        * landing normal. This conserves magnitude at the expense of slightly
 389        * unrealistic results
 390        */
 391
 392       m3x3f vr;
 393       v4f vr_q;
 394
 395       q_axis_angle( vr_q, axis, vmod );
 396       q_m3x3( vr_q, vr );
 397
 398       for( int i=0; i<50; i++ )
 399       {
 400          v3_copy( pco, pco1 );
 401          apply_gravity( pv, pstep );
 402
 403          m3x3_mulv( vr, pv, pv );
 404          v3_muladds( pco, pv, pstep, pco );
 405
 406          ray_hit contact;
 407          v3f vdir;
 408
 409          v3_sub( pco, pco1, vdir );
 410          contact.dist = v3_length( vdir );
 411          v3_divs( vdir, contact.dist, vdir);
 412
 413          if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
 414          {
 415             float land_delta = v3_dot( pv, contact.normal );
 416
 417             if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
 418             {
 419                best_velocity_delta = land_delta;
 420                best_velocity_mod = vmod;
 421
 422                v3_copy( contact.pos, player.land_target );
 423
 424                q_axis_angle( vr_q, axis, vmod*0.1f );
 425                q_m3x3( vr_q, player.vr );
 426             }
 427
 428             v3_copy( contact.pos,
 429                   player.land_target_log[player.land_log_count ++] );
 430             break;
 431          }
 432       }
 433    }
 434
 435    //v3_rotate( player.v, best_velocity_mod, axis, player.v );
 436
 437    return;
 438    v3_muls( player.v, best_velocity_mod, player.v );
 439 }
 440
 441 static int sample_if_resistant( v3f pos )
 442 {
 443    v3f ground, norm;
 444    v3_copy( pos, ground );
 445
 446    if( bvh_scene_sample( &world.geo, ground, norm ) )
 447    {
 448       v3f angle;
 449       v3_copy( player.v, angle );
 450       v3_normalize( angle );
 451       float resistance = v3_dot( norm, angle );
 452
 453       if( resistance < 0.25f )
 454       {
 455          v3_copy( ground, pos );
 456          return 1;
 457       }
 458    }
 459
 460    return 0;
 461 }
 462
 463 static float stable_force( float current, float diff )
 464 {
 465    float new = current + diff;
 466
 467    if( new * current < 0.0f )
 468       return 0.0f;
 469
 470    return new;
 471 }
 472
 473 static void player_physics_ground(void)
 474 {
 475    /*
 476     * Getting surface collision points,
 477     * the contact manifold is a triangle for simplicity.
 478     */
 479    v3f contact_front, contact_back, fwd, fwd1, contact_norm, vup, vside,
 480        axis;
 481
 482    float klength = 0.65f;
 483    m3x3_mulv( player.to_world, (v3f){ 0.0f, 0.0f,-1.0f}, fwd );
 484    m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-klength}, contact_norm );
 485    m4x3_mulv( player.to_world, (v3f){-0.15f,0.0f,-klength}, contact_front );
 486    m4x3_mulv( player.to_world, (v3f){ 0.00f,0.0f, klength}, contact_back );
 487    m3x3_mulv( player.to_world, (v3f){ 0.0f, 1.0f, 0.0f}, vup );
 488    m3x3_mulv( player.to_world, (v3f){ 1.0f, 0.0f, 0.0f}, vside );
 489
 490    v3f cn0, cn1, cn2;
 491
 492    int contact_count =
 493       sample_if_resistant( contact_front ) +
 494       sample_if_resistant( contact_back ) +
 495       sample_if_resistant( contact_norm );
 496
 497    if( contact_count < 3 )
 498    {
 499       player_start_air();
 500       return;
 501    }
 502
 503    v3f norm;
 504    v3f v0, v1;
 505    v3_sub( contact_norm, contact_front, v0 );
 506    v3_sub( contact_back, contact_front, v1 );
 507    v3_cross( v1, v0, norm );
 508    v3_normalize( norm );
 509
 510    vg_line( contact_norm, contact_front, 0xff00ff00 );
 511    vg_line( contact_back, contact_front, 0xff0000ff );
 512
 513    /* Surface alignment */
 514    float angle = v3_dot( vup, norm );
 515    v3_cross( vup, norm, axis );
 516
 517    if( angle < 0.999f )
 518    {
 519       v4f correction;
 520       q_axis_angle( correction, axis, acosf(angle) );
 521       q_mul( correction, player.rot, player.rot );
 522    }
 523
 524    float resistance = v3_dot( norm, player.v );
 525
 526    if( resistance >= 0.0f )
 527    {
 528       player_start_air();
 529       return;
 530    }
 531    else
 532    {
 533       v3_muladds( player.v, norm, -resistance, player.v );
 534    }
 535
 536    /* This is where velocity integration used to be */
 537
 538    float slip = 0.0f;
 539
 540    player.co[1] = (contact_front[1]+contact_back[1])*0.5f;
 541
 542    v3f vel;
 543    m3x3_mulv( player.to_local, player.v, vel );
 544
 545    /* Calculate local forces */
 546
 547    slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]);
 548    if( fabsf( slip ) > 1.2f )
 549       slip = vg_signf( slip ) * 1.2f;
 550    player.slip = slip;
 551    player.reverse = -vg_signf(vel[2]);
 552
 553    float substep = ktimestep * 0.2f;
 554    for( int i=0; i<5; i++ )
 555    {
 556       vel[2] = stable_force( vel[2], vg_signf( vel[2] ) * -0.02f*substep );
 557       vel[0] = stable_force( vel[0], vg_signf( vel[0] ) * -7.0f *substep );
 558    }
 559
 560    m3x3_mulv( player.to_world, vel, player.v );
 561
 562    if( vg_get_button( "yawl" ) )
 563       player.iY +=  3.6f * ktimestep;
 564    if( vg_get_button( "yawr" ) )
 565       player.iY -=  3.6f * ktimestep;
 566
 567    float steer = vg_get_axis( "horizontal" );
 568    player.iY -= vg_signf(steer)*powf(steer,2.0f) * 1.5f * ktimestep;
 569
 570    /* Too much lean and it starts to look like a snowboard here */
 571    v2_lerp( player.board_xy, (v2f){ slip*0.25f, 0.0f },
 572          ktimestep*5.0f, player.board_xy);
 573 }
 574
 575 static void draw_cross(v3f pos,u32 colour)
 576 {
 577    v3f p0, p1;
 578    v3_add( (v3f){ 1.0f,0.0f,0.0f}, pos, p0 );
 579    v3_add( (v3f){-1.0f,0.0f,0.0f}, pos, p1 );
 580    vg_line( p0, p1, colour );
 581    v3_add( (v3f){0.0f, 1.0f,0.0f}, pos, p0 );
 582    v3_add( (v3f){0.0f,-1.0f,0.0f}, pos, p1 );
 583    vg_line( p0, p1, colour );
 584    v3_add( (v3f){0.0f,0.0f, 1.0f}, pos, p0 );
 585    v3_add( (v3f){0.0f,0.0f,-1.0f}, pos, p1 );
 586    vg_line( p0, p1, colour );
 587 }
 588
 589 static void player_physics_air(void)
 590 {
 591    /* Debug prediciton */
 592
 593    m3x3_mulv( player.vr, player.v, player.v );
 594    for( int i=0; i<player.land_log_count; i++ )
 595       draw_cross( player.land_target_log[i], 0xff00ffff );
 596
 597    draw_cross( player.land_target, 0xff0000ff );
 598
 599    v3f ground_pos, ground_norm;
 600    v3_copy( player.co, ground_pos );
 601
 602    if( bvh_scene_sample( &world.geo, ground_pos, ground_norm ) )
 603    {
 604       if( ground_pos[1] > player.co[1] )
 605       {
 606          player.in_air = 0;
 607          return;
 608       }
 609    }
 610
 611    /* Prediction
 612     *
 613     * TODO: Find best landing surface and guide player towords it
 614     */
 615    float pstep = ktimestep*10.0f;
 616
 617    v3f pco, pco1, pv;
 618    v3_copy( player.co, pco );
 619    v3_copy( player.v, pv );
 620
 621    for( int i=0; i<50; i++ )
 622    {
 623       v3_copy( pco, pco1 );
 624       apply_gravity( pv, pstep );
 625       v3_muladds( pco, pv, pstep, pco );
 626
 627       //vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
 628
 629       ray_hit contact;
 630       v3f vdir;
 631
 632       v3_sub( pco, pco1, vdir );
 633       contact.dist = v3_length( vdir );
 634       v3_divs( vdir, contact.dist, vdir);
 635
 636       if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
 637       {
 638          v3f localup;
 639          m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );
 640
 641          float angle = v3_dot( localup, contact.normal );
 642          v3f axis;
 643          v3_cross( localup, contact.normal, axis );
 644
 645          if( angle < 0.99f )
 646          {
 647             v4f correction;
 648             q_axis_angle( correction, axis, acosf(angle)*0.05f );
 649             q_mul( correction, player.rot, player.rot );
 650          }
 651
 652          draw_cross( contact.pos, 0xffff0000 );
 653
 654          break;
 655       }
 656    }
 657
 658    player.iY -= vg_get_axis( "horizontal" ) * 3.6f * ktimestep;
 659
 660    v2f target = {0.0f,0.0f};
 661    v2_muladds( target, (v2f){ vg_get_axis("h1"), vg_get_axis("v1") },
 662                player.grab, target );
 663    v2_lerp( player.board_xy, target, ktimestep*3.0f, player.board_xy );
 664 }
 665
 666 static void player_animate(void);
 667 static void player_update(void)
 668 {
 669    static int clock = 0;
 670
 671    clock ++;
 672    if( clock >= clock_divider )
 673       clock = 0;
 674    else
 675       return;
 676
 677    /* temp */
 678    if( freecam )
 679    {
 680       player_freecam();
 681       return;
 682    }
 683
 684    if( vg_get_axis("grabl")>0.0f)
 685       reset_player(0,NULL);
 686    if( vg_get_button( "push" ) )
 687    {
 688       v3f dir = { 0.0f, 0.0f, -1.0f };
 689
 690       m3x3_mulv( player.to_world, dir, dir );
 691       v3_muladds( player.v, dir, 5.0f * ktimestep, player.v );
 692    }
 693
 694    float horizontal = vg_get_axis("horizontal"),
 695          vertical = vg_get_axis("vertical");
 696
 697    player.joy_l[0] = vg_signf(horizontal) * powf( horizontal, 2.0f );
 698    player.joy_l[1] = vg_signf(vertical) * powf( vertical, 2.0f );
 699
 700    /* Integrate velocity */
 701    if( sv_phys )
 702    {
 703       apply_gravity( player.v, ktimestep );
 704       v3_muladds( player.co, player.v, ktimestep, player.co );
 705    }
 706
 707    /* Integrate inertia */
 708    v4f rotate; v3f vup = {0.0f,1.0f,0.0f};
 709    m3x3_mulv( player.to_world, vup, vup );
 710
 711    static float siY = 0.0f;
 712
 713    float lerpq = player.in_air? 0.04f: 0.3f;
 714    siY = vg_lerpf( siY, player.iY, lerpq );
 715
 716    q_axis_angle( rotate, vup, siY );
 717    q_mul( rotate, player.rot, player.rot );
 718
 719    player.look_dir[0] = atan2f( player.v[0], -player.v[2] );
 720    player.look_dir[1] = atan2f( -player.v[1], sqrtf(player.v[0]*player.v[0]+
 721                                        player.v[2]*player.v[2]) ) * 0.3f;
 722
 723    player.iY = 0.0f; /* temp */
 724
 725    if( player.in_air )
 726       player_physics_air();
 727
 728    if( !player.in_air )
 729       player_physics_ground();
 730
 731    /* Camera and character */
 732
 733    player_transform_update();
 734    q_normalize(player.rot);
 735    player_animate();
 736 }
 737
 738 void vg_update(void)
 739 {
 740    player_update();
 741    bvh_debug( &world.geo, player.co );
 742 }
 743
 744 static void player_animate(void)
 745 {
 746    /* Camera position */
 747    static v3f last_vel = { 0.0f, 0.0f, 0.0f };
 748    static v3f momentum, bob;
 749
 750    v3_sub( player.v, last_vel, player.a );
 751    v3_copy( player.v, last_vel );
 752
 753    v3_add( momentum, player.a, momentum );
 754    v3_lerp( momentum, (v3f){0.0f,0.0f,0.0f}, 0.1f, momentum );
 755    v3f target;
 756
 757    momentum[0] = vg_clampf( momentum[0], -2.0f, 2.0f );
 758    momentum[1] = vg_clampf( momentum[1], -0.2f, 5.0f );
 759    momentum[2] = vg_clampf( momentum[2], -2.0f, 2.0f );
 760    v3_copy( momentum, target );
 761    v3_lerp( bob, target, 0.2f, bob );
 762
 763    /* Head */
 764    float lslip = fabsf(player.slip); //vg_minf( 0.4f, slip );
 765
 766    float grabt = vg_get_axis( "grabr" )*0.5f+0.5f;
 767    player.grab = vg_lerpf( player.grab, grabt, 0.04f );
 768
 769    float kheight = 2.0f,
 770          kleg = 0.6f;
 771
 772    v3f head;
 773    head[0] = 0.0f;
 774    head[1] = (0.3f+cosf(lslip)*0.5f*(1.0f-player.grab*0.7f)) * kheight;
 775    head[2] = 0.0f;
 776
 777    v3f offset;
 778    m3x3_mulv( player.to_local, bob, offset );
 779
 780    offset[0] *= 0.3333f;
 781    offset[1] *= -0.25f;
 782    offset[2] *= 0.7f;
 783    v3_muladds( head, offset, 0.7f, head );
 784    head[1] = vg_clampf( head[1], 0.3f, kheight );
 785
 786 #if 0
 787    if( !freecam )
 788    {
 789       v3_copy( head, player.view );
 790       v3f camoffs = {-0.2f,-0.6f,0.00f};
 791       v3_add( player.view, camoffs, player.view );
 792    }
 793 #endif
 794
 795
 796    /*
 797     * Animation blending
 798     * ===========================================
 799     */
 800
 801    static float fslide = 0.0f;
 802    static float fdirz = 0.0f;
 803    static float fdirx = 0.0f;
 804    static float fstand = 0.0f;
 805    static float ffly = 0.0f;
 806
 807    float speed = v3_length( player.v );
 808
 809    fstand = vg_lerpf(fstand, 1.0f-vg_clampf(speed*0.03f,0.0f,1.0f),0.1f);
 810    fslide = vg_lerpf(fslide, vg_clampf(lslip+fabsf(offset[0])*0.2f,
 811             0.0f,1.0f), 0.04f);
 812    fdirz = vg_lerpf(fdirz, player.reverse > 0.0f? 1.0f: 0.0f, 0.04f );
 813    fdirx = vg_lerpf(fdirx, player.slip < 0.0f?    1.0f: 0.0f, 0.04f );
 814    ffly = vg_lerpf(ffly, player.in_air?           1.0f: 0.0f, 0.04f );
 815
 816    character_pose_reset( &player.mdl );
 817
 818    float amt_air = ffly*ffly,
 819          amt_ground = 1.0f-amt_air,
 820          amt_std = (1.0f-fslide) * amt_ground,
 821          amt_stand = amt_std * fstand,
 822          amt_aero = amt_std * (1.0f-fstand),
 823          amt_slide = amt_ground * fslide;
 824
 825    character_final_pose( &player.mdl, offset, &pose_stand, amt_stand );
 826    character_final_pose( &player.mdl, offset, &pose_aero, amt_aero*fdirz );
 827    character_final_pose( &player.mdl, offset,
 828          &pose_aero_reverse, amt_aero * (1.0f-fdirz) );
 829    character_final_pose( &player.mdl, offset, &pose_slide, amt_slide*fdirx );
 830    character_final_pose( &player.mdl, offset,
 831          &pose_slide1, amt_slide*(1.0f-fdirx) );
 832
 833    character_final_pose( &player.mdl, (v3f){0.0f,0.0f,0.0f},
 834          &pose_fly, amt_air );
 835
 836    if( !freecam )
 837    {
 838       v3_copy( player.mdl.cam_pos, player.view );
 839       v3_muladds( player.view, offset, 0.7f, player.view );
 840       player.view[1] = vg_clampf( player.view[1], 0.3f, kheight );
 841    }
 842
 843    /*
 844     * Additive effects
 845     * ==========================
 846     */
 847    struct ik_basic *arm_l = &player.mdl.ik_arm_l,
 848                    *arm_r = &player.mdl.ik_arm_r;
 849
 850    v3f localv;
 851    m3x3_mulv( player.to_local, player.v, localv );
 852    v3_muladds( arm_l->end, localv, -0.01f, arm_l->end );
 853    v3_muladds( arm_r->end, localv, -0.01f, arm_r->end );
 854
 855    /* New board transformation */
 856    v4f board_rotation; v3f board_location;
 857
 858    v4f rz, rx;
 859    q_axis_angle( rz, (v3f){ 0.0f, 0.0f, 1.0f }, player.board_xy[0] );
 860    q_axis_angle( rx, (v3f){ 1.0f, 0.0f, 0.0f }, player.board_xy[1] );
 861    q_mul( rx, rz, board_rotation );
 862
 863    v3f *mboard = player.mdl.matrices[k_chpart_board];// player.mboard;
 864    q_m3x3( board_rotation, mboard );
 865    m3x3_mulv( mboard, (v3f){ 0.0f, -0.5f, 0.0f }, board_location );
 866    v3_add( (v3f){0.0f,0.5f,0.0f}, board_location, board_location );
 867    v3_copy( board_location, mboard[3] );
 868
 869
 870    float wheel_r = offset[0]*-0.4f;
 871    v4f qwheel;
 872    q_axis_angle( qwheel, (v3f){0.0f,1.0f,0.0f}, wheel_r );
 873
 874    q_m3x3( qwheel, player.mdl.matrices[k_chpart_wb] );
 875
 876    m3x3_transpose( player.mdl.matrices[k_chpart_wb],
 877                    player.mdl.matrices[k_chpart_wf] );
 878    v3_copy( player.mdl.offsets[k_chpart_wb],
 879          player.mdl.matrices[k_chpart_wb][3] );
 880    v3_copy( player.mdl.offsets[k_chpart_wf],
 881          player.mdl.matrices[k_chpart_wf][3] );
 882
 883    m4x3_mul( mboard, player.mdl.matrices[k_chpart_wb],
 884                      player.mdl.matrices[k_chpart_wb] );
 885    m4x3_mul( mboard, player.mdl.matrices[k_chpart_wf],
 886                      player.mdl.matrices[k_chpart_wf] );
 887
 888    m4x3_mulv( mboard, player.mdl.ik_leg_l.end, player.mdl.ik_leg_l.end );
 889    m4x3_mulv( mboard, player.mdl.ik_leg_r.end, player.mdl.ik_leg_r.end );
 890
 891
 892    v3_copy( player.mdl.ik_arm_l.end, player.handl_target );
 893    v3_copy( player.mdl.ik_arm_r.end, player.handr_target );
 894
 895    if( 1||player.in_air )
 896    {
 897       float tuck = player.board_xy[1],
 898             tuck_amt = fabsf( tuck ) * (1.0f-fabsf(player.board_xy[0]));
 899
 900       float crouch = player.grab*0.3f;
 901       v3_muladds( player.mdl.ik_body.base, (v3f){0.0f,-1.0f,0.0f},
 902             crouch, player.mdl.ik_body.base );
 903       v3_muladds( player.mdl.ik_body.end, (v3f){0.0f,-1.0f,0.0f},
 904             crouch*1.2f, player.mdl.ik_body.end );
 905
 906       if( tuck < 0.0f )
 907       {
 908          //foot_l *= 1.0f-tuck_amt*1.5f;
 909
 910          if( player.grab > 0.1f )
 911          {
 912             m4x3_mulv( mboard, (v3f){0.1f,0.14f,0.6f},
 913                   player.handl_target );
 914          }
 915       }
 916       else
 917       {
 918          //foot_r *= 1.0f-tuck_amt*1.4f;
 919
 920          if( player.grab > 0.1f )
 921          {
 922             m4x3_mulv( mboard, (v3f){0.1f,0.14f,-0.6f},
 923                   player.handr_target );
 924          }
 925       }
 926    }
 927
 928    v3_lerp( player.handl, player.handl_target, 0.1f, player.handl );
 929    v3_lerp( player.handr, player.handr_target, 0.1f, player.handr );
 930
 931    v3_copy( player.handl, player.mdl.ik_arm_l.end );
 932    v3_copy( player.handr, player.mdl.ik_arm_r.end );
 933
 934    /* Head rotation */
 935
 936    static float rhead = 0.0f;
 937    rhead = vg_lerpf( rhead,
 938          vg_clampf(atan2f( localv[2], -localv[0] ),-1.0f,1.0f), 0.04f );
 939    player.mdl.rhead = rhead;
 940 }
 941
 942 static void draw_player(void)
 943 {
 944    /* Draw */
 945    vg_tex2d_bind( &tex_pallet, 0 );
 946
 947    m4x3_copy( player.to_world, player.mdl.mroot );
 948    character_eval( &player.mdl );
 949    character_draw( &player.mdl, 1.0f );
 950 }
 951
 952 static void vg_framebuffer_resize( int w, int h )
 953 {
 954    glBindTexture( GL_TEXTURE_2D, render.rgb_background );
 955    glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, w, h, 0,
 956          GL_RGB, GL_UNSIGNED_BYTE, NULL );
 957 }
 958
 959 void vg_render(void)
 960 {
 961    glBindFramebuffer( GL_FRAMEBUFFER, 0 );
 962    glViewport( 0,0, vg_window_x, vg_window_y );
 963
 964    glDisable( GL_DEPTH_TEST );
 965    glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
 966    glClearColor(111.0f/255.0f, 46.0f/255.0f, 45.0f/255.0f,1.0f);
 967
 968    glClearColor( powf(0.066f,1.0f/2.2f),
 969                  powf(0.050f,1.0f/2.2f),
 970                  powf(0.046f,1.0f/2.2f), 1.0f );
 971    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
 972
 973    v3f pos_inv;
 974    static v3f cam_lerped = {0.0f,0.0f,0.0f};
 975    v3_lerp( cam_lerped, player.view, 0.08f, cam_lerped );
 976
 977    if( !freecam  )
 978       m4x3_mulv( player.to_world, cam_lerped, pos_inv );
 979    else
 980       v3_add( player.co, player.view, pos_inv );
 981    v3_negate( pos_inv, pos_inv );
 982
 983    static float vertical_lerp = 0.0f;
 984    vertical_lerp = vg_lerpf( vertical_lerp, pos_inv[1], 1.0f );
 985    v3f final = { pos_inv[0], vertical_lerp, pos_inv[2] };
 986
 987    float speed = freecam? 0.0f: v3_length( player.v );
 988    v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f };
 989    v3_muls( shake, speed*0.01f, shake );
 990
 991    static v2f cam_lerped_dir;
 992
 993    v2_lerp( cam_lerped_dir, player.look_dir, 0.04f, cam_lerped_dir );
 994
 995    m4x3_identity( world_matrix );
 996    m4x3_rotate_x( world_matrix,
 997          freecam?
 998          cam_lerped_dir[1]:
 999          0.6f+shake[1]*0.04f+player.look_dir[1] );
1000
1001    m4x3_rotate_y( world_matrix,
1002          freecam?
1003          cam_lerped_dir[0]:
1004          player.look_dir[0]+shake[0]*0.02f );
1005    m4x3_translate( world_matrix, final );
1006
1007    m4x4f world_4x4;
1008    m4x3_expand( world_matrix, world_4x4 );
1009    m4x4_projection( vg_pv,
1010          freecam? 60.0f: 120.0f,
1011          (float)vg_window_x / (float)vg_window_y,
1012          0.01f, 1000.0f );
1013    m4x4_mul( vg_pv, world_4x4, vg_pv );
1014
1015    vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 1.0f, 0.0f, 0.0f }, 0xffff0000 );
1016    vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 1.0f, 0.0f }, 0xff00ff00 );
1017    vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 0.0f, 1.0f }, 0xff0000ff );
1018
1019    glEnable( GL_DEPTH_TEST );
1020
1021    /*
1022     * Draw world
1023     */
1024    SHADER_USE(shader_standard_lit);
1025
1026    m4x3f identity_matrix;
1027    m4x3_identity( identity_matrix );
1028
1029         glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ),
1030          1, GL_FALSE, (float *)vg_pv );
1031         glUniformMatrix4x3fv( SHADER_UNIFORM( shader_standard_lit, "uMdl" ),
1032          1, GL_FALSE, (float *)identity_matrix );
1033
1034    vg_tex2d_bind( &tex_grid, 0 );
1035    glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 );
1036
1037    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"),
1038          0.4f,0.4f,0.4f,1.0f );
1039
1040    scene_bind( &world.geo );
1041    scene_draw( &world.geo );
1042
1043    if( !replay_record )
1044    {
1045       m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];
1046
1047       for( int i=0; i<PART_COUNT; i++ )
1048          m4x3_copy( base[i], player.mdl.matrices[i] );
1049
1050       replay_buffer_frame ++;
1051
1052       if( replay_buffer_frame == REPLAY_LENGTH )
1053          replay_buffer_frame = 0;
1054
1055       vg_tex2d_bind( &tex_pallet, 0 );
1056       character_draw( &player.mdl, 0.0f );
1057       player_animate();
1058    }
1059
1060
1061
1062    /* Copy the RGB of what we have into the background buffer */
1063    glBindFramebuffer( GL_READ_FRAMEBUFFER, 0 );
1064    glBindFramebuffer( GL_DRAW_FRAMEBUFFER, render.fb_background );
1065    glBlitFramebuffer( 0,0, vg_window_x, vg_window_y,
1066                       0,0, vg_window_x, vg_window_y,
1067                       GL_COLOR_BUFFER_BIT,
1068                       GL_LINEAR );
1069
1070    /* Clear out the colour buffer, but keep depth */
1071    glBindFramebuffer( GL_FRAMEBUFFER, 0 );
1072    glClearColor( 0.0f, 0.0f, 0.0f, 0.0f );
1073
1074 #if 1
1075    glClear( GL_COLOR_BUFFER_BIT );
1076 #else
1077    glClear( GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT );
1078 #endif
1079
1080    if( !freecam )
1081    draw_player();
1082
1083    /* Draw back in the background */
1084    glEnable(GL_BLEND);
1085    glDisable(GL_DEPTH_TEST);
1086    glBlendFunc(GL_ONE_MINUS_DST_ALPHA, GL_DST_ALPHA);
1087    glBlendEquation(GL_FUNC_ADD);
1088
1089    SHADER_USE( shader_blit );
1090
1091    glUniform1i( SHADER_UNIFORM(shader_blit,"uTexMain"), 0 );
1092    glActiveTexture(GL_TEXTURE0);
1093    glBindTexture( GL_TEXTURE_2D, render.rgb_background );
1094
1095    glBindVertexArray( render.fsquad.vao );
1096    glDrawArrays( GL_TRIANGLES, 0, 6 );
1097
1098    glDisable(GL_BLEND);
1099
1100    /* Other shite */
1101    glDisable( GL_DEPTH_TEST );
1102    vg_lines_drawall( (float *)vg_pv );
1103
1104    /* Debugger camera */
1105    glViewport( 0,0, 800, 800 );
1106    glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
1107    glClear( GL_DEPTH_BUFFER_BIT );
1108
1109    m4x3_identity( world_matrix );
1110
1111    v3f debugcam;
1112    v3_negate( player.co, debugcam );
1113    debugcam[2] -= 2.0f;
1114    debugcam[1] -= 0.7f;
1115
1116    m4x3_translate( world_matrix, debugcam );
1117    m4x3_expand( world_matrix, world_4x4 );
1118
1119    m4x4_projection( vg_pv,
1120          100.0f,
1121          (float)128.0f / (float)128.0f,
1122          0.01f, 1000.0f );
1123    m4x4_mul( vg_pv, world_4x4, vg_pv );
1124
1125    if(sv_debugcam)
1126    {
1127       glEnable( GL_DEPTH_TEST );
1128       draw_player();
1129    }
1130
1131    glDisable( GL_DEPTH_TEST );
1132    vg_lines_drawall( (float *)vg_pv );
1133
1134    glViewport( 0,0, vg_window_x, vg_window_y );
1135
1136
1137    if( replay_record )
1138    {
1139       m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];
1140
1141       for( int i=0; i<PART_COUNT; i++ )
1142          m4x3_copy( player.mdl.matrices[i], base[i] );
1143
1144       replay_buffer_frame ++;
1145
1146       if( replay_buffer_frame == REPLAY_LENGTH )
1147          replay_buffer_frame = 0;
1148    }
1149 }
1150
1151 void vg_ui(void)
1152 {
1153    char buf[20];
1154
1155    snprintf( buf, 20, "%.2fm/s", v3_length( player.v ) );
1156    gui_text( (ui_px [2]){ 0, 0 }, buf, 1, k_text_align_left );
1157
1158    snprintf( buf, 20, "%.2f %.2f %.2f m/s",
1159          player.a[0], player.a[1], player.a[2] );
1160    gui_text( (ui_px [2]){ 0, 20 }, buf, 1, k_text_align_left );
1161
1162    snprintf( buf, 20, "pos %.2f %.2f %.2f",
1163          player.co[0], player.co[1], player.co[2] );
1164    gui_text( (ui_px [2]){ 0, 40 }, buf, 1, k_text_align_left );
1165
1166    if( vg_gamepad_ready )
1167    {
1168       for( int i=0; i<6; i++ )
1169       {
1170          snprintf( buf, 20, "%.2f", vg_gamepad.axes[i] );
1171          gui_text( (ui_px [2]){ 0, (i+3)*20 }, buf, 1, k_text_align_left );
1172       }
1173    }
1174    else
1175    {
1176       gui_text( (ui_px [2]){ 0, 60 },
1177             "Gamepad not ready", 1, k_text_align_left );
1178    }
1179 }
1180
1181 void vg_free(void){}