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 void player_physics_ground(void)
 464 {
 465    /*
 466     * Getting surface collision points,
 467     * the contact manifold is a triangle for simplicity.
 468     */
 469    v3f contact_front, contact_back, fwd, fwd1, contact_norm, vup, vside,
 470        axis;
 471
 472    float klength = 0.65f;
 473    m3x3_mulv( player.to_world, (v3f){ 0.0f, 0.0f,-1.0f}, fwd );
 474    m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-klength}, contact_norm );
 475    m4x3_mulv( player.to_world, (v3f){-0.15f,0.0f,-klength}, contact_front );
 476    m4x3_mulv( player.to_world, (v3f){ 0.00f,0.0f, klength}, contact_back );
 477    m3x3_mulv( player.to_world, (v3f){ 0.0f, 1.0f, 0.0f}, vup );
 478    m3x3_mulv( player.to_world, (v3f){ 1.0f, 0.0f, 0.0f}, vside );
 479
 480    v3f cn0, cn1, cn2;
 481
 482    int contact_count =
 483       sample_if_resistant( contact_front ) +
 484       sample_if_resistant( contact_back ) +
 485       sample_if_resistant( contact_norm );
 486
 487    if( contact_count < 3 )
 488    {
 489       player_start_air();
 490       return;
 491    }
 492
 493    v3f norm;
 494    v3f v0, v1;
 495    v3_sub( contact_norm, contact_front, v0 );
 496    v3_sub( contact_back, contact_front, v1 );
 497    v3_cross( v1, v0, norm );
 498    v3_normalize( norm );
 499
 500    vg_line( contact_norm, contact_front, 0xff00ff00 );
 501    vg_line( contact_back, contact_front, 0xff0000ff );
 502
 503    /* Surface alignment */
 504    float angle = v3_dot( vup, norm );
 505    v3_cross( vup, norm, axis );
 506
 507    if( angle < 0.999f )
 508    {
 509       v4f correction;
 510       q_axis_angle( correction, axis, acosf(angle) );
 511       q_mul( correction, player.rot, player.rot );
 512    }
 513
 514    float resistance = v3_dot( norm, player.v );
 515
 516    if( resistance >= 0.0f )
 517    {
 518       player_start_air();
 519       return;
 520    }
 521    else
 522    {
 523       v3_muladds( player.v, norm, -resistance, player.v );
 524    }
 525
 526    /* This is where velocity integration used to be */
 527
 528    float slip = 0.0f;
 529
 530    player.co[1] = (contact_front[1]+contact_back[1])*0.5f;
 531
 532    v3f vel;
 533    m3x3_mulv( player.to_local, player.v, vel );
 534
 535    /* Calculate local forces */
 536
 537    slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]);
 538    if( fabsf( slip ) > 1.2f )
 539       slip = vg_signf( slip ) * 1.2f;
 540    player.slip = slip;
 541    player.reverse = -vg_signf(vel[2]);
 542
 543    float substep = ktimestep * 0.2f;
 544    for( int i=0; i<5; i++ )
 545    {
 546       if( fabsf(vel[2]) >= 0.02f*substep )
 547          vel[2] += vg_signf( vel[2] ) * -0.02f * substep;
 548       if( fabsf(vel[0]) >= 7.0f*substep )
 549          vel[0] += vg_signf( vel[0] ) * -7.0f * substep;
 550    }
 551
 552    m3x3_mulv( player.to_world, vel, player.v );
 553
 554    if( vg_get_button( "yawl" ) )
 555       player.iY +=  3.6f * ktimestep;
 556    if( vg_get_button( "yawr" ) )
 557       player.iY -=  3.6f * ktimestep;
 558
 559    float steer = vg_get_axis( "horizontal" );
 560    player.iY -= vg_signf(steer)*powf(steer,2.0f) * 1.5f * ktimestep;
 561 }
 562
 563 static void draw_cross(v3f pos,u32 colour)
 564 {
 565    v3f p0, p1;
 566    v3_add( (v3f){ 1.0f,0.0f,0.0f}, pos, p0 );
 567    v3_add( (v3f){-1.0f,0.0f,0.0f}, pos, p1 );
 568    vg_line( p0, p1, colour );
 569    v3_add( (v3f){0.0f, 1.0f,0.0f}, pos, p0 );
 570    v3_add( (v3f){0.0f,-1.0f,0.0f}, pos, p1 );
 571    vg_line( p0, p1, colour );
 572    v3_add( (v3f){0.0f,0.0f, 1.0f}, pos, p0 );
 573    v3_add( (v3f){0.0f,0.0f,-1.0f}, pos, p1 );
 574    vg_line( p0, p1, colour );
 575 }
 576
 577 static void player_physics_air(void)
 578 {
 579    /* Debug prediciton */
 580
 581    m3x3_mulv( player.vr, player.v, player.v );
 582    for( int i=0; i<player.land_log_count; i++ )
 583       draw_cross( player.land_target_log[i], 0xff00ffff );
 584
 585    draw_cross( player.land_target, 0xff0000ff );
 586
 587    v3f ground_pos, ground_norm;
 588    v3_copy( player.co, ground_pos );
 589
 590    if( bvh_scene_sample( &world.geo, ground_pos, ground_norm ) )
 591    {
 592       if( ground_pos[1] > player.co[1] )
 593       {
 594          player.in_air = 0;
 595          return;
 596       }
 597    }
 598
 599    /* Prediction
 600     *
 601     * TODO: Find best landing surface and guide player towords it
 602     */
 603    float pstep = ktimestep*10.0f;
 604
 605    v3f pco, pco1, pv;
 606    v3_copy( player.co, pco );
 607    v3_copy( player.v, pv );
 608
 609    for( int i=0; i<50; i++ )
 610    {
 611       v3_copy( pco, pco1 );
 612       apply_gravity( pv, pstep );
 613       v3_muladds( pco, pv, pstep, pco );
 614
 615       //vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
 616
 617       ray_hit contact;
 618       v3f vdir;
 619
 620       v3_sub( pco, pco1, vdir );
 621       contact.dist = v3_length( vdir );
 622       v3_divs( vdir, contact.dist, vdir);
 623
 624       if( bvh_raycast( &world.geo, pco1, vdir, &contact ))
 625       {
 626          v3f localup;
 627          m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );
 628
 629          float angle = v3_dot( localup, contact.normal );
 630          v3f axis;
 631          v3_cross( localup, contact.normal, axis );
 632
 633          if( angle < 0.99f )
 634          {
 635             v4f correction;
 636             q_axis_angle( correction, axis, acosf(angle)*0.05f );
 637             q_mul( correction, player.rot, player.rot );
 638          }
 639
 640          draw_cross( contact.pos, 0xffff0000 );
 641
 642          break;
 643       }
 644    }
 645
 646    player.iY -= vg_get_axis( "horizontal" ) * 3.6f * ktimestep;
 647 }
 648
 649 static void player_animate(void);
 650 static void player_update(void)
 651 {
 652    static int clock = 0;
 653
 654    clock ++;
 655    if( clock >= clock_divider )
 656       clock = 0;
 657    else
 658       return;
 659
 660    /* temp */
 661    if( freecam )
 662    {
 663       player_freecam();
 664       return;
 665    }
 666
 667    if( vg_get_axis("grabl")>0.0f)
 668       reset_player(0,NULL);
 669    if( vg_get_button( "push" ) )
 670    {
 671       v3f dir = { 0.0f, 0.0f, -1.0f };
 672
 673       m3x3_mulv( player.to_world, dir, dir );
 674       v3_muladds( player.v, dir, 5.0f * ktimestep, player.v );
 675    }
 676
 677    float horizontal = vg_get_axis("horizontal"),
 678          vertical = vg_get_axis("vertical");
 679
 680    player.joy_l[0] = vg_signf(horizontal) * powf( horizontal, 2.0f );
 681    player.joy_l[1] = vg_signf(vertical) * powf( vertical, 2.0f );
 682
 683    /* Integrate velocity */
 684    if( sv_phys )
 685    {
 686       apply_gravity( player.v, ktimestep );
 687       v3_muladds( player.co, player.v, ktimestep, player.co );
 688    }
 689
 690    /* Integrate inertia */
 691    v4f rotate; v3f vup = {0.0f,1.0f,0.0f};
 692    m3x3_mulv( player.to_world, vup, vup );
 693
 694    static float siY = 0.0f;
 695
 696    float lerpq = player.in_air? 0.04f: 0.3f;
 697    siY = vg_lerpf( siY, player.iY, lerpq );
 698
 699    q_axis_angle( rotate, vup, siY );
 700    q_mul( rotate, player.rot, player.rot );
 701
 702    player.look_dir[0] = atan2f( player.v[0], -player.v[2] );
 703    player.look_dir[1] = atan2f( -player.v[1], sqrtf(player.v[0]*player.v[0]+
 704                                        player.v[2]*player.v[2]) ) * 0.3f;
 705
 706    player.iY = 0.0f; /* temp */
 707
 708    if( player.in_air )
 709       player_physics_air();
 710
 711    if( !player.in_air )
 712       player_physics_ground();
 713
 714    /* Camera and character */
 715
 716    player_transform_update();
 717    q_normalize(player.rot);
 718    player_animate();
 719 }
 720
 721 void vg_update(void)
 722 {
 723    player_update();
 724    bvh_debug( &world.geo, player.co );
 725 }
 726
 727 static void player_animate(void)
 728 {
 729    /* Camera position */
 730    static v3f last_vel = { 0.0f, 0.0f, 0.0f };
 731    static v3f momentum, bob;
 732
 733    v3_sub( player.v, last_vel, player.a );
 734    v3_copy( player.v, last_vel );
 735
 736    v3_add( momentum, player.a, momentum );
 737    v3_lerp( momentum, (v3f){0.0f,0.0f,0.0f}, 0.1f, momentum );
 738    v3f target;
 739
 740    momentum[0] = vg_clampf( momentum[0], -2.0f, 2.0f );
 741    momentum[1] = vg_clampf( momentum[1], -0.2f, 5.0f );
 742    momentum[2] = vg_clampf( momentum[2], -2.0f, 2.0f );
 743    v3_copy( momentum, target );
 744    v3_lerp( bob, target, 0.2f, bob );
 745
 746    /* Head */
 747    float lslip = fabsf(player.slip); //vg_minf( 0.4f, slip );
 748
 749    float grabt = vg_get_axis( "grabr" )*0.5f+0.5f;
 750    player.grab = vg_lerpf( player.grab, grabt, 0.04f );
 751
 752    float kheight = 2.0f,
 753          kleg = 0.6f;
 754
 755    v3f head;
 756    head[0] = 0.0f;
 757    head[1] = (0.3f+cosf(lslip)*0.5f*(1.0f-player.grab*0.7f)) * kheight;
 758    head[2] = 0.0f;
 759
 760    v3f offset;
 761    m3x3_mulv( player.to_local, bob, offset );
 762
 763    offset[0] *= 0.3333f;
 764    offset[1] *= -0.25f;
 765    offset[2] *= 0.7f;
 766    v3_muladds( head, offset, 0.7f, head );
 767    head[1] = vg_clampf( head[1], 0.3f, kheight );
 768
 769 #if 0
 770    if( !freecam )
 771    {
 772       v3_copy( head, player.view );
 773       v3f camoffs = {-0.2f,-0.6f,0.00f};
 774       v3_add( player.view, camoffs, player.view );
 775    }
 776 #endif
 777
 778
 779    /*
 780     * Animation blending
 781     * ===========================================
 782     */
 783
 784    static float fslide = 0.0f;
 785    static float fdirz = 0.0f;
 786    static float fdirx = 0.0f;
 787    static float fstand = 0.0f;
 788    static float ffly = 0.0f;
 789
 790    float speed = v3_length( player.v );
 791
 792    fstand = vg_lerpf(fstand, 1.0f-vg_clampf(speed*0.03f,0.0f,1.0f),0.1f);
 793    fslide = vg_lerpf(fslide, vg_clampf(lslip+fabsf(offset[0])*0.2f,
 794             0.0f,1.0f), 0.04f);
 795    fdirz = vg_lerpf(fdirz, player.reverse > 0.0f? 1.0f: 0.0f, 0.04f );
 796    fdirx = vg_lerpf(fdirx, player.slip < 0.0f?    1.0f: 0.0f, 0.04f );
 797    ffly = vg_lerpf(ffly, player.in_air?           1.0f: 0.0f, 0.04f );
 798
 799    character_pose_reset( &player.mdl );
 800
 801    float amt_air = ffly*ffly,
 802          amt_ground = 1.0f-amt_air,
 803          amt_std = (1.0f-fslide) * amt_ground,
 804          amt_stand = amt_std * fstand,
 805          amt_aero = amt_std * (1.0f-fstand),
 806          amt_slide = amt_ground * fslide;
 807
 808    character_final_pose( &player.mdl, offset, &pose_stand, amt_stand );
 809    character_final_pose( &player.mdl, offset, &pose_aero, amt_aero*fdirz );
 810    character_final_pose( &player.mdl, offset,
 811          &pose_aero_reverse, amt_aero * (1.0f-fdirz) );
 812    character_final_pose( &player.mdl, offset, &pose_slide, amt_slide*fdirx );
 813    character_final_pose( &player.mdl, offset,
 814          &pose_slide1, amt_slide*(1.0f-fdirx) );
 815
 816    character_final_pose( &player.mdl, (v3f){0.0f,0.0f,0.0f},
 817          &pose_fly, amt_air );
 818
 819    if( !freecam )
 820    {
 821       v3_copy( player.mdl.cam_pos, player.view );
 822       v3_muladds( player.view, offset, 0.7f, player.view );
 823       player.view[1] = vg_clampf( player.view[1], 0.3f, kheight );
 824    }
 825
 826    /*
 827     * Additive effects
 828     * ==========================
 829     */
 830    struct ik_basic *arm_l = &player.mdl.ik_arm_l,
 831                    *arm_r = &player.mdl.ik_arm_r;
 832
 833    v3f localv;
 834    m3x3_mulv( player.to_local, player.v, localv );
 835    v3_muladds( arm_l->end, localv, -0.01f, arm_l->end );
 836    v3_muladds( arm_r->end, localv, -0.01f, arm_r->end );
 837
 838    /* New board transformation */
 839    v4f board_rotation; v3f board_location;
 840
 841    /* TODO: Move this out of animate into update */
 842    v2_lerp( player.board_xy, (v2f){ vg_get_axis("h1"), vg_get_axis("v1") },
 843          ktimestep*3.0f, player.board_xy );
 844
 845    v4f rz, rx;
 846    q_axis_angle( rz, (v3f){ 0.0f, 0.0f, 1.0f }, player.board_xy[0] );
 847    q_axis_angle( rx, (v3f){ 1.0f, 0.0f, 0.0f }, player.board_xy[1] );
 848    q_mul( rx, rz, board_rotation );
 849
 850    v3f *mboard = player.mdl.matrices[k_chpart_board];// player.mboard;
 851    q_m3x3( board_rotation, mboard );
 852    m3x3_mulv( mboard, (v3f){ 0.0f, -0.5f, 0.0f }, board_location );
 853    v3_add( (v3f){0.0f,0.5f,0.0f}, board_location, board_location );
 854    v3_copy( board_location, mboard[3] );
 855
 856
 857    float wheel_r = offset[0]*-0.4f;
 858    v4f qwheel;
 859    q_axis_angle( qwheel, (v3f){0.0f,1.0f,0.0f}, wheel_r );
 860
 861    q_m3x3( qwheel, player.mdl.matrices[k_chpart_wb] );
 862
 863    m3x3_transpose( player.mdl.matrices[k_chpart_wb],
 864                    player.mdl.matrices[k_chpart_wf] );
 865    v3_copy( player.mdl.offsets[k_chpart_wb],
 866          player.mdl.matrices[k_chpart_wb][3] );
 867    v3_copy( player.mdl.offsets[k_chpart_wf],
 868          player.mdl.matrices[k_chpart_wf][3] );
 869
 870    m4x3_mul( mboard, player.mdl.matrices[k_chpart_wb],
 871                      player.mdl.matrices[k_chpart_wb] );
 872    m4x3_mul( mboard, player.mdl.matrices[k_chpart_wf],
 873                      player.mdl.matrices[k_chpart_wf] );
 874
 875    m4x3_mulv( mboard, player.mdl.ik_leg_l.end, player.mdl.ik_leg_l.end );
 876    m4x3_mulv( mboard, player.mdl.ik_leg_r.end, player.mdl.ik_leg_r.end );
 877
 878
 879    v3_copy( player.mdl.ik_arm_l.end, player.handl_target );
 880    v3_copy( player.mdl.ik_arm_r.end, player.handr_target );
 881
 882    if( 1||player.in_air )
 883    {
 884       float tuck = player.board_xy[1],
 885             tuck_amt = fabsf( tuck ) * (1.0f-fabsf(player.board_xy[0]));
 886
 887       float crouch = player.grab*0.3f;
 888       v3_muladds( player.mdl.ik_body.base, (v3f){0.0f,-1.0f,0.0f},
 889             crouch, player.mdl.ik_body.base );
 890       v3_muladds( player.mdl.ik_body.end, (v3f){0.0f,-1.0f,0.0f},
 891             crouch*1.2f, player.mdl.ik_body.end );
 892
 893       if( tuck < 0.0f )
 894       {
 895          //foot_l *= 1.0f-tuck_amt*1.5f;
 896
 897          if( player.grab > 0.1f )
 898          {
 899             m4x3_mulv( mboard, (v3f){0.1f,0.14f,0.6f},
 900                   player.handl_target );
 901          }
 902       }
 903       else
 904       {
 905          //foot_r *= 1.0f-tuck_amt*1.4f;
 906
 907          if( player.grab > 0.1f )
 908          {
 909             m4x3_mulv( mboard, (v3f){0.1f,0.14f,-0.6f},
 910                   player.handr_target );
 911          }
 912       }
 913    }
 914
 915    v3_lerp( player.handl, player.handl_target, 0.1f, player.handl );
 916    v3_lerp( player.handr, player.handr_target, 0.1f, player.handr );
 917
 918    v3_copy( player.handl, player.mdl.ik_arm_l.end );
 919    v3_copy( player.handr, player.mdl.ik_arm_r.end );
 920
 921    /* Head rotation */
 922
 923    static float rhead = 0.0f;
 924    rhead = vg_lerpf( rhead,
 925          vg_clampf(atan2f( localv[2], -localv[0] ),-1.0f,1.0f), 0.04f );
 926    player.mdl.rhead = rhead;
 927 }
 928
 929 static void draw_player(void)
 930 {
 931    /* Draw */
 932    vg_tex2d_bind( &tex_pallet, 0 );
 933
 934    m4x3_copy( player.to_world, player.mdl.mroot );
 935    character_eval( &player.mdl );
 936    character_draw( &player.mdl, 1.0f );
 937 }
 938
 939 static void vg_framebuffer_resize( int w, int h )
 940 {
 941    glBindTexture( GL_TEXTURE_2D, render.rgb_background );
 942    glTexImage2D( GL_TEXTURE_2D, 0, GL_RGB, w, h, 0,
 943          GL_RGB, GL_UNSIGNED_BYTE, NULL );
 944 }
 945
 946 void vg_render(void)
 947 {
 948    glBindFramebuffer( GL_FRAMEBUFFER, 0 );
 949    glViewport( 0,0, vg_window_x, vg_window_y );
 950
 951    glDisable( GL_DEPTH_TEST );
 952    glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
 953    glClearColor(111.0f/255.0f, 46.0f/255.0f, 45.0f/255.0f,1.0f);
 954
 955    glClearColor( powf(0.066f,1.0f/2.2f),
 956                  powf(0.050f,1.0f/2.2f),
 957                  powf(0.046f,1.0f/2.2f), 1.0f );
 958    glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
 959
 960    v3f pos_inv;
 961    static v3f cam_lerped = {0.0f,0.0f,0.0f};
 962    v3_lerp( cam_lerped, player.view, 0.08f, cam_lerped );
 963
 964    if( !freecam  )
 965       m4x3_mulv( player.to_world, cam_lerped, pos_inv );
 966    else
 967       v3_add( player.co, player.view, pos_inv );
 968    v3_negate( pos_inv, pos_inv );
 969
 970    static float vertical_lerp = 0.0f;
 971    vertical_lerp = vg_lerpf( vertical_lerp, pos_inv[1], 1.0f );
 972    v3f final = { pos_inv[0], vertical_lerp, pos_inv[2] };
 973
 974    float speed = freecam? 0.0f: v3_length( player.v );
 975    v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f };
 976    v3_muls( shake, speed*0.01f, shake );
 977
 978    static v2f cam_lerped_dir;
 979
 980    v2_lerp( cam_lerped_dir, player.look_dir, 0.04f, cam_lerped_dir );
 981
 982    m4x3_identity( world_matrix );
 983    m4x3_rotate_x( world_matrix,
 984          freecam?
 985          cam_lerped_dir[1]:
 986          0.6f+shake[1]*0.04f+player.look_dir[1] );
 987
 988    m4x3_rotate_y( world_matrix,
 989          freecam?
 990          cam_lerped_dir[0]:
 991          player.look_dir[0]+shake[0]*0.02f );
 992    m4x3_translate( world_matrix, final );
 993
 994    m4x4f world_4x4;
 995    m4x3_expand( world_matrix, world_4x4 );
 996    m4x4_projection( vg_pv,
 997          freecam? 60.0f: 120.0f,
 998          (float)vg_window_x / (float)vg_window_y,
 999          0.01f, 1000.0f );
1000    m4x4_mul( vg_pv, world_4x4, vg_pv );
1001
1002    vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 1.0f, 0.0f, 0.0f }, 0xffff0000 );
1003    vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 1.0f, 0.0f }, 0xff00ff00 );
1004    vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 0.0f, 1.0f }, 0xff0000ff );
1005
1006    glEnable( GL_DEPTH_TEST );
1007
1008    /*
1009     * Draw world
1010     */
1011    SHADER_USE(shader_standard_lit);
1012
1013    m4x3f identity_matrix;
1014    m4x3_identity( identity_matrix );
1015
1016         glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ),
1017          1, GL_FALSE, (float *)vg_pv );
1018         glUniformMatrix4x3fv( SHADER_UNIFORM( shader_standard_lit, "uMdl" ),
1019          1, GL_FALSE, (float *)identity_matrix );
1020
1021    vg_tex2d_bind( &tex_grid, 0 );
1022    glUniform1i( SHADER_UNIFORM( shader_standard_lit, "uTexMain" ), 0 );
1023
1024    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"),
1025          0.4f,0.4f,0.4f,1.0f );
1026
1027    scene_bind( &world.geo );
1028    scene_draw( &world.geo );
1029
1030    if( !replay_record )
1031    {
1032       m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];
1033
1034       for( int i=0; i<PART_COUNT; i++ )
1035          m4x3_copy( base[i], player.mdl.matrices[i] );
1036
1037       replay_buffer_frame ++;
1038
1039       if( replay_buffer_frame == REPLAY_LENGTH )
1040          replay_buffer_frame = 0;
1041
1042       vg_tex2d_bind( &tex_pallet, 0 );
1043       character_draw( &player.mdl, 0.0f );
1044       player_animate();
1045    }
1046
1047
1048
1049    /* Copy the RGB of what we have into the background buffer */
1050    glBindFramebuffer( GL_READ_FRAMEBUFFER, 0 );
1051    glBindFramebuffer( GL_DRAW_FRAMEBUFFER, render.fb_background );
1052    glBlitFramebuffer( 0,0, vg_window_x, vg_window_y,
1053                       0,0, vg_window_x, vg_window_y,
1054                       GL_COLOR_BUFFER_BIT,
1055                       GL_LINEAR );
1056
1057    /* Clear out the colour buffer, but keep depth */
1058    glBindFramebuffer( GL_FRAMEBUFFER, 0 );
1059    glClearColor( 0.0f, 0.0f, 0.0f, 0.0f );
1060
1061 #if 1
1062    glClear( GL_COLOR_BUFFER_BIT );
1063 #else
1064    glClear( GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT );
1065 #endif
1066
1067    if( !freecam )
1068    draw_player();
1069
1070    /* Draw back in the background */
1071    glEnable(GL_BLEND);
1072    glDisable(GL_DEPTH_TEST);
1073    glBlendFunc(GL_ONE_MINUS_DST_ALPHA, GL_DST_ALPHA);
1074    glBlendEquation(GL_FUNC_ADD);
1075
1076    SHADER_USE( shader_blit );
1077
1078    glUniform1i( SHADER_UNIFORM(shader_blit,"uTexMain"), 0 );
1079    glActiveTexture(GL_TEXTURE0);
1080    glBindTexture( GL_TEXTURE_2D, render.rgb_background );
1081
1082    glBindVertexArray( render.fsquad.vao );
1083    glDrawArrays( GL_TRIANGLES, 0, 6 );
1084
1085    glDisable(GL_BLEND);
1086
1087    /* Other shite */
1088    glDisable( GL_DEPTH_TEST );
1089    vg_lines_drawall( (float *)vg_pv );
1090
1091    /* Debugger camera */
1092    glViewport( 0,0, 800, 800 );
1093    glClearColor( 0.1f, 0.0f, 0.2f, 1.0f );
1094    glClear( GL_DEPTH_BUFFER_BIT );
1095
1096    m4x3_identity( world_matrix );
1097
1098    v3f debugcam;
1099    v3_negate( player.co, debugcam );
1100    debugcam[2] -= 2.0f;
1101    debugcam[1] -= 0.7f;
1102
1103    m4x3_translate( world_matrix, debugcam );
1104    m4x3_expand( world_matrix, world_4x4 );
1105
1106    m4x4_projection( vg_pv,
1107          100.0f,
1108          (float)128.0f / (float)128.0f,
1109          0.01f, 1000.0f );
1110    m4x4_mul( vg_pv, world_4x4, vg_pv );
1111
1112    if(sv_debugcam)
1113    {
1114       glEnable( GL_DEPTH_TEST );
1115       draw_player();
1116    }
1117
1118    glDisable( GL_DEPTH_TEST );
1119    vg_lines_drawall( (float *)vg_pv );
1120
1121    glViewport( 0,0, vg_window_x, vg_window_y );
1122
1123
1124    if( replay_record )
1125    {
1126       m4x3f *base = &replay_buffer[(PART_COUNT)*replay_buffer_frame];
1127
1128       for( int i=0; i<PART_COUNT; i++ )
1129          m4x3_copy( player.mdl.matrices[i], base[i] );
1130
1131       replay_buffer_frame ++;
1132
1133       if( replay_buffer_frame == REPLAY_LENGTH )
1134          replay_buffer_frame = 0;
1135    }
1136 }
1137
1138 void vg_ui(void)
1139 {
1140    char buf[20];
1141
1142    snprintf( buf, 20, "%.2fm/s", v3_length( player.v ) );
1143    gui_text( (ui_px [2]){ 0, 0 }, buf, 1, k_text_align_left );
1144
1145    snprintf( buf, 20, "%.2f %.2f %.2f m/s",
1146          player.a[0], player.a[1], player.a[2] );
1147    gui_text( (ui_px [2]){ 0, 20 }, buf, 1, k_text_align_left );
1148
1149    snprintf( buf, 20, "pos %.2f %.2f %.2f",
1150          player.co[0], player.co[1], player.co[2] );
1151    gui_text( (ui_px [2]){ 0, 40 }, buf, 1, k_text_align_left );
1152
1153    if( vg_gamepad_ready )
1154    {
1155       for( int i=0; i<6; i++ )
1156       {
1157          snprintf( buf, 20, "%.2f", vg_gamepad.axes[i] );
1158          gui_text( (ui_px [2]){ 0, (i+3)*20 }, buf, 1, k_text_align_left );
1159       }
1160    }
1161    else
1162    {
1163       gui_text( (ui_px [2]){ 0, 60 },
1164             "Gamepad not ready", 1, k_text_align_left );
1165    }
1166 }
1167
1168 void vg_free(void){}