7ab0e63d57fabbae67d0b4815ab5537579593f56
8 static int freecam
= 0;
9 static float k_walkspeed
= 2.0f
;
10 static int walk_grid_iterations
= 1;
15 v3f co
, v
, a
, v_last
, m
, bob
, vl
;
17 float vswitch
, slip
, slip_last
,
20 float iY
; /* Yaw inertia */
21 int in_air
, is_dead
, on_board
;
31 v3f land_target_log
[22];
32 u32 land_target_colours
[22];
36 m4x3f to_world
, to_local
;
40 v3f handl_target
, handr_target
,
46 v3f camera_pos
, smooth_localcam
;
48 m4x3f camera
, camera_inverse
;
55 static void player_transform_update(void)
57 q_normalize( player
.rot
);
58 q_m3x3( player
.rot
, player
.to_world
);
59 v3_copy( player
.co
, player
.to_world
[3] );
61 m4x3_invert_affine( player
.to_world
, player
.to_local
);
64 static int reset_player( int argc
, char const *argv
[] )
66 v3_copy( (v3f
){ 0.0f
, -2.0f
, 0.0f
}, player
.co
);
70 if( !strcmp( argv
[0], "tutorial" ))
71 v3_copy( world
.tutorial
, player
.co
);
74 v3_copy( (v3f
){ 0.0f
, 0.0f
, -0.2f
}, player
.v
);
75 q_identity( player
.rot
);
76 player
.vswitch
= 1.0f
;
77 player
.slip_last
= 0.0f
;
80 m3x3_identity( player
.vr
);
82 player
.mdl
.shoes
[0] = 1;
83 player
.mdl
.shoes
[1] = 1;
85 player_transform_update();
89 static void player_mouseview(void)
91 static v2f mouse_last
,
92 view_vel
= { 0.0f
, 0.0f
};
94 if( vg_get_button_down( "primary" ) )
95 v2_copy( vg_mouse
, mouse_last
);
96 else if( vg_get_button( "primary" ) )
99 v2_sub( vg_mouse
, mouse_last
, delta
);
100 v2_copy( vg_mouse
, mouse_last
);
102 v2_muladds( view_vel
, delta
, 0.005f
, view_vel
);
105 v2_muls( view_vel
, 0.7f
, view_vel
);
106 v2_add( view_vel
, player
.angles
, player
.angles
);
107 player
.angles
[1] = vg_clampf( player
.angles
[1], -VG_PIf
*0.5f
, VG_PIf
*0.5f
);
111 static void player_freecam(void)
115 float movespeed
= 25.0f
;
116 v3f lookdir
= { 0.0f
, 0.0f
, -1.0f
},
117 sidedir
= { 1.0f
, 0.0f
, 0.0f
};
119 m3x3_mulv( player
.camera
, lookdir
, lookdir
);
120 m3x3_mulv( player
.camera
, sidedir
, sidedir
);
122 static v3f move_vel
= { 0.0f
, 0.0f
, 0.0f
};
123 if( vg_get_button( "forward" ) )
124 v3_muladds( move_vel
, lookdir
, ktimestep
* movespeed
, move_vel
);
125 if( vg_get_button( "back" ) )
126 v3_muladds( move_vel
, lookdir
, ktimestep
*-movespeed
, move_vel
);
127 if( vg_get_button( "left" ) )
128 v3_muladds( move_vel
, sidedir
, ktimestep
*-movespeed
, move_vel
);
129 if( vg_get_button( "right" ) )
130 v3_muladds( move_vel
, sidedir
, ktimestep
* movespeed
, move_vel
);
132 v3_muls( move_vel
, 0.7f
, move_vel
);
133 v3_add( move_vel
, player
.camera_pos
, player
.camera_pos
);
136 static void apply_gravity( v3f vel
, float const timestep
)
138 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
139 v3_muladds( vel
, gravity
, timestep
, vel
);
143 * TODO: The angle bias should become greater when launching from a steeper
144 * angle and skewed towords more 'downwards' angles when launching from
145 * shallower trajectories
147 static void player_start_air(void)
151 float pstep
= ktimestep
*10.0f
;
153 float best_velocity_mod
= 0.0f
,
154 best_velocity_delta
= -9999.9f
;
156 float k_bias
= 0.97f
;
159 m3x3_mulv( player
.to_world
, (v3f
){0.0f
,1.0f
,0.0f
}, vup
);
160 v3_cross( vup
, player
.v
, axis
);
161 v3_normalize( axis
);
162 player
.land_log_count
= 0;
164 m3x3_identity( player
.vr
);
166 for( int m
=-3;m
<=12; m
++ )
168 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
171 v3_copy( player
.co
, pco
);
172 v3_muls( player
.v
, k_bias
, pv
);
175 * Try different 'rotations' of the velocity to find the best possible
176 * landing normal. This conserves magnitude at the expense of slightly
177 * unrealistic results
183 q_axis_angle( vr_q
, axis
, vmod
);
186 m3x3_mulv( vr
, pv
, pv
);
187 v3_muladds( pco
, pv
, pstep
, pco
);
189 for( int i
=0; i
<50; i
++ )
191 v3_copy( pco
, pco1
);
192 apply_gravity( pv
, pstep
);
194 m3x3_mulv( vr
, pv
, pv
);
195 v3_muladds( pco
, pv
, pstep
, pco
);
200 v3_sub( pco
, pco1
, vdir
);
201 contact
.dist
= v3_length( vdir
);
202 v3_divs( vdir
, contact
.dist
, vdir
);
204 if( ray_world( pco1
, vdir
, &contact
))
206 float land_delta
= v3_dot( pv
, contact
.normal
);
207 u32 scolour
= (u8
)(vg_minf(-land_delta
* 2.0f
, 255.0f
));
209 /* Bias prediction towords ramps */
210 if( ray_hit_is_ramp( &contact
) )
213 scolour
|= 0x0000a000;
216 if( (land_delta
< 0.0f
) && (land_delta
> best_velocity_delta
) )
218 best_velocity_delta
= land_delta
;
219 best_velocity_mod
= vmod
;
221 v3_copy( contact
.pos
, player
.land_target
);
223 q_axis_angle( vr_q
, axis
, vmod
*0.1f
);
224 q_m3x3( vr_q
, player
.vr
);
227 v3_copy( contact
.pos
,
228 player
.land_target_log
[player
.land_log_count
] );
229 player
.land_target_colours
[player
.land_log_count
] =
230 0xff000000 | scolour
;
232 player
.land_log_count
++;
239 //v3_rotate( player.v, best_velocity_mod, axis, player.v );
242 v3_muls( player
.v
, best_velocity_mod
, player
.v
);
245 static int sample_if_resistant( v3f pos
)
248 v3_copy( pos
, ground
);
254 if( ray_world( ground
, (v3f
){0.0f
,-1.0f
,0.0f
}, &hit
))
257 v3_copy( player
.v
, angle
);
258 v3_normalize( angle
);
259 float resistance
= v3_dot( hit
.normal
, angle
);
261 if( resistance
< 0.25f
)
263 v3_copy( hit
.pos
, pos
);
271 static float stable_force( float current
, float diff
)
273 float new = current
+ diff
;
275 if( new * current
< 0.0f
)
281 static void player_physics_ground(void)
284 * Getting surface collision points,
285 * the contact manifold is a triangle for simplicity.
287 v3f contact_front
, contact_back
, contact_norm
, vup
, vside
,
290 float klength
= 0.65f
;
291 m4x3_mulv( player
.to_world
, (v3f
){ 0.15f
,0.0f
,-klength
}, contact_norm
);
292 m4x3_mulv( player
.to_world
, (v3f
){-0.15f
,0.0f
,-klength
}, contact_front
);
293 m4x3_mulv( player
.to_world
, (v3f
){ 0.00f
,0.0f
, klength
}, contact_back
);
294 m3x3_mulv( player
.to_world
, (v3f
){ 0.0f
, 1.0f
, 0.0f
}, vup
);
295 m3x3_mulv( player
.to_world
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, vside
);
300 sample_if_resistant( contact_front
) +
301 sample_if_resistant( contact_back
) +
302 sample_if_resistant( contact_norm
);
304 if( contact_count
< 3 )
312 v3_sub( contact_norm
, contact_front
, v0
);
313 v3_sub( contact_back
, contact_front
, v1
);
314 v3_cross( v1
, v0
, norm
);
315 v3_normalize( norm
);
317 vg_line( contact_norm
, contact_front
, 0xff00ff00 );
318 vg_line( contact_back
, contact_front
, 0xff0000ff );
320 /* Surface alignment */
321 float angle
= v3_dot( vup
, norm
);
322 v3_cross( vup
, norm
, axis
);
327 q_axis_angle( correction
, axis
, acosf(angle
) );
328 q_mul( correction
, player
.rot
, player
.rot
);
331 float resistance
= v3_dot( norm
, player
.v
);
332 if( resistance
>= 0.0f
)
339 v3_muladds( player
.v
, norm
, -resistance
, player
.v
);
342 /* This is where velocity integration used to be */
346 player
.co
[1] = (contact_front
[1]+contact_back
[1])*0.5f
;
349 m3x3_mulv( player
.to_local
, player
.v
, vel
);
351 /* Calculate local forces */
353 if( fabsf(vel
[2]) > 0.01f
)
354 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
356 if( fabsf( slip
) > 1.2f
)
357 slip
= vg_signf( slip
) * 1.2f
;
359 player
.reverse
= -vg_signf(vel
[2]);
361 float substep
= ktimestep
* 0.2f
;
362 float fwd_resistance
= (vg_get_button( "break" )? 5.0f
: 0.02f
) * -substep
;
364 for( int i
=0; i
<5; i
++ )
366 vel
[2] = stable_force( vel
[2], vg_signf( vel
[2] ) * fwd_resistance
);
367 vel
[0] = stable_force( vel
[0], vg_signf( vel
[0] ) * -7.0f
*substep
);
370 static double start_push
= 0.0;
371 if( vg_get_button_down( "push" ) )
372 start_push
= vg_time
;
374 if( !vg_get_button("break") && vg_get_button( "push" ) )
376 float const k_maxpush
= 16.0f
,
379 float cycle_time
= vg_time
-start_push
,
380 amt
= k_pushaccel
* (sinf( cycle_time
* 8.0f
)*0.5f
+0.5f
)*ktimestep
,
381 current
= v3_length( vel
),
382 new_vel
= vg_minf( current
+ amt
, k_maxpush
);
383 new_vel
-= vg_minf(current
, k_maxpush
);
384 vel
[2] -= new_vel
* player
.reverse
;
387 m3x3_mulv( player
.to_world
, vel
, player
.v
);
389 if( vg_get_button( "yawl" ) )
390 player
.iY
+= 3.6f
* ktimestep
;
391 if( vg_get_button( "yawr" ) )
392 player
.iY
-= 3.6f
* ktimestep
;
394 float steer
= vg_get_axis( "horizontal" );
395 player
.iY
-= vg_signf(steer
)*powf(steer
,2.0f
) * 1.5f
* ktimestep
;
397 /* Too much lean and it starts to look like a snowboard here */
398 v2_lerp( player
.board_xy
, (v2f
){ slip
*0.25f
, 0.0f
},
399 ktimestep
*5.0f
, player
.board_xy
);
402 static void draw_cross(v3f pos
,u32 colour
, float scale
)
405 v3_add( (v3f
){ scale
,0.0f
,0.0f
}, pos
, p0
);
406 v3_add( (v3f
){-scale
,0.0f
,0.0f
}, pos
, p1
);
407 vg_line( p0
, p1
, colour
);
408 v3_add( (v3f
){0.0f
, scale
,0.0f
}, pos
, p0
);
409 v3_add( (v3f
){0.0f
,-scale
,0.0f
}, pos
, p1
);
410 vg_line( p0
, p1
, colour
);
411 v3_add( (v3f
){0.0f
,0.0f
, scale
}, pos
, p0
);
412 v3_add( (v3f
){0.0f
,0.0f
,-scale
}, pos
, p1
);
413 vg_line( p0
, p1
, colour
);
416 static void player_physics_air(void)
418 m3x3_mulv( player
.vr
, player
.v
, player
.v
);
419 draw_cross( player
.land_target
, 0xff0000ff, 1 );
422 v3_copy( player
.co
, ground_pos
);
423 ground_pos
[1] += 4.0f
;
427 if( ray_world( ground_pos
, (v3f
){0.0f
,-1.0f
,0.0f
}, &hit
))
429 if( hit
.pos
[1] > player
.co
[1] )
433 if( !ray_hit_is_ramp( &hit
) )
436 character_ragdoll_copypose( &player
.mdl
, player
.v
);
445 float pstep
= ktimestep
*10.0f
;
448 v3_copy( player
.co
, pco
);
449 v3_copy( player
.v
, pv
);
451 float time_to_impact
= 0.0f
;
452 float limiter
= 1.0f
;
454 for( int i
=0; i
<50; i
++ )
456 v3_copy( pco
, pco1
);
457 apply_gravity( pv
, pstep
);
458 v3_muladds( pco
, pv
, pstep
, pco
);
460 //vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
465 v3_sub( pco
, pco1
, vdir
);
466 contact
.dist
= v3_length( vdir
);
467 v3_divs( vdir
, contact
.dist
, vdir
);
469 float orig_dist
= contact
.dist
;
470 if( ray_world( pco1
, vdir
, &contact
))
473 m3x3_mulv( player
.to_world
, (v3f
){0.0f
,1.0f
,0.0f
}, localup
);
475 float angle
= v3_dot( localup
, contact
.normal
);
477 v3_cross( localup
, contact
.normal
, axis
);
479 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
480 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
481 limiter
= 1.0f
-limiter
;
483 limiter
= 1.0f
-limiter
;
488 q_axis_angle( correction
, axis
, acosf(angle
)*0.05f
*(1.0f
-limiter
) );
489 q_mul( correction
, player
.rot
, player
.rot
);
492 draw_cross( contact
.pos
, 0xffff0000, 1 );
495 time_to_impact
+= pstep
;
498 player
.iY
-= vg_get_axis( "horizontal" ) * 3.6f
* ktimestep
;
501 float iX
= vg_get_axis( "vertical" ) * 3.6f
* limiter
* ktimestep
;
502 static float siX
= 0.0f
;
503 siX
= vg_lerpf( siX
, iX
, 0.3f
);
508 m3x3_mulv( player
.to_world
, (v3f
){1.0f
,0.0f
,0.0f
}, vside
);
510 q_axis_angle( rotate
, vside
, siX
);
511 q_mul( rotate
, player
.rot
, player
.rot
);
514 v2f target
= {0.0f
,0.0f
};
515 v2_muladds( target
, (v2f
){ vg_get_axis("h1"), vg_get_axis("v1") },
516 player
.grab
, target
);
517 v2_lerp( player
.board_xy
, target
, ktimestep
*3.0f
, player
.board_xy
);
520 static void player_do_motion(void)
522 float horizontal
= vg_get_axis("horizontal"),
523 vertical
= vg_get_axis("vertical");
525 player
.joy_l
[0] = vg_signf(horizontal
) * powf( horizontal
, 2.0f
);
526 player
.joy_l
[1] = vg_signf(vertical
) * powf( vertical
, 2.0f
);
529 player_physics_air();
532 player_physics_ground();
534 /* Integrate velocity */
536 v3_copy( player
.co
, prevco
);
538 apply_gravity( player
.v
, ktimestep
);
539 v3_muladds( player
.co
, player
.v
, ktimestep
, player
.co
);
541 /* Integrate inertia */
542 v4f rotate
; v3f vup
= {0.0f
,1.0f
,0.0f
};
543 m3x3_mulv( player
.to_world
, vup
, vup
);
545 static float siY
= 0.0f
;
547 float lerpq
= player
.in_air
? 0.04f
: 0.3f
;
548 siY
= vg_lerpf( siY
, player
.iY
, lerpq
);
550 q_axis_angle( rotate
, vup
, siY
);
551 q_mul( rotate
, player
.rot
, player
.rot
);
553 player
.iY
= 0.0f
; /* temp */
557 for( int i
=0; i
<world
.gate_count
; i
++ )
559 teleport_gate
*gate
= &world
.gates
[i
];
561 if( gate_intersect( gate
, player
.co
, prevco
) )
563 m4x3_mulv( gate
->transport
, player
.co
, player
.co
);
564 m3x3_mulv( gate
->transport
, player
.v
, player
.v
);
565 m3x3_mulv( gate
->transport
, player
.vl
, player
.vl
);
566 m3x3_mulv( gate
->transport
, player
.v_last
, player
.v_last
);
567 m3x3_mulv( gate
->transport
, player
.m
, player
.m
);
568 m3x3_mulv( gate
->transport
, player
.bob
, player
.bob
);
570 v4f transport_rotation
;
571 m3x3_q( gate
->transport
, transport_rotation
);
572 q_mul( transport_rotation
, player
.rot
, player
.rot
);
578 /* Camera and character */
579 player_transform_update();
581 v3_lerp( player
.vl
, player
.v
, 0.05f
, player
.vl
);
583 player
.angles
[0] = atan2f( player
.vl
[0], -player
.vl
[2] );
584 player
.angles
[1] = atan2f( -player
.vl
[1], sqrtf(player
.vl
[0]*player
.vl
[0]+
585 player
.vl
[2]*player
.vl
[2]) ) * 0.3f
;
588 static int player_walkgrid_tri_walkable( u32 tri
[3] )
590 return tri
[0] < world
.sm_road
.vertex_count
;
593 #define WALKGRID_SIZE 16
600 k_sample_type_air
, /* Nothing was hit. */
601 k_sample_type_invalid
, /* The point is invalid, but there is a sample
602 underneath that can be used */
603 k_sample_type_valid
, /* This point is good */
612 k_traverse_none
= 0x00,
618 samples
[WALKGRID_SIZE
][WALKGRID_SIZE
];
626 float move
; /* Current amount of movement we have left to apply */
627 v2f dir
; /* The movement delta */
628 v2i cell_id
;/* Current cell */
629 v2f pos
; /* Local position (in cell) */
634 * Get a sample at this pole location, will return 1 if the sample is valid,
635 * and pos will be updated to be the intersection location.
637 static void player_walkgrid_samplepole( struct grid_sample
*s
)
639 boxf region
= {{ s
->pos
[0] -0.01f
, s
->pos
[1] - 4.0f
, s
->pos
[2] -0.01f
},
640 { s
->pos
[0] +0.01f
, s
->pos
[1] + 4.0f
, s
->pos
[2] +0.01f
}};
643 vg_line( region
[0],region
[1], 0x20ffffff );
648 int len
= bh_select( &world
.geo
.bhtris
, region
, geo
, 256 );
650 const float k_minworld_y
= -2000.0f
;
652 float walk_height
= k_minworld_y
,
653 block_height
= k_minworld_y
;
655 s
->type
= k_sample_type_air
;
657 for( int i
=0; i
<len
; i
++ )
659 u32
*ptri
= &world
.geo
.indices
[ geo
[i
]*3 ];
661 for( int j
=0; j
<3; j
++ )
662 v3_copy( world
.geo
.verts
[ptri
[j
]].co
, tri
[j
] );
664 v3f vdown
= {0.0f
,-1.0f
,0.0f
};
666 v3_copy( s
->pos
, sample_from
);
667 sample_from
[1] = region
[1][1];
670 if( ray_tri( tri
, sample_from
, vdown
, &dist
))
673 v3_muladds( sample_from
, vdown
, dist
, p0
);
675 if( player_walkgrid_tri_walkable(ptri
) )
677 if( p0
[1] > walk_height
)
683 draw_cross( p0
, 0xffffffff, 0.05f
);
688 if( p0
[1] > block_height
)
689 block_height
= p0
[1];
691 draw_cross( p0
, 0xff0000ff, 0.05f
);
697 s
->pos
[1] = walk_height
;
699 if( walk_height
> k_minworld_y
)
700 if( block_height
> walk_height
)
701 s
->type
= k_sample_type_invalid
;
703 s
->type
= k_sample_type_valid
;
705 s
->type
= k_sample_type_air
;
708 if( s
->type
== k_sample_type_valid
)
710 vg_line_pt3( s
->pos
, 0.01f
, 0xff00ff00 );
719 count
= bvh_raycast( &world
.geo
, sample_pos
, vdir
, &hit
);
723 v3_copy( hit
.pos
, s
->pos
);
725 if( !player_walkgrid_tri_walkable( hit
.tri
) )
727 draw_cross( pos
, 0xff0000ff, 0.05f
);
732 draw_cross( pos
, 0xff00ff00, 0.05f
);
741 float const k_gridscale
= 0.5f
;
749 static void player_walkgrid_clip_blocker( struct grid_sample
*sa
,
750 struct grid_sample
*sb
,
751 struct grid_sample
*st
,
755 int valid_a
= sa
->type
== k_sample_type_valid
,
756 valid_b
= sb
->type
== k_sample_type_valid
;
757 struct grid_sample
*target
= valid_a
? sa
: sb
,
758 *other
= valid_a
? sb
: sa
;
759 v3_copy( target
->pos
, pos
);
760 v3_sub( other
->pos
, target
->pos
, clipdir
);
763 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, -k_gridscale
*2.1f
, cell_region
[0]);
764 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, k_gridscale
*2.1f
, cell_region
[1]);
768 int len
= bh_select( &world
.geo
.bhtris
, cell_region
, geo
, 256 );
770 float start_time
= v3_length( clipdir
),
771 min_time
= start_time
;
772 v3_normalize( clipdir
);
773 v3_muls( clipdir
, 0.0001f
, st
->clip
[dir
] );
775 for( int i
=0; i
<len
; i
++ )
777 u32
*ptri
= &world
.geo
.indices
[ geo
[i
]*3 ];
778 for( int j
=0; j
<3; j
++ )
779 v3_copy( world
.geo
.verts
[ptri
[j
]].co
, tri
[j
] );
781 if( player_walkgrid_tri_walkable(ptri
) )
785 if(ray_tri( tri
, pos
, clipdir
, &dist
))
787 if( dist
> 0.0f
&& dist
< min_time
)
790 sb
->type
= k_sample_type_air
;
795 if( !(min_time
< start_time
) )
796 min_time
= 0.5f
* k_gridscale
;
798 min_time
= vg_clampf( min_time
/k_gridscale
, 0.01f
, 0.99f
);
800 v3_muls( clipdir
, min_time
, st
->clip
[dir
] );
803 v3_muladds( target
->pos
, st
->clip
[dir
], k_gridscale
, p0
);
806 static void player_walkgrid_clip_edge( struct grid_sample
*sa
,
807 struct grid_sample
*sb
,
808 struct grid_sample
*st
, /* data store */
811 v3f clipdir
= { 0.0f
, 0.0f
, 0.0f
}, pos
;
812 int valid_a
= sa
->type
== k_sample_type_valid
,
813 valid_b
= sb
->type
== k_sample_type_valid
;
815 struct grid_sample
*target
= valid_a
? sa
: sb
,
816 *other
= valid_a
? sb
: sa
;
818 v3_sub( other
->pos
, target
->pos
, clipdir
);
821 v3_copy( target
->pos
, pos
);
824 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, -k_gridscale
*1.1f
, cell_region
[0]);
825 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, k_gridscale
*1.1f
, cell_region
[1]);
828 int len
= bh_select( &world
.geo
.bhtris
, cell_region
, geo
, 256 );
830 float max_dist
= 0.0f
;
833 v3_cross( clipdir
,(v3f
){0.0f
,1.0f
,0.0f
},perp
);
834 v3_muls( clipdir
, 0.001f
, st
->clip
[dir
] );
836 for( int i
=0; i
<len
; i
++ )
838 u32
*ptri
= &world
.geo
.indices
[ geo
[i
]*3 ];
839 for( int j
=0; j
<3; j
++ )
840 v3_copy( world
.geo
.verts
[ptri
[j
]].co
, tri
[j
] );
842 if( !player_walkgrid_tri_walkable(ptri
) )
845 for( int k
=0; k
<3; k
++ )
851 v3_sub( tri
[ia
], pos
, v0
);
852 v3_sub( tri
[ib
], pos
, v1
);
854 if( (clipdir
[2]*v0
[0] - clipdir
[0]*v0
[2]) *
855 (clipdir
[2]*v1
[0] - clipdir
[0]*v1
[2]) < 0.0f
)
857 float da
= v3_dot(v0
,perp
),
858 db
= v3_dot(v1
,perp
),
863 v3_muls( v1
, qa
, p0
);
864 v3_muladds( p0
, v0
, 1.0f
-qa
, p0
);
866 float h
= v3_dot(p0
,clipdir
)/v3_dot(clipdir
,clipdir
);
868 if( h
>= max_dist
&& h
<= 1.0f
)
871 float l
= 1.0f
/v3_length(clipdir
);
872 v3_muls( p0
, l
, st
->clip
[dir
] );
879 static void player_walkgrid_clip( struct grid_sample
*sa
,
880 struct grid_sample
*sb
,
883 int mintype
= VG_MIN( sa
->type
, sb
->type
),
884 maxtype
= VG_MAX( sa
->type
, sb
->type
);
886 if( maxtype
== k_sample_type_valid
)
888 if( mintype
== k_sample_type_air
|| mintype
== k_sample_type_invalid
)
890 player_walkgrid_clip_edge( sa
, sb
, sa
, dir
);
894 else if( mintype
== k_sample_type_invalid
)
896 player_walkgrid_clip_blocker( sa
, sb
, dir
);
902 static const struct conf
909 * o: the 'other' point to do a A/B test with
910 * if its -1, all AB is done.
920 k_walkgrid_configs
[16] = {
922 {{{ 3,3, 3,0, 1,0, -1,-1 }}, 1},
923 {{{ 2,2, 1,3, 0,1, -1,-1 }}, 1},
924 {{{ 2,3, 1,0, 0,0, 3,-1 }}, 1},
926 {{{ 1,1, 0,1, 1,0, -1,-1 }}, 1},
927 {{{ 3,3, 3,0, 1,0, -1,-1 },
928 { 1,1, 0,1, 1,0, -1,-1 }}, 2},
929 {{{ 1,2, 0,3, 1,1, 2,-1 }}, 1},
930 {{{ 1,3, 0,0, 1,0, 2, 2 }}, 1},
932 {{{ 0,0, 0,0, 0,1, -1,-1 }}, 1},
933 {{{ 3,0, 3,0, 1,1, 0,-1 }}, 1},
934 {{{ 2,2, 1,3, 0,1, -1,-1 },
935 { 0,0, 0,0, 0,1, -1,-1 }}, 2},
936 {{{ 2,0, 1,0, 0,1, 3, 3 }}, 1},
938 {{{ 0,1, 0,1, 0,0, 1,-1 }}, 1},
939 {{{ 3,1, 3,1, 1,0, 0, 0 }}, 1},
940 {{{ 0,2, 0,3, 0,1, 1, 1 }}, 1},
945 * Get a buffer of edges from cell location
947 static const struct conf
*player_walkgrid_conf( struct walkgrid
*wg
,
949 struct grid_sample
*corners
[4] )
951 corners
[0] = &wg
->samples
[cell
[1] ][cell
[0] ];
952 corners
[1] = &wg
->samples
[cell
[1]+1][cell
[0] ];
953 corners
[2] = &wg
->samples
[cell
[1]+1][cell
[0]+1];
954 corners
[3] = &wg
->samples
[cell
[1] ][cell
[0]+1];
956 u32 vd0
= corners
[0]->type
== k_sample_type_valid
,
957 vd1
= corners
[1]->type
== k_sample_type_valid
,
958 vd2
= corners
[2]->type
== k_sample_type_valid
,
959 vd3
= corners
[3]->type
== k_sample_type_valid
,
960 config
= (vd0
<<3) | (vd1
<<2) | (vd2
<<1) | vd3
;
962 return &k_walkgrid_configs
[ config
];
965 static void player_walkgrid_floor(v3f pos
)
967 v3_muls( pos
, 1.0f
/k_gridscale
, pos
);
968 v3_floor( pos
, pos
);
969 v3_muls( pos
, k_gridscale
, pos
);
973 * Computes the barycentric coordinate of location on a triangle (vertical),
974 * then sets the Y position to the interpolation of the three points
976 static void player_walkgrid_stand_tri( v3f a
, v3f b
, v3f c
, v3f pos
)
981 v3_sub( pos
, a
, v2
);
983 float d
= v0
[0]*v1
[2] - v1
[0]*v0
[2],
984 v
= (v2
[0]*v1
[2] - v1
[0]*v2
[2]) / d
,
985 w
= (v0
[0]*v2
[2] - v2
[0]*v0
[2]) / d
,
988 vg_line( pos
, a
, 0xffff0000 );
989 vg_line( pos
, b
, 0xff00ff00 );
990 vg_line( pos
, c
, 0xff0000ff );
991 pos
[1] = u
*a
[1] + v
*b
[1] + w
*c
[1];
995 * Get the minimum time value of pos+dir until a cell edge
997 * t[0] -> t[3] are the individual time values
998 * t[5] & t[6] are the maximum axis values
999 * t[6] is the minimum value
1002 static void player_walkgrid_min_cell( float t
[7], v2f pos
, v2f dir
)
1004 v2f frac
= { 1.0f
/dir
[0], 1.0f
/dir
[1] };
1011 if( fabsf(dir
[0]) > 0.0001f
)
1013 t
[0] = (0.0f
-pos
[0]) * frac
[0];
1014 t
[1] = (1.0f
-pos
[0]) * frac
[0];
1016 if( fabsf(dir
[1]) > 0.0001f
)
1018 t
[2] = (0.0f
-pos
[1]) * frac
[1];
1019 t
[3] = (1.0f
-pos
[1]) * frac
[1];
1022 t
[4] = vg_maxf(t
[0],t
[1]);
1023 t
[5] = vg_maxf(t
[2],t
[3]);
1024 t
[6] = vg_minf(t
[4],t
[5]);
1027 static void player_walkgrid_iter(struct walkgrid
*wg
, int iter
)
1031 * For each walkgrid iteration we are stepping through cells and determining
1032 * the intersections with the grid, and any edges that are present
1036 if( wg
->cell_id
[0] < 0 || wg
->cell_id
[0] >= WALKGRID_SIZE
-1 ||
1037 wg
->cell_id
[1] < 0 || wg
->cell_id
[1] >= WALKGRID_SIZE
-1 )
1040 * This condition should never be reached if the grid size is big
1048 u32 icolours
[] = { 0xffff00ff, 0xff00ffff, 0xffffff00 };
1050 v3f pa
, pb
, pc
, pd
, pl0
, pl1
;
1051 pa
[0] = wg
->region
[0][0] + (float)wg
->cell_id
[0] *k_gridscale
;
1052 pa
[1] = (wg
->region
[0][1] + wg
->region
[1][1]) * 0.5f
+ k_gridscale
;
1053 pa
[2] = wg
->region
[0][2] + (float)wg
->cell_id
[1] *k_gridscale
;
1056 pb
[2] = pa
[2] + k_gridscale
;
1057 pc
[0] = pa
[0] + k_gridscale
;
1059 pc
[2] = pa
[2] + k_gridscale
;
1060 pd
[0] = pa
[0] + k_gridscale
;
1064 vg_line( pa
, pb
, 0xff00ffff );
1065 vg_line( pb
, pc
, 0xff00ffff );
1066 vg_line( pc
, pd
, 0xff00ffff );
1067 vg_line( pd
, pa
, 0xff00ffff );
1069 pl0
[0] = pa
[0] + wg
->pos
[0]*k_gridscale
;
1071 pl0
[2] = pa
[2] + wg
->pos
[1]*k_gridscale
;
1074 * If there are edges present, we need to create a 'substep' event, where
1075 * we find the intersection point, find the fully resolved position,
1076 * then the new pos dir is the intersection->resolution
1078 * the resolution is applied in non-discretized space in order to create a
1079 * suitable vector for finding outflow, we want it to leave the cell so it
1080 * can be used by the quad
1084 v2_copy( wg
->pos
, pos
);
1085 v2_muls( wg
->dir
, wg
->move
, dir
);
1087 struct grid_sample
*corners
[4];
1088 v2f corners2d
[4] = {{0.0f
,0.0f
},{0.0f
,1.0f
},{1.0f
,1.0f
},{1.0f
,0.0f
}};
1089 const struct conf
*conf
= player_walkgrid_conf( wg
, wg
->cell_id
, corners
);
1092 player_walkgrid_min_cell( t
, pos
, dir
);
1094 for( int i
=0; i
<conf
->edge_count
; i
++ )
1096 const struct confedge
*edge
= &conf
->edges
[i
];
1098 v2f e0
, e1
, n
, r
, target
, res
, tangent
;
1099 e0
[0] = corners2d
[edge
->i0
][0] + corners
[edge
->d0
]->clip
[edge
->a0
][0];
1100 e0
[1] = corners2d
[edge
->i0
][1] + corners
[edge
->d0
]->clip
[edge
->a0
][2];
1101 e1
[0] = corners2d
[edge
->i1
][0] + corners
[edge
->d1
]->clip
[edge
->a1
][0];
1102 e1
[1] = corners2d
[edge
->i1
][1] + corners
[edge
->d1
]->clip
[edge
->a1
][2];
1104 v3f pe0
= { pa
[0] + e0
[0]*k_gridscale
,
1106 pa
[2] + e0
[1]*k_gridscale
};
1107 v3f pe1
= { pa
[0] + e1
[0]*k_gridscale
,
1109 pa
[2] + e1
[1]*k_gridscale
};
1111 v2_sub( e1
, e0
, tangent
);
1117 * If we find ourselfs already penetrating the edge, move back out a
1120 v2_sub( e0
, pos
, r
);
1121 float p1
= v2_dot(r
,n
);
1125 v2_muladds( pos
, n
, p1
+0.0001f
, pos
);
1126 v2_copy( pos
, wg
->pos
);
1127 v3f p_new
= { pa
[0] + pos
[0]*k_gridscale
,
1129 pa
[2] + pos
[1]*k_gridscale
};
1130 v3_copy( p_new
, pl0
);
1133 v2_add( pos
, dir
, target
);
1136 v2_sub( e0
, pos
, v1
);
1137 v2_sub( target
, pos
, v2
);
1141 v2_sub( e0
, target
, r
);
1142 float p
= v2_dot(r
,n
),
1143 t1
= v2_dot(v1
,v3
)/v2_dot(v2
,v3
);
1145 if( t1
< t
[6] && t1
> 0.0f
&& -p
< 0.001f
)
1147 v2_muladds( target
, n
, p
+0.0001f
, res
);
1150 v2_muladds( pos
, dir
, t1
, intersect
);
1151 v2_copy( intersect
, pos
);
1152 v2_sub( res
, intersect
, dir
);
1154 v3f p_res
= { pa
[0] + res
[0]*k_gridscale
,
1156 pa
[2] + res
[1]*k_gridscale
};
1157 v3f p_int
= { pa
[0] + intersect
[0]*k_gridscale
,
1159 pa
[2] + intersect
[1]*k_gridscale
};
1161 vg_line( pl0
, p_int
, icolours
[iter
%3] );
1162 v3_copy( p_int
, pl0
);
1163 v2_copy( pos
, wg
->pos
);
1165 player_walkgrid_min_cell( t
, pos
, dir
);
1170 * Compute intersection with grid cell moving outwards
1172 t
[6] = vg_minf( t
[6], 1.0f
);
1174 pl1
[0] = pl0
[0] + dir
[0]*k_gridscale
*t
[6];
1176 pl1
[2] = pl0
[2] + dir
[1]*k_gridscale
*t
[6];
1177 vg_line( pl0
, pl1
, icolours
[iter
%3] );
1182 * To figure out what t value created the clip so we know which edge
1188 wg
->pos
[1] = pos
[1] + dir
[1]*t
[6];
1190 if( t
[0] > t
[1] ) /* left edge */
1192 wg
->pos
[0] = 0.9999f
;
1195 if( wg
->cell_id
[0] == 0 )
1198 else /* Right edge */
1200 wg
->pos
[0] = 0.0001f
;
1203 if( wg
->cell_id
[0] == WALKGRID_SIZE
-2 )
1209 wg
->pos
[0] = pos
[0] + dir
[0]*t
[6];
1211 if( t
[2] > t
[3] ) /* bottom edge */
1213 wg
->pos
[1] = 0.9999f
;
1216 if( wg
->cell_id
[1] == 0 )
1221 wg
->pos
[1] = 0.0001f
;
1224 if( wg
->cell_id
[1] == WALKGRID_SIZE
-2 )
1233 v2_muladds( wg
->pos
, dir
, wg
->move
, wg
->pos
);
1238 static void player_walkgrid_stand_cell(struct walkgrid
*wg
)
1241 * NOTE: as opposed to the other function which is done in discretized space
1242 * this use a combination of both.
1246 world
[0] = wg
->region
[0][0]+((float)wg
->cell_id
[0]+wg
->pos
[0])*k_gridscale
;
1247 world
[1] = player
.co
[1];
1248 world
[2] = wg
->region
[0][2]+((float)wg
->cell_id
[1]+wg
->pos
[1])*k_gridscale
;
1250 struct grid_sample
*corners
[4];
1251 const struct conf
*conf
= player_walkgrid_conf( wg
, wg
->cell_id
, corners
);
1253 if( conf
!= k_walkgrid_configs
)
1255 if( conf
->edge_count
== 0 )
1259 /* Split the basic quad along the shortest diagonal */
1260 if( fabsf(corners
[2]->pos
[1] - corners
[0]->pos
[1]) <
1261 fabsf(corners
[3]->pos
[1] - corners
[1]->pos
[1]) )
1263 vg_line( corners
[2]->pos
, corners
[0]->pos
, 0xffaaaaaa );
1265 if( wg
->pos
[0] > wg
->pos
[1] )
1266 player_walkgrid_stand_tri( corners
[0]->pos
,
1268 corners
[2]->pos
, world
);
1270 player_walkgrid_stand_tri( corners
[0]->pos
,
1272 corners
[1]->pos
, world
);
1276 vg_line( corners
[3]->pos
, corners
[1]->pos
, 0xffaaaaaa );
1278 if( wg
->pos
[0] < 1.0f
-wg
->pos
[1] )
1279 player_walkgrid_stand_tri( corners
[0]->pos
,
1281 corners
[1]->pos
, world
);
1283 player_walkgrid_stand_tri( corners
[3]->pos
,
1285 corners
[1]->pos
, world
);
1290 for( int i
=0; i
<conf
->edge_count
; i
++ )
1292 const struct confedge
*edge
= &conf
->edges
[i
];
1295 v3_muladds( corners
[edge
->i0
]->pos
,
1296 corners
[edge
->d0
]->clip
[edge
->a0
], k_gridscale
, p0
);
1297 v3_muladds( corners
[edge
->i1
]->pos
,
1298 corners
[edge
->d1
]->clip
[edge
->a1
], k_gridscale
, p1
);
1301 * Find penetration distance between player position and the edge
1304 v2f normal
= { -(p1
[2]-p0
[2]), p1
[0]-p0
[0] },
1305 rel
= { world
[0]-p0
[0], world
[2]-p0
[2] };
1307 if( edge
->o0
== -1 )
1309 /* No subregions (default case), just use triangle created by
1311 player_walkgrid_stand_tri( corners
[edge
->i0
]->pos
,
1318 * Test if we are in the first region, which is
1319 * edge.i0, edge.e0, edge.o0,
1322 v3_sub( p0
, corners
[edge
->o0
]->pos
, ref
);
1323 v3_sub( world
, corners
[edge
->o0
]->pos
, v0
);
1325 vg_line( corners
[edge
->o0
]->pos
, p0
, 0xffffff00 );
1326 vg_line( corners
[edge
->o0
]->pos
, world
, 0xff000000 );
1328 if( ref
[0]*v0
[2] - ref
[2]*v0
[0] < 0.0f
)
1330 player_walkgrid_stand_tri( corners
[edge
->i0
]->pos
,
1332 corners
[edge
->o0
]->pos
, world
);
1336 if( edge
->o1
== -1 )
1339 * No other edges mean we just need to use the opposite
1341 * e0, e1, o0 (in our case, also i1)
1343 player_walkgrid_stand_tri( p0
,
1345 corners
[edge
->o0
]->pos
, world
);
1350 * Note: this v0 calculation can be ommited with the
1353 * the last two triangles we have are:
1358 v3_sub( p1
, corners
[edge
->o1
]->pos
, ref
);
1359 v3_sub( world
, corners
[edge
->o1
]->pos
, v0
);
1360 vg_line( corners
[edge
->o1
]->pos
, p1
, 0xff00ffff );
1362 if( ref
[0]*v0
[2] - ref
[2]*v0
[0] < 0.0f
)
1364 player_walkgrid_stand_tri( p0
,
1366 corners
[edge
->o1
]->pos
,
1371 player_walkgrid_stand_tri( p1
,
1372 corners
[edge
->i1
]->pos
,
1373 corners
[edge
->o1
]->pos
,
1383 v3_copy( world
, player
.co
);
1386 static void player_walkgrid_getsurface(void)
1388 float const k_stepheight
= 0.5f
;
1389 float const k_miny
= 0.6f
;
1390 float const k_height
= 1.78f
;
1391 float const k_region_size
= (float)WALKGRID_SIZE
/2.0f
* k_gridscale
;
1393 static struct walkgrid wg
;
1396 v3_copy( player
.co
, cell
);
1397 player_walkgrid_floor( cell
);
1399 v3_muladds( cell
, (v3f
){-1.0f
,-1.0f
,-1.0f
}, k_region_size
, wg
.region
[0] );
1400 v3_muladds( cell
, (v3f
){ 1.0f
, 1.0f
, 1.0f
}, k_region_size
, wg
.region
[1] );
1404 * Create player input vector
1406 v3f delta
= {0.0f
,0.0f
,0.0f
};
1407 v3f fwd
= { -sinf(-player
.angles
[0]), 0.0f
, -cosf(-player
.angles
[0]) },
1408 side
= { -fwd
[2], 0.0f
, fwd
[0] };
1411 if( !vg_console_enabled() )
1413 if( glfwGetKey( vg_window
, GLFW_KEY_W
) )
1414 v3_muladds( delta
, fwd
, ktimestep
*k_walkspeed
, delta
);
1415 if( glfwGetKey( vg_window
, GLFW_KEY_S
) )
1416 v3_muladds( delta
, fwd
, -ktimestep
*k_walkspeed
, delta
);
1418 if( glfwGetKey( vg_window
, GLFW_KEY_A
) )
1419 v3_muladds( delta
, side
, -ktimestep
*k_walkspeed
, delta
);
1420 if( glfwGetKey( vg_window
, GLFW_KEY_D
) )
1421 v3_muladds( delta
, side
, ktimestep
*k_walkspeed
, delta
);
1425 * Create our move in grid space
1427 wg
.dir
[0] = delta
[0] * (1.0f
/k_gridscale
);
1428 wg
.dir
[1] = delta
[2] * (1.0f
/k_gridscale
);
1433 (player
.co
[0] - wg
.region
[0][0]) * (1.0f
/k_gridscale
),
1434 (player
.co
[2] - wg
.region
[0][2]) * (1.0f
/k_gridscale
)
1436 v2f region_cell_pos
;
1437 v2_floor( region_pos
, region_cell_pos
);
1438 v2_sub( region_pos
, region_cell_pos
, wg
.pos
);
1440 wg
.cell_id
[0] = region_cell_pos
[0];
1441 wg
.cell_id
[1] = region_cell_pos
[1];
1445 /* Get surface samples
1447 * TODO: Replace this with a spiral starting from the player position
1449 for( int y
=0; y
<WALKGRID_SIZE
; y
++ )
1451 for( int x
=0; x
<WALKGRID_SIZE
; x
++ )
1453 struct grid_sample
*s
= &wg
.samples
[y
][x
];
1454 v3_muladds( wg
.region
[0], (v3f
){ x
, 0, y
}, k_gridscale
, s
->pos
);
1455 s
->pos
[1] = cell
[1];
1456 player_walkgrid_samplepole( s
);
1461 * Calculate h+v clipping distances.
1462 * Distances are stored in A always, so you know that if the sample is
1463 * invalid, this signifies the start of the manifold as opposed to the
1464 * extent or bounds of it.
1466 for( int i
=0; i
<2; i
++ )
1468 for( int x
=0; x
<WALKGRID_SIZE
; x
++ )
1470 for( int z
=0; z
<WALKGRID_SIZE
-1; z
++ )
1472 struct grid_sample
*sa
, *sb
;
1475 sa
= &wg
.samples
[z
][x
];
1476 sb
= &wg
.samples
[z
+1][x
];
1480 sa
= &wg
.samples
[x
][z
];
1481 sb
= &wg
.samples
[x
][z
+1];
1484 player_walkgrid_clip( sa
, sb
, i
);
1486 if( sa
->type
== k_sample_type_valid
&&
1487 sb
->type
== k_sample_type_valid
)
1488 vg_line( sa
->pos
, sb
->pos
, 0xffffffff );
1490 if( sa
->valid
!= sb
->valid
)
1492 clipdir
[i
*2] = (float)(sa
->valid
- sb
->valid
) * k_gridscale
;
1494 player_walkgrid_clip( sa
->valid
? sa
->pos
: sb
->pos
,
1495 clipdir
, sa
->clip
[i
] );
1501 vg_line( sa
->pos
, sb
->pos
, 0xffffffff );
1510 for(int y
=0; y
<WALKGRID_SIZE
; y
++ )
1512 for(int x
=0; x
<WALKGRID_SIZE
; x
++ )
1514 struct grid_sample
*s
= &wg
.samples
[y
][x
];
1515 v3_muladds( wg
.region
[0], (v3f
){ x
, 0, y
}, k_gridscale
, s
->pos
);
1516 s
->state
= k_traverse_none
;
1517 s
->type
= k_sample_type_air
;
1518 v3_zero( s
->clip
[0] );
1519 v3_zero( s
->clip
[1] );
1523 v2i border
[WALKGRID_SIZE
*WALKGRID_SIZE
];
1524 v2i
*cborder
= border
;
1525 u32 border_length
= 1;
1527 struct grid_sample
*base
= NULL
;
1529 v2i starters
[] = {{0,0},{1,1},{0,1},{1,0}};
1531 for( int i
=0;i
<4;i
++ )
1534 v2i_add( wg
.cell_id
, starters
[i
], test
);
1535 v2i_copy( test
, border
[0] );
1536 base
= &wg
.samples
[test
[1]][test
[0]];
1538 base
->pos
[1] = cell
[1];
1539 player_walkgrid_samplepole( base
);
1541 if( base
->type
== k_sample_type_valid
)
1544 base
->type
= k_sample_type_air
;
1547 vg_line_pt3( base
->pos
, 0.1f
, 0xffffffff );
1551 while( border_length
)
1553 v2i directions
[] = {{1,0},{0,1},{-1,0},{0,-1}};
1555 v2i
*old_border
= cborder
;
1556 int len
= border_length
;
1559 cborder
= old_border
+len
;
1561 for( int i
=0; i
<len
; i
++ )
1564 v2i_copy( old_border
[i
], co
);
1565 struct grid_sample
*sa
= &wg
.samples
[co
[1]][co
[0]];
1567 for( int j
=0; j
<4; j
++ )
1570 v2i_add( co
, directions
[j
], newp
);
1572 if( newp
[0] < 0 || newp
[1] < 0 ||
1573 newp
[0] == WALKGRID_SIZE
|| newp
[1] == WALKGRID_SIZE
)
1576 struct grid_sample
*sb
= &wg
.samples
[newp
[1]][newp
[0]];
1577 enum traverse_state thismove
= j
%2==0? 1: 2;
1579 if( (sb
->state
& thismove
) == 0x00 ||
1580 sb
->type
== k_sample_type_air
)
1582 sb
->pos
[1] = sa
->pos
[1];
1584 player_walkgrid_samplepole( sb
);
1586 if( sb
->type
!= k_sample_type_air
)
1589 * Need to do a blocker pass
1592 struct grid_sample
*store
= (j
>>1 == 0)? sa
: sb
;
1593 player_walkgrid_clip_blocker( sa
, sb
, store
, j
%2 );
1596 if( sb
->type
!= k_sample_type_air
)
1598 vg_line( sa
->pos
, sb
->pos
, 0xffffffff );
1600 if( sb
->state
== k_traverse_none
)
1601 v2i_copy( newp
, cborder
[ border_length
++ ] );
1606 v3_muladds( sa
->pos
, store
->clip
[j
%2], k_gridscale
, p1
);
1607 vg_line( sa
->pos
, p1
, 0xffffffff );
1613 * A clipping pass is now done on the edge of the walkable
1617 struct grid_sample
*store
= (j
>>1 == 0)? sa
: sb
;
1618 player_walkgrid_clip_edge( sa
, sb
, store
, j
%2 );
1621 v3_muladds( sa
->pos
, store
->clip
[j
%2], k_gridscale
, p1
);
1622 vg_line( sa
->pos
, p1
, 0xffffffff );
1625 sb
->state
|= thismove
;
1629 sa
->state
= k_traverse_h
|k_traverse_v
;
1633 if( iter
== walk_grid_iterations
)
1638 player
.co
[0] += wg
.dir
[0];
1639 player
.co
[2] += wg
.dir
[1];
1644 /* Draw connections */
1645 struct grid_sample
*corners
[4];
1646 for( int x
=0; x
<WALKGRID_SIZE
-1; x
++ )
1648 for( int z
=0; z
<WALKGRID_SIZE
-1; z
++ )
1650 const struct conf
*conf
=
1651 player_walkgrid_conf( &wg
, (v2i
){x
,z
}, corners
);
1653 for( int i
=0; i
<conf
->edge_count
; i
++ )
1655 const struct confedge
*edge
= &conf
->edges
[i
];
1658 v3_muladds( corners
[edge
->i0
]->pos
,
1659 corners
[edge
->d0
]->clip
[edge
->a0
], k_gridscale
, p0
);
1660 v3_muladds( corners
[edge
->i1
]->pos
,
1661 corners
[edge
->d1
]->clip
[edge
->a1
], k_gridscale
, p1
);
1663 vg_line( p0
, p1
, 0xff0000ff );
1669 * Commit player movement into the grid
1672 if( v3_length2(delta
) <= 0.00001f
)
1676 for(; i
<8 && wg
.move
> 0.001f
; i
++ )
1677 player_walkgrid_iter( &wg
, i
);
1679 player_walkgrid_stand_cell( &wg
);
1682 static void player_walkgrid(void)
1684 player_walkgrid_getsurface();
1686 m4x3_mulv( player
.to_world
, (v3f
){0.0f
,1.8f
,0.0f
}, player
.camera_pos
);
1688 player_transform_update();
1691 static void player_animate(void)
1693 /* Camera position */
1694 v3_sub( player
.v
, player
.v_last
, player
.a
);
1695 v3_copy( player
.v
, player
.v_last
);
1697 v3_add( player
.m
, player
.a
, player
.m
);
1698 v3_lerp( player
.m
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.1f
, player
.m
);
1701 player
.m
[0] = vg_clampf( player
.m
[0], -2.0f
, 2.0f
);
1702 player
.m
[1] = vg_clampf( player
.m
[1], -0.2f
, 5.0f
);
1703 player
.m
[2] = vg_clampf( player
.m
[2], -2.0f
, 2.0f
);
1704 v3_copy( player
.m
, target
);
1705 v3_lerp( player
.bob
, target
, 0.2f
, player
.bob
);
1708 float lslip
= fabsf(player
.slip
); //vg_minf( 0.4f, slip );
1710 float grabt
= vg_get_axis( "grabr" )*0.5f
+0.5f
;
1711 player
.grab
= vg_lerpf( player
.grab
, grabt
, 0.04f
);
1713 float kheight
= 2.0f
,
1718 head
[1] = (0.3f
+cosf(lslip
)*0.5f
*(1.0f
-player
.grab
*0.7f
)) * kheight
;
1722 m3x3_mulv( player
.to_local
, player
.bob
, offset
);
1724 offset
[0] *= 0.3333f
;
1725 offset
[1] *= -0.25f
;
1727 v3_muladds( head
, offset
, 0.7f
, head
);
1728 head
[1] = vg_clampf( head
[1], 0.3f
, kheight
);
1733 v3_copy( head
, player
.view
);
1734 v3f camoffs
= {-0.2f
,-0.6f
,0.00f
};
1735 v3_add( player
.view
, camoffs
, player
.view
);
1740 * Animation blending
1741 * ===========================================
1744 static float fslide
= 0.0f
;
1745 static float fdirz
= 0.0f
;
1746 static float fdirx
= 0.0f
;
1747 static float fstand
= 0.0f
;
1748 static float ffly
= 0.0f
;
1750 float speed
= v3_length( player
.v
);
1752 fstand
= vg_lerpf(fstand
, 1.0f
-vg_clampf(speed
*0.03f
,0.0f
,1.0f
),0.1f
);
1753 fslide
= vg_lerpf(fslide
, vg_clampf(lslip
+fabsf(offset
[0])*0.2f
,
1755 fdirz
= vg_lerpf(fdirz
, player
.reverse
> 0.0f
? 1.0f
: 0.0f
, 0.04f
);
1756 fdirx
= vg_lerpf(fdirx
, player
.slip
< 0.0f
? 1.0f
: 0.0f
, 0.04f
);
1757 ffly
= vg_lerpf(ffly
, player
.in_air
? 1.0f
: 0.0f
, 0.04f
);
1759 character_pose_reset( &player
.mdl
);
1761 float amt_air
= ffly
*ffly
,
1762 amt_ground
= 1.0f
-amt_air
,
1763 amt_std
= (1.0f
-fslide
) * amt_ground
,
1764 amt_stand
= amt_std
* fstand
,
1765 amt_aero
= amt_std
* (1.0f
-fstand
),
1766 amt_slide
= amt_ground
* fslide
;
1768 character_final_pose( &player
.mdl
, offset
, &pose_stand
, amt_stand
*fdirz
);
1769 character_final_pose( &player
.mdl
, offset
,
1770 &pose_stand_reverse
, amt_stand
* (1.0f
-fdirz
) );
1772 character_final_pose( &player
.mdl
, offset
, &pose_aero
, amt_aero
*fdirz
);
1773 character_final_pose( &player
.mdl
, offset
,
1774 &pose_aero_reverse
, amt_aero
* (1.0f
-fdirz
) );
1776 character_final_pose( &player
.mdl
, offset
, &pose_slide
, amt_slide
*fdirx
);
1777 character_final_pose( &player
.mdl
, offset
,
1778 &pose_slide1
, amt_slide
*(1.0f
-fdirx
) );
1780 character_final_pose( &player
.mdl
, (v3f
){0.0f
,0.0f
,0.0f
},
1781 &pose_fly
, amt_air
);
1783 /* Camera position */
1784 v3_lerp( player
.smooth_localcam
, player
.mdl
.cam_pos
, 0.08f
,
1785 player
.smooth_localcam
);
1786 v3_muladds( player
.smooth_localcam
, offset
, 0.7f
, player
.camera_pos
);
1787 player
.camera_pos
[1] = vg_clampf( player
.camera_pos
[1], 0.3f
, kheight
);
1788 m4x3_mulv( player
.to_world
, player
.camera_pos
, player
.camera_pos
);
1790 player
.air_blend
= vg_lerpf( player
.air_blend
, player
.in_air
, 0.04f
);
1791 v3_muladds( player
.camera_pos
, player
.v
, -0.05f
*player
.air_blend
,
1792 player
.camera_pos
);
1796 * ==========================
1798 struct ik_basic
*arm_l
= &player
.mdl
.ik_arm_l
,
1799 *arm_r
= &player
.mdl
.ik_arm_r
;
1802 m3x3_mulv( player
.to_local
, player
.v
, localv
);
1803 v3_muladds( arm_l
->end
, localv
, -0.01f
, arm_l
->end
);
1804 v3_muladds( arm_r
->end
, localv
, -0.01f
, arm_r
->end
);
1806 /* New board transformation */
1807 v4f board_rotation
; v3f board_location
;
1810 q_axis_angle( rz
, (v3f
){ 0.0f
, 0.0f
, 1.0f
}, player
.board_xy
[0] );
1811 q_axis_angle( rx
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, player
.board_xy
[1] );
1812 q_mul( rx
, rz
, board_rotation
);
1814 v3f
*mboard
= player
.mdl
.matrices
[k_chpart_board
];// player.mboard;
1815 q_m3x3( board_rotation
, mboard
);
1816 m3x3_mulv( mboard
, (v3f
){ 0.0f
, -0.5f
, 0.0f
}, board_location
);
1817 v3_add( (v3f
){0.0f
,0.5f
,0.0f
}, board_location
, board_location
);
1818 v3_copy( board_location
, mboard
[3] );
1821 float wheel_r
= offset
[0]*-0.4f
;
1823 q_axis_angle( qwheel
, (v3f
){0.0f
,1.0f
,0.0f
}, wheel_r
);
1825 q_m3x3( qwheel
, player
.mdl
.matrices
[k_chpart_wb
] );
1827 m3x3_transpose( player
.mdl
.matrices
[k_chpart_wb
],
1828 player
.mdl
.matrices
[k_chpart_wf
] );
1829 v3_copy( player
.mdl
.offsets
[k_chpart_wb
],
1830 player
.mdl
.matrices
[k_chpart_wb
][3] );
1831 v3_copy( player
.mdl
.offsets
[k_chpart_wf
],
1832 player
.mdl
.matrices
[k_chpart_wf
][3] );
1834 m4x3_mul( mboard
, player
.mdl
.matrices
[k_chpart_wb
],
1835 player
.mdl
.matrices
[k_chpart_wb
] );
1836 m4x3_mul( mboard
, player
.mdl
.matrices
[k_chpart_wf
],
1837 player
.mdl
.matrices
[k_chpart_wf
] );
1839 m4x3_mulv( mboard
, player
.mdl
.ik_leg_l
.end
, player
.mdl
.ik_leg_l
.end
);
1840 m4x3_mulv( mboard
, player
.mdl
.ik_leg_r
.end
, player
.mdl
.ik_leg_r
.end
);
1843 v3_copy( player
.mdl
.ik_arm_l
.end
, player
.handl_target
);
1844 v3_copy( player
.mdl
.ik_arm_r
.end
, player
.handr_target
);
1846 if( 1||player
.in_air
)
1848 float tuck
= player
.board_xy
[1],
1849 tuck_amt
= fabsf( tuck
) * (1.0f
-fabsf(player
.board_xy
[0]));
1851 float crouch
= player
.grab
*0.3f
;
1852 v3_muladds( player
.mdl
.ik_body
.base
, (v3f
){0.0f
,-1.0f
,0.0f
},
1853 crouch
, player
.mdl
.ik_body
.base
);
1854 v3_muladds( player
.mdl
.ik_body
.end
, (v3f
){0.0f
,-1.0f
,0.0f
},
1855 crouch
*1.2f
, player
.mdl
.ik_body
.end
);
1859 //foot_l *= 1.0f-tuck_amt*1.5f;
1861 if( player
.grab
> 0.1f
)
1863 m4x3_mulv( mboard
, (v3f
){0.1f
,0.14f
,0.6f
},
1864 player
.handl_target
);
1869 //foot_r *= 1.0f-tuck_amt*1.4f;
1871 if( player
.grab
> 0.1f
)
1873 m4x3_mulv( mboard
, (v3f
){0.1f
,0.14f
,-0.6f
},
1874 player
.handr_target
);
1879 v3_lerp( player
.handl
, player
.handl_target
, 0.1f
, player
.handl
);
1880 v3_lerp( player
.handr
, player
.handr_target
, 0.1f
, player
.handr
);
1882 v3_copy( player
.handl
, player
.mdl
.ik_arm_l
.end
);
1883 v3_copy( player
.handr
, player
.mdl
.ik_arm_r
.end
);
1887 static float rhead
= 0.0f
;
1888 rhead
= vg_lerpf( rhead
,
1889 vg_clampf(atan2f( localv
[2], -localv
[0] ),-1.0f
,1.0f
), 0.04f
);
1890 player
.mdl
.rhead
= rhead
;
1893 static int giftwrapXZ( v3f
*points
, int *output
, int len
)
1901 for( int i
=1; i
<len
; i
++ )
1902 if( points
[i
][0] < points
[l
][0] )
1911 vg_error ("MANIFOLD ERR (%d)\n", count
);
1914 output
[ count
++ ] = p
;
1918 for( int i
=0; i
<len
; i
++ )
1921 (points
[i
][2]-points
[p
][2])*(points
[q
][0]-points
[i
][0]) -
1922 (points
[i
][0]-points
[p
][0])*(points
[q
][2]-points
[i
][2]);
1924 if( orient
> 0.0001f
)
1936 static void player_do_collision( rigidbody
*rb
)
1939 * If point is inside box
1940 * find normal (theres 8 simple pyramid regions for this, x>y/dim .. etc)
1941 * find distance (same sorta thing)
1943 * apply normal impulse to rotation
1944 * correct position based on new penetration amount if needed
1945 * apply normal impulse to velocity
1949 m4x3_mulv( player
.to_world
, (v3f
){ 0.0f
,0.0f
,-1.0f
}, pfront
);
1950 m4x3_mulv( player
.to_world
, (v3f
){ 0.0f
,0.0f
, 1.0f
}, pback
);
1952 float const kheight
= 2.0f
;
1957 v3_copy( rb
->bbx
[0], a
);
1958 v3_copy( rb
->bbx
[1], b
);
1961 m4x3_mul( player
.to_local
, rb
->to_world
, compound
);
1963 m4x3_mulv( compound
, (v3f
){ a
[0], a
[1], a
[2] }, verts
[0] );
1964 m4x3_mulv( compound
, (v3f
){ a
[0], b
[1], a
[2] }, verts
[1] );
1965 m4x3_mulv( compound
, (v3f
){ b
[0], b
[1], a
[2] }, verts
[2] );
1966 m4x3_mulv( compound
, (v3f
){ b
[0], a
[1], a
[2] }, verts
[3] );
1967 m4x3_mulv( compound
, (v3f
){ a
[0], a
[1], b
[2] }, verts
[4] );
1968 m4x3_mulv( compound
, (v3f
){ a
[0], b
[1], b
[2] }, verts
[5] );
1969 m4x3_mulv( compound
, (v3f
){ b
[0], b
[1], b
[2] }, verts
[6] );
1970 m4x3_mulv( compound
, (v3f
){ b
[0], a
[1], b
[2] }, verts
[7] );
1972 int const indices
[12][2] = {
1973 {0,1},{1,2},{2,3},{3,0},{4,5},{5,6},{6,7},{7,4},
1974 {0,4},{1,5},{2,6},{3,7}
1978 int hull_indices
[12*2 + 8];
1981 for( int i
=0; i
<8; i
++ )
1983 int ia
= indices
[i
][0];
1984 float ya
= verts
[ia
][1];
1986 if( ya
> 0.2f
&& ya
< kheight
)
1989 for( int j
=0; j
<hull_len
; j
++ )
1991 v2f delta
= { verts
[ia
][0]-hull
[j
][0], verts
[ia
][2]-hull
[j
][2] };
1992 if( v2_length2( delta
) < 0.0004f
)
2000 v3_copy( verts
[ia
], hull
[hull_len
] );
2002 hull
[hull_len
++][1] = 0.2f
;
2006 for( int i
=0; i
<vg_list_size(indices
); i
++ )
2008 int ia
= indices
[i
][0],
2013 float ya
= verts
[ia
][1],
2018 float planes
[] = { 0.2f
, kheight
};
2020 for( int k
=0; k
<vg_list_size(planes
); k
++ )
2022 float clip
= planes
[k
];
2024 if( (ya
-clip
) * (yb
-clip
) < 0.0f
)
2026 v3_muls( verts
[ia
], (yb
-clip
)*d
, p0
);
2027 v3_muladds( p0
, verts
[ib
], -(ya
-clip
)*d
, p0
);
2030 for( int j
=0; j
<hull_len
; j
++ )
2032 v2f delta
= { p0
[0]-hull
[j
][0], p0
[2]-hull
[j
][2] };
2033 if( v2_length2( delta
) < 0.0004f
)
2041 v3_copy( p0
, hull
[hull_len
++] );
2043 m4x3_mulv( player
.to_world
, p0
, p0
);
2044 vg_line_pt3( p0
, 0.1f
, 0xffffff00 );
2052 int len
= giftwrapXZ( hull
, hull_indices
, hull_len
);
2053 for( int i
=0; i
<len
; i
++ )
2056 v3_copy( hull
[hull_indices
[i
]], p0
);
2057 v3_copy( hull
[hull_indices
[(i
+1)%len
]], p1
);
2060 v3_add( p0
, (v3f
){0,kheight
-0.2f
,0}, p2
);
2061 v3_add( p1
, (v3f
){0,kheight
-0.2f
,0}, p3
);
2063 m4x3_mulv( player
.to_world
, p0
, p0
);
2064 m4x3_mulv( player
.to_world
, p1
, p1
);
2065 m4x3_mulv( player
.to_world
, p2
, p2
);
2066 m4x3_mulv( player
.to_world
, p3
, p3
);
2068 vg_line2( p0
, p1
, 0xff00ffff, 0xff000000 );
2069 vg_line( p2
, p3
, 0xff00ffff );
2070 vg_line( p0
, p2
, 0xff00ffa0 );
2073 v2f endpoints
[] = {{ 0.0f
, -1.0f
},{ 0.0f
, 1.0f
}};
2075 for( int j
=0; j
<vg_list_size(endpoints
); j
++ )
2078 v2_copy( endpoints
[j
], point
);
2081 float min_dist
= 99999.9f
;
2082 v2f normal
= {0.0f
,0.0f
};
2083 for( int i
=0; i
<len
; i
++ )
2086 p0
[0] = hull
[hull_indices
[i
]][0];
2087 p0
[1] = hull
[hull_indices
[i
]][2];
2088 p1
[0] = hull
[hull_indices
[(i
+1)%len
]][0];
2089 p1
[1] = hull
[hull_indices
[(i
+1)%len
]][2];
2092 v2_sub( p1
, p0
, t
);
2097 v2_sub( point
, p0
, rel
);
2098 float d
= -v2_dot( n
, rel
) + 0.5f
;
2109 v2_copy( n
, normal
);
2120 p1
[0] = p0
[0] + normal
[0]*min_dist
;
2122 p1
[2] = p0
[2] + normal
[1]*min_dist
;
2124 m4x3_mulv( player
.to_world
, p0
, p0
);
2125 m4x3_mulv( player
.to_world
, p1
, p1
);
2127 vg_line( p0
, p1
, 0xffffffff );
2130 m3x3_mulv( player
.to_local
, player
.v
, vel
);
2133 float vn
= vg_maxf( -v2_dot( vel
, normal
), 0.0f
);
2134 vn
+= -0.2f
* (1.0f
/k_rb_delta
) * vg_minf( 0.0f
, -min_dist
+0.04f
);
2140 character_ragdoll_copypose( &player
.mdl
, player
.v
);
2146 v2_muls( normal
, min_dist
, impulse
);
2147 float rotation
= v2_cross( point
, impulse
)*0.08f
;
2149 v3f up
= {0.0f
,1.0f
,0.0f
};
2150 m3x3_mulv( player
.to_world
, up
, up
);
2151 q_axis_angle( rot
, up
, -rotation
);
2152 q_mul( rot
, player
.rot
, player
.rot
);
2155 v2_muls( normal
, vn
*0.03f
, impulse
);
2156 v3f impulse_world
= { impulse
[0], 0.0f
, impulse
[1] };
2158 m3x3_mulv( player
.to_world
, impulse_world
, impulse_world
);
2159 v3_add( impulse_world
, player
.v
, player
.v
);
2164 static void player_update(void)
2166 for( int i
=0; i
<player
.land_log_count
; i
++ )
2167 draw_cross( player
.land_target_log
[i
], player
.land_target_colours
[i
], 1);
2169 if( vg_get_axis("grabl")>0.0f
)
2170 reset_player(0,NULL
);
2178 if( player
.is_dead
)
2180 character_ragdoll_iter( &player
.mdl
);
2181 character_debug_ragdoll( &player
.mdl
);
2185 if( player
.on_board
)
2187 bh_debug_node(&world
.bhcubes
, 0,
2188 player
.camera_pos
, 0xff80ff00 );
2191 boxf wbox
= {{ -2.0f
, -2.0f
, -2.0f
},
2192 { 2.0f
, 2.0f
, 2.0f
}};
2193 m4x3_transform_aabb( player
.to_world
, wbox
);
2194 int len
= bh_select( &world
.bhcubes
, wbox
, colliders
, 32 );
2196 for( int i
=0; i
<len
; i
++ )
2197 player_do_collision( &world
.temp_rbs
[colliders
[i
]] );
2209 /* Update camera matrices */
2210 m4x3_identity( player
.camera
);
2211 m4x3_rotate_y( player
.camera
, -player
.angles
[0] );
2212 m4x3_rotate_x( player
.camera
, -0.33f
-player
.angles
[1] );
2213 v3_copy( player
.camera_pos
, player
.camera
[3] );
2214 m4x3_invert_affine( player
.camera
, player
.camera_inverse
);
2217 static void draw_player(void)
2220 m4x3_copy( player
.to_world
, player
.mdl
.mroot
);
2222 if( player
.is_dead
)
2223 character_mimic_ragdoll( &player
.mdl
);
2225 character_eval( &player
.mdl
);
2227 character_draw( &player
.mdl
, (player
.is_dead
|player
.in_air
)? 0.0f
: 1.0f
);
2230 #endif /* PLAYER_H */