7 static int freecam
= 0;
8 static float k_walkspeed
= 2.0f
;
9 static int walk_grid_iterations
= 1;
14 v3f co
, v
, a
, v_last
, m
, bob
, vl
;
16 float vswitch
, slip
, slip_last
,
19 float iY
; /* Yaw inertia */
20 int in_air
, is_dead
, on_board
;
30 v3f land_target_log
[22];
31 u32 land_target_colours
[22];
35 m4x3f to_world
, to_local
;
39 v3f handl_target
, handr_target
,
45 v3f camera_pos
, smooth_localcam
;
47 m4x3f camera
, camera_inverse
;
54 static void player_transform_update(void)
56 q_normalize( player
.rot
);
57 q_m3x3( player
.rot
, player
.to_world
);
58 v3_copy( player
.co
, player
.to_world
[3] );
60 m4x3_invert_affine( player
.to_world
, player
.to_local
);
63 static int reset_player( int argc
, char const *argv
[] )
65 v3_copy( (v3f
){ 0.0f
, -2.0f
, 0.0f
}, player
.co
);
69 if( !strcmp( argv
[0], "tutorial" ))
70 v3_copy( world
.tutorial
, player
.co
);
73 v3_copy( (v3f
){ 0.0f
, 0.0f
, -0.2f
}, player
.v
);
74 q_identity( player
.rot
);
75 player
.vswitch
= 1.0f
;
76 player
.slip_last
= 0.0f
;
79 m3x3_identity( player
.vr
);
81 player
.mdl
.shoes
[0] = 1;
82 player
.mdl
.shoes
[1] = 1;
84 player_transform_update();
88 static void player_mouseview(void)
90 static v2f mouse_last
,
91 view_vel
= { 0.0f
, 0.0f
};
93 if( vg_get_button_down( "primary" ) )
94 v2_copy( vg_mouse
, mouse_last
);
95 else if( vg_get_button( "primary" ) )
98 v2_sub( vg_mouse
, mouse_last
, delta
);
99 v2_copy( vg_mouse
, mouse_last
);
101 v2_muladds( view_vel
, delta
, 0.005f
, view_vel
);
104 v2_muls( view_vel
, 0.7f
, view_vel
);
105 v2_add( view_vel
, player
.angles
, player
.angles
);
106 player
.angles
[1] = vg_clampf( player
.angles
[1], -VG_PIf
*0.5f
, VG_PIf
*0.5f
);
110 static void player_freecam(void)
114 float movespeed
= 25.0f
;
115 v3f lookdir
= { 0.0f
, 0.0f
, -1.0f
},
116 sidedir
= { 1.0f
, 0.0f
, 0.0f
};
118 m3x3_mulv( player
.camera
, lookdir
, lookdir
);
119 m3x3_mulv( player
.camera
, sidedir
, sidedir
);
121 static v3f move_vel
= { 0.0f
, 0.0f
, 0.0f
};
122 if( vg_get_button( "forward" ) )
123 v3_muladds( move_vel
, lookdir
, ktimestep
* movespeed
, move_vel
);
124 if( vg_get_button( "back" ) )
125 v3_muladds( move_vel
, lookdir
, ktimestep
*-movespeed
, move_vel
);
126 if( vg_get_button( "left" ) )
127 v3_muladds( move_vel
, sidedir
, ktimestep
*-movespeed
, move_vel
);
128 if( vg_get_button( "right" ) )
129 v3_muladds( move_vel
, sidedir
, ktimestep
* movespeed
, move_vel
);
131 v3_muls( move_vel
, 0.7f
, move_vel
);
132 v3_add( move_vel
, player
.camera_pos
, player
.camera_pos
);
135 static void apply_gravity( v3f vel
, float const timestep
)
137 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
138 v3_muladds( vel
, gravity
, timestep
, vel
);
142 * TODO: The angle bias should become greater when launching from a steeper
143 * angle and skewed towords more 'downwards' angles when launching from
144 * shallower trajectories
146 static void player_start_air(void)
150 float pstep
= ktimestep
*10.0f
;
152 float best_velocity_mod
= 0.0f
,
153 best_velocity_delta
= -9999.9f
;
156 m3x3_mulv( player
.to_world
, (v3f
){0.0f
,1.0f
,0.0f
}, vup
);
157 v3_cross( vup
, player
.v
, axis
);
158 v3_normalize( axis
);
159 player
.land_log_count
= 0;
161 m3x3_identity( player
.vr
);
163 for( int m
=-3;m
<=12; m
++ )
165 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
168 v3_copy( player
.co
, pco
);
169 v3_copy( player
.v
, pv
);
172 * Try different 'rotations' of the velocity to find the best possible
173 * landing normal. This conserves magnitude at the expense of slightly
174 * unrealistic results
180 q_axis_angle( vr_q
, axis
, vmod
);
183 m3x3_mulv( vr
, pv
, pv
);
184 v3_muladds( pco
, pv
, ktimestep
, pco
);
186 for( int i
=0; i
<50; i
++ )
188 v3_copy( pco
, pco1
);
189 apply_gravity( pv
, pstep
);
191 m3x3_mulv( vr
, pv
, pv
);
192 v3_muladds( pco
, pv
, pstep
, pco
);
197 v3_sub( pco
, pco1
, vdir
);
198 contact
.dist
= v3_length( vdir
);
199 v3_divs( vdir
, contact
.dist
, vdir
);
201 if( ray_world( pco1
, vdir
, &contact
))
203 float land_delta
= v3_dot( pv
, contact
.normal
);
204 u32 scolour
= (u8
)(vg_minf(-land_delta
* 2.0f
, 255.0f
));
206 /* Bias prediction towords ramps */
207 if( ray_hit_is_ramp( &contact
) )
210 scolour
|= 0x0000a000;
213 if( (land_delta
< 0.0f
) && (land_delta
> best_velocity_delta
) )
215 best_velocity_delta
= land_delta
;
216 best_velocity_mod
= vmod
;
218 v3_copy( contact
.pos
, player
.land_target
);
220 q_axis_angle( vr_q
, axis
, vmod
*0.1f
);
221 q_m3x3( vr_q
, player
.vr
);
224 v3_copy( contact
.pos
,
225 player
.land_target_log
[player
.land_log_count
] );
226 player
.land_target_colours
[player
.land_log_count
] =
227 0xff000000 | scolour
;
229 player
.land_log_count
++;
236 //v3_rotate( player.v, best_velocity_mod, axis, player.v );
239 v3_muls( player
.v
, best_velocity_mod
, player
.v
);
242 static int sample_if_resistant( v3f pos
)
245 v3_copy( pos
, ground
);
251 if( ray_world( ground
, (v3f
){0.0f
,-1.0f
,0.0f
}, &hit
))
254 v3_copy( player
.v
, angle
);
255 v3_normalize( angle
);
256 float resistance
= v3_dot( hit
.normal
, angle
);
258 if( resistance
< 0.25f
)
260 v3_copy( hit
.pos
, pos
);
268 static float stable_force( float current
, float diff
)
270 float new = current
+ diff
;
272 if( new * current
< 0.0f
)
278 static void player_physics_ground(void)
281 * Getting surface collision points,
282 * the contact manifold is a triangle for simplicity.
284 v3f contact_front
, contact_back
, contact_norm
, vup
, vside
,
287 float klength
= 0.65f
;
288 m4x3_mulv( player
.to_world
, (v3f
){ 0.15f
,0.0f
,-klength
}, contact_norm
);
289 m4x3_mulv( player
.to_world
, (v3f
){-0.15f
,0.0f
,-klength
}, contact_front
);
290 m4x3_mulv( player
.to_world
, (v3f
){ 0.00f
,0.0f
, klength
}, contact_back
);
291 m3x3_mulv( player
.to_world
, (v3f
){ 0.0f
, 1.0f
, 0.0f
}, vup
);
292 m3x3_mulv( player
.to_world
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, vside
);
297 sample_if_resistant( contact_front
) +
298 sample_if_resistant( contact_back
) +
299 sample_if_resistant( contact_norm
);
301 if( contact_count
< 3 )
309 v3_sub( contact_norm
, contact_front
, v0
);
310 v3_sub( contact_back
, contact_front
, v1
);
311 v3_cross( v1
, v0
, norm
);
312 v3_normalize( norm
);
314 vg_line( contact_norm
, contact_front
, 0xff00ff00 );
315 vg_line( contact_back
, contact_front
, 0xff0000ff );
317 /* Surface alignment */
318 float angle
= v3_dot( vup
, norm
);
319 v3_cross( vup
, norm
, axis
);
324 q_axis_angle( correction
, axis
, acosf(angle
) );
325 q_mul( correction
, player
.rot
, player
.rot
);
328 float resistance
= v3_dot( norm
, player
.v
);
329 if( resistance
>= 0.0f
)
336 v3_muladds( player
.v
, norm
, -resistance
, player
.v
);
339 /* This is where velocity integration used to be */
343 player
.co
[1] = (contact_front
[1]+contact_back
[1])*0.5f
;
346 m3x3_mulv( player
.to_local
, player
.v
, vel
);
348 /* Calculate local forces */
350 if( fabsf(vel
[2]) > 0.01f
)
351 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
353 if( fabsf( slip
) > 1.2f
)
354 slip
= vg_signf( slip
) * 1.2f
;
356 player
.reverse
= -vg_signf(vel
[2]);
358 float substep
= ktimestep
* 0.2f
;
359 float fwd_resistance
= (vg_get_button( "break" )? 5.0f
: 0.02f
) * -substep
;
361 for( int i
=0; i
<5; i
++ )
363 vel
[2] = stable_force( vel
[2], vg_signf( vel
[2] ) * fwd_resistance
);
364 vel
[0] = stable_force( vel
[0], vg_signf( vel
[0] ) * -7.0f
*substep
);
367 static double start_push
= 0.0;
368 if( vg_get_button_down( "push" ) )
369 start_push
= vg_time
;
371 if( !vg_get_button("break") && vg_get_button( "push" ) )
373 float const k_maxpush
= 16.0f
,
376 float cycle_time
= vg_time
-start_push
,
377 amt
= k_pushaccel
* (sinf( cycle_time
* 8.0f
)*0.5f
+0.5f
)*ktimestep
,
378 current
= v3_length( vel
),
379 new_vel
= vg_minf( current
+ amt
, k_maxpush
);
380 new_vel
-= vg_minf(current
, k_maxpush
);
381 vel
[2] -= new_vel
* player
.reverse
;
384 m3x3_mulv( player
.to_world
, vel
, player
.v
);
386 if( vg_get_button( "yawl" ) )
387 player
.iY
+= 3.6f
* ktimestep
;
388 if( vg_get_button( "yawr" ) )
389 player
.iY
-= 3.6f
* ktimestep
;
391 float steer
= vg_get_axis( "horizontal" );
392 player
.iY
-= vg_signf(steer
)*powf(steer
,2.0f
) * 1.5f
* ktimestep
;
394 /* Too much lean and it starts to look like a snowboard here */
395 v2_lerp( player
.board_xy
, (v2f
){ slip
*0.25f
, 0.0f
},
396 ktimestep
*5.0f
, player
.board_xy
);
399 static void draw_cross(v3f pos
,u32 colour
, float scale
)
402 v3_add( (v3f
){ scale
,0.0f
,0.0f
}, pos
, p0
);
403 v3_add( (v3f
){-scale
,0.0f
,0.0f
}, pos
, p1
);
404 vg_line( p0
, p1
, colour
);
405 v3_add( (v3f
){0.0f
, scale
,0.0f
}, pos
, p0
);
406 v3_add( (v3f
){0.0f
,-scale
,0.0f
}, pos
, p1
);
407 vg_line( p0
, p1
, colour
);
408 v3_add( (v3f
){0.0f
,0.0f
, scale
}, pos
, p0
);
409 v3_add( (v3f
){0.0f
,0.0f
,-scale
}, pos
, p1
);
410 vg_line( p0
, p1
, colour
);
413 static void player_physics_air(void)
415 m3x3_mulv( player
.vr
, player
.v
, player
.v
);
416 for( int i
=0; i
<player
.land_log_count
; i
++ )
417 draw_cross( player
.land_target_log
[i
], player
.land_target_colours
[i
], 1);
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
;
587 player
.air_blend
= vg_lerpf( player
.air_blend
, player
.in_air
, 0.04f
);
588 v3_muladds( player
.camera_pos
, player
.v
, -0.05f
*player
.air_blend
,
592 static int player_walkgrid_tri_walkable( u32 tri
[3] )
594 return tri
[0] < world
.sm_road
.vertex_count
;
597 #define WALKGRID_SIZE 16
604 k_sample_type_air
, /* Nothing was hit. */
605 k_sample_type_invalid
, /* The point is invalid, but there is a sample
606 underneath that can be used */
607 k_sample_type_valid
, /* This point is good */
616 k_traverse_none
= 0x00,
622 samples
[WALKGRID_SIZE
][WALKGRID_SIZE
];
630 float move
; /* Current amount of movement we have left to apply */
631 v2f dir
; /* The movement delta */
632 v2i cell_id
;/* Current cell */
633 v2f pos
; /* Local position (in cell) */
638 * Get a sample at this pole location, will return 1 if the sample is valid,
639 * and pos will be updated to be the intersection location.
641 static void player_walkgrid_samplepole( struct grid_sample
*s
)
643 boxf region
= {{ s
->pos
[0] -0.01f
, s
->pos
[1] - 4.0f
, s
->pos
[2] -0.01f
},
644 { s
->pos
[0] +0.01f
, s
->pos
[1] + 4.0f
, s
->pos
[2] +0.01f
}};
647 vg_line( region
[0],region
[1], 0x20ffffff );
652 int len
= bvh_select_triangles( &world
.geo
, region
, geo
, 256 );
654 const float k_minworld_y
= -2000.0f
;
656 float walk_height
= k_minworld_y
,
657 block_height
= k_minworld_y
;
659 s
->type
= k_sample_type_air
;
661 for( int i
=0; i
<len
; i
++ )
663 u32
*ptri
= &world
.geo
.indices
[ geo
[i
] ];
665 for( int j
=0; j
<3; j
++ )
666 v3_copy( world
.geo
.verts
[ptri
[j
]].co
, tri
[j
] );
668 v3f vdown
= {0.0f
,-1.0f
,0.0f
};
670 v3_copy( s
->pos
, sample_from
);
671 sample_from
[1] = region
[1][1];
674 if( ray_tri( tri
, sample_from
, vdown
, &dist
))
677 v3_muladds( sample_from
, vdown
, dist
, p0
);
679 if( player_walkgrid_tri_walkable(ptri
) )
681 if( p0
[1] > walk_height
)
687 draw_cross( p0
, 0xffffffff, 0.05f
);
692 if( p0
[1] > block_height
)
693 block_height
= p0
[1];
695 draw_cross( p0
, 0xff0000ff, 0.05f
);
701 s
->pos
[1] = walk_height
;
703 if( walk_height
> k_minworld_y
)
704 if( block_height
> walk_height
)
705 s
->type
= k_sample_type_invalid
;
707 s
->type
= k_sample_type_valid
;
709 s
->type
= k_sample_type_air
;
712 if( s
->type
== k_sample_type_valid
)
714 vg_line_pt3( s
->pos
, 0.01f
, 0xff00ff00 );
723 count
= bvh_raycast( &world
.geo
, sample_pos
, vdir
, &hit
);
727 v3_copy( hit
.pos
, s
->pos
);
729 if( !player_walkgrid_tri_walkable( hit
.tri
) )
731 draw_cross( pos
, 0xff0000ff, 0.05f
);
736 draw_cross( pos
, 0xff00ff00, 0.05f
);
745 float const k_gridscale
= 0.5f
;
753 static void player_walkgrid_clip_blocker( struct grid_sample
*sa
,
754 struct grid_sample
*sb
,
755 struct grid_sample
*st
,
759 int valid_a
= sa
->type
== k_sample_type_valid
,
760 valid_b
= sb
->type
== k_sample_type_valid
;
761 struct grid_sample
*target
= valid_a
? sa
: sb
,
762 *other
= valid_a
? sb
: sa
;
763 v3_copy( target
->pos
, pos
);
764 v3_sub( other
->pos
, target
->pos
, clipdir
);
767 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, -k_gridscale
*2.1f
, cell_region
[0]);
768 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, k_gridscale
*2.1f
, cell_region
[1]);
772 int len
= bvh_select_triangles( &world
.geo
, cell_region
, geo
, 256 );
775 float start_time
= v3_length( clipdir
),
776 min_time
= start_time
;
777 v3_normalize( clipdir
);
778 v3_muls( clipdir
, 0.0001f
, st
->clip
[dir
] );
780 for( int i
=0; i
<len
; i
++ )
782 u32
*ptri
= &world
.geo
.indices
[ geo
[i
] ];
783 for( int j
=0; j
<3; j
++ )
784 v3_copy( world
.geo
.verts
[ptri
[j
]].co
, tri
[j
] );
786 if( player_walkgrid_tri_walkable(ptri
) )
790 if(ray_tri( tri
, pos
, clipdir
, &dist
))
792 if( dist
> 0.0f
&& dist
< min_time
)
795 sb
->type
= k_sample_type_air
;
800 if( !(min_time
< start_time
) )
801 min_time
= 0.5f
* k_gridscale
;
803 min_time
= vg_clampf( min_time
/k_gridscale
, 0.01f
, 0.99f
);
805 v3_muls( clipdir
, min_time
, st
->clip
[dir
] );
808 v3_muladds( target
->pos
, st
->clip
[dir
], k_gridscale
, p0
);
811 static void player_walkgrid_clip_edge( struct grid_sample
*sa
,
812 struct grid_sample
*sb
,
813 struct grid_sample
*st
, /* data store */
816 v3f clipdir
= { 0.0f
, 0.0f
, 0.0f
}, pos
;
817 int valid_a
= sa
->type
== k_sample_type_valid
,
818 valid_b
= sb
->type
== k_sample_type_valid
;
820 struct grid_sample
*target
= valid_a
? sa
: sb
,
821 *other
= valid_a
? sb
: sa
;
823 v3_sub( other
->pos
, target
->pos
, clipdir
);
826 v3_copy( target
->pos
, pos
);
829 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, -k_gridscale
*1.1f
, cell_region
[0]);
830 v3_muladds( pos
, (v3f
){1.0f
,1.0f
,1.0f
}, k_gridscale
*1.1f
, cell_region
[1]);
833 int len
= bvh_select_triangles( &world
.geo
, cell_region
, geo
, 256 );
835 float max_dist
= 0.0f
;
838 v3_cross( clipdir
,(v3f
){0.0f
,1.0f
,0.0f
},perp
);
839 v3_muls( clipdir
, 0.001f
, st
->clip
[dir
] );
841 for( int i
=0; i
<len
; i
++ )
843 u32
*ptri
= &world
.geo
.indices
[ geo
[i
] ];
844 for( int j
=0; j
<3; j
++ )
845 v3_copy( world
.geo
.verts
[ptri
[j
]].co
, tri
[j
] );
847 if( !player_walkgrid_tri_walkable(ptri
) )
850 for( int k
=0; k
<3; k
++ )
856 v3_sub( tri
[ia
], pos
, v0
);
857 v3_sub( tri
[ib
], pos
, v1
);
859 if( (clipdir
[2]*v0
[0] - clipdir
[0]*v0
[2]) *
860 (clipdir
[2]*v1
[0] - clipdir
[0]*v1
[2]) < 0.0f
)
862 float da
= v3_dot(v0
,perp
),
863 db
= v3_dot(v1
,perp
),
868 v3_muls( v1
, qa
, p0
);
869 v3_muladds( p0
, v0
, 1.0f
-qa
, p0
);
871 float h
= v3_dot(p0
,clipdir
)/v3_dot(clipdir
,clipdir
);
873 if( h
>= max_dist
&& h
<= 1.0f
)
876 float l
= 1.0f
/v3_length(clipdir
);
877 v3_muls( p0
, l
, st
->clip
[dir
] );
884 static void player_walkgrid_clip( struct grid_sample
*sa
,
885 struct grid_sample
*sb
,
888 int mintype
= VG_MIN( sa
->type
, sb
->type
),
889 maxtype
= VG_MAX( sa
->type
, sb
->type
);
891 if( maxtype
== k_sample_type_valid
)
893 if( mintype
== k_sample_type_air
|| mintype
== k_sample_type_invalid
)
895 player_walkgrid_clip_edge( sa
, sb
, sa
, dir
);
899 else if( mintype
== k_sample_type_invalid
)
901 player_walkgrid_clip_blocker( sa
, sb
, dir
);
907 static const struct conf
914 * o: the 'other' point to do a A/B test with
915 * if its -1, all AB is done.
925 k_walkgrid_configs
[16] = {
927 {{{ 3,3, 3,0, 1,0, -1,-1 }}, 1},
928 {{{ 2,2, 1,3, 0,1, -1,-1 }}, 1},
929 {{{ 2,3, 1,0, 0,0, 3,-1 }}, 1},
931 {{{ 1,1, 0,1, 1,0, -1,-1 }}, 1},
932 {{{ 3,3, 3,0, 1,0, -1,-1 },
933 { 1,1, 0,1, 1,0, -1,-1 }}, 2},
934 {{{ 1,2, 0,3, 1,1, 2,-1 }}, 1},
935 {{{ 1,3, 0,0, 1,0, 2, 2 }}, 1},
937 {{{ 0,0, 0,0, 0,1, -1,-1 }}, 1},
938 {{{ 3,0, 3,0, 1,1, 0,-1 }}, 1},
939 {{{ 2,2, 1,3, 0,1, -1,-1 },
940 { 0,0, 0,0, 0,1, -1,-1 }}, 2},
941 {{{ 2,0, 1,0, 0,1, 3, 3 }}, 1},
943 {{{ 0,1, 0,1, 0,0, 1,-1 }}, 1},
944 {{{ 3,1, 3,1, 1,0, 0, 0 }}, 1},
945 {{{ 0,2, 0,3, 0,1, 1, 1 }}, 1},
950 * Get a buffer of edges from cell location
952 static const struct conf
*player_walkgrid_conf( struct walkgrid
*wg
,
954 struct grid_sample
*corners
[4] )
956 corners
[0] = &wg
->samples
[cell
[1] ][cell
[0] ];
957 corners
[1] = &wg
->samples
[cell
[1]+1][cell
[0] ];
958 corners
[2] = &wg
->samples
[cell
[1]+1][cell
[0]+1];
959 corners
[3] = &wg
->samples
[cell
[1] ][cell
[0]+1];
961 u32 vd0
= corners
[0]->type
== k_sample_type_valid
,
962 vd1
= corners
[1]->type
== k_sample_type_valid
,
963 vd2
= corners
[2]->type
== k_sample_type_valid
,
964 vd3
= corners
[3]->type
== k_sample_type_valid
,
965 config
= (vd0
<<3) | (vd1
<<2) | (vd2
<<1) | vd3
;
967 return &k_walkgrid_configs
[ config
];
970 static void player_walkgrid_floor(v3f pos
)
972 v3_muls( pos
, 1.0f
/k_gridscale
, pos
);
973 v3_floor( pos
, pos
);
974 v3_muls( pos
, k_gridscale
, pos
);
978 * Computes the barycentric coordinate of location on a triangle (vertical),
979 * then sets the Y position to the interpolation of the three points
981 static void player_walkgrid_stand_tri( v3f a
, v3f b
, v3f c
, v3f pos
)
986 v3_sub( pos
, a
, v2
);
988 float d
= v0
[0]*v1
[2] - v1
[0]*v0
[2],
989 v
= (v2
[0]*v1
[2] - v1
[0]*v2
[2]) / d
,
990 w
= (v0
[0]*v2
[2] - v2
[0]*v0
[2]) / d
,
993 vg_line( pos
, a
, 0xffff0000 );
994 vg_line( pos
, b
, 0xff00ff00 );
995 vg_line( pos
, c
, 0xff0000ff );
996 pos
[1] = u
*a
[1] + v
*b
[1] + w
*c
[1];
1000 * Get the minimum time value of pos+dir until a cell edge
1002 * t[0] -> t[3] are the individual time values
1003 * t[5] & t[6] are the maximum axis values
1004 * t[6] is the minimum value
1007 static void player_walkgrid_min_cell( float t
[7], v2f pos
, v2f dir
)
1009 v2f frac
= { 1.0f
/dir
[0], 1.0f
/dir
[1] };
1016 if( fabsf(dir
[0]) > 0.0001f
)
1018 t
[0] = (0.0f
-pos
[0]) * frac
[0];
1019 t
[1] = (1.0f
-pos
[0]) * frac
[0];
1021 if( fabsf(dir
[1]) > 0.0001f
)
1023 t
[2] = (0.0f
-pos
[1]) * frac
[1];
1024 t
[3] = (1.0f
-pos
[1]) * frac
[1];
1027 t
[4] = vg_maxf(t
[0],t
[1]);
1028 t
[5] = vg_maxf(t
[2],t
[3]);
1029 t
[6] = vg_minf(t
[4],t
[5]);
1032 static void player_walkgrid_iter(struct walkgrid
*wg
, int iter
)
1036 * For each walkgrid iteration we are stepping through cells and determining
1037 * the intersections with the grid, and any edges that are present
1041 if( wg
->cell_id
[0] < 0 || wg
->cell_id
[0] >= WALKGRID_SIZE
-1 ||
1042 wg
->cell_id
[1] < 0 || wg
->cell_id
[1] >= WALKGRID_SIZE
-1 )
1045 * This condition should never be reached if the grid size is big
1053 u32 icolours
[] = { 0xffff00ff, 0xff00ffff, 0xffffff00 };
1055 v3f pa
, pb
, pc
, pd
, pl0
, pl1
;
1056 pa
[0] = wg
->region
[0][0] + (float)wg
->cell_id
[0] *k_gridscale
;
1057 pa
[1] = (wg
->region
[0][1] + wg
->region
[1][1]) * 0.5f
+ k_gridscale
;
1058 pa
[2] = wg
->region
[0][2] + (float)wg
->cell_id
[1] *k_gridscale
;
1061 pb
[2] = pa
[2] + k_gridscale
;
1062 pc
[0] = pa
[0] + k_gridscale
;
1064 pc
[2] = pa
[2] + k_gridscale
;
1065 pd
[0] = pa
[0] + k_gridscale
;
1069 vg_line( pa
, pb
, 0xff00ffff );
1070 vg_line( pb
, pc
, 0xff00ffff );
1071 vg_line( pc
, pd
, 0xff00ffff );
1072 vg_line( pd
, pa
, 0xff00ffff );
1074 pl0
[0] = pa
[0] + wg
->pos
[0]*k_gridscale
;
1076 pl0
[2] = pa
[2] + wg
->pos
[1]*k_gridscale
;
1079 * If there are edges present, we need to create a 'substep' event, where
1080 * we find the intersection point, find the fully resolved position,
1081 * then the new pos dir is the intersection->resolution
1083 * the resolution is applied in non-discretized space in order to create a
1084 * suitable vector for finding outflow, we want it to leave the cell so it
1085 * can be used by the quad
1089 v2_copy( wg
->pos
, pos
);
1090 v2_muls( wg
->dir
, wg
->move
, dir
);
1092 struct grid_sample
*corners
[4];
1093 v2f corners2d
[4] = {{0.0f
,0.0f
},{0.0f
,1.0f
},{1.0f
,1.0f
},{1.0f
,0.0f
}};
1094 const struct conf
*conf
= player_walkgrid_conf( wg
, wg
->cell_id
, corners
);
1097 player_walkgrid_min_cell( t
, pos
, dir
);
1099 for( int i
=0; i
<conf
->edge_count
; i
++ )
1101 const struct confedge
*edge
= &conf
->edges
[i
];
1103 v2f e0
, e1
, n
, r
, target
, res
, tangent
;
1104 e0
[0] = corners2d
[edge
->i0
][0] + corners
[edge
->d0
]->clip
[edge
->a0
][0];
1105 e0
[1] = corners2d
[edge
->i0
][1] + corners
[edge
->d0
]->clip
[edge
->a0
][2];
1106 e1
[0] = corners2d
[edge
->i1
][0] + corners
[edge
->d1
]->clip
[edge
->a1
][0];
1107 e1
[1] = corners2d
[edge
->i1
][1] + corners
[edge
->d1
]->clip
[edge
->a1
][2];
1109 v3f pe0
= { pa
[0] + e0
[0]*k_gridscale
,
1111 pa
[2] + e0
[1]*k_gridscale
};
1112 v3f pe1
= { pa
[0] + e1
[0]*k_gridscale
,
1114 pa
[2] + e1
[1]*k_gridscale
};
1116 v2_sub( e1
, e0
, tangent
);
1122 * If we find ourselfs already penetrating the edge, move back out a
1125 v2_sub( e0
, pos
, r
);
1126 float p1
= v2_dot(r
,n
);
1130 v2_muladds( pos
, n
, p1
+0.0001f
, pos
);
1131 v2_copy( pos
, wg
->pos
);
1132 v3f p_new
= { pa
[0] + pos
[0]*k_gridscale
,
1134 pa
[2] + pos
[1]*k_gridscale
};
1135 v3_copy( p_new
, pl0
);
1138 v2_add( pos
, dir
, target
);
1141 v2_sub( e0
, pos
, v1
);
1142 v2_sub( target
, pos
, v2
);
1146 v2_sub( e0
, target
, r
);
1147 float p
= v2_dot(r
,n
),
1148 t1
= v2_dot(v1
,v3
)/v2_dot(v2
,v3
);
1150 if( t1
< t
[6] && t1
> 0.0f
&& -p
< 0.001f
)
1152 v2_muladds( target
, n
, p
+0.0001f
, res
);
1155 v2_muladds( pos
, dir
, t1
, intersect
);
1156 v2_copy( intersect
, pos
);
1157 v2_sub( res
, intersect
, dir
);
1159 v3f p_res
= { pa
[0] + res
[0]*k_gridscale
,
1161 pa
[2] + res
[1]*k_gridscale
};
1162 v3f p_int
= { pa
[0] + intersect
[0]*k_gridscale
,
1164 pa
[2] + intersect
[1]*k_gridscale
};
1166 vg_line( pl0
, p_int
, icolours
[iter
%3] );
1167 v3_copy( p_int
, pl0
);
1168 v2_copy( pos
, wg
->pos
);
1170 player_walkgrid_min_cell( t
, pos
, dir
);
1175 * Compute intersection with grid cell moving outwards
1177 t
[6] = vg_minf( t
[6], 1.0f
);
1179 pl1
[0] = pl0
[0] + dir
[0]*k_gridscale
*t
[6];
1181 pl1
[2] = pl0
[2] + dir
[1]*k_gridscale
*t
[6];
1182 vg_line( pl0
, pl1
, icolours
[iter
%3] );
1187 * To figure out what t value created the clip so we know which edge
1193 wg
->pos
[1] = pos
[1] + dir
[1]*t
[6];
1195 if( t
[0] > t
[1] ) /* left edge */
1197 wg
->pos
[0] = 0.9999f
;
1200 if( wg
->cell_id
[0] == 0 )
1203 else /* Right edge */
1205 wg
->pos
[0] = 0.0001f
;
1208 if( wg
->cell_id
[0] == WALKGRID_SIZE
-2 )
1214 wg
->pos
[0] = pos
[0] + dir
[0]*t
[6];
1216 if( t
[2] > t
[3] ) /* bottom edge */
1218 wg
->pos
[1] = 0.9999f
;
1221 if( wg
->cell_id
[1] == 0 )
1226 wg
->pos
[1] = 0.0001f
;
1229 if( wg
->cell_id
[1] == WALKGRID_SIZE
-2 )
1238 v2_muladds( wg
->pos
, dir
, wg
->move
, wg
->pos
);
1243 static void player_walkgrid_stand_cell(struct walkgrid
*wg
)
1246 * NOTE: as opposed to the other function which is done in discretized space
1247 * this use a combination of both.
1251 world
[0] = wg
->region
[0][0]+((float)wg
->cell_id
[0]+wg
->pos
[0])*k_gridscale
;
1252 world
[1] = player
.co
[1];
1253 world
[2] = wg
->region
[0][2]+((float)wg
->cell_id
[1]+wg
->pos
[1])*k_gridscale
;
1255 struct grid_sample
*corners
[4];
1256 const struct conf
*conf
= player_walkgrid_conf( wg
, wg
->cell_id
, corners
);
1258 if( conf
!= k_walkgrid_configs
)
1260 if( conf
->edge_count
== 0 )
1264 /* Split the basic quad along the shortest diagonal */
1265 if( fabsf(corners
[2]->pos
[1] - corners
[0]->pos
[1]) <
1266 fabsf(corners
[3]->pos
[1] - corners
[1]->pos
[1]) )
1268 vg_line( corners
[2]->pos
, corners
[0]->pos
, 0xffaaaaaa );
1270 if( wg
->pos
[0] > wg
->pos
[1] )
1271 player_walkgrid_stand_tri( corners
[0]->pos
,
1273 corners
[2]->pos
, world
);
1275 player_walkgrid_stand_tri( corners
[0]->pos
,
1277 corners
[1]->pos
, world
);
1281 vg_line( corners
[3]->pos
, corners
[1]->pos
, 0xffaaaaaa );
1283 if( wg
->pos
[0] < 1.0f
-wg
->pos
[1] )
1284 player_walkgrid_stand_tri( corners
[0]->pos
,
1286 corners
[1]->pos
, world
);
1288 player_walkgrid_stand_tri( corners
[3]->pos
,
1290 corners
[1]->pos
, world
);
1295 for( int i
=0; i
<conf
->edge_count
; i
++ )
1297 const struct confedge
*edge
= &conf
->edges
[i
];
1300 v3_muladds( corners
[edge
->i0
]->pos
,
1301 corners
[edge
->d0
]->clip
[edge
->a0
], k_gridscale
, p0
);
1302 v3_muladds( corners
[edge
->i1
]->pos
,
1303 corners
[edge
->d1
]->clip
[edge
->a1
], k_gridscale
, p1
);
1306 * Find penetration distance between player position and the edge
1309 v2f normal
= { -(p1
[2]-p0
[2]), p1
[0]-p0
[0] },
1310 rel
= { world
[0]-p0
[0], world
[2]-p0
[2] };
1312 if( edge
->o0
== -1 )
1314 /* No subregions (default case), just use triangle created by
1316 player_walkgrid_stand_tri( corners
[edge
->i0
]->pos
,
1323 * Test if we are in the first region, which is
1324 * edge.i0, edge.e0, edge.o0,
1327 v3_sub( p0
, corners
[edge
->o0
]->pos
, ref
);
1328 v3_sub( world
, corners
[edge
->o0
]->pos
, v0
);
1330 vg_line( corners
[edge
->o0
]->pos
, p0
, 0xffffff00 );
1331 vg_line( corners
[edge
->o0
]->pos
, world
, 0xff000000 );
1333 if( ref
[0]*v0
[2] - ref
[2]*v0
[0] < 0.0f
)
1335 player_walkgrid_stand_tri( corners
[edge
->i0
]->pos
,
1337 corners
[edge
->o0
]->pos
, world
);
1341 if( edge
->o1
== -1 )
1344 * No other edges mean we just need to use the opposite
1346 * e0, e1, o0 (in our case, also i1)
1348 player_walkgrid_stand_tri( p0
,
1350 corners
[edge
->o0
]->pos
, world
);
1355 * Note: this v0 calculation can be ommited with the
1358 * the last two triangles we have are:
1363 v3_sub( p1
, corners
[edge
->o1
]->pos
, ref
);
1364 v3_sub( world
, corners
[edge
->o1
]->pos
, v0
);
1365 vg_line( corners
[edge
->o1
]->pos
, p1
, 0xff00ffff );
1367 if( ref
[0]*v0
[2] - ref
[2]*v0
[0] < 0.0f
)
1369 player_walkgrid_stand_tri( p0
,
1371 corners
[edge
->o1
]->pos
,
1376 player_walkgrid_stand_tri( p1
,
1377 corners
[edge
->i1
]->pos
,
1378 corners
[edge
->o1
]->pos
,
1388 v3_copy( world
, player
.co
);
1391 static void player_walkgrid_getsurface(void)
1393 float const k_stepheight
= 0.5f
;
1394 float const k_miny
= 0.6f
;
1395 float const k_height
= 1.78f
;
1396 float const k_region_size
= (float)WALKGRID_SIZE
/2.0f
* k_gridscale
;
1398 static struct walkgrid wg
;
1401 v3_copy( player
.co
, cell
);
1402 player_walkgrid_floor( cell
);
1404 v3_muladds( cell
, (v3f
){-1.0f
,-1.0f
,-1.0f
}, k_region_size
, wg
.region
[0] );
1405 v3_muladds( cell
, (v3f
){ 1.0f
, 1.0f
, 1.0f
}, k_region_size
, wg
.region
[1] );
1409 * Create player input vector
1411 v3f delta
= {0.0f
,0.0f
,0.0f
};
1412 v3f fwd
= { -sinf(-player
.angles
[0]), 0.0f
, -cosf(-player
.angles
[0]) },
1413 side
= { -fwd
[2], 0.0f
, fwd
[0] };
1416 if( !vg_console_enabled() )
1418 if( glfwGetKey( vg_window
, GLFW_KEY_W
) )
1419 v3_muladds( delta
, fwd
, ktimestep
*k_walkspeed
, delta
);
1420 if( glfwGetKey( vg_window
, GLFW_KEY_S
) )
1421 v3_muladds( delta
, fwd
, -ktimestep
*k_walkspeed
, delta
);
1423 if( glfwGetKey( vg_window
, GLFW_KEY_A
) )
1424 v3_muladds( delta
, side
, -ktimestep
*k_walkspeed
, delta
);
1425 if( glfwGetKey( vg_window
, GLFW_KEY_D
) )
1426 v3_muladds( delta
, side
, ktimestep
*k_walkspeed
, delta
);
1430 * Create our move in grid space
1432 wg
.dir
[0] = delta
[0] * (1.0f
/k_gridscale
);
1433 wg
.dir
[1] = delta
[2] * (1.0f
/k_gridscale
);
1438 (player
.co
[0] - wg
.region
[0][0]) * (1.0f
/k_gridscale
),
1439 (player
.co
[2] - wg
.region
[0][2]) * (1.0f
/k_gridscale
)
1441 v2f region_cell_pos
;
1442 v2_floor( region_pos
, region_cell_pos
);
1443 v2_sub( region_pos
, region_cell_pos
, wg
.pos
);
1445 wg
.cell_id
[0] = region_cell_pos
[0];
1446 wg
.cell_id
[1] = region_cell_pos
[1];
1450 /* Get surface samples
1452 * TODO: Replace this with a spiral starting from the player position
1454 for( int y
=0; y
<WALKGRID_SIZE
; y
++ )
1456 for( int x
=0; x
<WALKGRID_SIZE
; x
++ )
1458 struct grid_sample
*s
= &wg
.samples
[y
][x
];
1459 v3_muladds( wg
.region
[0], (v3f
){ x
, 0, y
}, k_gridscale
, s
->pos
);
1460 s
->pos
[1] = cell
[1];
1461 player_walkgrid_samplepole( s
);
1466 * Calculate h+v clipping distances.
1467 * Distances are stored in A always, so you know that if the sample is
1468 * invalid, this signifies the start of the manifold as opposed to the
1469 * extent or bounds of it.
1471 for( int i
=0; i
<2; i
++ )
1473 for( int x
=0; x
<WALKGRID_SIZE
; x
++ )
1475 for( int z
=0; z
<WALKGRID_SIZE
-1; z
++ )
1477 struct grid_sample
*sa
, *sb
;
1480 sa
= &wg
.samples
[z
][x
];
1481 sb
= &wg
.samples
[z
+1][x
];
1485 sa
= &wg
.samples
[x
][z
];
1486 sb
= &wg
.samples
[x
][z
+1];
1489 player_walkgrid_clip( sa
, sb
, i
);
1491 if( sa
->type
== k_sample_type_valid
&&
1492 sb
->type
== k_sample_type_valid
)
1493 vg_line( sa
->pos
, sb
->pos
, 0xffffffff );
1495 if( sa
->valid
!= sb
->valid
)
1497 clipdir
[i
*2] = (float)(sa
->valid
- sb
->valid
) * k_gridscale
;
1499 player_walkgrid_clip( sa
->valid
? sa
->pos
: sb
->pos
,
1500 clipdir
, sa
->clip
[i
] );
1506 vg_line( sa
->pos
, sb
->pos
, 0xffffffff );
1515 for(int y
=0; y
<WALKGRID_SIZE
; y
++ )
1517 for(int x
=0; x
<WALKGRID_SIZE
; x
++ )
1519 struct grid_sample
*s
= &wg
.samples
[y
][x
];
1520 v3_muladds( wg
.region
[0], (v3f
){ x
, 0, y
}, k_gridscale
, s
->pos
);
1521 s
->state
= k_traverse_none
;
1522 s
->type
= k_sample_type_air
;
1523 v3_zero( s
->clip
[0] );
1524 v3_zero( s
->clip
[1] );
1528 v2i border
[WALKGRID_SIZE
*WALKGRID_SIZE
];
1529 v2i
*cborder
= border
;
1530 u32 border_length
= 1;
1532 struct grid_sample
*base
= NULL
;
1534 v2i starters
[] = {{0,0},{1,1},{0,1},{1,0}};
1536 for( int i
=0;i
<4;i
++ )
1539 v2i_add( wg
.cell_id
, starters
[i
], test
);
1540 v2i_copy( test
, border
[0] );
1541 base
= &wg
.samples
[test
[1]][test
[0]];
1543 base
->pos
[1] = cell
[1];
1544 player_walkgrid_samplepole( base
);
1546 if( base
->type
== k_sample_type_valid
)
1549 base
->type
= k_sample_type_air
;
1552 vg_line_pt3( base
->pos
, 0.1f
, 0xffffffff );
1556 while( border_length
)
1558 v2i directions
[] = {{1,0},{0,1},{-1,0},{0,-1}};
1560 v2i
*old_border
= cborder
;
1561 int len
= border_length
;
1564 cborder
= old_border
+len
;
1566 for( int i
=0; i
<len
; i
++ )
1569 v2i_copy( old_border
[i
], co
);
1570 struct grid_sample
*sa
= &wg
.samples
[co
[1]][co
[0]];
1572 for( int j
=0; j
<4; j
++ )
1575 v2i_add( co
, directions
[j
], newp
);
1577 if( newp
[0] < 0 || newp
[1] < 0 ||
1578 newp
[0] == WALKGRID_SIZE
|| newp
[1] == WALKGRID_SIZE
)
1581 struct grid_sample
*sb
= &wg
.samples
[newp
[1]][newp
[0]];
1582 enum traverse_state thismove
= j
%2==0? 1: 2;
1584 if( (sb
->state
& thismove
) == 0x00 ||
1585 sb
->type
== k_sample_type_air
)
1587 sb
->pos
[1] = sa
->pos
[1];
1589 player_walkgrid_samplepole( sb
);
1591 if( sb
->type
!= k_sample_type_air
)
1594 * Need to do a blocker pass
1597 struct grid_sample
*store
= (j
>>1 == 0)? sa
: sb
;
1598 player_walkgrid_clip_blocker( sa
, sb
, store
, j
%2 );
1601 if( sb
->type
!= k_sample_type_air
)
1603 vg_line( sa
->pos
, sb
->pos
, 0xffffffff );
1605 if( sb
->state
== k_traverse_none
)
1606 v2i_copy( newp
, cborder
[ border_length
++ ] );
1611 v3_muladds( sa
->pos
, store
->clip
[j
%2], k_gridscale
, p1
);
1612 vg_line( sa
->pos
, p1
, 0xffffffff );
1618 * A clipping pass is now done on the edge of the walkable
1622 struct grid_sample
*store
= (j
>>1 == 0)? sa
: sb
;
1623 player_walkgrid_clip_edge( sa
, sb
, store
, j
%2 );
1626 v3_muladds( sa
->pos
, store
->clip
[j
%2], k_gridscale
, p1
);
1627 vg_line( sa
->pos
, p1
, 0xffffffff );
1630 sb
->state
|= thismove
;
1634 sa
->state
= k_traverse_h
|k_traverse_v
;
1638 if( iter
== walk_grid_iterations
)
1643 player
.co
[0] += wg
.dir
[0];
1644 player
.co
[2] += wg
.dir
[1];
1649 /* Draw connections */
1650 struct grid_sample
*corners
[4];
1651 for( int x
=0; x
<WALKGRID_SIZE
-1; x
++ )
1653 for( int z
=0; z
<WALKGRID_SIZE
-1; z
++ )
1655 const struct conf
*conf
=
1656 player_walkgrid_conf( &wg
, (v2i
){x
,z
}, corners
);
1658 for( int i
=0; i
<conf
->edge_count
; i
++ )
1660 const struct confedge
*edge
= &conf
->edges
[i
];
1663 v3_muladds( corners
[edge
->i0
]->pos
,
1664 corners
[edge
->d0
]->clip
[edge
->a0
], k_gridscale
, p0
);
1665 v3_muladds( corners
[edge
->i1
]->pos
,
1666 corners
[edge
->d1
]->clip
[edge
->a1
], k_gridscale
, p1
);
1668 vg_line( p0
, p1
, 0xff0000ff );
1674 * Commit player movement into the grid
1677 if( v3_length2(delta
) <= 0.00001f
)
1681 for(; i
<8 && wg
.move
> 0.001f
; i
++ )
1682 player_walkgrid_iter( &wg
, i
);
1684 player_walkgrid_stand_cell( &wg
);
1687 static void player_walkgrid(void)
1689 player_walkgrid_getsurface();
1691 m4x3_mulv( player
.to_world
, (v3f
){0.0f
,1.8f
,0.0f
}, player
.camera_pos
);
1693 player_transform_update();
1696 static void player_animate(void)
1698 /* Camera position */
1699 v3_sub( player
.v
, player
.v_last
, player
.a
);
1700 v3_copy( player
.v
, player
.v_last
);
1702 v3_add( player
.m
, player
.a
, player
.m
);
1703 v3_lerp( player
.m
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.1f
, player
.m
);
1706 player
.m
[0] = vg_clampf( player
.m
[0], -2.0f
, 2.0f
);
1707 player
.m
[1] = vg_clampf( player
.m
[1], -0.2f
, 5.0f
);
1708 player
.m
[2] = vg_clampf( player
.m
[2], -2.0f
, 2.0f
);
1709 v3_copy( player
.m
, target
);
1710 v3_lerp( player
.bob
, target
, 0.2f
, player
.bob
);
1713 float lslip
= fabsf(player
.slip
); //vg_minf( 0.4f, slip );
1715 float grabt
= vg_get_axis( "grabr" )*0.5f
+0.5f
;
1716 player
.grab
= vg_lerpf( player
.grab
, grabt
, 0.04f
);
1718 float kheight
= 2.0f
,
1723 head
[1] = (0.3f
+cosf(lslip
)*0.5f
*(1.0f
-player
.grab
*0.7f
)) * kheight
;
1727 m3x3_mulv( player
.to_local
, player
.bob
, offset
);
1729 offset
[0] *= 0.3333f
;
1730 offset
[1] *= -0.25f
;
1732 v3_muladds( head
, offset
, 0.7f
, head
);
1733 head
[1] = vg_clampf( head
[1], 0.3f
, kheight
);
1738 v3_copy( head
, player
.view
);
1739 v3f camoffs
= {-0.2f
,-0.6f
,0.00f
};
1740 v3_add( player
.view
, camoffs
, player
.view
);
1745 * Animation blending
1746 * ===========================================
1749 static float fslide
= 0.0f
;
1750 static float fdirz
= 0.0f
;
1751 static float fdirx
= 0.0f
;
1752 static float fstand
= 0.0f
;
1753 static float ffly
= 0.0f
;
1755 float speed
= v3_length( player
.v
);
1757 fstand
= vg_lerpf(fstand
, 1.0f
-vg_clampf(speed
*0.03f
,0.0f
,1.0f
),0.1f
);
1758 fslide
= vg_lerpf(fslide
, vg_clampf(lslip
+fabsf(offset
[0])*0.2f
,
1760 fdirz
= vg_lerpf(fdirz
, player
.reverse
> 0.0f
? 1.0f
: 0.0f
, 0.04f
);
1761 fdirx
= vg_lerpf(fdirx
, player
.slip
< 0.0f
? 1.0f
: 0.0f
, 0.04f
);
1762 ffly
= vg_lerpf(ffly
, player
.in_air
? 1.0f
: 0.0f
, 0.04f
);
1764 character_pose_reset( &player
.mdl
);
1766 float amt_air
= ffly
*ffly
,
1767 amt_ground
= 1.0f
-amt_air
,
1768 amt_std
= (1.0f
-fslide
) * amt_ground
,
1769 amt_stand
= amt_std
* fstand
,
1770 amt_aero
= amt_std
* (1.0f
-fstand
),
1771 amt_slide
= amt_ground
* fslide
;
1773 character_final_pose( &player
.mdl
, offset
, &pose_stand
, amt_stand
);
1774 character_final_pose( &player
.mdl
, offset
, &pose_aero
, amt_aero
*fdirz
);
1775 character_final_pose( &player
.mdl
, offset
,
1776 &pose_aero_reverse
, amt_aero
* (1.0f
-fdirz
) );
1777 character_final_pose( &player
.mdl
, offset
, &pose_slide
, amt_slide
*fdirx
);
1778 character_final_pose( &player
.mdl
, offset
,
1779 &pose_slide1
, amt_slide
*(1.0f
-fdirx
) );
1781 character_final_pose( &player
.mdl
, (v3f
){0.0f
,0.0f
,0.0f
},
1782 &pose_fly
, amt_air
);
1784 /* Camera position */
1785 v3_lerp( player
.smooth_localcam
, player
.mdl
.cam_pos
, 0.08f
,
1786 player
.smooth_localcam
);
1787 v3_muladds( player
.smooth_localcam
, offset
, 0.7f
, player
.camera_pos
);
1788 player
.camera_pos
[1] = vg_clampf( player
.camera_pos
[1], 0.3f
, kheight
);
1789 m4x3_mulv( player
.to_world
, player
.camera_pos
, player
.camera_pos
);
1793 * ==========================
1795 struct ik_basic
*arm_l
= &player
.mdl
.ik_arm_l
,
1796 *arm_r
= &player
.mdl
.ik_arm_r
;
1799 m3x3_mulv( player
.to_local
, player
.v
, localv
);
1800 v3_muladds( arm_l
->end
, localv
, -0.01f
, arm_l
->end
);
1801 v3_muladds( arm_r
->end
, localv
, -0.01f
, arm_r
->end
);
1803 /* New board transformation */
1804 v4f board_rotation
; v3f board_location
;
1807 q_axis_angle( rz
, (v3f
){ 0.0f
, 0.0f
, 1.0f
}, player
.board_xy
[0] );
1808 q_axis_angle( rx
, (v3f
){ 1.0f
, 0.0f
, 0.0f
}, player
.board_xy
[1] );
1809 q_mul( rx
, rz
, board_rotation
);
1811 v3f
*mboard
= player
.mdl
.matrices
[k_chpart_board
];// player.mboard;
1812 q_m3x3( board_rotation
, mboard
);
1813 m3x3_mulv( mboard
, (v3f
){ 0.0f
, -0.5f
, 0.0f
}, board_location
);
1814 v3_add( (v3f
){0.0f
,0.5f
,0.0f
}, board_location
, board_location
);
1815 v3_copy( board_location
, mboard
[3] );
1818 float wheel_r
= offset
[0]*-0.4f
;
1820 q_axis_angle( qwheel
, (v3f
){0.0f
,1.0f
,0.0f
}, wheel_r
);
1822 q_m3x3( qwheel
, player
.mdl
.matrices
[k_chpart_wb
] );
1824 m3x3_transpose( player
.mdl
.matrices
[k_chpart_wb
],
1825 player
.mdl
.matrices
[k_chpart_wf
] );
1826 v3_copy( player
.mdl
.offsets
[k_chpart_wb
],
1827 player
.mdl
.matrices
[k_chpart_wb
][3] );
1828 v3_copy( player
.mdl
.offsets
[k_chpart_wf
],
1829 player
.mdl
.matrices
[k_chpart_wf
][3] );
1831 m4x3_mul( mboard
, player
.mdl
.matrices
[k_chpart_wb
],
1832 player
.mdl
.matrices
[k_chpart_wb
] );
1833 m4x3_mul( mboard
, player
.mdl
.matrices
[k_chpart_wf
],
1834 player
.mdl
.matrices
[k_chpart_wf
] );
1836 m4x3_mulv( mboard
, player
.mdl
.ik_leg_l
.end
, player
.mdl
.ik_leg_l
.end
);
1837 m4x3_mulv( mboard
, player
.mdl
.ik_leg_r
.end
, player
.mdl
.ik_leg_r
.end
);
1840 v3_copy( player
.mdl
.ik_arm_l
.end
, player
.handl_target
);
1841 v3_copy( player
.mdl
.ik_arm_r
.end
, player
.handr_target
);
1843 if( 1||player
.in_air
)
1845 float tuck
= player
.board_xy
[1],
1846 tuck_amt
= fabsf( tuck
) * (1.0f
-fabsf(player
.board_xy
[0]));
1848 float crouch
= player
.grab
*0.3f
;
1849 v3_muladds( player
.mdl
.ik_body
.base
, (v3f
){0.0f
,-1.0f
,0.0f
},
1850 crouch
, player
.mdl
.ik_body
.base
);
1851 v3_muladds( player
.mdl
.ik_body
.end
, (v3f
){0.0f
,-1.0f
,0.0f
},
1852 crouch
*1.2f
, player
.mdl
.ik_body
.end
);
1856 //foot_l *= 1.0f-tuck_amt*1.5f;
1858 if( player
.grab
> 0.1f
)
1860 m4x3_mulv( mboard
, (v3f
){0.1f
,0.14f
,0.6f
},
1861 player
.handl_target
);
1866 //foot_r *= 1.0f-tuck_amt*1.4f;
1868 if( player
.grab
> 0.1f
)
1870 m4x3_mulv( mboard
, (v3f
){0.1f
,0.14f
,-0.6f
},
1871 player
.handr_target
);
1876 v3_lerp( player
.handl
, player
.handl_target
, 0.1f
, player
.handl
);
1877 v3_lerp( player
.handr
, player
.handr_target
, 0.1f
, player
.handr
);
1879 v3_copy( player
.handl
, player
.mdl
.ik_arm_l
.end
);
1880 v3_copy( player
.handr
, player
.mdl
.ik_arm_r
.end
);
1884 static float rhead
= 0.0f
;
1885 rhead
= vg_lerpf( rhead
,
1886 vg_clampf(atan2f( localv
[2], -localv
[0] ),-1.0f
,1.0f
), 0.04f
);
1887 player
.mdl
.rhead
= rhead
;
1890 static int giftwrapXZ( v3f
*points
, int *output
, int len
)
1898 for( int i
=1; i
<len
; i
++ )
1899 if( points
[i
][0] < points
[l
][0] )
1908 vg_error ("MANIFOLD ERR (%d)\n", count
);
1911 output
[ count
++ ] = p
;
1915 for( int i
=0; i
<len
; i
++ )
1917 if( (points
[i
][2]-points
[p
][2])*(points
[q
][0]-points
[i
][0]) -
1918 (points
[i
][0]-points
[p
][0])*(points
[q
][2]-points
[i
][2])
1931 static void player_do_collision( rigidbody
*rb
)
1934 * If point is inside box
1935 * find normal (theres 8 simple pyramid regions for this, x>y/dim .. etc)
1936 * find distance (same sorta thing)
1938 * apply normal impulse to rotation
1939 * correct position based on new penetration amount if needed
1940 * apply normal impulse to velocity
1944 m4x3_mulv( player
.to_world
, (v3f
){ 0.0f
,0.0f
,-1.0f
}, pfront
);
1945 m4x3_mulv( player
.to_world
, (v3f
){ 0.0f
,0.0f
, 1.0f
}, pback
);
1947 float const kheight
= 2.0f
;
1952 v3_copy( rb
->bbx
[0], a
);
1953 v3_copy( rb
->bbx
[1], b
);
1956 m4x3_mul( player
.to_local
, rb
->to_world
, compound
);
1958 m4x3_mulv( compound
, (v3f
){ a
[0], a
[1], a
[2] }, verts
[0] );
1959 m4x3_mulv( compound
, (v3f
){ a
[0], b
[1], a
[2] }, verts
[1] );
1960 m4x3_mulv( compound
, (v3f
){ b
[0], b
[1], a
[2] }, verts
[2] );
1961 m4x3_mulv( compound
, (v3f
){ b
[0], a
[1], a
[2] }, verts
[3] );
1963 m4x3_mulv( compound
, (v3f
){ a
[0], a
[1], b
[2] }, verts
[4] );
1964 m4x3_mulv( compound
, (v3f
){ a
[0], b
[1], b
[2] }, verts
[5] );
1965 m4x3_mulv( compound
, (v3f
){ b
[0], b
[1], b
[2] }, verts
[6] );
1966 m4x3_mulv( compound
, (v3f
){ b
[0], a
[1], b
[2] }, verts
[7] );
1968 int const indices
[12][2] = {
1969 {0,1},{1,2},{2,3},{3,0},{4,5},{5,6},{6,7},{7,4},
1970 {0,4},{1,5},{2,6},{3,7}
1974 int hull_indices
[12*2 + 8];
1977 for( int i
=0; i
<vg_list_size(indices
); i
++ )
1979 int ia
= indices
[i
][0],
1984 float ya
= verts
[ia
][1],
1989 if( (ya
-0.2f
) * (yb
-0.2f
) < 0.0f
)
1991 v3_muls( verts
[ia
], (yb
-0.2f
)*d
, p0
);
1992 v3_muladds( p0
, verts
[ib
], -(ya
-0.2f
)*d
, p0
);
1994 v3_copy( p0
, hull
[hull_len
] );
1995 hull
[hull_len
++][1] = 0.2f
;
1997 m4x3_mulv( player
.to_world
, p0
, p0
);
1998 vg_line_pt3( p0
, 0.1f
, 0xffffff00 );
2001 if( (ya
-kheight
) * (yb
-kheight
) < 0.0f
)
2003 v3_muls( verts
[ia
], (yb
-kheight
)*d
, p0
);
2004 v3_muladds( p0
, verts
[ib
], -(ya
-kheight
)*d
, p0
);
2006 v3_copy( p0
, hull
[hull_len
] );
2007 hull
[hull_len
++][1] = 0.2f
;
2009 m4x3_mulv( player
.to_world
, p0
, p0
);
2010 vg_line_pt3( p0
, 0.1f
, 0xff00ffff );
2013 for( int i
=0; i
<8; i
++ )
2015 int ia
= indices
[i
][0];
2016 float ya
= verts
[ia
][1];
2018 if( ya
> 0.2f
&& ya
< kheight
)
2020 v3_copy( verts
[ia
], hull
[hull_len
] );
2021 hull
[hull_len
++][1] = 0.2f
;
2028 int len
= giftwrapXZ( hull
, hull_indices
, hull_len
);
2029 for( int i
=0; i
<len
; i
++ )
2032 v3_copy( hull
[hull_indices
[i
]], p0
);
2033 v3_copy( hull
[hull_indices
[(i
+1)%len
]], p1
);
2034 v3_add( p0
, (v3f
){0,kheight
-0.2f
,0}, p2
);
2035 v3_add( p1
, (v3f
){0,kheight
-0.2f
,0}, p3
);
2037 m4x3_mulv( player
.to_world
, p0
, p0
);
2038 m4x3_mulv( player
.to_world
, p1
, p1
);
2039 m4x3_mulv( player
.to_world
, p2
, p2
);
2040 m4x3_mulv( player
.to_world
, p3
, p3
);
2042 vg_line2( p0
, p1
, 0xff00ffff, 0xff000000 );
2043 vg_line( p2
, p3
, 0xff00ffff );
2044 vg_line( p0
, p2
, 0xff00ffa0 );
2048 float min_dist
= 99999.9f
;
2050 for( int i
=0; i
<len
; i
++ )
2053 p0
[0] = hull
[hull_indices
[i
]][0];
2054 p0
[1] = hull
[hull_indices
[i
]][2];
2055 p1
[0] = hull
[hull_indices
[(i
+1)%len
]][0];
2056 p1
[1] = hull
[hull_indices
[(i
+1)%len
]][2];
2059 v2_sub( p1
, p0
, t
);
2064 v2_sub( (v2f
){ 0.0f
, -1.0f
}, p0
, rel
);
2065 float d
= -v2_dot( n
, rel
) + 0.5f
;
2076 v2_copy( n
, normal
);
2087 p1
[0] = p0
[0] + normal
[0]*min_dist
;
2089 p1
[2] = p0
[2] + normal
[1]*min_dist
;
2091 m4x3_mulv( player
.to_world
, p0
, p0
);
2092 m4x3_mulv( player
.to_world
, p1
, p1
);
2094 vg_line( p0
, p1
, 0xffffffff );
2097 v2_muls( normal
, min_dist
, impulse
);
2098 float rotation
= v2_cross( (v2f
){0.0f
,-1.0f
}, impulse
)*0.08f
;
2101 m3x3_mulv( player
.to_local
, player
.v
, vel
);
2104 float vn
= vg_maxf( -v2_dot( vel
, normal
), 0.0f
);
2105 vn
+= -0.2f
* (1.0f
/k_rb_delta
) * vg_minf( 0.0f
, -min_dist
+0.04f
);
2107 v2_muls( normal
, vn
*0.03f
, impulse
);
2108 v3f impulse_world
= { impulse
[0], 0.0f
, impulse
[1] };
2110 m3x3_mulv( player
.to_world
, impulse_world
, impulse_world
);
2111 v3_add( impulse_world
, player
.v
, player
.v
);
2114 v3f up
= {0.0f
,1.0f
,0.0f
};
2115 m3x3_mulv( player
.to_world
, up
, up
);
2116 q_axis_angle( rot
, up
, -rotation
);
2117 q_mul( rot
, player
.rot
, player
.rot
);
2121 static void player_update(void)
2123 if( vg_get_axis("grabl")>0.0f
)
2124 reset_player(0,NULL
);
2132 if( player
.is_dead
)
2134 character_ragdoll_iter( &player
.mdl
);
2135 character_debug_ragdoll( &player
.mdl
);
2139 if( player
.on_board
)
2141 for( int i
=0; i
<world
.rb_count
; i
++ )
2142 player_do_collision( &world
.temp_rbs
[i
] );
2154 /* Update camera matrices */
2155 m4x3_identity( player
.camera
);
2156 m4x3_rotate_y( player
.camera
, -player
.angles
[0] );
2157 m4x3_rotate_x( player
.camera
, -0.33f
-player
.angles
[1] );
2158 v3_copy( player
.camera_pos
, player
.camera
[3] );
2159 m4x3_invert_affine( player
.camera
, player
.camera_inverse
);
2162 static void draw_player(void)
2165 m4x3_copy( player
.to_world
, player
.mdl
.mroot
);
2167 if( player
.is_dead
)
2168 character_mimic_ragdoll( &player
.mdl
);
2170 character_eval( &player
.mdl
);
2172 character_draw( &player
.mdl
, (player
.is_dead
|player
.in_air
)? 0.0f
: 1.0f
);
2175 #endif /* PLAYER_H */