1 #ifndef PLAYER_DEVICE_SKATE_H
2 #define PLAYER_DEVICE_SKATE_H
4 #include "player_interface.h"
6 #include "player_model.h"
8 struct player_device_skate
15 k_skate_activity_ground
,
16 k_skate_activity_grind
39 int charging_jump
, jump_dir
;
51 struct land_prediction
72 struct skeleton_anim
*anim_stand
, *anim_highg
, *anim_slide
,
74 *anim_push
, *anim_push_reverse
,
75 *anim_ollie
, *anim_ollie_reverse
,
76 *anim_grabs
, *anim_stop
;
77 rb_sphere sphere_front
, sphere_back
;
92 float debug_normal_pressure
;
95 VG_STATIC
void player_skate_bind( player_interface
*player
,
96 player_attachment
*at
)
98 struct player_device_skate
*s
= at
->storage
;
99 struct player_avatar
*av
= player
->playeravatar
;
100 struct skeleton
*sk
= &av
->sk
;
102 rb_update_transform( &player
->rb
);
103 s
->anim_stand
= skeleton_get_anim( sk
, "pose_stand" );
104 s
->anim_highg
= skeleton_get_anim( sk
, "pose_highg" );
105 s
->anim_air
= skeleton_get_anim( sk
, "pose_air" );
106 s
->anim_slide
= skeleton_get_anim( sk
, "pose_slide" );
107 s
->anim_push
= skeleton_get_anim( sk
, "push" );
108 s
->anim_push_reverse
= skeleton_get_anim( sk
, "push_reverse" );
109 s
->anim_ollie
= skeleton_get_anim( sk
, "ollie" );
110 s
->anim_ollie_reverse
= skeleton_get_anim( sk
, "ollie_reverse" );
111 s
->anim_grabs
= skeleton_get_anim( sk
, "grabs" );
114 VG_STATIC
void player_skate_pre_update( player_interface
*player
,
115 player_attachment
*at
)
120 * Collision detection routines
126 * Does collision detection on a sphere vs world, and applies some smoothing
127 * filters to the manifold afterwards
129 VG_STATIC
int skate_collide_smooth( player_interface
*player
,
130 m4x3f mtx
, rb_sphere
*sphere
,
133 debug_sphere( mtx
, sphere
->radius
, VG__BLACK
);
136 len
= rb_sphere__scene( mtx
, sphere
, NULL
, &world
.rb_geo
.inf
.scene
, man
);
138 for( int i
=0; i
<len
; i
++ )
140 man
[i
].rba
= &player
->rb
;
144 rb_manifold_filter_coplanar( man
, len
, 0.05f
);
148 rb_manifold_filter_backface( man
, len
);
149 rb_manifold_filter_joint_edges( man
, len
, 0.05f
);
150 rb_manifold_filter_pairs( man
, len
, 0.05f
);
152 int new_len
= rb_manifold_apply_filtered( man
, len
);
153 if( len
&& !new_len
)
161 * Gets the closest grindable edge to the player within max_dist
163 VG_STATIC
struct grind_edge
*skate_collect_grind_edge( v3f p0
, v3f p1
,
168 bh_iter_init( 0, &it
);
172 box_init_inf( region
);
173 box_addpt( region
, p0
);
174 box_addpt( region
, p1
);
176 float k_r
= max_dist
;
177 v3_add( (v3f
){ k_r
, k_r
, k_r
}, region
[1], region
[1] );
178 v3_add( (v3f
){-k_r
,-k_r
,-k_r
}, region
[0], region
[0] );
180 float closest
= k_r
*k_r
;
181 struct grind_edge
*closest_edge
= NULL
;
184 while( bh_next( world
.grind_bh
, &it
, region
, &idx
) )
186 struct grind_edge
*edge
= &world
.grind_edges
[ idx
];
192 closest_segment_segment( p0
, p1
, edge
->p0
, edge
->p1
, &s
,&t
, pa
, pb
);
206 VG_STATIC
int skate_grind_collide( player_interface
*player
,
207 player_attachment
*at
, rb_ct
*contact
)
210 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[2], 0.5f
, p0
);
211 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[2], -0.5f
, p1
);
212 v3_muladds( p0
, player
->rb
.to_world
[1], 0.125f
-0.15f
, p0
);
213 v3_muladds( p1
, player
->rb
.to_world
[1], 0.125f
-0.15f
, p1
);
215 float const k_r
= 0.25f
;
216 struct grind_edge
*closest_edge
= skate_collect_grind_edge( p0
, p1
,
222 v3_sub( c1
, c0
, delta
);
224 if( v3_dot( delta
, player
->rb
.to_world
[1] ) > 0.0001f
)
226 contact
->p
= v3_length( delta
);
227 contact
->type
= k_contact_type_edge
;
228 contact
->element_id
= 0;
229 v3_copy( c1
, contact
->co
);
233 v3f edge_dir
, axis_dir
;
234 v3_sub( closest_edge
->p1
, closest_edge
->p0
, edge_dir
);
235 v3_normalize( edge_dir
);
236 v3_cross( (v3f
){0.0f
,1.0f
,0.0f
}, edge_dir
, axis_dir
);
237 v3_cross( edge_dir
, axis_dir
, contact
->n
);
256 * Trace a path given a velocity rotation.
258 * TODO: this MIGHT be worth doing RK4 on the gravity field.
260 VG_STATIC
void skate_score_biased_path( v3f co
, v3f v
, m3x3f vr
,
261 struct land_prediction
*prediction
)
263 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
264 float k_bias
= 0.96f
;
268 v3_muls( v
, k_bias
, pv
);
270 m3x3_mulv( vr
, pv
, pv
);
271 v3_muladds( pco
, pv
, pstep
, pco
);
273 struct grind_edge
*best_grind
= NULL
;
274 float closest_grind
= INFINITY
;
276 float grind_score
= INFINITY
,
277 air_score
= INFINITY
;
279 prediction
->log_length
= 0;
281 for( int i
=0; i
<vg_list_size(prediction
->log
); i
++ )
283 v3_copy( pco
, pco1
);
285 pv
[1] += -k_gravity
* pstep
;
287 m3x3_mulv( vr
, pv
, pv
);
288 v3_muladds( pco
, pv
, pstep
, pco
);
292 v3_sub( pco
, pco1
, vdir
);
294 float l
= v3_length( vdir
);
295 v3_muls( vdir
, 1.0f
/l
, vdir
);
298 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
301 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
303 float d2
= v3_dist2( c0
, c1
);
304 if( d2
< closest_grind
)
308 grind_score
= closest_grind
* 0.05f
;
315 int idx
= spherecast_world( pco1
, pco
, 0.4f
, &t1
, n1
);
318 v3_copy( n1
, prediction
->n
);
319 air_score
= -v3_dot( pv
, n1
);
321 u32 vert_index
= world
.scene_geo
->arrindices
[ idx
*3 ];
322 struct world_material
*mat
= world_tri_index_material( vert_index
);
324 /* Bias prediction towords ramps */
325 if( mat
->info
.flags
& k_material_flag_skate_surface
)
328 v3_lerp( pco1
, pco
, t1
, prediction
->log
[ prediction
->log_length
++ ] );
332 v3_copy( pco
, prediction
->log
[ prediction
->log_length
++ ] );
335 if( grind_score
< air_score
)
337 prediction
->score
= grind_score
;
338 prediction
->type
= k_prediction_grind
;
340 else if( air_score
< INFINITY
)
342 prediction
->score
= air_score
;
343 prediction
->type
= k_prediction_land
;
347 prediction
->score
= INFINITY
;
348 prediction
->type
= k_prediction_none
;
353 void player_approximate_best_trajectory( player_interface
*player
,
354 struct player_device_skate
*s
)
356 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
357 float best_velocity_delta
= -9999.9f
;
360 v3_cross( player
->rb
.to_world
[1], player
->rb
.v
, axis
);
361 v3_normalize( axis
);
363 s
->prediction_count
= 0;
364 m3x3_identity( s
->state
.velocity_bias
);
366 float best_vmod
= 0.0f
,
367 min_score
= INFINITY
,
368 max_score
= -INFINITY
;
371 * Search a broad selection of futures
373 for( int m
=-3;m
<=12; m
++ )
375 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
377 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
382 q_axis_angle( bias_q
, axis
, vmod
);
383 q_m3x3( bias_q
, bias
);
385 skate_score_biased_path( player
->rb
.co
, player
->rb
.v
, bias
, p
);
387 if( p
->type
!= k_prediction_none
)
389 if( p
->score
< min_score
)
391 min_score
= p
->score
;
395 if( p
->score
> max_score
)
396 max_score
= p
->score
;
401 q_axis_angle( vr_q
, axis
, best_vmod
*0.1f
);
402 q_m3x3( vr_q
, s
->state
.velocity_bias
);
404 q_axis_angle( vr_q
, axis
, best_vmod
);
405 q_m3x3( vr_q
, s
->state
.velocity_bias_pstep
);
410 for( int i
=0; i
<s
->prediction_count
; i
++ )
412 struct land_prediction
*p
= &s
->predictions
[i
];
418 vg_error( "negative score! (%f)\n", l
);
422 l
/= (max_score
-min_score
);
428 p
->colour
|= 0xff000000;
434 * Varius physics models
435 * ------------------------------------------------
438 VG_STATIC
void skate_apply_grind_model( player_interface
*player
,
439 struct player_device_skate
*s
,
440 rb_ct
*manifold
, int len
)
442 /* FIXME: Queue audio events instead */
445 if( s
->state
.activity
== k_skate_activity_grind
)
449 audio_player_set_flags( &audio_player_extra
,
450 AUDIO_FLAG_SPACIAL_3D
);
451 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
452 audio_player_set_vol( &audio_player_extra
, 20.0f
);
453 audio_player_playclip( &audio_player_extra
, &audio_board
[6] );
457 s
->state
.activity
= k_skate_activity_air
;
462 v2f steer
= { player
->input_js1h
->axis
.value
,
463 player
->input_js1v
->axis
.value
};
464 v2_normalize_clamp( steer
);
466 s
->state
.steery
-= steer
[0] * k_steer_air
* k_rb_delta
;
467 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
* k_rb_delta
;
471 q_axis_angle( rotate
, player
->rb
.to_world
[0], siX
);
472 q_mul( rotate
, player
.rb
.q
, player
.rb
.q
);
475 s
->state
.slip
= 0.0f
;
476 s
->state
.activity
= k_skate_activity_grind
;
478 /* TODO: Compression */
479 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
480 float angle
= v3_dot( player
->rb
.to_world
[1], up
);
482 if( fabsf(angle
) < 0.99f
)
485 v3_cross( player
->rb
.to_world
[1], up
, axis
);
488 q_axis_angle( correction
, axis
, k_rb_delta
* 10.0f
* acosf(angle
) );
489 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
492 float const DOWNFORCE
= -k_downforce
*1.2f
*VG_TIMESTEP_FIXED
;
493 v3_muladds( player
->rb
.v
, manifold
->n
, DOWNFORCE
, player
->rb
.v
);
494 m3x3_identity( s
->state
.velocity_bias
);
495 m3x3_identity( s
->state
.velocity_bias_pstep
);
497 if( s
->state
.activity_prev
!= k_skate_activity_grind
)
499 /* FIXME: Queue audio events instead */
502 audio_player_set_flags( &audio_player_extra
,
503 AUDIO_FLAG_SPACIAL_3D
);
504 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
505 audio_player_set_vol( &audio_player_extra
, 20.0f
);
506 audio_player_playclip( &audio_player_extra
, &audio_board
[5] );
513 * Air control, no real physics
515 VG_STATIC
void skate_apply_air_model( player_interface
*player
,
516 struct player_device_skate
*s
)
518 if( s
->state
.activity
!= k_skate_activity_air
)
521 if( s
->state
.activity_prev
!= k_skate_activity_air
)
522 player_approximate_best_trajectory( player
, s
);
524 m3x3_mulv( s
->state
.velocity_bias
, player
->rb
.v
, player
->rb
.v
);
530 float pstep
= VG_TIMESTEP_FIXED
* 1.0f
;
531 float k_bias
= 0.98f
;
534 v3_copy( player
->rb
.co
, pco
);
535 v3_muls( player
->rb
.v
, 1.0f
, pv
);
537 float time_to_impact
= 0.0f
;
538 float limiter
= 1.0f
;
540 struct grind_edge
*best_grind
= NULL
;
541 float closest_grind
= INFINITY
;
543 v3f target_normal
= { 0.0f
, 1.0f
, 0.0f
};
546 for( int i
=0; i
<250; i
++ )
548 v3_copy( pco
, pco1
);
549 m3x3_mulv( s
->state
.velocity_bias
, pv
, pv
);
551 pv
[1] += -k_gravity
* pstep
;
552 v3_muladds( pco
, pv
, pstep
, pco
);
557 v3_sub( pco
, pco1
, vdir
);
558 contact
.dist
= v3_length( vdir
);
559 v3_divs( vdir
, contact
.dist
, vdir
);
562 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
565 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
567 vg_line( ge
->p0
, ge
->p1
, 0xff0000ff );
568 vg_line_cross( pco
, 0xff0000ff, 0.25f
);
573 float orig_dist
= contact
.dist
;
574 if( ray_world( pco1
, vdir
, &contact
) )
576 v3_copy( contact
.normal
, target_normal
);
578 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
579 vg_line_cross( contact
.pos
, 0xffff0000, 0.25f
);
582 time_to_impact
+= pstep
;
587 float angle
= v3_dot( player
->rb
.to_world
[1], target_normal
);
589 v3_cross( player
->rb
.to_world
[1], target_normal
, axis
);
591 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
592 limiter
= 1.0f
-limiter
;
594 limiter
= 1.0f
-limiter
;
596 if( fabsf(angle
) < 0.99f
)
599 q_axis_angle( correction
, axis
,
600 acosf(angle
)*(1.0f
-limiter
)*3.0f
*VG_TIMESTEP_FIXED
);
601 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
605 v2f steer
= { player
->input_js1h
->axis
.value
,
606 player
->input_js1v
->axis
.value
};
607 v2_normalize_clamp( steer
);
609 s
->state
.steery
-= steer
[0] * k_steer_air
* VG_TIMESTEP_FIXED
;
610 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
611 * limiter
* k_rb_delta
;
614 VG_STATIC
void skate_get_board_points( player_interface
*player
,
615 struct player_device_skate
*s
,
616 v3f front
, v3f back
)
618 v3f pos_front
= {0.0f
,0.0f
,-k_board_length
},
619 pos_back
= {0.0f
,0.0f
, k_board_length
};
621 m4x3_mulv( player
->rb
.to_world
, pos_front
, front
);
622 m4x3_mulv( player
->rb
.to_world
, pos_back
, back
);
626 * Casts and pushes a sphere-spring model into the world
628 VG_STATIC
int skate_simulate_spring( player_interface
*player
,
629 struct player_device_skate
*s
,
632 float mod
= 0.7f
* player
->input_grab
->axis
.value
+ 0.3f
,
633 spring_k
= mod
* k_spring_force
,
634 damp_k
= mod
* k_spring_dampener
,
638 v3_copy( pos
, start
);
639 v3_muladds( pos
, player
->rb
.to_world
[1], -disp_k
, end
);
643 int hit_info
= spherecast_world( start
, end
, 0.2f
, &t
, n
);
648 v3_sub( start
, player
->rb
.co
, delta
);
650 float displacement
= vg_clampf( 1.0f
-t
, 0.0f
, 1.0f
),
652 vg_maxf( 0.0f
, v3_dot( player
->rb
.to_world
[1], player
->rb
.v
) );
654 v3_muls( player
->rb
.to_world
[1], displacement
*spring_k
*k_rb_delta
-
655 damp
*damp_k
*k_rb_delta
, F
);
657 v3_muladds( player
->rb
.v
, F
, 1.0f
, player
->rb
.v
);
659 /* Angular velocity */
661 v3_cross( delta
, F
, wa
);
662 v3_muladds( player
->rb
.w
, wa
, k_spring_angular
, player
->rb
.w
);
664 v3_lerp( start
, end
, t
, pos
);
676 * Handles connection between the player and the ground
678 VG_STATIC
void skate_apply_interface_model( player_interface
*player
,
679 struct player_device_skate
*s
,
680 rb_ct
*manifold
, int len
)
682 if( !((s
->state
.activity
== k_skate_activity_ground
) ||
683 (s
->state
.activity
== k_skate_activity_air
)) )
686 if( s
->state
.activity
== k_skate_activity_air
)
687 s
->debug_normal_pressure
= 0.0f
;
689 s
->debug_normal_pressure
= v3_dot( player
->rb
.to_world
[1], player
->rb
.v
);
692 v3f spring0
, spring1
;
694 skate_get_board_points( player
, s
, spring1
, spring0
);
695 int spring_hit0
= skate_simulate_spring( player
, s
, spring0
),
696 spring_hit1
= skate_simulate_spring( player
, s
, spring1
);
698 v3f animavg
, animdelta
;
699 v3_add( spring0
, spring1
, animavg
);
700 v3_muls( animavg
, 0.5f
, animavg
);
702 v3_sub( spring1
, spring0
, animdelta
);
703 v3_normalize( animdelta
);
705 m4x3_mulv( player
->rb
.to_local
, animavg
, s
->board_offset
);
707 float dx
= -v3_dot( animdelta
, player
->rb
.to_world
[2] ),
708 dy
= v3_dot( animdelta
, player
->rb
.to_world
[1] );
710 float angle
= -atan2f( dy
, dx
);
711 q_axis_angle( s
->board_rotation
, (v3f
){1.0f
,0.0f
,0.0f
}, angle
);
713 /* Surface connection */
714 if( len
== 0 && !(spring_hit0
&& spring_hit1
) )
716 s
->state
.lift_frames
++;
718 if( s
->state
.lift_frames
>= 8 )
719 s
->state
.activity
= k_skate_activity_air
;
724 v3_zero( surface_avg
);
726 for( int i
=0; i
<len
; i
++ )
727 v3_add( surface_avg
, manifold
[i
].n
, surface_avg
);
728 v3_normalize( surface_avg
);
730 if( v3_dot( player
->rb
.v
, surface_avg
) > 0.7f
)
732 s
->state
.lift_frames
++;
734 if( s
->state
.lift_frames
>= 8 )
735 s
->state
.activity
= k_skate_activity_air
;
739 s
->state
.activity
= k_skate_activity_ground
;
740 s
->state
.lift_frames
= 0;
743 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
744 v3_muladds( player
->rb
.v
, player
->rb
.to_world
[1],
745 DOWNFORCE
, player
->rb
.v
);
747 float d
= v3_dot( player
->rb
.to_world
[2], surface_avg
);
748 v3_muladds( surface_avg
, player
->rb
.to_world
[2], -d
, projected
);
749 v3_normalize( projected
);
751 float angle
= v3_dot( player
->rb
.to_world
[1], projected
);
752 v3_cross( player
->rb
.to_world
[1], projected
, axis
);
754 if( fabsf(angle
) < 0.9999f
)
757 q_axis_angle( correction
, axis
,
758 acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
759 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
765 VG_STATIC
void skate_apply_grab_model( player_interface
*player
,
766 struct player_device_skate
*s
)
768 float grabt
= player
->input_grab
->axis
.value
;
772 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
773 s
->state
.grab_mouse_delta
);
775 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
778 v2_zero( s
->state
.grab_mouse_delta
);
780 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
784 * Computes friction and surface interface model
786 VG_STATIC
void skate_apply_friction_model( player_interface
*player
,
787 struct player_device_skate
*s
)
789 if( s
->state
.activity
!= k_skate_activity_ground
)
793 * Computing localized friction forces for controlling the character
794 * Friction across X is significantly more than Z
798 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
801 if( fabsf(vel
[2]) > 0.01f
)
802 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
804 if( fabsf( slip
) > 1.2f
)
805 slip
= vg_signf( slip
) * 1.2f
;
807 s
->state
.slip
= slip
;
808 s
->state
.reverse
= -vg_signf(vel
[2]);
810 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
811 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
813 /* Pushing additive force */
815 if( !player
->input_jump
->button
.value
)
817 if( player
->input_push
->button
.value
)
819 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
820 s
->state
.start_push
= vg
.time
;
822 s
->state
.cur_push
= vg
.time
;
824 double push_time
= vg
.time
- s
->state
.start_push
;
826 float cycle_time
= push_time
*k_push_cycle_rate
,
827 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
828 amt
= accel
* VG_TIMESTEP_FIXED
,
829 current
= v3_length( vel
),
830 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
831 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
833 vel
[2] += delta
* -s
->state
.reverse
;
837 /* Send back to velocity */
838 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
841 float input
= player
->input_js1h
->axis
.value
,
842 grab
= player
->input_grab
->axis
.value
,
843 steer
= input
* (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
),
844 steer_scaled
= vg_signf(steer
) * powf(steer
,2.0f
) * k_steer_ground
;
846 s
->state
.steery
-= steer_scaled
* k_rb_delta
;
849 VG_STATIC
void skate_apply_jump_model( player_interface
*player
,
850 struct player_device_skate
*s
)
852 int charging_jump_prev
= s
->state
.charging_jump
;
853 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
855 /* Cannot charge this in air */
856 if( s
->state
.activity
!= k_skate_activity_ground
)
857 s
->state
.charging_jump
= 0;
859 if( s
->state
.charging_jump
)
861 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
863 if( !charging_jump_prev
)
864 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
868 s
->state
.jump_charge
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
871 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
873 if( s
->state
.activity
== k_skate_activity_air
)
876 /* player let go after charging past 0.2: trigger jump */
877 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
881 /* Launch more up if alignment is up else improve velocity */
882 float aup
= v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, player
->rb
.to_world
[1] ),
884 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
886 v3_copy( player
->rb
.v
, jumpdir
);
887 v3_normalize( jumpdir
);
888 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
889 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
890 v3_normalize( jumpdir
);
892 float force
= k_jump_force
*s
->state
.jump_charge
;
893 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
894 s
->state
.jump_charge
= 0.0f
;
896 s
->state
.jump_time
= vg
.time
;
898 /* FIXME audio events */
901 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
902 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
903 audio_player_set_vol( &audio_player_extra
, 20.0f
);
904 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
910 VG_STATIC
void skate_apply_pump_model( player_interface
*player
,
911 struct player_device_skate
*s
)
913 /* Throw / collect routine
915 * TODO: Max speed boost
917 if( player
->input_grab
->axis
.value
> 0.5f
)
919 if( s
->state
.activity
== k_skate_activity_ground
)
922 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
928 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
931 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
933 if( s
->state
.activity
== k_skate_activity_ground
)
935 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
936 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
939 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
940 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
941 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
945 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
948 v3_copy( s
->state
.throw_v
, dir
);
951 float max
= v3_dot( dir
, s
->state
.throw_v
),
952 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
953 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
957 VG_STATIC
void skate_apply_cog_model( player_interface
*player
,
958 struct player_device_skate
*s
)
960 v3f ideal_cog
, ideal_diff
;
961 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1],
962 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
963 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
965 /* Apply velocities */
967 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
970 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
971 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
973 float ra
= k_cog_mass_ratio
,
974 rb
= 1.0f
-k_cog_mass_ratio
;
976 /* Apply forces & intergrate */
977 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
978 s
->state
.cog_v
[1] += -9.8f
* k_rb_delta
;
979 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
982 VG_STATIC
void skate_collision_response( player_interface
*player
,
983 struct player_device_skate
*s
,
984 rb_ct
*manifold
, int len
)
986 for( int j
=0; j
<10; j
++ )
988 for( int i
=0; i
<len
; i
++ )
990 struct contact
*ct
= &manifold
[i
];
993 v3_sub( ct
->co
, player
->rb
.co
, delta
);
994 v3_cross( player
->rb
.w
, delta
, dv
);
995 v3_add( player
->rb
.v
, dv
, dv
);
997 float vn
= -v3_dot( dv
, ct
->n
);
1000 float temp
= ct
->norm_impulse
;
1001 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
1002 vn
= ct
->norm_impulse
- temp
;
1005 v3_muls( ct
->n
, vn
, impulse
);
1007 if( fabsf(v3_dot( impulse
, player
->rb
.to_world
[2] )) > 10.0f
||
1008 fabsf(v3_dot( impulse
, player
->rb
.to_world
[1] )) > 50.0f
)
1017 v3_add( impulse
, player
->rb
.v
, player
->rb
.v
);
1018 v3_cross( delta
, impulse
, impulse
);
1021 * W Impulses are limited to the Y and X axises, we don't really want
1022 * roll angular velocities being included.
1024 * Can also tweak the resistance of each axis here by scaling the wx,wy
1028 float wy
= v3_dot( player
->rb
.to_world
[1], impulse
) * 0.8f
,
1029 wx
= v3_dot( player
->rb
.to_world
[0], impulse
) * 1.0f
;
1031 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
1032 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[0], wx
, player
->rb
.w
);
1037 VG_STATIC
void skate_integrate( player_interface
*player
,
1038 struct player_device_skate
*s
)
1040 /* integrate rigidbody velocities */
1041 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1042 v3_muladds( player
->rb
.v
, gravity
, k_rb_delta
, player
->rb
.v
);
1043 v3_muladds( player
->rb
.co
, player
->rb
.v
, k_rb_delta
, player
->rb
.co
);
1045 v3_lerp( player
->rb
.w
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.125f
*0.5f
, player
->rb
.w
);
1046 if( v3_length2( player
->rb
.w
) > 0.0f
)
1050 v3_copy( player
->rb
.w
, axis
);
1052 float mag
= v3_length( axis
);
1053 v3_divs( axis
, mag
, axis
);
1054 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
1055 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1058 /* integrate steering velocities */
1060 float l
= (s
->state
.activity
== k_skate_activity_air
)? 0.04f
: 0.3f
;
1062 s
->state
.steery_s
= vg_lerpf( s
->state
.steery_s
, s
->state
.steery
, l
);
1063 s
->state
.steerx_s
= vg_lerpf( s
->state
.steerx_s
, s
->state
.steerx
, l
);
1065 q_axis_angle( rotate
, player
->rb
.to_world
[1], s
->state
.steery_s
);
1066 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1068 q_axis_angle( rotate
, player
->rb
.to_world
[0], s
->state
.steerx_s
);
1069 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1071 s
->state
.steerx
= 0.0f
;
1072 s
->state
.steery
= 0.0f
;
1075 v3_sub( player
.rb
.v
, s
->phys
.v_prev
, s
->phys
.a
);
1076 v3_muls( s
->phys
.a
, 1.0f
/VG_TIMESTEP_FIXED
, s
->phys
.a
);
1077 v3_copy( player
.rb
.v
, s
->phys
.v_prev
);
1080 rb_update_transform( &player
->rb
);
1083 VG_STATIC
void player_skate_update( player_interface
*player
,
1084 player_attachment
*at
)
1086 struct player_device_skate
*s
= at
->storage
;
1087 s
->state
.activity_prev
= s
->state
.activity
;
1089 /* Setup colliders */
1090 m4x3f mtx_front
, mtx_back
;
1091 m3x3_identity( mtx_front
);
1092 m3x3_identity( mtx_back
);
1094 skate_get_board_points( player
, s
, mtx_front
[3], mtx_back
[3] );
1096 s
->sphere_back
.radius
= 0.3f
;
1097 s
->sphere_front
.radius
= 0.3f
;
1099 /* create manifold(s) */
1101 *interface_manifold
= NULL
,
1102 *grind_manifold
= NULL
;
1105 len_front
= skate_collide_smooth( player
, mtx_front
,
1106 &s
->sphere_front
, manifold
),
1107 len_back
= skate_collide_smooth( player
, mtx_back
,
1108 &s
->sphere_back
, &manifold
[len_front
] ),
1110 interface_len
= len_front
+ len_back
;
1112 interface_manifold
= manifold
;
1113 grind_manifold
= manifold
+ interface_len
;
1115 int grind_len
= skate_grind_collide( player
, at
, grind_manifold
);
1117 for( int i
=0; i
<interface_len
+grind_len
; i
++ )
1119 rb_prepare_contact( &manifold
[i
] );
1120 rb_debug_contact( &manifold
[i
] );
1123 skate_apply_grind_model( player
, s
, grind_manifold
, grind_len
);
1124 skate_apply_interface_model( player
, s
, manifold
, interface_len
);
1126 skate_apply_pump_model( player
, s
);
1127 skate_apply_cog_model( player
, s
);
1128 skate_collision_response( player
, s
, manifold
, interface_len
+ grind_len
);
1130 skate_apply_grab_model( player
, s
);
1131 skate_apply_friction_model( player
, s
);
1132 skate_apply_jump_model( player
, s
);
1133 skate_apply_air_model( player
, s
);
1135 skate_integrate( player
, s
);
1138 VG_STATIC
void player_skate_post_update( player_interface
*player
,
1139 player_attachment
*at
)
1143 VG_STATIC
void player_skate_ui( player_interface
*player
,
1144 player_attachment
*at
)
1146 struct player_device_skate
*s
= at
->storage
;
1148 /* FIXME: Compression */
1149 player_debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
1152 player_debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
1155 player_debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
1159 player_debugtext( 1, "activity: %s\n",
1160 (const char *[]){ "k_skate_activity_air",
1161 "k_skate_activity_ground",
1162 "k_skate_activity_grind }" }
1163 [s
->state
.activity
] );
1166 VG_STATIC
void player_skate_pose( player_interface
*player
,
1167 player_attachment
*at
,
1168 player_pose pose
, m4x3f transform
)
1170 struct player_device_skate
*s
= at
->storage
;
1171 struct player_avatar
*av
= player
->playeravatar
;
1172 struct skeleton
*sk
= &av
->sk
;
1174 /* Camera position */
1179 v3_muladds( phys
->m
, phys
->a
, VG_TIMESTEP_FIXED
, phys
->m
);
1180 v3_lerp( phys
->m
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.1f
, phys
->m
);
1182 phys
->m
[0] = vg_clampf( phys
->m
[0], -2.0f
, 2.0f
);
1183 phys
->m
[1] = vg_clampf( phys
->m
[1], -2.0f
, 2.0f
);
1184 phys
->m
[2] = vg_clampf( phys
->m
[2], -2.0f
, 2.0f
);
1185 v3_lerp( phys
->bob
, phys
->m
, 0.2f
, phys
->bob
);
1189 float kheight
= 2.0f
,
1196 m3x3_mulv( player
.inv_visual_transform
, phys
->bob
, offset
);
1199 static float speed_wobble
= 0.0f
, speed_wobble_2
= 0.0f
;
1201 float curspeed
= v3_length( player
->rb
.v
),
1202 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
1203 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
1204 sign
= vg_signf( kicks
);
1206 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
1207 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], speed_wobble
, 2.4f
*vg
.time_delta
);
1210 offset
[0] += speed_wobble_2
*3.0f
;
1215 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
1216 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
1219 * Animation blending
1220 * ===========================================
1225 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
1226 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
1229 /* movement information */
1231 int iair
= (s
->state
.activity
== k_skate_activity_air
) ||
1232 (s
->state
.activity
== k_skate_activity_grind
);
1234 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
1235 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
1236 fly
= iair
? 1.0f
: 0.0f
;
1238 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
1239 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
1240 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
1243 mdl_keyframe apose
[32], bpose
[32];
1244 mdl_keyframe ground_pose
[32];
1246 /* when the player is moving fast he will crouch down a little bit */
1247 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
1248 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
1251 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
1252 stand_blend
= offset
[1]*-2.0f
;
1255 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
1257 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
1259 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
1260 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
1261 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
1264 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
1265 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
1266 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
1269 double push_time
= vg
.time
- s
->state
.start_push
;
1270 s
->blend_push
= vg_lerpf( s
->blend_push
,
1271 (vg
.time
- s
->state
.cur_push
) < 0.125,
1272 6.0f
*vg
.time_delta
);
1274 float pt
= push_time
+ vg
.accumulator
;
1275 if( s
->state
.reverse
> 0.0f
)
1276 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
1278 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
1280 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
1283 float jump_start_frame
= 14.0f
/30.0f
;
1285 float charge
= s
->state
.jump_charge
;
1286 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
1288 float setup_frame
= charge
* jump_start_frame
,
1289 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
1291 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
1292 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
1293 setup_frame
= jump_frame
;
1295 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
1297 s
->anim_ollie_reverse
;
1299 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
1300 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
1303 mdl_keyframe air_pose
[32];
1305 float target
= -player
->input_js1h
->axis
.value
;
1306 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
1308 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
1309 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
1311 static v2f grab_choice
;
1313 v2f grab_input
= { player
->input_js2h
->axis
.value
,
1314 player
->input_js2v
->axis
.value
};
1315 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
1316 if( v2_length2( grab_input
) <= 0.001f
)
1317 grab_input
[0] = -1.0f
;
1319 v2_normalize_clamp( grab_input
);
1320 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
1322 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
1323 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
1324 grab_frame
= ang_unit
* (15.0f
/30.0f
);
1326 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
1327 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
1330 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, pose
);
1332 float add_grab_mod
= 1.0f
- s
->blend_fly
;
1334 /* additive effects */
1336 u32 apply_to
[] = { av
->id_hip
,
1340 av
->id_ik_elbow_r
};
1342 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
1344 pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
1345 pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
1348 mdl_keyframe
*kf_board
= &pose
[av
->id_board
-1],
1349 *kf_foot_l
= &pose
[av
->id_ik_foot_l
-1],
1350 *kf_foot_r
= &pose
[av
->id_ik_foot_r
-1];
1353 v3_muls( s
->board_offset
, add_grab_mod
, bo
);
1355 v3_add( bo
, kf_board
->co
, kf_board
->co
);
1356 v3_add( bo
, kf_foot_l
->co
, kf_foot_l
->co
);
1357 v3_add( bo
, kf_foot_r
->co
, kf_foot_r
->co
);
1360 q_m3x3( s
->board_rotation
, c
);
1363 v3_sub( kf_foot_l
->co
, bo
, d
);
1364 m3x3_mulv( c
, d
, d
);
1365 v3_add( bo
, d
, kf_foot_l
->co
);
1367 v3_sub( kf_foot_r
->co
, bo
, d
);
1368 m3x3_mulv( c
, d
, d
);
1369 v3_add( bo
, d
, kf_foot_r
->co
);
1371 q_mul( s
->board_rotation
, kf_board
->q
, kf_board
->q
);
1372 q_normalize( kf_board
->q
);
1376 rb_extrapolate_transform( &player
->rb
, transform
);
1379 v3_muladds( player
.visual_transform
[3], phys
->rb
.up
, -0.2f
,
1380 player
.visual_transform
[3] );
1383 v4f qresy
, qresx
, qresidual
;
1385 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
1386 q_axis_angle( qresy
, player
->rb
.to_world
[1], s
->state
.steery_s
*substep
);
1387 q_axis_angle( qresx
, player
->rb
.to_world
[0], s
->state
.steerx_s
*substep
);
1389 q_mul( qresy
, qresx
, qresidual
);
1390 q_m3x3( qresidual
, mtx_residual
);
1391 m3x3_mul( transform
, mtx_residual
, transform
);
1394 VG_STATIC
void player_skate_get_camera( player_interface
*player
,
1395 player_attachment
*at
, camera
*cam
)
1397 struct player_device_skate
*s
= at
->storage
;
1398 struct player_avatar
*av
= player
->playeravatar
;
1400 /* FIXME: viewpoint entity */
1401 v3f vp
= {-0.1f
,1.8f
,0.0f
};
1402 m4x3_mulv( av
->sk
.final_mtx
[ av
->id_head
-1 ], vp
, cam
->pos
);
1404 v3_zero( cam
->angles
);
1407 /* TODO: smooth clamp lerp rate of change */
1409 v3_lerp( s
->state
.vl
, player
->rb
.v
, 5.0f
*vg
.time_delta
, s
->state
.vl
);
1411 float *v
= s
->state
.vl
,
1412 yaw
= atan2f( v
[0], -v
[2] ),
1418 v
[0]*v
[0] + v
[2]*v
[2]
1423 cam
->angles
[0] = yaw
;
1424 cam
->angles
[1] = pitch
;
1427 VG_STATIC
void player_skate_transport( player_interface
*player
,
1428 player_attachment
*at
,
1429 teleport_gate
*gate
)
1431 struct player_device_skate
*s
= at
->storage
;
1433 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
1434 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
1435 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
1436 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
1437 m3x3_mulv( gate
->transport
, s
->state
.vl
, s
->state
.vl
);
1439 v4f transport_rotation
;
1440 m3x3_q( gate
->transport
, transport_rotation
);
1441 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
1443 s
->state_gate_storage
= s
->state
;
1446 VG_STATIC player_device player_device_skate
=
1448 .pre_update
= player_skate_pre_update
,
1449 .update
= player_skate_update
,
1450 .post_update
= player_skate_post_update
,
1451 .get_camera
= player_skate_get_camera
,
1452 .debug_ui
= player_skate_ui
,
1453 .bind
= player_skate_bind
,
1454 .pose
= player_skate_pose
,
1455 .gate_transport
= player_skate_transport
1458 #endif /* PLAYER_DEVICE_SKATE_H */