c8c38587b725f86c85b35959df3f7bdd737ee197
4 #include "player_glide.h"
7 #include "vg/vg_rigidbody.h"
8 #include "scene_rigidbody.h"
10 static f32 k_glide_steer
= 2.0f
,
13 k_glide_drag
= 0.0001f
,
14 k_glide_slip_yaw
= 0.1f
,
15 k_glide_lift_pitch
= 0.0f
,
16 k_glide_wing_orient
= -0.1f
,
17 k_glide_balance
= 1.0f
;
19 static i32 k_glide_pause
= 0;
21 static void player_glide_pre_update(void){
24 static void massless_accel( rigidbody
*rb
, v3f delta
, v3f impulse
){
26 v3_muladds( rb
->v
, impulse
, k_rb_delta
, rb
->v
);
28 /* Angular velocity */
30 v3_cross( delta
, impulse
, wa
);
31 v3_muladds( rb
->w
, wa
, k_rb_delta
, rb
->w
);
34 static void calculate_lift( v3f vl
, f32 aoa_bias
,
35 v3f axis
, v3f back
, f32 power
,
38 v3_cross( back
, axis
, up
);
41 v3_muladds( vl
, axis
, -v3_dot(axis
,vl
), wind
);
43 f32 windv2
= v3_length2(wind
),
44 aoa
= atan2f( v3_dot( up
, wind
), v3_dot( back
, wind
) ) + aoa_bias
,
45 cl
= aoa
/ VG_PIf
, /* TODO: make it a curve */
46 L
= windv2
* cl
* power
;
50 v3_cross( wind
, axis
, lift_dir
);
52 /* this is where induced drag (from the flappy things) would go */
54 v3_muls( lift_dir
, L
, out_force
);
57 static void calculate_drag( v3f vl
, f32 cd
, v3f out_force
){
58 f32 v2
= v3_length2( vl
);
62 v3_muls( vl
, -cd
*v2
, out_force
);
65 static void player_glide_update(void){
66 rigidbody
*rb
= &player_glide
.rb
;
69 joystick_state( k_srjoystick_steer
, steer
);
73 m3x3_mulv( rb
->to_local
, rb
->v
, vl
);
74 m3x3_mulv( rb
->to_local
, rb
->w
, wl
);
76 v3f F
, Flift
, Fslip
, Fdrag
, FslipW
, FliftW
;
78 calculate_lift( vl
, steer
[1]*k_glide_steer
,
80 (v3f
){0,sinf(k_glide_wing_orient
),cosf(k_glide_wing_orient
)},
82 v3_copy( Flift
, player_glide
.info_lift
);
83 v3_cross( (v3f
){0,0,0}, Flift
, FliftW
);
85 calculate_lift( vl
, 0.0f
,
86 (v3f
){0,1,0},(v3f
){0,0,1},
88 v3_copy( Fslip
, player_glide
.info_slip
);
89 v3_cross( (v3f
){0,k_glide_lift_pitch
,k_glide_slip_yaw
}, Fslip
, FslipW
);
91 calculate_drag( vl
, k_glide_drag
, Fdrag
);
92 v3_copy( Fdrag
, player_glide
.info_drag
);
94 v3f balance
= {0.0f
,-k_glide_balance
,0.0f
};
95 m3x3_mulv( rb
->to_local
, balance
, balance
);
98 steer
[1]*k_glide_steer
- balance
[2],
100 -steer
[0]*k_glide_steer
+ balance
[0],
103 if( player_glide
.ticker
){
104 player_glide
.ticker
--;
107 player_glide
.ticker
+= k_glide_pause
;
110 v3_add( Flift
, Fslip
, F
);
111 v3_add( F
, Fdrag
, F
);
113 m3x3_mulv( rb
->to_world
, F
, F
);
114 v3_muladds( rb
->v
, F
, k_rb_delta
, rb
->v
);
116 v3_add( Fw
, FslipW
, Fw
);
117 v3_add( Fw
, FliftW
, Fw
);
118 m3x3_mulv( rb
->to_world
, Fw
, Fw
);
119 v3_muladds( rb
->w
, Fw
, k_rb_delta
, rb
->w
);
122 * collisions & constraints
124 world_instance
*world
= world_current_instance();
127 rigidbody _null
= {0};
128 _null
.inv_mass
= 0.0f
;
129 m3x3_zero( _null
.iI
);
130 for( u32 i
=0; i
< vg_list_size(player_glide
.parts
); i
++ ){
132 m4x3_mul( rb
->to_world
, player_glide
.parts
[i
].mdl
, mmdl
);
134 if( player_glide
.parts
[i
].shape
== k_rb_shape_capsule
){
135 vg_line_capsule( mmdl
,
136 player_glide
.parts
[i
].inf
.r
,
137 player_glide
.parts
[i
].inf
.h
,
140 else if( player_glide
.parts
[i
].shape
== k_rb_shape_sphere
){
141 vg_line_sphere( mmdl
, player_glide
.parts
[i
].r
, 0 );
144 if( rb_global_has_space() ){
145 rb_ct
*buf
= rb_global_buffer();
149 if( player_glide
.parts
[i
].shape
== k_rb_shape_capsule
){
150 l
= rb_capsule__scene( mmdl
, &player_glide
.parts
[i
].inf
,
151 NULL
, world
->geo_bh
, buf
,
152 k_material_flag_ghosts
);
154 else if( player_glide
.parts
[i
].shape
== k_rb_shape_sphere
){
155 l
= rb_sphere__scene( mmdl
, player_glide
.parts
[i
].r
,
156 NULL
, world
->geo_bh
, buf
,
157 k_material_flag_ghosts
);
160 for( u32 j
=0; j
<l
; j
++ ){
165 rb_contact_count
+= l
;
169 rb_presolve_contacts( rb_contact_buffer
, rb_contact_count
);
170 for( u32 i
=0; i
<10; i
++ )
171 rb_solve_contacts( rb_contact_buffer
, rb_contact_count
);
174 rb_update_matrices( rb
);
177 static void player_glide_post_update(void){
178 v3_copy( player_glide
.rb
.co
, localplayer
.rb
.co
);
179 v4_copy( player_glide
.rb
.q
, localplayer
.rb
.q
);
180 v3_copy( player_glide
.rb
.v
, localplayer
.rb
.v
);
181 v3_copy( player_glide
.rb
.w
, localplayer
.rb
.w
);
182 rb_update_matrices( &localplayer
.rb
);
185 static void player_glide_animate(void){
186 struct player_glide
*g
= &player_glide
;
187 struct player_glide_animator
*animator
= &g
->animator
;
188 rb_extrapolate( &localplayer
.rb
, animator
->root_co
, animator
->root_q
);
191 static void player_glide_pose( void *_animator
, player_pose
*pose
){
192 struct skeleton
*sk
= &localplayer
.skeleton
;
193 struct player_glide_animator
*animator
= _animator
;
195 skeleton_sample_anim( sk
, player_glide
.anim_temp
, 0.0f
, pose
->keyframes
);
197 v3_copy( animator
->root_co
, pose
->root_co
);
198 v4_copy( animator
->root_q
, pose
->root_q
);
201 static void player_glide_post_animate(void){
202 if( localplayer
.cam_control
.camera_mode
== k_cam_firstperson
)
203 localplayer
.cam_velocity_influence
= 0.0f
;
205 localplayer
.cam_velocity_influence
= 0.0f
;
208 v3_muls( localplayer
.rb
.to_world
[2], -1.0f
, fwd
);
209 v3_angles( fwd
, localplayer
.angles
);
212 static void player_glide_im_gui(void){
213 player__debugtext( 1, "Nothing here" );
214 player__debugtext( 1, " lift: %.2f %.2f %.2f",
215 player_glide
.info_lift
[0],
216 player_glide
.info_lift
[1],
217 player_glide
.info_lift
[2] );
218 player__debugtext( 1, " slip: %.2f %.2f %.2f",
219 player_glide
.info_slip
[0],
220 player_glide
.info_slip
[1],
221 player_glide
.info_slip
[2] );
222 player__debugtext( 1, " drag: %.2f %.2f %.2f",
223 player_glide
.info_drag
[0],
224 player_glide
.info_drag
[1],
225 player_glide
.info_drag
[2] );
228 static void player_glide_bind(void){
229 struct skeleton
*sk
= &localplayer
.skeleton
;
230 player_glide
.anim_temp
= skeleton_get_anim( sk
, "idle_cycle+y" );
232 u32 mask
= VG_VAR_CHEAT
|VG_VAR_PERSISTENT
;
233 VG_VAR_F32( k_glide_steer
, flags
=mask
);
234 VG_VAR_F32( k_glide_cl
, flags
=mask
);
235 VG_VAR_F32( k_glide_cs
, flags
=mask
);
236 VG_VAR_F32( k_glide_drag
, flags
=mask
);
237 VG_VAR_F32( k_glide_slip_yaw
, flags
=mask
);
238 VG_VAR_F32( k_glide_lift_pitch
, flags
=mask
);
239 VG_VAR_I32( k_glide_pause
, flags
=mask
);
240 VG_VAR_F32( k_glide_balance
, flags
=mask
);
241 VG_VAR_F32( k_glide_wing_orient
, flags
=mask
);
245 k_inertia_scale
= 1.0f
;
249 for( u32 i
=0; i
<vg_list_size(player_glide
.parts
); i
++ ){
250 /* create part transform matrix */
252 q_axis_angle( qp
, (v3f
){1,0,0}, player_glide
.parts
[i
].euler
[0] );
253 q_axis_angle( qy
, (v3f
){0,1,0}, player_glide
.parts
[i
].euler
[1] );
254 q_axis_angle( qr
, (v3f
){0,0,1}, player_glide
.parts
[i
].euler
[2] );
259 q_m3x3( q
, player_glide
.parts
[i
].mdl
);
260 v3_copy( player_glide
.parts
[i
].co
, player_glide
.parts
[i
].mdl
[3] );
262 /* add it to inertia model */
264 if( player_glide
.parts
[i
].shape
== k_rb_shape_capsule
){
265 f32 r
= player_glide
.parts
[i
].inf
.r
,
266 h
= player_glide
.parts
[i
].inf
.h
,
267 pv
= vg_capsule_volume( r
, h
),
273 vg_capsule_inertia( r
, h
, pm
, pI
);
274 vg_rotate_inertia( pI
, player_glide
.parts
[i
].mdl
);
275 vg_translate_inertia( pI
, pm
, player_glide
.parts
[i
].co
);
276 m3x3_add( I
, pI
, I
);
278 else if( player_glide
.parts
[i
].shape
== k_rb_shape_sphere
){
279 f32 r
= player_glide
.parts
[i
].r
,
280 pv
= vg_sphere_volume( r
),
285 vg_sphere_inertia( r
, pm
, pI
);
286 vg_translate_inertia( pI
, pm
, player_glide
.parts
[i
].co
);
287 m3x3_add( I
, pI
, I
);
292 m3x3_inv( I
, player_glide
.rb
.iI
);
293 player_glide
.rb
.inv_mass
= 1.0f
/ mass
;
296 #endif /* PLAYER_GLIDE_C */