2 * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
5 #ifndef PLAYER_PHYSICS_H
6 #define PLAYER_PHYSICS_H
11 VG_STATIC
void apply_gravity( v3f vel
, float const timestep
)
13 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
14 v3_muladds( vel
, gravity
, timestep
, vel
);
18 * Called when launching into the air to predict and adjust trajectories
20 VG_STATIC
void player_start_air(void)
22 struct player_phys
*phys
= &player
.phys
;
29 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
30 float best_velocity_delta
= -9999.9f
;
34 v3_cross( phys
->rb
.up
, phys
->rb
.v
, axis
);
36 player
.land_log_count
= 0;
38 m3x3_identity( phys
->vr
);
40 for( int m
=-3;m
<=12; m
++ )
42 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
45 v3_copy( phys
->rb
.co
, pco
);
46 v3_muls( phys
->rb
.v
, k_bias
, pv
);
49 * Try different 'rotations' of the velocity to find the best possible
50 * landing normal. This conserves magnitude at the expense of slightly
57 q_axis_angle( vr_q
, axis
, vmod
);
60 m3x3_mulv( vr
, pv
, pv
);
61 v3_muladds( pco
, pv
, pstep
, pco
);
63 for( int i
=0; i
<50; i
++ )
66 apply_gravity( pv
, pstep
);
68 m3x3_mulv( vr
, pv
, pv
);
69 v3_muladds( pco
, pv
, pstep
, pco
);
74 v3_sub( pco
, pco1
, vdir
);
75 contact
.dist
= v3_length( vdir
);
76 v3_divs( vdir
, contact
.dist
, vdir
);
78 if( ray_world( pco1
, vdir
, &contact
))
80 float land_delta
= v3_dot( pv
, contact
.normal
);
81 u32 scolour
= (u8
)(vg_minf(-land_delta
* 2.0f
, 255.0f
));
83 /* Bias prediction towords ramps */
84 if( ray_hit_material( &contact
)->info
.flags
85 & k_material_flag_skate_surface
)
88 scolour
|= 0x0000a000;
91 if( (land_delta
< 0.0f
) && (land_delta
> best_velocity_delta
) )
93 best_velocity_delta
= land_delta
;
95 v3_copy( contact
.pos
, player
.land_target
);
97 m3x3_copy( vr
, phys
->vr_pstep
);
98 q_axis_angle( vr_q
, axis
, vmod
*0.1f
);
99 q_m3x3( vr_q
, phys
->vr
);
102 v3_copy( contact
.pos
,
103 player
.land_target_log
[player
.land_log_count
] );
104 player
.land_target_colours
[player
.land_log_count
] =
105 0xff000000 | scolour
;
107 player
.land_log_count
++;
116 * Main friction interface model
118 VG_STATIC
void player_physics_control(void)
120 struct player_phys
*phys
= &player
.phys
;
123 * Computing localized friction forces for controlling the character
124 * Friction across X is significantly more than Z
128 m3x3_mulv( phys
->rb
.to_local
, phys
->rb
.v
, vel
);
131 if( fabsf(vel
[2]) > 0.01f
)
132 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
134 if( fabsf( slip
) > 1.2f
)
135 slip
= vg_signf( slip
) * 1.2f
;
137 phys
->reverse
= -vg_signf(vel
[2]);
139 float substep
= VG_TIMESTEP_FIXED
* 0.2f
;
142 float fwd_resistance
= vg_get_button( "break" )? 5.0f
: k_friction_resistance
;
144 float fwd_resistance
= k_friction_resistance
;
147 for( int i
=0; i
<5; i
++ )
149 vel
[2] = stable_force( vel
[2],vg_signf(vel
[2]) * -fwd_resistance
*substep
);
150 vel
[0] = stable_force( vel
[0],vg_signf(vel
[0]) * -k_friction_lat
*substep
);
153 if( player
.input_jump
->button
.value
)
155 phys
->jump
+= VG_TIMESTEP_FIXED
* k_jump_charge_speed
;
157 if( !phys
->jump_charge
)
158 phys
->jump_dir
= phys
->reverse
> 0.0f
? 1: 0;
160 phys
->jump_charge
= 1;
163 static int push_thresh_last
= 0;
164 float push
= player
.input_push
->button
.value
;
165 int push_thresh
= push
>0.15f
? 1: 0;
167 if( push_thresh
&& !push_thresh_last
)
168 player
.phys
.start_push
= vg
.time
;
170 push_thresh_last
= push_thresh
;
172 if( !player
.input_jump
->button
.value
&& push_thresh
)
174 player
.phys
.pushing
= 1.0f
;
175 player
.phys
.push_time
= vg
.time
- player
.phys
.start_push
;
177 float cycle_time
= player
.phys
.push_time
*k_push_cycle_rate
,
178 amt
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
)*VG_TIMESTEP_FIXED
,
179 current
= v3_length( vel
),
180 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
);
182 new_vel
-= vg_minf(current
, k_max_push_speed
);
183 vel
[2] -= new_vel
* phys
->reverse
;
187 static float previous
= 0.0f
;
188 float delta
= previous
- phys
->grab
,
189 pump
= delta
* k_pump_force
* VG_TIMESTEP_FIXED
;
190 previous
= phys
->grab
;
193 v3_muladds( phys
->rb
.co
, phys
->rb
.up
, pump
, p1
);
194 vg_line( phys
->rb
.co
, p1
, 0xff0000ff );
198 m3x3_mulv( phys
->rb
.to_world
, vel
, phys
->rb
.v
);
200 float input
= player
.input_js1h
->axis
.value
,
201 grab
= player
.input_grab
->axis
.value
,
202 steer
= input
* (1.0f
-(phys
->jump
+grab
)*0.4f
),
203 steer_scaled
= vg_signf(steer
) * powf(steer
,2.0f
) * k_steer_ground
;
205 phys
->iY
-= steer_scaled
* VG_TIMESTEP_FIXED
;
209 * Air control, no real physics
211 VG_STATIC
void player_physics_control_air(void)
213 struct player_phys
*phys
= &player
.phys
;
215 m3x3_mulv( phys
->vr
, phys
->rb
.v
, phys
->rb
.v
);
216 vg_line_cross( player
.land_target
, 0xff0000ff, 0.25f
);
223 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
226 v3_copy( phys
->rb
.co
, pco
);
227 v3_copy( phys
->rb
.v
, pv
);
229 float time_to_impact
= 0.0f
;
230 float limiter
= 1.0f
;
232 for( int i
=0; i
<50; i
++ )
234 v3_copy( pco
, pco1
);
235 m3x3_mulv( phys
->vr_pstep
, pv
, pv
);
236 apply_gravity( pv
, pstep
);
237 v3_muladds( pco
, pv
, pstep
, pco
);
242 v3_sub( pco
, pco1
, vdir
);
243 contact
.dist
= v3_length( vdir
);
244 v3_divs( vdir
, contact
.dist
, vdir
);
246 float orig_dist
= contact
.dist
;
247 if( ray_world( pco1
, vdir
, &contact
))
249 float angle
= v3_dot( phys
->rb
.up
, contact
.normal
);
251 v3_cross( phys
->rb
.up
, contact
.normal
, axis
);
253 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
254 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
255 limiter
= 1.0f
-limiter
;
257 limiter
= 1.0f
-limiter
;
262 q_axis_angle( correction
, axis
,
263 acosf(angle
)*(1.0f
-limiter
)*3.0f
*VG_TIMESTEP_FIXED
);
264 q_mul( correction
, phys
->rb
.q
, phys
->rb
.q
);
267 vg_line_cross( contact
.pos
, 0xffff0000, 0.25f
);
270 time_to_impact
+= pstep
;
273 v2f steer
= { player
.input_js1h
->axis
.value
,
274 player
.input_js1v
->axis
.value
};
276 float l2
= v2_length2( steer
);
278 v2_muls( steer
, 1.0f
/sqrtf(l2
), steer
);
280 phys
->iY
-= steer
[0] * k_steer_air
* VG_TIMESTEP_FIXED
;
282 float iX
= steer
[1] *
283 phys
->reverse
* k_steer_air
* limiter
* VG_TIMESTEP_FIXED
;
285 static float siX
= 0.0f
;
286 siX
= vg_lerpf( siX
, iX
, k_steer_air_lerp
);
289 q_axis_angle( rotate
, phys
->rb
.right
, siX
);
290 q_mul( rotate
, phys
->rb
.q
, phys
->rb
.q
);
293 v2f target
= {0.0f
,0.0f
};
294 v2_muladds( target
, (v2f
){ vg_get_axis("grabh"), vg_get_axis("grabv") },
295 phys
->grab
, target
);
299 VG_STATIC
void player_walk_update_collision(void)
301 struct player_phys
*phys
= &player
.phys
;
305 rigidbody
*rbf
= &player
.collide_front
,
306 *rbb
= &player
.collide_back
;
308 v3_add( phys
->rb
.co
, (v3f
){0.0f
,h0
,0.0f
}, rbf
->co
);
309 v3_add( phys
->rb
.co
, (v3f
){0.0f
,h1
,0.0f
}, rbb
->co
);
310 v3_copy( rbf
->co
, rbf
->to_world
[3] );
311 v3_copy( rbb
->co
, rbb
->to_world
[3] );
312 m4x3_invert_affine( rbf
->to_world
, rbf
->to_local
);
313 m4x3_invert_affine( rbb
->to_world
, rbb
->to_local
);
315 rb_update_bounds( rbf
);
316 rb_update_bounds( rbb
);
319 VG_STATIC
void player_integrate(void);
321 * Entire Walking physics model
322 * TODO: sleep when under certain velotiy
324 VG_STATIC
void player_walk_physics(void)
326 struct player_phys
*phys
= &player
.phys
;
327 rigidbody
*rbf
= &player
.collide_front
,
328 *rbb
= &player
.collide_back
;
330 m3x3_identity( player
.collide_front
.to_world
);
331 m3x3_identity( player
.collide_back
.to_world
);
333 v3_zero( phys
->rb
.w
);
334 q_axis_angle( phys
->rb
.q
, (v3f
){0.0f
,1.0f
,0.0f
}, -player
.angles
[0] );
339 v3f forward_dir
= { sinf(player
.angles
[0]),0.0f
,-cosf(player
.angles
[0]) };
340 v3f right_dir
= { -forward_dir
[2], 0.0f
, forward_dir
[0] };
344 player_walk_update_collision();
345 rb_debug( rbf
, 0xff0000ff );
346 rb_debug( rbb
, 0xff0000ff );
349 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
350 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
351 rb_presolve_contacts( manifold
, len
);
353 for( int i
=0; i
<len
; i
++ )
355 struct contact
*ct
= &manifold
[i
];
356 if( v3_dot( ct
->n
, (v3f
){0.0f
,1.0f
,0.0f
} ) > 0.5f
)
360 for( int j
=0; j
<5; j
++ )
362 for( int i
=0; i
<len
; i
++ )
364 struct contact
*ct
= &manifold
[i
];
367 float vn
= -v3_dot( phys
->rb
.v
, ct
->n
);
370 float temp
= ct
->norm_impulse
;
371 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
372 vn
= ct
->norm_impulse
- temp
;
375 v3_muls( ct
->n
, vn
, impulse
);
377 v3_add( impulse
, phys
->rb
.v
, phys
->rb
.v
);
380 for( int j
=0; j
<2; j
++ )
382 float f
= k_friction
* ct
->norm_impulse
,
383 vt
= v3_dot( phys
->rb
.v
, ct
->t
[j
] ),
386 float temp
= ct
->tangent_impulse
[j
];
387 ct
->tangent_impulse
[j
] = vg_clampf( temp
+ lambda
, -f
, f
);
388 lambda
= ct
->tangent_impulse
[j
] - temp
;
390 v3_muladds( phys
->rb
.v
, ct
->t
[j
], lambda
, phys
->rb
.v
);
399 /* translate player */
400 v2f walk
= { player
.input_walkh
->axis
.value
,
401 player
.input_walkv
->axis
.value
};
403 if( v2_length2(walk
) > 0.001f
)
404 v2_normalize_clamp( walk
);
406 player
.walk
= v2_length( walk
);
408 if( player
.input_walk
->button
.value
)
409 v2_muls( walk
, 0.5f
, walk
);
411 v2_muls( walk
, k_walkspeed
* VG_TIMESTEP_FIXED
, walk
);
414 v3_zero( walk_apply
);
416 /* Do XY translation */
417 v3_muladds( walk_apply
, right_dir
, walk
[0], walk_apply
);
418 v3_muladds( walk_apply
, forward_dir
, walk
[1], walk_apply
);
419 v3_add( walk_apply
, phys
->rb
.co
, phys
->rb
.co
);
420 v3_divs( walk_apply
, VG_TIMESTEP_FIXED
, phys
->rb
.v
);
422 /* Directly resolve collisions */
423 player_walk_update_collision();
424 rb_debug( rbf
, 0xffffff00 );
425 rb_debug( rbb
, 0xffffff00 );
428 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
429 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
433 for( int j
=0; j
<3; j
++ )
435 for( int i
=0; i
<len
; i
++ )
437 struct contact
*ct
= &manifold
[i
];
439 float p
= vg_maxf( 0.0f
, ct
->p
- 0.00f
),
440 cur
= vg_clampf( v3_dot( ct
->n
, dt
), 0.0f
, p
);
441 v3_muladds( dt
, ct
->n
, (p
- cur
) * 0.333333333f
, dt
);
444 v3_add( dt
, phys
->rb
.co
, phys
->rb
.co
);
447 if( player
.input_jump
->button
.value
)
449 phys
->rb
.v
[1] = 5.0f
;
454 /* if we've put us in the air, step down slowly */
456 float max_dist
= 0.3f
,
457 start_y
= phys
->rb
.co
[1];
459 for( int j
=0; j
<8; j
++ )
461 for( int i
=0; i
<len
; i
++ )
463 struct contact
*ct
= &manifold
[i
];
464 if( v3_dot( ct
->n
, (v3f
){0.0f
,1.0f
,0.0f
} ) > 0.5f
)
472 for( int j
=0; j
<3; j
++ )
474 for( int i
=0; i
<len
; i
++ )
476 struct contact
*ct
= &manifold
[i
];
478 float p
= vg_maxf( 0.0f
, ct
->p
- 0.0025f
),
479 cur
= vg_clampf( v3_dot( ct
->n
, dt
), 0.0f
, p
);
480 v3_muladds( dt
, ct
->n
, (p
- cur
) * 0.333333333f
, dt
);
483 v3_add( dt
, phys
->rb
.co
, phys
->rb
.co
);
488 phys
->rb
.co
[1] -= max_dist
* 0.125f
;
490 player_walk_update_collision();
492 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
493 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
496 /* Transitioning into air mode */
497 phys
->rb
.co
[1] = start_y
;
502 * Physics collision detection, and control
504 VG_STATIC
void player_physics(void)
506 struct player_phys
*phys
= &player
.phys
;
508 * Update collision fronts
511 rigidbody
*rbf
= &player
.collide_front
,
512 *rbb
= &player
.collide_back
;
514 m3x3_copy( phys
->rb
.to_world
, player
.collide_front
.to_world
);
515 m3x3_copy( phys
->rb
.to_world
, player
.collide_back
.to_world
);
517 player
.air_blend
= vg_lerpf( player
.air_blend
, phys
->in_air
, 0.1f
);
518 float h
= player
.air_blend
*0.2f
;
520 m4x3_mulv( phys
->rb
.to_world
, (v3f
){0.0f
,h
,-k_board_length
}, rbf
->co
);
521 v3_copy( rbf
->co
, rbf
->to_world
[3] );
522 m4x3_mulv( phys
->rb
.to_world
, (v3f
){0.0f
,h
, k_board_length
}, rbb
->co
);
523 v3_copy( rbb
->co
, rbb
->to_world
[3] );
525 m4x3_invert_affine( rbf
->to_world
, rbf
->to_local
);
526 m4x3_invert_affine( rbb
->to_world
, rbb
->to_local
);
528 rb_update_bounds( rbf
);
529 rb_update_bounds( rbb
);
531 rb_debug( rbf
, 0xff00ffff );
532 rb_debug( rbb
, 0xffffff00 );
537 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
538 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
540 rb_presolve_contacts( manifold
, len
);
541 v3f surface_avg
= {0.0f
, 0.0f
, 0.0f
};
549 for( int i
=0; i
<len
; i
++ )
551 v3_add( manifold
[i
].n
, surface_avg
, surface_avg
);
554 v3_normalize( surface_avg
);
556 if( v3_dot( phys
->rb
.v
, surface_avg
) > 0.5f
)
566 for( int j
=0; j
<5; j
++ )
568 for( int i
=0; i
<len
; i
++ )
570 struct contact
*ct
= &manifold
[i
];
573 v3_sub( ct
->co
, phys
->rb
.co
, delta
);
574 v3_cross( phys
->rb
.w
, delta
, dv
);
575 v3_add( phys
->rb
.v
, dv
, dv
);
577 float vn
= -v3_dot( dv
, ct
->n
);
580 float temp
= ct
->norm_impulse
;
581 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
582 vn
= ct
->norm_impulse
- temp
;
585 v3_muls( ct
->n
, vn
, impulse
);
587 if( fabsf(v3_dot( impulse
, phys
->rb
.forward
)) > 10.0f
||
588 fabsf(v3_dot( impulse
, phys
->rb
.up
)) > 50.0f
)
594 v3_add( impulse
, phys
->rb
.v
, phys
->rb
.v
);
595 v3_cross( delta
, impulse
, impulse
);
598 * W Impulses are limited to the Y and X axises, we don't really want
599 * roll angular velocities being included.
601 * Can also tweak the resistance of each axis here by scaling the wx,wy
605 float wy
= v3_dot( phys
->rb
.up
, impulse
),
606 wx
= v3_dot( phys
->rb
.right
, impulse
)*1.5f
;
608 v3_muladds( phys
->rb
.w
, phys
->rb
.up
, wy
, phys
->rb
.w
);
609 v3_muladds( phys
->rb
.w
, phys
->rb
.right
, wx
, phys
->rb
.w
);
613 float grabt
= player
.input_grab
->axis
.value
;
617 v2_muladds( phys
->grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
618 phys
->grab_mouse_delta
);
619 v2_normalize_clamp( phys
->grab_mouse_delta
);
622 v2_zero( phys
->grab_mouse_delta
);
624 phys
->grab
= vg_lerpf( phys
->grab
, grabt
, 0.14f
);
625 player
.phys
.pushing
= 0.0f
;
629 /* 20/10/22: make this only go axisways instead, may effect velocities. */
633 float d
= v3_dot( phys
->rb
.forward
, surface_avg
);
634 v3_muladds( surface_avg
, phys
->rb
.forward
, -d
, projected
);
635 v3_normalize( projected
);
637 float angle
= v3_dot( phys
->rb
.up
, projected
);
638 v3_cross( phys
->rb
.up
, projected
, axis
);
641 v3_add( phys
->rb
.co
, projected
, p0
);
642 v3_add( phys
->rb
.co
, phys
->rb
.up
, p1
);
643 vg_line( phys
->rb
.co
, p0
, 0xff00ff00 );
644 vg_line( phys
->rb
.co
, p1
, 0xff000fff );
646 if( fabsf(angle
) < 0.999f
)
649 q_axis_angle( correction
, axis
, acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
650 q_mul( correction
, phys
->rb
.q
, phys
->rb
.q
);
653 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
654 v3_muladds( phys
->rb
.v
, phys
->rb
.up
, DOWNFORCE
, phys
->rb
.v
);
656 player_physics_control();
658 if( !phys
->jump_charge
&& phys
->jump
> 0.2f
)
662 /* Launch more up if alignment is up else improve velocity */
663 float aup
= fabsf(v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, phys
->rb
.up
)),
665 dir
= mod
+ aup
*(1.0f
-mod
);
667 v3_copy( phys
->rb
.v
, jumpdir
);
668 v3_normalize( jumpdir
);
669 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
670 v3_muladds( jumpdir
, phys
->rb
.up
, dir
, jumpdir
);
671 v3_normalize( jumpdir
);
673 float force
= k_jump_force
*phys
->jump
;
674 v3_muladds( phys
->rb
.v
, jumpdir
, force
, phys
->rb
.v
);
677 player
.jump_time
= vg
.time
;
679 /* TODO: Move to audio file */
681 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
682 audio_player_set_position( &audio_player_extra
, phys
->rb
.co
);
683 audio_player_set_vol( &audio_player_extra
, 20.0f
);
684 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
690 player_physics_control_air();
693 if( !phys
->jump_charge
)
695 phys
->jump
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
698 phys
->jump_charge
= 0;
699 phys
->jump
= vg_clampf( phys
->jump
, 0.0f
, 1.0f
);
702 VG_STATIC
void player_save_frame(void)
704 player
.phys_gate_frame
= player
.phys
;
707 VG_STATIC
void player_restore_frame(void)
709 player
.phys
= player
.phys_gate_frame
;
710 rb_update_transform( &player
.phys
.rb
);
713 VG_STATIC
void player_integrate(void)
715 struct player_phys
*phys
= &player
.phys
;
716 apply_gravity( phys
->rb
.v
, VG_TIMESTEP_FIXED
);
717 v3_muladds( phys
->rb
.co
, phys
->rb
.v
, VG_TIMESTEP_FIXED
, phys
->rb
.co
);
720 VG_STATIC
void player_do_motion(void)
722 struct player_phys
*phys
= &player
.phys
;
724 if( world
.water
.enabled
)
726 if( (phys
->rb
.co
[1] < 0.0f
) && !player
.is_dead
)
729 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
730 audio_player_set_position( &audio_player_extra
, phys
->rb
.co
);
731 audio_player_set_vol( &audio_player_extra
, 20.0f
);
732 audio_player_playclip( &audio_player_extra
, &audio_splash
);
741 v3_copy( phys
->rb
.co
, prevco
);
749 player_walk_physics();
752 /* Real angular velocity integration */
753 v3_lerp( phys
->rb
.w
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.125f
, phys
->rb
.w
);
754 if( v3_length2( phys
->rb
.w
) > 0.0f
)
758 v3_copy( phys
->rb
.w
, axis
);
760 float mag
= v3_length( axis
);
761 v3_divs( axis
, mag
, axis
);
762 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
763 q_mul( rotation
, phys
->rb
.q
, phys
->rb
.q
);
766 /* Faux angular velocity */
769 float lerpq
= phys
->in_air
? 0.04f
: 0.3f
;
770 phys
->siY
= vg_lerpf( phys
->siY
, phys
->iY
, lerpq
);
772 q_axis_angle( rotate
, phys
->rb
.up
, phys
->siY
);
773 q_mul( rotate
, phys
->rb
.q
, phys
->rb
.q
);
777 * Gate intersection, by tracing a line over the gate planes
779 for( int i
=0; i
<world
.gate_count
; i
++ )
781 struct route_gate
*rg
= &world
.gates
[i
];
782 teleport_gate
*gate
= &rg
->gate
;
784 if( gate_intersect( gate
, phys
->rb
.co
, prevco
) )
786 m4x3_mulv( gate
->transport
, phys
->rb
.co
, phys
->rb
.co
);
787 m3x3_mulv( gate
->transport
, phys
->rb
.v
, phys
->rb
.v
);
788 m3x3_mulv( gate
->transport
, phys
->vl
, phys
->vl
);
789 m3x3_mulv( gate
->transport
, phys
->v_last
, phys
->v_last
);
790 m3x3_mulv( gate
->transport
, phys
->m
, phys
->m
);
791 m3x3_mulv( gate
->transport
, phys
->bob
, phys
->bob
);
793 v4f transport_rotation
;
794 m3x3_q( gate
->transport
, transport_rotation
);
795 q_mul( transport_rotation
, phys
->rb
.q
, phys
->rb
.q
);
797 world_routes_activate_gate( i
);
799 if( !phys
->on_board
)
801 v3f fwd_dir
= {cosf(player
.angles
[0]),
803 sinf(player
.angles
[0])};
804 m3x3_mulv( gate
->transport
, fwd_dir
, fwd_dir
);
806 player
.angles
[0] = atan2f( fwd_dir
[2], fwd_dir
[0] );
809 player
.rewind_length
= 0;
810 player
.rewind_total_length
= 0.0f
;
811 player
.rewind_incrementer
= 10000;
815 audio_play_oneshot( &audio_gate_pass
, 1.0f
);
821 rb_update_transform( &phys
->rb
);
824 VG_STATIC
void player_freecam(void)
828 float movespeed
= fc_speed
;
829 v3f lookdir
= { 0.0f
, 0.0f
, -1.0f
},
830 sidedir
= { 1.0f
, 0.0f
, 0.0f
};
832 m3x3_mulv( camera_mtx
, lookdir
, lookdir
);
833 m3x3_mulv( camera_mtx
, sidedir
, sidedir
);
835 static v3f move_vel
= { 0.0f
, 0.0f
, 0.0f
};
839 if( vg_get_button( "forward" ) )
840 v3_muladds( move_vel
, lookdir
, VG_TIMESTEP_FIXED
* movespeed
, move_vel
);
841 if( vg_get_button( "back" ) )
842 v3_muladds( move_vel
, lookdir
, VG_TIMESTEP_FIXED
*-movespeed
, move_vel
);
843 if( vg_get_button( "left" ) )
844 v3_muladds( move_vel
, sidedir
, VG_TIMESTEP_FIXED
*-movespeed
, move_vel
);
845 if( vg_get_button( "right" ) )
846 v3_muladds( move_vel
, sidedir
, VG_TIMESTEP_FIXED
* movespeed
, move_vel
);
849 v3_muls( move_vel
, 0.7f
, move_vel
);
850 v3_add( move_vel
, player
.camera_pos
, player
.camera_pos
);
853 VG_STATIC
int reset_player( int argc
, char const *argv
[] )
855 struct player_phys
*phys
= &player
.phys
;
856 struct respawn_point
*rp
= NULL
, *r
;
860 for( int i
=0; i
<world
.spawn_count
; i
++ )
862 r
= &world
.spawns
[i
];
863 if( !strcmp( r
->name
, argv
[0] ) )
871 vg_warn( "No spawn named '%s'\n", argv
[0] );
876 float min_dist
= INFINITY
;
878 for( int i
=0; i
<world
.spawn_count
; i
++ )
880 r
= &world
.spawns
[i
];
881 float d
= v3_dist2( r
->co
, phys
->rb
.co
);
883 vg_info( "Dist %s : %f\n", r
->name
, d
);
894 vg_error( "No spawn found\n" );
895 if( !world
.spawn_count
)
898 rp
= &world
.spawns
[0];
904 q_m3x3( rp
->q
, the_long_way
);
906 v3f delta
= {1.0f
,0.0f
,0.0f
};
907 m3x3_mulv( the_long_way
, delta
, delta
);
909 player
.angles
[0] = atan2f( delta
[0], -delta
[2] );
910 player
.angles
[1] = -asinf( delta
[1] );
913 v4_copy( rp
->q
, phys
->rb
.q
);
914 v3_copy( rp
->co
, phys
->rb
.co
);
915 v3_zero( phys
->rb
.v
);
917 phys
->vswitch
= 1.0f
;
918 phys
->slip_last
= 0.0f
;
921 m3x3_identity( phys
->vr
);
923 player
.mdl
.shoes
[0] = 1;
924 player
.mdl
.shoes
[1] = 1;
926 rb_update_transform( &phys
->rb
);
931 #endif /* PLAYER_PHYSICS_H */