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
->axis
.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 );
199 m3x3_mulv( phys
->rb
.to_world
, vel
, phys
->rb
.v
);
201 float steer
= player
.input_js1h
->axis
.value
,
202 steer_scaled
= vg_signf(steer
) * powf(steer
,2.0f
) * k_steer_ground
;
204 phys
->iY
-= steer_scaled
* VG_TIMESTEP_FIXED
;
208 * Air control, no real physics
210 VG_STATIC
void player_physics_control_air(void)
212 struct player_phys
*phys
= &player
.phys
;
214 m3x3_mulv( phys
->vr
, phys
->rb
.v
, phys
->rb
.v
);
215 vg_line_cross( player
.land_target
, 0xff0000ff, 0.25f
);
222 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
225 v3_copy( phys
->rb
.co
, pco
);
226 v3_copy( phys
->rb
.v
, pv
);
228 float time_to_impact
= 0.0f
;
229 float limiter
= 1.0f
;
231 for( int i
=0; i
<50; i
++ )
233 v3_copy( pco
, pco1
);
234 m3x3_mulv( phys
->vr_pstep
, pv
, pv
);
235 apply_gravity( pv
, pstep
);
236 v3_muladds( pco
, pv
, pstep
, pco
);
241 v3_sub( pco
, pco1
, vdir
);
242 contact
.dist
= v3_length( vdir
);
243 v3_divs( vdir
, contact
.dist
, vdir
);
245 float orig_dist
= contact
.dist
;
246 if( ray_world( pco1
, vdir
, &contact
))
248 float angle
= v3_dot( phys
->rb
.up
, contact
.normal
);
250 v3_cross( phys
->rb
.up
, contact
.normal
, axis
);
252 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
253 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
254 limiter
= 1.0f
-limiter
;
256 limiter
= 1.0f
-limiter
;
261 q_axis_angle( correction
, axis
,
262 acosf(angle
)*(1.0f
-limiter
)*3.0f
*VG_TIMESTEP_FIXED
);
263 q_mul( correction
, phys
->rb
.q
, phys
->rb
.q
);
266 vg_line_cross( contact
.pos
, 0xffff0000, 0.25f
);
269 time_to_impact
+= pstep
;
272 float steerh
= player
.input_js1h
->axis
.value
,
273 steerv
= player
.input_js1v
->axis
.value
;
275 phys
->iY
-= steerh
* k_steer_air
* VG_TIMESTEP_FIXED
;
279 phys
->reverse
* k_steer_air
* limiter
* VG_TIMESTEP_FIXED
;
281 static float siX
= 0.0f
;
282 siX
= vg_lerpf( siX
, iX
, k_steer_air_lerp
);
285 q_axis_angle( rotate
, phys
->rb
.right
, siX
);
286 q_mul( rotate
, phys
->rb
.q
, phys
->rb
.q
);
290 v2f target
= {0.0f
,0.0f
};
291 v2_muladds( target
, (v2f
){ vg_get_axis("grabh"), vg_get_axis("grabv") },
292 phys
->grab
, target
);
296 VG_STATIC
void player_walk_update_collision(void)
298 struct player_phys
*phys
= &player
.phys
;
302 rigidbody
*rbf
= &player
.collide_front
,
303 *rbb
= &player
.collide_back
;
305 v3_add( phys
->rb
.co
, (v3f
){0.0f
,h0
,0.0f
}, rbf
->co
);
306 v3_add( phys
->rb
.co
, (v3f
){0.0f
,h1
,0.0f
}, rbb
->co
);
307 v3_copy( rbf
->co
, rbf
->to_world
[3] );
308 v3_copy( rbb
->co
, rbb
->to_world
[3] );
309 m4x3_invert_affine( rbf
->to_world
, rbf
->to_local
);
310 m4x3_invert_affine( rbb
->to_world
, rbb
->to_local
);
312 rb_update_bounds( rbf
);
313 rb_update_bounds( rbb
);
316 VG_STATIC
void player_integrate(void);
318 * Entire Walking physics model
319 * TODO: sleep when under certain velotiy
321 VG_STATIC
void player_walk_physics(void)
323 struct player_phys
*phys
= &player
.phys
;
324 rigidbody
*rbf
= &player
.collide_front
,
325 *rbb
= &player
.collide_back
;
327 m3x3_identity( player
.collide_front
.to_world
);
328 m3x3_identity( player
.collide_back
.to_world
);
330 v3_zero( phys
->rb
.w
);
331 q_axis_angle( phys
->rb
.q
, (v3f
){0.0f
,1.0f
,0.0f
}, -player
.angles
[0] );
336 v3f forward_dir
= { sinf(player
.angles
[0]),0.0f
,-cosf(player
.angles
[0]) };
337 v3f right_dir
= { -forward_dir
[2], 0.0f
, forward_dir
[0] };
341 player_walk_update_collision();
342 rb_debug( rbf
, 0xff0000ff );
343 rb_debug( rbb
, 0xff0000ff );
346 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
347 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
348 rb_presolve_contacts( manifold
, len
);
350 for( int i
=0; i
<len
; i
++ )
352 struct contact
*ct
= &manifold
[i
];
353 if( v3_dot( ct
->n
, (v3f
){0.0f
,1.0f
,0.0f
} ) > 0.5f
)
357 for( int j
=0; j
<5; j
++ )
359 for( int i
=0; i
<len
; i
++ )
361 struct contact
*ct
= &manifold
[i
];
364 float vn
= -v3_dot( phys
->rb
.v
, ct
->n
);
367 float temp
= ct
->norm_impulse
;
368 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
369 vn
= ct
->norm_impulse
- temp
;
372 v3_muls( ct
->n
, vn
, impulse
);
374 v3_add( impulse
, phys
->rb
.v
, phys
->rb
.v
);
377 for( int j
=0; j
<2; j
++ )
379 float f
= k_friction
* ct
->norm_impulse
,
380 vt
= v3_dot( phys
->rb
.v
, ct
->t
[j
] ),
383 float temp
= ct
->tangent_impulse
[j
];
384 ct
->tangent_impulse
[j
] = vg_clampf( temp
+ lambda
, -f
, f
);
385 lambda
= ct
->tangent_impulse
[j
] - temp
;
387 v3_muladds( phys
->rb
.v
, ct
->t
[j
], lambda
, phys
->rb
.v
);
396 /* translate player */
397 v2f walk
= { player
.input_walkh
->axis
.value
,
398 player
.input_walkv
->axis
.value
};
400 if( v2_length2(walk
) > 0.001f
)
401 v2_normalize( walk
);
403 v2_muls( walk
, vg_maxf( player
.input_push
->axis
.value
, 0.5f
) *
404 k_walkspeed
* VG_TIMESTEP_FIXED
, walk
);
407 v3_zero( walk_apply
);
409 /* Do XY translation */
410 v3_muladds( walk_apply
, right_dir
, walk
[0], walk_apply
);
411 v3_muladds( walk_apply
, forward_dir
, walk
[1], walk_apply
);
412 v3_add( walk_apply
, phys
->rb
.co
, phys
->rb
.co
);
413 v3_divs( walk_apply
, VG_TIMESTEP_FIXED
, phys
->rb
.v
);
415 /* Directly resolve collisions */
416 player_walk_update_collision();
417 rb_debug( rbf
, 0xffffff00 );
418 rb_debug( rbb
, 0xffffff00 );
421 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
422 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
426 for( int j
=0; j
<3; j
++ )
428 for( int i
=0; i
<len
; i
++ )
430 struct contact
*ct
= &manifold
[i
];
432 float p
= vg_maxf( 0.0f
, ct
->p
- 0.00f
),
433 cur
= vg_clampf( v3_dot( ct
->n
, dt
), 0.0f
, p
);
434 v3_muladds( dt
, ct
->n
, (p
- cur
) * 0.333333333f
, dt
);
437 v3_add( dt
, phys
->rb
.co
, phys
->rb
.co
);
440 if( player
.input_jump
->button
.value
)
442 phys
->rb
.v
[1] = 5.0f
;
447 /* if we've put us in the air, step down slowly */
449 float max_dist
= 0.3f
,
450 start_y
= phys
->rb
.co
[1];
452 for( int j
=0; j
<8; j
++ )
454 for( int i
=0; i
<len
; i
++ )
456 struct contact
*ct
= &manifold
[i
];
457 if( v3_dot( ct
->n
, (v3f
){0.0f
,1.0f
,0.0f
} ) > 0.5f
)
465 for( int j
=0; j
<3; j
++ )
467 for( int i
=0; i
<len
; i
++ )
469 struct contact
*ct
= &manifold
[i
];
471 float p
= vg_maxf( 0.0f
, ct
->p
- 0.0025f
),
472 cur
= vg_clampf( v3_dot( ct
->n
, dt
), 0.0f
, p
);
473 v3_muladds( dt
, ct
->n
, (p
- cur
) * 0.333333333f
, dt
);
476 v3_add( dt
, phys
->rb
.co
, phys
->rb
.co
);
481 phys
->rb
.co
[1] -= max_dist
* 0.125f
;
483 player_walk_update_collision();
485 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
486 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
489 /* Transitioning into air mode */
490 phys
->rb
.co
[1] = start_y
;
495 * Physics collision detection, and control
497 VG_STATIC
void player_physics(void)
499 struct player_phys
*phys
= &player
.phys
;
501 * Update collision fronts
504 rigidbody
*rbf
= &player
.collide_front
,
505 *rbb
= &player
.collide_back
;
507 m3x3_copy( phys
->rb
.to_world
, player
.collide_front
.to_world
);
508 m3x3_copy( phys
->rb
.to_world
, player
.collide_back
.to_world
);
510 player
.air_blend
= vg_lerpf( player
.air_blend
, phys
->in_air
, 0.1f
);
511 float h
= player
.air_blend
*0.2f
;
513 m4x3_mulv( phys
->rb
.to_world
, (v3f
){0.0f
,h
,-k_board_length
}, rbf
->co
);
514 v3_copy( rbf
->co
, rbf
->to_world
[3] );
515 m4x3_mulv( phys
->rb
.to_world
, (v3f
){0.0f
,h
, k_board_length
}, rbb
->co
);
516 v3_copy( rbb
->co
, rbb
->to_world
[3] );
518 m4x3_invert_affine( rbf
->to_world
, rbf
->to_local
);
519 m4x3_invert_affine( rbb
->to_world
, rbb
->to_local
);
521 rb_update_bounds( rbf
);
522 rb_update_bounds( rbb
);
524 rb_debug( rbf
, 0xff00ffff );
525 rb_debug( rbb
, 0xffffff00 );
530 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
531 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
533 rb_presolve_contacts( manifold
, len
);
534 v3f surface_avg
= {0.0f
, 0.0f
, 0.0f
};
542 for( int i
=0; i
<len
; i
++ )
544 v3_add( manifold
[i
].n
, surface_avg
, surface_avg
);
547 v3_normalize( surface_avg
);
549 if( v3_dot( phys
->rb
.v
, surface_avg
) > 0.5f
)
559 for( int j
=0; j
<5; j
++ )
561 for( int i
=0; i
<len
; i
++ )
563 struct contact
*ct
= &manifold
[i
];
566 v3_sub( ct
->co
, phys
->rb
.co
, delta
);
567 v3_cross( phys
->rb
.w
, delta
, dv
);
568 v3_add( phys
->rb
.v
, dv
, dv
);
570 float vn
= -v3_dot( dv
, ct
->n
);
573 float temp
= ct
->norm_impulse
;
574 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
575 vn
= ct
->norm_impulse
- temp
;
578 v3_muls( ct
->n
, vn
, impulse
);
580 if( fabsf(v3_dot( impulse
, phys
->rb
.forward
)) > 10.0f
||
581 fabsf(v3_dot( impulse
, phys
->rb
.up
)) > 50.0f
)
587 v3_add( impulse
, phys
->rb
.v
, phys
->rb
.v
);
588 v3_cross( delta
, impulse
, impulse
);
591 * W Impulses are limited to the Y and X axises, we don't really want
592 * roll angular velocities being included.
594 * Can also tweak the resistance of each axis here by scaling the wx,wy
598 float wy
= v3_dot( phys
->rb
.up
, impulse
),
599 wx
= v3_dot( phys
->rb
.right
, impulse
)*1.5f
;
601 v3_muladds( phys
->rb
.w
, phys
->rb
.up
, wy
, phys
->rb
.w
);
602 v3_muladds( phys
->rb
.w
, phys
->rb
.right
, wx
, phys
->rb
.w
);
606 float grabt
= vg_maxf( player
.input_grab
->axis
.value
,
607 vg_maxf( fabsf( player
.input_emjs2h
->axis
.value
),
608 fabsf( player
.input_emjs2v
->axis
.value
) )
611 phys
->grab
= vg_lerpf( phys
->grab
, grabt
, 0.14f
);
612 player
.phys
.pushing
= 0.0f
;
618 float angle
= v3_dot( phys
->rb
.up
, surface_avg
);
619 v3_cross( phys
->rb
.up
, surface_avg
, axis
);
621 //float cz = v3_dot( player.rb.forward, axis );
622 //v3_muls( player.rb.forward, cz, axis );
627 q_axis_angle( correction
, axis
, acosf(angle
)*18.0f
*VG_TIMESTEP_FIXED
);
628 q_mul( correction
, phys
->rb
.q
, phys
->rb
.q
);
632 /* 20/10/22: make this only go axisways instead, may effect velocities. */
636 float d
= v3_dot( phys
->rb
.forward
, surface_avg
);
637 v3_muladds( surface_avg
, phys
->rb
.forward
, -d
, projected
);
638 v3_normalize( projected
);
640 float angle
= v3_dot( phys
->rb
.up
, projected
);
641 v3_cross( phys
->rb
.up
, projected
, axis
);
644 v3_add( phys
->rb
.co
, projected
, p0
);
645 v3_add( phys
->rb
.co
, phys
->rb
.up
, p1
);
646 vg_line( phys
->rb
.co
, p0
, 0xff00ff00 );
647 vg_line( phys
->rb
.co
, p1
, 0xff000fff );
649 if( fabsf(angle
) < 0.999f
)
652 q_axis_angle( correction
, axis
, acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
653 q_mul( correction
, phys
->rb
.q
, phys
->rb
.q
);
659 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
660 v3_muladds( phys
->rb
.v
, phys
->rb
.up
, DOWNFORCE
, phys
->rb
.v
);
662 player_physics_control();
664 if( !phys
->jump_charge
&& phys
->jump
> 0.2f
)
668 /* Launch more up if alignment is up else improve velocity */
669 float aup
= fabsf(v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, phys
->rb
.up
)),
671 dir
= mod
+ aup
*(1.0f
-mod
);
673 v3_copy( phys
->rb
.v
, jumpdir
);
674 v3_normalize( jumpdir
);
675 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
676 v3_muladds( jumpdir
, phys
->rb
.up
, dir
, jumpdir
);
677 v3_normalize( jumpdir
);
679 float force
= k_jump_force
*phys
->jump
;
680 v3_muladds( phys
->rb
.v
, jumpdir
, force
, phys
->rb
.v
);
683 player
.jump_time
= vg
.time
;
685 /* TODO: Move to audio file */
687 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
688 audio_player_set_position( &audio_player_extra
, phys
->rb
.co
);
689 audio_player_set_vol( &audio_player_extra
, 20.0f
);
690 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
696 player_physics_control_air();
699 if( !phys
->jump_charge
)
701 phys
->jump
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
704 phys
->jump_charge
= 0;
705 phys
->jump
= vg_clampf( phys
->jump
, 0.0f
, 1.0f
);
708 VG_STATIC
void player_save_frame(void)
710 player
.phys_gate_frame
= player
.phys
;
713 VG_STATIC
void player_restore_frame(void)
715 player
.phys
= player
.phys_gate_frame
;
716 rb_update_transform( &player
.phys
.rb
);
719 VG_STATIC
void player_integrate(void)
721 struct player_phys
*phys
= &player
.phys
;
722 apply_gravity( phys
->rb
.v
, VG_TIMESTEP_FIXED
);
723 v3_muladds( phys
->rb
.co
, phys
->rb
.v
, VG_TIMESTEP_FIXED
, phys
->rb
.co
);
726 VG_STATIC
void player_do_motion(void)
728 struct player_phys
*phys
= &player
.phys
;
730 if( world
.water
.enabled
)
732 if( (phys
->rb
.co
[1] < 0.0f
) && !player
.is_dead
)
735 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
736 audio_player_set_position( &audio_player_extra
, phys
->rb
.co
);
737 audio_player_set_vol( &audio_player_extra
, 20.0f
);
738 audio_player_playclip( &audio_player_extra
, &audio_splash
);
747 v3_copy( phys
->rb
.co
, prevco
);
755 player_walk_physics();
758 /* Real angular velocity integration */
759 v3_lerp( phys
->rb
.w
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.125f
, phys
->rb
.w
);
760 if( v3_length2( phys
->rb
.w
) > 0.0f
)
764 v3_copy( phys
->rb
.w
, axis
);
766 float mag
= v3_length( axis
);
767 v3_divs( axis
, mag
, axis
);
768 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
769 q_mul( rotation
, phys
->rb
.q
, phys
->rb
.q
);
772 /* Faux angular velocity */
775 float lerpq
= phys
->in_air
? 0.04f
: 0.3f
;
776 phys
->siY
= vg_lerpf( phys
->siY
, phys
->iY
, lerpq
);
778 q_axis_angle( rotate
, phys
->rb
.up
, phys
->siY
);
779 q_mul( rotate
, phys
->rb
.q
, phys
->rb
.q
);
783 * Gate intersection, by tracing a line over the gate planes
785 for( int i
=0; i
<world
.gate_count
; i
++ )
787 struct route_gate
*rg
= &world
.gates
[i
];
788 teleport_gate
*gate
= &rg
->gate
;
790 if( gate_intersect( gate
, phys
->rb
.co
, prevco
) )
792 m4x3_mulv( gate
->transport
, phys
->rb
.co
, phys
->rb
.co
);
793 m3x3_mulv( gate
->transport
, phys
->rb
.v
, phys
->rb
.v
);
794 m3x3_mulv( gate
->transport
, phys
->vl
, phys
->vl
);
795 m3x3_mulv( gate
->transport
, phys
->v_last
, phys
->v_last
);
796 m3x3_mulv( gate
->transport
, phys
->m
, phys
->m
);
797 m3x3_mulv( gate
->transport
, phys
->bob
, phys
->bob
);
799 v4f transport_rotation
;
800 m3x3_q( gate
->transport
, transport_rotation
);
801 q_mul( transport_rotation
, phys
->rb
.q
, phys
->rb
.q
);
803 world_routes_activate_gate( i
);
805 if( !phys
->on_board
)
807 v3f fwd_dir
= {cosf(player
.angles
[0]),
809 sinf(player
.angles
[0])};
810 m3x3_mulv( gate
->transport
, fwd_dir
, fwd_dir
);
812 player
.angles
[0] = atan2f( fwd_dir
[2], fwd_dir
[0] );
815 player
.rewind_length
= 0;
816 player
.rewind_total_length
= 0.0f
;
817 player
.rewind_incrementer
= 10000;
821 audio_play_oneshot( &audio_gate_pass
, 1.0f
);
827 rb_update_transform( &phys
->rb
);
830 VG_STATIC
void player_freecam(void)
834 float movespeed
= fc_speed
;
835 v3f lookdir
= { 0.0f
, 0.0f
, -1.0f
},
836 sidedir
= { 1.0f
, 0.0f
, 0.0f
};
838 m3x3_mulv( camera_mtx
, lookdir
, lookdir
);
839 m3x3_mulv( camera_mtx
, sidedir
, sidedir
);
841 static v3f move_vel
= { 0.0f
, 0.0f
, 0.0f
};
842 if( vg_get_button( "forward" ) )
843 v3_muladds( move_vel
, lookdir
, VG_TIMESTEP_FIXED
* movespeed
, move_vel
);
844 if( vg_get_button( "back" ) )
845 v3_muladds( move_vel
, lookdir
, VG_TIMESTEP_FIXED
*-movespeed
, move_vel
);
846 if( vg_get_button( "left" ) )
847 v3_muladds( move_vel
, sidedir
, VG_TIMESTEP_FIXED
*-movespeed
, move_vel
);
848 if( vg_get_button( "right" ) )
849 v3_muladds( move_vel
, sidedir
, VG_TIMESTEP_FIXED
* movespeed
, move_vel
);
851 v3_muls( move_vel
, 0.7f
, move_vel
);
852 v3_add( move_vel
, player
.camera_pos
, player
.camera_pos
);
855 VG_STATIC
int reset_player( int argc
, char const *argv
[] )
857 struct player_phys
*phys
= &player
.phys
;
858 struct respawn_point
*rp
= NULL
, *r
;
862 for( int i
=0; i
<world
.spawn_count
; i
++ )
864 r
= &world
.spawns
[i
];
865 if( !strcmp( r
->name
, argv
[0] ) )
873 vg_warn( "No spawn named '%s'\n", argv
[0] );
878 float min_dist
= INFINITY
;
880 for( int i
=0; i
<world
.spawn_count
; i
++ )
882 r
= &world
.spawns
[i
];
883 float d
= v3_dist2( r
->co
, phys
->rb
.co
);
885 vg_info( "Dist %s : %f\n", r
->name
, d
);
896 vg_error( "No spawn found\n" );
897 if( !world
.spawn_count
)
900 rp
= &world
.spawns
[0];
906 q_m3x3( rp
->q
, the_long_way
);
908 v3f delta
= {1.0f
,0.0f
,0.0f
};
909 m3x3_mulv( the_long_way
, delta
, delta
);
911 player
.angles
[0] = atan2f( delta
[0], -delta
[2] );
912 player
.angles
[1] = -asinf( delta
[1] );
915 v4_copy( rp
->q
, phys
->rb
.q
);
916 v3_copy( rp
->co
, phys
->rb
.co
);
917 v3_zero( phys
->rb
.v
);
919 phys
->vswitch
= 1.0f
;
920 phys
->slip_last
= 0.0f
;
923 m3x3_identity( phys
->vr
);
925 player
.mdl
.shoes
[0] = 1;
926 player
.mdl
.shoes
[1] = 1;
928 rb_update_transform( &phys
->rb
);
933 #endif /* PLAYER_PHYSICS_H */