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] };
342 v2f walk
= { player
.input_walkh
->axis
.value
,
343 player
.input_walkv
->axis
.value
};
345 if( v2_length2(walk
) > 0.001f
)
346 v2_normalize_clamp( walk
);
350 player_walk_update_collision();
351 rb_debug( rbf
, 0xff0000ff );
352 rb_debug( rbb
, 0xff0000ff );
354 /* allow player to accelerate a bit */
356 v3_muls( forward_dir
, walk
[1], walk_3d
);
357 v3_muladds( walk_3d
, right_dir
, walk
[0], walk_3d
);
359 float current_vel
= fabsf(v3_dot( walk_3d
, phys
->rb
.v
)),
360 new_vel
= current_vel
+ VG_TIMESTEP_FIXED
*k_air_accelerate
,
361 clamped_new
= vg_clampf( new_vel
, 0.0f
, k_walkspeed
),
362 vel_diff
= vg_maxf( 0.0f
, clamped_new
- current_vel
);
364 v3_muladds( phys
->rb
.v
, right_dir
, walk
[0] * vel_diff
, phys
->rb
.v
);
365 v3_muladds( phys
->rb
.v
, forward_dir
, walk
[1] * vel_diff
, phys
->rb
.v
);
369 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
370 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
371 rb_presolve_contacts( manifold
, len
);
373 for( int i
=0; i
<len
; i
++ )
375 struct contact
*ct
= &manifold
[i
];
376 if( v3_dot( ct
->n
, (v3f
){0.0f
,1.0f
,0.0f
} ) > 0.5f
)
380 for( int j
=0; j
<5; j
++ )
382 for( int i
=0; i
<len
; i
++ )
384 struct contact
*ct
= &manifold
[i
];
387 float vn
= -v3_dot( phys
->rb
.v
, ct
->n
);
390 float temp
= ct
->norm_impulse
;
391 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
392 vn
= ct
->norm_impulse
- temp
;
395 v3_muls( ct
->n
, vn
, impulse
);
397 v3_add( impulse
, phys
->rb
.v
, phys
->rb
.v
);
400 for( int j
=0; j
<2; j
++ )
402 float f
= k_friction
* ct
->norm_impulse
,
403 vt
= v3_dot( phys
->rb
.v
, ct
->t
[j
] ),
406 float temp
= ct
->tangent_impulse
[j
];
407 ct
->tangent_impulse
[j
] = vg_clampf( temp
+ lambda
, -f
, f
);
408 lambda
= ct
->tangent_impulse
[j
] - temp
;
410 v3_muladds( phys
->rb
.v
, ct
->t
[j
], lambda
, phys
->rb
.v
);
419 player
.walk
= v2_length( walk
);
421 if( player
.input_walk
->button
.value
)
422 v2_muls( walk
, 0.5f
, walk
);
424 v2_muls( walk
, k_walkspeed
* VG_TIMESTEP_FIXED
, walk
);
427 v3_zero( walk_apply
);
429 /* Do XY translation */
430 v3_muladds( walk_apply
, right_dir
, walk
[0], walk_apply
);
431 v3_muladds( walk_apply
, forward_dir
, walk
[1], walk_apply
);
432 v3_add( walk_apply
, phys
->rb
.co
, phys
->rb
.co
);
433 v3_divs( walk_apply
, VG_TIMESTEP_FIXED
, phys
->rb
.v
);
435 /* Directly resolve collisions */
436 player_walk_update_collision();
437 rb_debug( rbf
, 0xffffff00 );
438 rb_debug( rbb
, 0xffffff00 );
441 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
442 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
446 for( int j
=0; j
<3; j
++ )
448 for( int i
=0; i
<len
; i
++ )
450 struct contact
*ct
= &manifold
[i
];
452 float p
= vg_maxf( 0.0f
, ct
->p
- 0.00f
),
453 cur
= vg_clampf( v3_dot( ct
->n
, dt
), 0.0f
, p
);
454 v3_muladds( dt
, ct
->n
, (p
- cur
) * 0.333333333f
, dt
);
457 v3_add( dt
, phys
->rb
.co
, phys
->rb
.co
);
461 struct world_material
*surface_mat
= world_contact_material(manifold
);
462 player
.surface_prop
= surface_mat
->info
.surface_prop
;
466 if( player
.input_jump
->button
.value
)
468 phys
->rb
.v
[1] = 5.0f
;
473 /* if we've put us in the air, step down slowly */
475 float max_dist
= 0.3f
,
476 start_y
= phys
->rb
.co
[1];
478 for( int j
=0; j
<8; j
++ )
480 for( int i
=0; i
<len
; i
++ )
482 struct contact
*ct
= &manifold
[i
];
483 if( v3_dot( ct
->n
, (v3f
){0.0f
,1.0f
,0.0f
} ) > 0.5f
)
491 for( int j
=0; j
<3; j
++ )
493 for( int i
=0; i
<len
; i
++ )
495 struct contact
*ct
= &manifold
[i
];
497 float p
= vg_maxf( 0.0f
, ct
->p
- 0.0025f
),
498 cur
= vg_clampf( v3_dot( ct
->n
, dt
), 0.0f
, p
);
499 v3_muladds( dt
, ct
->n
, (p
- cur
) * 0.333333333f
, dt
);
502 v3_add( dt
, phys
->rb
.co
, phys
->rb
.co
);
507 phys
->rb
.co
[1] -= max_dist
* 0.125f
;
509 player_walk_update_collision();
511 len
+= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
+len
);
512 len
+= rb_sphere_scene( rbb
, &world
.rb_geo
, manifold
+len
);
515 /* Transitioning into air mode */
516 phys
->rb
.co
[1] = start_y
;
521 * Physics collision detection, and control
523 VG_STATIC
void player_physics(void)
525 struct player_phys
*phys
= &player
.phys
;
527 * Update collision fronts
530 rigidbody
*rbf
= &player
.collide_front
,
531 *rbb
= &player
.collide_back
;
533 m3x3_copy( phys
->rb
.to_world
, player
.collide_front
.to_world
);
534 m3x3_copy( phys
->rb
.to_world
, player
.collide_back
.to_world
);
536 player
.air_blend
= vg_lerpf( player
.air_blend
, phys
->in_air
, 0.1f
);
537 float h
= player
.air_blend
*0.2f
;
539 m4x3_mulv( phys
->rb
.to_world
, (v3f
){0.0f
,h
,-k_board_length
}, rbf
->co
);
540 v3_copy( rbf
->co
, rbf
->to_world
[3] );
541 m4x3_mulv( phys
->rb
.to_world
, (v3f
){0.0f
,h
, k_board_length
}, rbb
->co
);
542 v3_copy( rbb
->co
, rbb
->to_world
[3] );
544 m4x3_invert_affine( rbf
->to_world
, rbf
->to_local
);
545 m4x3_invert_affine( rbb
->to_world
, rbb
->to_local
);
547 rb_update_bounds( rbf
);
548 rb_update_bounds( rbb
);
550 rb_debug( rbf
, 0xff00ffff );
551 rb_debug( rbb
, 0xffffff00 );
557 len_f
= rb_sphere_scene( rbf
, &world
.rb_geo
, manifold
);
558 rb_manifold_filter_coplanar( manifold
, len_f
, 0.05f
);
559 rb_manifold_filter_pairs( manifold
, len_f
, 0.05f
);
561 rb_manifold_filter_backface( manifold
, len_f
);
562 len_f
= rb_manifold_apply_filtered( manifold
, len_f
);
564 rb_ct
*man_b
= &manifold
[len_f
];
565 len_b
= rb_sphere_scene( rbb
, &world
.rb_geo
, man_b
);
566 rb_manifold_filter_coplanar( man_b
, len_b
, 0.05f
);
567 rb_manifold_filter_pairs( man_b
, len_b
, 0.05f
);
569 rb_manifold_filter_backface( man_b
, len_b
);
570 len_b
= rb_manifold_apply_filtered( man_b
, len_b
);
572 int len
= len_f
+len_b
;
576 * Preprocess collision points, and create a surface picture.
577 * we want contacts that are within our 'capsule's internal line to be
578 * clamped so that they face the line and do not oppose, to stop the
579 * player hanging up on stuff
581 for( int i
=0; i
<len
; i
++ )
584 v3_sub( manifold
[i
].co
, rbf
->co
, dfront
);
585 v3_sub( manifold
[i
].co
, rbb
->co
, dback
);
587 if( (v3_dot( dfront
, phys
->rb
.forward
) < -0.02f
) &&
588 (v3_dot( dback
, phys
->rb
.forward
) > 0.02f
))
590 float p
= v3_dot( manifold
[i
].n
, phys
->rb
.forward
);
591 v3_muladds( manifold
[i
].n
, phys
->rb
.forward
, -p
, manifold
[i
].n
);
592 v3_normalize( manifold
[i
].n
);
597 rb_presolve_contacts( manifold
, len
);
598 v3f surface_avg
= {0.0f
, 0.0f
, 0.0f
};
606 for( int i
=0; i
<len
; i
++ )
608 v3_add( manifold
[i
].n
, surface_avg
, surface_avg
);
611 v3_normalize( surface_avg
);
613 if( v3_dot( phys
->rb
.v
, surface_avg
) > 0.5f
)
623 for( int j
=0; j
<5; j
++ )
625 for( int i
=0; i
<len
; i
++ )
627 struct contact
*ct
= &manifold
[i
];
630 v3_sub( ct
->co
, phys
->rb
.co
, delta
);
631 v3_cross( phys
->rb
.w
, delta
, dv
);
632 v3_add( phys
->rb
.v
, dv
, dv
);
634 float vn
= -v3_dot( dv
, ct
->n
);
637 float temp
= ct
->norm_impulse
;
638 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
639 vn
= ct
->norm_impulse
- temp
;
642 v3_muls( ct
->n
, vn
, impulse
);
644 if( fabsf(v3_dot( impulse
, phys
->rb
.forward
)) > 10.0f
||
645 fabsf(v3_dot( impulse
, phys
->rb
.up
)) > 50.0f
)
651 v3_add( impulse
, phys
->rb
.v
, phys
->rb
.v
);
652 v3_cross( delta
, impulse
, impulse
);
655 * W Impulses are limited to the Y and X axises, we don't really want
656 * roll angular velocities being included.
658 * Can also tweak the resistance of each axis here by scaling the wx,wy
662 float wy
= v3_dot( phys
->rb
.up
, impulse
),
663 wx
= v3_dot( phys
->rb
.right
, impulse
)*1.5f
;
665 v3_muladds( phys
->rb
.w
, phys
->rb
.up
, wy
, phys
->rb
.w
);
666 v3_muladds( phys
->rb
.w
, phys
->rb
.right
, wx
, phys
->rb
.w
);
670 float grabt
= player
.input_grab
->axis
.value
;
674 v2_muladds( phys
->grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
675 phys
->grab_mouse_delta
);
676 v2_normalize_clamp( phys
->grab_mouse_delta
);
679 v2_zero( phys
->grab_mouse_delta
);
681 phys
->grab
= vg_lerpf( phys
->grab
, grabt
, 0.14f
);
682 player
.phys
.pushing
= 0.0f
;
686 /* 20/10/22: make this only go axisways instead, may effect velocities. */
690 float d
= v3_dot( phys
->rb
.forward
, surface_avg
);
691 v3_muladds( surface_avg
, phys
->rb
.forward
, -d
, projected
);
692 v3_normalize( projected
);
694 float angle
= v3_dot( phys
->rb
.up
, projected
);
695 v3_cross( phys
->rb
.up
, projected
, axis
);
698 v3_add( phys
->rb
.co
, projected
, p0
);
699 v3_add( phys
->rb
.co
, phys
->rb
.up
, p1
);
700 vg_line( phys
->rb
.co
, p0
, 0xff00ff00 );
701 vg_line( phys
->rb
.co
, p1
, 0xff000fff );
703 if( fabsf(angle
) < 0.999f
)
706 q_axis_angle( correction
, axis
, acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
707 q_mul( correction
, phys
->rb
.q
, phys
->rb
.q
);
710 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
711 v3_muladds( phys
->rb
.v
, phys
->rb
.up
, DOWNFORCE
, phys
->rb
.v
);
713 player_physics_control();
715 if( !phys
->jump_charge
&& phys
->jump
> 0.2f
)
719 /* Launch more up if alignment is up else improve velocity */
720 float aup
= fabsf(v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, phys
->rb
.up
)),
722 dir
= mod
+ aup
*(1.0f
-mod
);
724 v3_copy( phys
->rb
.v
, jumpdir
);
725 v3_normalize( jumpdir
);
726 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
727 v3_muladds( jumpdir
, phys
->rb
.up
, dir
, jumpdir
);
728 v3_normalize( jumpdir
);
730 float force
= k_jump_force
*phys
->jump
;
731 v3_muladds( phys
->rb
.v
, jumpdir
, force
, phys
->rb
.v
);
734 player
.jump_time
= vg
.time
;
736 /* TODO: Move to audio file */
738 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
739 audio_player_set_position( &audio_player_extra
, phys
->rb
.co
);
740 audio_player_set_vol( &audio_player_extra
, 20.0f
);
741 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
747 player_physics_control_air();
750 if( !phys
->jump_charge
)
752 phys
->jump
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
755 phys
->jump_charge
= 0;
756 phys
->jump
= vg_clampf( phys
->jump
, 0.0f
, 1.0f
);
759 VG_STATIC
void player_save_frame(void)
761 player
.phys_gate_frame
= player
.phys
;
764 VG_STATIC
void player_restore_frame(void)
766 player
.phys
= player
.phys_gate_frame
;
767 rb_update_transform( &player
.phys
.rb
);
770 VG_STATIC
void player_integrate(void)
772 struct player_phys
*phys
= &player
.phys
;
773 apply_gravity( phys
->rb
.v
, VG_TIMESTEP_FIXED
);
774 v3_muladds( phys
->rb
.co
, phys
->rb
.v
, VG_TIMESTEP_FIXED
, phys
->rb
.co
);
777 VG_STATIC
void player_do_motion(void)
779 struct player_phys
*phys
= &player
.phys
;
781 if( world
.water
.enabled
)
783 if( (phys
->rb
.co
[1] < 0.0f
) && !player
.is_dead
)
786 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
787 audio_player_set_position( &audio_player_extra
, phys
->rb
.co
);
788 audio_player_set_vol( &audio_player_extra
, 20.0f
);
789 audio_player_playclip( &audio_player_extra
, &audio_splash
);
798 v3_copy( phys
->rb
.co
, prevco
);
806 player_walk_physics();
809 /* Real angular velocity integration */
810 v3_lerp( phys
->rb
.w
, (v3f
){0.0f
,0.0f
,0.0f
}, 0.125f
, phys
->rb
.w
);
811 if( v3_length2( phys
->rb
.w
) > 0.0f
)
815 v3_copy( phys
->rb
.w
, axis
);
817 float mag
= v3_length( axis
);
818 v3_divs( axis
, mag
, axis
);
819 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
820 q_mul( rotation
, phys
->rb
.q
, phys
->rb
.q
);
823 /* Faux angular velocity */
826 float lerpq
= phys
->in_air
? 0.04f
: 0.3f
;
827 phys
->siY
= vg_lerpf( phys
->siY
, phys
->iY
, lerpq
);
829 q_axis_angle( rotate
, phys
->rb
.up
, phys
->siY
);
830 q_mul( rotate
, phys
->rb
.q
, phys
->rb
.q
);
834 * Gate intersection, by tracing a line over the gate planes
836 for( int i
=0; i
<world
.gate_count
; i
++ )
838 struct route_gate
*rg
= &world
.gates
[i
];
839 teleport_gate
*gate
= &rg
->gate
;
841 if( gate_intersect( gate
, phys
->rb
.co
, prevco
) )
843 m4x3_mulv( gate
->transport
, phys
->rb
.co
, phys
->rb
.co
);
844 m3x3_mulv( gate
->transport
, phys
->rb
.v
, phys
->rb
.v
);
845 m3x3_mulv( gate
->transport
, phys
->vl
, phys
->vl
);
846 m3x3_mulv( gate
->transport
, phys
->v_last
, phys
->v_last
);
847 m3x3_mulv( gate
->transport
, phys
->m
, phys
->m
);
848 m3x3_mulv( gate
->transport
, phys
->bob
, phys
->bob
);
850 v4f transport_rotation
;
851 m3x3_q( gate
->transport
, transport_rotation
);
852 q_mul( transport_rotation
, phys
->rb
.q
, phys
->rb
.q
);
854 world_routes_activate_gate( i
);
856 if( !phys
->on_board
)
858 v3f fwd_dir
= {cosf(player
.angles
[0]),
860 sinf(player
.angles
[0])};
861 m3x3_mulv( gate
->transport
, fwd_dir
, fwd_dir
);
863 player
.angles
[0] = atan2f( fwd_dir
[2], fwd_dir
[0] );
866 player
.rewind_length
= 0;
867 player
.rewind_total_length
= 0.0f
;
868 player
.rewind_incrementer
= 10000;
872 audio_play_oneshot( &audio_gate_pass
, 1.0f
);
878 rb_update_transform( &phys
->rb
);
881 VG_STATIC
void player_freecam(void)
885 float movespeed
= fc_speed
;
886 v3f lookdir
= { 0.0f
, 0.0f
, -1.0f
},
887 sidedir
= { 1.0f
, 0.0f
, 0.0f
};
889 m3x3_mulv( camera_mtx
, lookdir
, lookdir
);
890 m3x3_mulv( camera_mtx
, sidedir
, sidedir
);
892 static v3f move_vel
= { 0.0f
, 0.0f
, 0.0f
};
896 if( vg_get_button( "forward" ) )
897 v3_muladds( move_vel
, lookdir
, VG_TIMESTEP_FIXED
* movespeed
, move_vel
);
898 if( vg_get_button( "back" ) )
899 v3_muladds( move_vel
, lookdir
, VG_TIMESTEP_FIXED
*-movespeed
, move_vel
);
900 if( vg_get_button( "left" ) )
901 v3_muladds( move_vel
, sidedir
, VG_TIMESTEP_FIXED
*-movespeed
, move_vel
);
902 if( vg_get_button( "right" ) )
903 v3_muladds( move_vel
, sidedir
, VG_TIMESTEP_FIXED
* movespeed
, move_vel
);
906 v3_muls( move_vel
, 0.7f
, move_vel
);
907 v3_add( move_vel
, player
.camera_pos
, player
.camera_pos
);
910 VG_STATIC
int reset_player( int argc
, char const *argv
[] )
912 struct player_phys
*phys
= &player
.phys
;
913 struct respawn_point
*rp
= NULL
, *r
;
917 for( int i
=0; i
<world
.spawn_count
; i
++ )
919 r
= &world
.spawns
[i
];
920 if( !strcmp( r
->name
, argv
[0] ) )
928 vg_warn( "No spawn named '%s'\n", argv
[0] );
933 float min_dist
= INFINITY
;
935 for( int i
=0; i
<world
.spawn_count
; i
++ )
937 r
= &world
.spawns
[i
];
938 float d
= v3_dist2( r
->co
, phys
->rb
.co
);
940 vg_info( "Dist %s : %f\n", r
->name
, d
);
951 vg_error( "No spawn found\n" );
952 if( !world
.spawn_count
)
955 rp
= &world
.spawns
[0];
961 q_m3x3( rp
->q
, the_long_way
);
963 v3f delta
= {1.0f
,0.0f
,0.0f
};
964 m3x3_mulv( the_long_way
, delta
, delta
);
966 player
.angles
[0] = atan2f( delta
[0], -delta
[2] );
967 player
.angles
[1] = -asinf( delta
[1] );
970 v4_copy( rp
->q
, phys
->rb
.q
);
971 v3_copy( rp
->co
, phys
->rb
.co
);
972 v3_zero( phys
->rb
.v
);
974 phys
->vswitch
= 1.0f
;
975 phys
->slip_last
= 0.0f
;
978 m3x3_identity( phys
->vr
);
980 player
.mdl
.shoes
[0] = 1;
981 player
.mdl
.shoes
[1] = 1;
983 rb_update_transform( &phys
->rb
);
988 #endif /* PLAYER_PHYSICS_H */