6 VG_STATIC
void player__skate_bind( player_instance
*player
)
8 struct player_skate
*s
= &player
->_skate
;
9 struct player_avatar
*av
= player
->playeravatar
;
10 struct skeleton
*sk
= &av
->sk
;
12 rb_update_transform( &player
->rb
);
13 s
->anim_stand
= skeleton_get_anim( sk
, "pose_stand" );
14 s
->anim_highg
= skeleton_get_anim( sk
, "pose_highg" );
15 s
->anim_air
= skeleton_get_anim( sk
, "pose_air" );
16 s
->anim_slide
= skeleton_get_anim( sk
, "pose_slide" );
17 s
->anim_push
= skeleton_get_anim( sk
, "push" );
18 s
->anim_push_reverse
= skeleton_get_anim( sk
, "push_reverse" );
19 s
->anim_ollie
= skeleton_get_anim( sk
, "ollie" );
20 s
->anim_ollie_reverse
= skeleton_get_anim( sk
, "ollie_reverse" );
21 s
->anim_grabs
= skeleton_get_anim( sk
, "grabs" );
25 * Collision detection routines
31 * Does collision detection on a sphere vs world, and applies some smoothing
32 * filters to the manifold afterwards
34 VG_STATIC
int skate_collide_smooth( player_instance
*player
,
35 m4x3f mtx
, rb_sphere
*sphere
,
39 len
= rb_sphere__scene( mtx
, sphere
, NULL
, &world
.rb_geo
.inf
.scene
, man
);
41 for( int i
=0; i
<len
; i
++ )
43 man
[i
].rba
= &player
->rb
;
47 rb_manifold_filter_coplanar( man
, len
, 0.03f
);
51 rb_manifold_filter_backface( man
, len
);
52 rb_manifold_filter_joint_edges( man
, len
, 0.03f
);
53 rb_manifold_filter_pairs( man
, len
, 0.03f
);
55 int new_len
= rb_manifold_apply_filtered( man
, len
);
69 VG_STATIC
int skate_grind_scansq( player_instance
*player
,
70 v3f pos
, v3f dir
, float r
,
71 struct grind_info
*inf
)
74 v3_copy( dir
, plane
);
75 v3_normalize( plane
);
76 plane
[3] = v3_dot( plane
, pos
);
79 v3_add( pos
, (v3f
){ r
, r
, r
}, box
[1] );
80 v3_sub( pos
, (v3f
){ r
, r
, r
}, box
[0] );
83 bh_iter_init( 0, &it
);
100 v3_cross( plane
, player
->basis
[1], support_axis
);
101 v3_normalize( support_axis
);
103 while( bh_next( world
.geo_bh
, &it
, box
, &idx
) )
105 u32
*ptri
= &world
.scene_geo
->arrindices
[ idx
*3 ];
108 struct world_material
*mat
= world_tri_index_material(ptri
[0]);
109 if( !(mat
->info
.flags
& k_material_flag_skate_surface
) )
112 for( int j
=0; j
<3; j
++ )
113 v3_copy( world
.scene_geo
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
115 for( int j
=0; j
<3; j
++ )
120 struct grind_sample
*sample
= &samples
[ sample_count
];
123 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) )
126 v3_sub( co
, pos
, d
);
127 if( v3_length2( d
) > r
*r
)
131 v3_sub( tri
[1], tri
[0], va
);
132 v3_sub( tri
[2], tri
[0], vb
);
133 v3_cross( va
, vb
, normal
);
135 sample
->normal
[0] = v3_dot( support_axis
, normal
);
136 sample
->normal
[1] = v3_dot( player
->basis
[1], normal
);
137 sample
->co
[0] = v3_dot( support_axis
, d
);
138 sample
->co
[1] = v3_dot( player
->basis
[1], d
);
140 v3_copy( normal
, sample
->normal3
); /* normalize later
141 if we want to us it */
143 v3_muls( tri
[0], 1.0f
/3.0f
, sample
->centroid
);
144 v3_muladds( sample
->centroid
, tri
[1], 1.0f
/3.0f
, sample
->centroid
);
145 v3_muladds( sample
->centroid
, tri
[2], 1.0f
/3.0f
, sample
->centroid
);
147 v2_normalize( sample
->normal
);
150 if( sample_count
== vg_list_size( samples
) )
151 goto too_many_samples
;
158 if( sample_count
< 2 )
166 v2_fill( min_co
, INFINITY
);
167 v2_fill( max_co
, -INFINITY
);
169 v3_zero( average_direction
);
170 v3_zero( average_normal
);
172 int passed_samples
= 0;
174 for( int i
=0; i
<sample_count
-1; i
++ )
176 struct grind_sample
*si
, *sj
;
180 for( int j
=i
+1; j
<sample_count
; j
++ )
187 /* non overlapping */
188 if( v2_dist2( si
->co
, sj
->co
) >= (0.01f
*0.01f
) )
191 /* not sharp angle */
192 if( v2_dot( si
->normal
, sj
->normal
) >= 0.7f
)
197 v3_sub( sj
->centroid
, si
->centroid
, v0
);
198 if( v3_dot( v0
, si
->normal3
) >= 0.0f
||
199 v3_dot( v0
, sj
->normal3
) <= 0.0f
)
202 v2_minv( sj
->co
, min_co
, min_co
);
203 v2_maxv( sj
->co
, max_co
, max_co
);
206 v3_copy( si
->normal3
, n0
);
207 v3_copy( sj
->normal3
, n1
);
208 v3_cross( n0
, n1
, dir
);
211 /* make sure the directions all face a common hemisphere */
212 v3_muls( dir
, vg_signf(v3_dot(dir
,plane
)), dir
);
213 v3_add( average_direction
, dir
, average_direction
);
215 float yi
= v3_dot( player
->basis
[1], si
->normal3
),
216 yj
= v3_dot( player
->basis
[1], sj
->normal3
);
219 v3_add( si
->normal3
, average_normal
, average_normal
);
221 v3_add( sj
->normal3
, average_normal
, average_normal
);
227 if( !passed_samples
)
230 if( (v3_length2( average_direction
) <= 0.001f
) ||
231 (v3_length2( average_normal
) <= 0.001f
) )
234 float div
= 1.0f
/(float)passed_samples
;
235 v3_normalize( average_direction
);
236 v3_normalize( average_normal
);
239 v2_add( min_co
, max_co
, average_coord
);
240 v2_muls( average_coord
, 0.5f
, average_coord
);
242 v3_muls( support_axis
, average_coord
[0], inf
->co
);
243 inf
->co
[1] += average_coord
[1];
244 v3_add( pos
, inf
->co
, inf
->co
);
245 v3_copy( average_normal
, inf
->n
);
246 v3_copy( average_direction
, inf
->dir
);
248 vg_line_pt3( inf
->co
, 0.02f
, VG__GREEN
);
249 vg_line_arrow( inf
->co
, average_direction
, 0.3f
, VG__GREEN
);
250 vg_line_arrow( inf
->co
, inf
->n
, 0.2f
, VG__CYAN
);
252 return passed_samples
;
255 VG_STATIC
int solve_prediction_for_target( player_instance
*player
,
256 v3f target
, float max_angle
,
257 struct land_prediction
*p
)
259 /* calculate the exact solution(s) to jump onto that grind spot */
262 v3_sub( target
, player
->rb
.co
, v0
);
263 m3x3_mulv( player
->invbasis
, v0
, v0
);
271 m3x3_mulv( player
->invbasis
, player
->rb
.v
, v_local
);
273 v2f d
= { v3_dot( ax
, v0
), v0
[1] },
274 v
= { v3_dot( ax
, player
->rb
.v
), v_local
[1] };
276 float a
= atan2f( v
[1], v
[0] ),
278 root
= m
*m
*m
*m
- p
->gravity
*(p
->gravity
*d
[0]*d
[0] + 2.0f
*d
[1]*m
*m
);
282 root
= sqrtf( root
);
283 float a0
= atanf( (m
*m
+ root
) / (p
->gravity
* d
[0]) ),
284 a1
= atanf( (m
*m
- root
) / (p
->gravity
* d
[0]) );
286 if( fabsf(a0
-a
) > fabsf(a1
-a
) )
289 if( fabsf(a0
-a
) > max_angle
)
292 /* TODO: sweep the path before chosing the smallest dist */
297 p
->type
= k_prediction_grind
;
299 v3_muls( ax
, cosf( a0
) * m
, p
->v
);
300 p
->v
[1] += sinf( a0
) * m
;
301 m3x3_mulv( player
->basis
, p
->v
, p
->v
);
303 p
->land_dist
= d
[0] / (cosf(a0
)*m
);
306 for( int i
=0; i
<=20; i
++ )
308 float t
= (float)i
* (1.0f
/20.0f
) * p
->land_dist
;
311 v3_muls( p
->v
, t
, p0
);
312 v3_muladds( p0
, player
->basis
[1], -0.5f
* p
->gravity
* t
*t
, p0
);
314 v3_add( player
->rb
.co
, p0
, p
->log
[ p
->log_length
++ ] );
324 void player__approximate_best_trajectory( player_instance
*player
)
326 struct player_skate
*s
= &player
->_skate
;
327 float k_trace_delta
= k_rb_delta
* 10.0f
;
329 s
->state
.air_start
= vg
.time
;
330 v3_copy( player
->rb
.v
, s
->state
.air_init_v
);
331 v3_copy( player
->rb
.co
, s
->state
.air_init_co
);
333 s
->prediction_count
= 0;
336 v3_cross( player
->rb
.v
, player
->rb
.to_world
[1], axis
);
337 v3_normalize( axis
);
339 /* at high slopes, Y component is low */
340 float upness
= v3_dot( player
->rb
.to_world
[1], player
->basis
[1] ),
341 angle_begin
= -(1.0f
-fabsf( upness
)),
344 struct grind_info grind
;
345 int grind_located
= 0;
347 for( int m
=0;m
<=30; m
++ )
349 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
354 p
->type
= k_prediction_none
;
356 v3f launch_co
, launch_v
, co0
, co1
;
357 v3_copy( player
->rb
.co
, launch_co
);
358 v3_copy( player
->rb
.v
, launch_v
);
359 v3_copy( launch_co
, co0
);
361 float vt
= (float)m
* (1.0f
/30.0f
),
362 ang
= vg_lerpf( angle_begin
, angle_end
, vt
) * 0.15f
;
365 q_axis_angle( qbias
, axis
, ang
);
366 q_mulv( qbias
, launch_v
, launch_v
);
368 float yaw_sketch
= 1.0f
-fabsf(upness
);
370 float yaw_bias
= ((float)(m
%3) - 1.0f
) * 0.08f
* yaw_sketch
;
371 q_axis_angle( qbias
, player
->rb
.to_world
[1], yaw_bias
);
372 q_mulv( qbias
, launch_v
, launch_v
);
375 float gravity_bias
= vg_lerpf( 0.85f
, 1.4f
, vt
),
376 gravity
= k_gravity
* gravity_bias
;
377 p
->gravity
= gravity
;
379 v3_copy( launch_v
, p
->v
);
381 for( int i
=1; i
<=50; i
++ )
383 float t
= (float)i
* k_trace_delta
;
385 v3_muls( launch_v
, t
, co1
);
386 v3_muladds( co1
, player
->basis
[1], -0.5f
* gravity
* t
*t
, co1
);
387 v3_add( launch_co
, co1
, co1
);
389 float launch_vy
= v3_dot( launch_v
,player
->basis
[1] );
390 if( !grind_located
&& (launch_vy
- gravity
*t
< 0.0f
) )
393 if( bh_closest_point( world
.geo_bh
, co1
, closest
, 1.0f
) != -1 )
396 v3_copy( launch_v
, ve
);
397 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
399 if( skate_grind_scansq( player
, closest
, ve
, 0.5f
, &grind
) )
401 /* check alignment */
402 v2f v0
= { v3_dot( ve
, player
->basis
[0] ),
403 v3_dot( ve
, player
->basis
[2] ) },
404 v1
= { v3_dot( grind
.dir
, player
->basis
[0] ),
405 v3_dot( grind
.dir
, player
->basis
[2] ) };
410 float a
= v2_dot( v0
, v1
);
412 if( a
>= cosf( VG_PIf
* 0.185f
) )
423 int idx
= spherecast_world( co0
, co1
, k_board_radius
, &t1
, n
);
427 v3_lerp( co0
, co1
, t1
, co
);
428 v3_copy( co
, p
->log
[ p
->log_length
++ ] );
431 p
->type
= k_prediction_land
;
434 v3_copy( launch_v
, ve
);
435 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
437 struct grind_info replace_grind
;
438 if( skate_grind_scansq( player
, co
, ve
, 0.3f
, &replace_grind
) )
440 v3_copy( replace_grind
.n
, p
->n
);
441 p
->type
= k_prediction_grind
;
444 p
->score
= -v3_dot( ve
, p
->n
);
445 p
->land_dist
= t
+ k_trace_delta
* t1
;
447 u32 vert_index
= world
.scene_geo
->arrindices
[ idx
*3 ];
448 struct world_material
*mat
= world_tri_index_material( vert_index
);
450 /* Bias prediction towords ramps */
451 if( !(mat
->info
.flags
& k_material_flag_skate_surface
) )
458 v3_copy( co1
, p
->log
[ p
->log_length
++ ] );
463 if( p
->type
== k_prediction_none
)
464 s
->prediction_count
--;
469 /* calculate the exact solution(s) to jump onto that grind spot */
470 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
];
471 p
->gravity
= k_gravity
;
473 if( solve_prediction_for_target( player
, grind
.co
, 0.125f
*VG_PIf
, p
) )
475 v3_copy( grind
.n
, p
->n
);
477 /* determine score */
480 v3_muladds( ve
, player
->basis
[1], -p
->gravity
* p
->land_dist
, ve
);
481 p
->score
= -v3_dot( ve
, grind
.n
) * 0.85f
;
483 s
->prediction_count
++;
488 float score_min
= INFINITY
,
489 score_max
= -INFINITY
;
491 struct land_prediction
*best
= NULL
;
493 for( int i
=0; i
<s
->prediction_count
; i
++ )
495 struct land_prediction
*p
= &s
->predictions
[i
];
497 if( p
->score
< score_min
)
500 score_min
= vg_minf( score_min
, p
->score
);
501 score_max
= vg_maxf( score_max
, p
->score
);
504 for( int i
=0; i
<s
->prediction_count
; i
++ )
506 struct land_prediction
*p
= &s
->predictions
[i
];
510 s
/= (score_max
-score_min
);
514 p
->colour
= s
* 255.0f
;
518 else if( p
->type
== k_prediction_land
)
521 p
->colour
|= 0xff000000;
526 v3_copy( best
->n
, s
->land_normal
);
527 v3_copy( best
->v
, player
->rb
.v
);
528 s
->land_dist
= best
->land_dist
;
530 v2f steer
= { player
->input_js1h
->axis
.value
,
531 player
->input_js1v
->axis
.value
};
532 v2_normalize_clamp( steer
);
533 s
->state
.gravity_bias
= best
->gravity
;
535 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.5f
) )
537 s
->state
.flip_rate
= (1.0f
/s
->land_dist
) * vg_signf(steer
[1]) *
539 s
->state
.flip_time
= 0.0f
;
540 v3_copy( player
->rb
.to_world
[0], s
->state
.flip_axis
);
544 s
->state
.flip_rate
= 0.0f
;
545 v3_zero( s
->state
.flip_axis
);
550 v3_copy( player
->basis
[1], s
->land_normal
);
556 * Varius physics models
557 * ------------------------------------------------
561 * Air control, no real physics
563 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
565 struct player_skate
*s
= &player
->_skate
;
567 if( s
->state
.activity_prev
!= k_skate_activity_air
)
568 player__approximate_best_trajectory( player
);
570 float angle
= v3_dot( player
->rb
.to_world
[1], s
->land_normal
);
571 angle
= vg_clampf( angle
, -1.0f
, 1.0f
);
573 v3_cross( player
->rb
.to_world
[1], s
->land_normal
, axis
);
576 q_axis_angle( correction
, axis
,
577 acosf(angle
)*2.0f
*VG_TIMESTEP_FIXED
);
578 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
580 v2f steer
= { player
->input_js1h
->axis
.value
,
581 player
->input_js1v
->axis
.value
};
582 v2_normalize_clamp( steer
);
585 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
586 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
588 struct player_skate
*s
= &player
->_skate
;
591 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
593 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
594 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
596 v3_mul( strength
, F
, F
);
598 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
599 s
->board_trick_residualv
);
600 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
601 k_rb_delta
, s
->board_trick_residuald
);
603 if( s
->state
.activity
== k_skate_activity_air
)
605 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
608 int carry_on
= player_skate_trick_input( player
);
610 /* we assume velocities share a common divisor, in which case the
611 * interval is the minimum value (if not zero) */
613 float min_rate
= 99999.0f
;
615 for( int i
=0; i
<3; i
++ )
617 float v
= s
->state
.trick_vel
[i
];
618 if( (v
> 0.0f
) && (v
< min_rate
) )
622 float interval
= 1.0f
/ min_rate
,
623 current
= floorf( s
->state
.trick_time
/ interval
),
624 next_end
= (current
+1.0f
) * interval
;
627 /* integrate trick velocities */
628 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
629 s
->state
.trick_euler
);
631 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) )
633 s
->state
.trick_time
= 0.0f
;
634 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
635 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
636 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
637 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
638 v3_zero( s
->state
.trick_vel
);
641 s
->state
.trick_time
+= k_rb_delta
;
645 if( (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
646 s
->state
.trick_time
> 0.2f
)
648 player__dead_transition( player
);
651 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
652 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
653 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
654 s
->state
.trick_time
= 0.0f
;
655 v3_zero( s
->state
.trick_vel
);
659 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
661 struct player_skate
*s
= &player
->_skate
;
663 float grabt
= player
->input_grab
->axis
.value
;
667 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
668 s
->state
.grab_mouse_delta
);
670 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
673 v2_zero( s
->state
.grab_mouse_delta
);
675 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
678 VG_STATIC
void skate_apply_steering_model( player_instance
*player
)
680 struct player_skate
*s
= &player
->_skate
;
683 float steer
= player
->input_js1h
->axis
.value
,
684 grab
= player
->input_grab
->axis
.value
;
686 steer
= vg_signf( steer
) * steer
*steer
* k_steer_ground
;
689 v3_muls( player
->rb
.to_world
[1], -vg_signf( steer
), steer_axis
);
694 if( s
->state
.activity
== k_skate_activity_air
)
696 rate
= 6.0f
* fabsf(steer
);
701 /* rotate slower when grabbing on ground */
702 steer
*= (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
);
704 if( s
->state
.activity
== k_skate_activity_grind_5050
)
710 else if( s
->state
.activity
>= k_skate_activity_grind_any
)
712 rate
*= fabsf(steer
);
714 float a
= 0.8f
* -steer
* k_rb_delta
;
717 q_axis_angle( q
, player
->rb
.to_world
[1], a
);
718 q_mulv( q
, s
->grind_vec
, s
->grind_vec
);
720 v3_normalize( s
->grind_vec
);
723 else if( s
->state
.manual_direction
)
730 float current
= v3_dot( player
->rb
.to_world
[1], player
->rb
.w
),
731 addspeed
= (steer
* -top
) - current
,
732 maxaccel
= rate
* k_rb_delta
,
733 accel
= vg_clampf( addspeed
, -maxaccel
, maxaccel
);
735 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], accel
, player
->rb
.w
);
739 * Computes friction and surface interface model
741 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
743 struct player_skate
*s
= &player
->_skate
;
746 * Computing localized friction forces for controlling the character
747 * Friction across X is significantly more than Z
751 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
754 if( fabsf(vel
[2]) > 0.01f
)
755 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
757 if( fabsf( slip
) > 1.2f
)
758 slip
= vg_signf( slip
) * 1.2f
;
760 s
->state
.slip
= slip
;
761 s
->state
.reverse
= -vg_signf(vel
[2]);
763 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
764 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
766 /* Pushing additive force */
768 if( !player
->input_jump
->button
.value
)
770 if( player
->input_push
->button
.value
||
771 (vg
.time
-s
->state
.start_push
<0.75) )
773 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
774 s
->state
.start_push
= vg
.time
;
776 s
->state
.cur_push
= vg
.time
;
778 double push_time
= vg
.time
- s
->state
.start_push
;
780 float cycle_time
= push_time
*k_push_cycle_rate
,
781 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
782 amt
= accel
* VG_TIMESTEP_FIXED
,
783 current
= v3_length( vel
),
784 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
785 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
787 vel
[2] += delta
* -s
->state
.reverse
;
791 /* Send back to velocity */
792 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
795 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
797 struct player_skate
*s
= &player
->_skate
;
798 int charging_jump_prev
= s
->state
.charging_jump
;
799 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
801 /* Cannot charge this in air */
802 if( s
->state
.activity
== k_skate_activity_air
)
804 s
->state
.charging_jump
= 0;
808 if( s
->state
.charging_jump
)
810 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
812 if( !charging_jump_prev
)
813 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
817 s
->state
.jump_charge
-= k_jump_charge_speed
* k_rb_delta
;
820 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
822 /* player let go after charging past 0.2: trigger jump */
823 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
827 /* Launch more up if alignment is up else improve velocity */
828 float aup
= v3_dot( player
->basis
[1], player
->rb
.to_world
[1] ),
830 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
832 v3_copy( player
->rb
.v
, jumpdir
);
833 v3_normalize( jumpdir
);
834 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
835 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
836 v3_normalize( jumpdir
);
838 float force
= k_jump_force
*s
->state
.jump_charge
;
839 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
840 s
->state
.jump_charge
= 0.0f
;
841 s
->state
.jump_time
= vg
.time
;
842 s
->state
.activity
= k_skate_activity_air
;
844 v2f steer
= { player
->input_js1h
->axis
.value
,
845 player
->input_js1v
->axis
.value
};
846 v2_normalize_clamp( steer
);
850 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
851 s
->state
.steery_s
= -steer
[0] * maxspin
;
852 s
->state
.steerx
= s
->state
.steerx_s
;
853 s
->state
.lift_frames
++;
856 /* FIXME audio events */
859 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
860 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
861 audio_player_set_vol( &audio_player_extra
, 20.0f
);
862 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
868 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
870 struct player_skate
*s
= &player
->_skate
;
872 /* Throw / collect routine
874 * TODO: Max speed boost
876 if( player
->input_grab
->axis
.value
> 0.5f
)
878 if( s
->state
.activity
== k_skate_activity_ground
)
881 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
887 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
890 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
892 if( s
->state
.activity
== k_skate_activity_ground
)
894 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
895 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
898 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
899 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
900 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
904 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
907 v3_copy( s
->state
.throw_v
, dir
);
910 float max
= v3_dot( dir
, s
->state
.throw_v
),
911 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
912 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
916 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
918 struct player_skate
*s
= &player
->_skate
;
920 v3f ideal_cog
, ideal_diff
, ideal_dir
;
921 v3_copy( s
->state
.up_dir
, ideal_dir
);
922 v3_normalize( ideal_dir
);
924 v3_muladds( player
->rb
.co
, ideal_dir
,
925 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
926 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
928 /* Apply velocities */
930 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
933 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
934 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
936 float ra
= k_cog_mass_ratio
,
937 rb
= 1.0f
-k_cog_mass_ratio
;
939 /* Apply forces & intergrate */
940 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
941 v3_muladds( s
->state
.cog_v
, player
->basis
[1], -9.8f
* k_rb_delta
,
944 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
948 VG_STATIC
void skate_integrate( player_instance
*player
)
950 struct player_skate
*s
= &player
->_skate
;
952 float decay_rate
= 1.0f
- (k_rb_delta
* 3.0f
),
955 if( s
->state
.activity
>= k_skate_activity_grind_any
)
957 decay_rate
= 1.0f
-vg_lerpf( 3.0f
, 20.0f
, s
->grind_strength
) * k_rb_delta
;
958 decay_rate_y
= decay_rate
;
961 float wx
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[0] ) * decay_rate
,
962 wy
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[1] ) * decay_rate_y
,
963 wz
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[2] ) * decay_rate
;
965 v3_muls( player
->rb
.to_world
[0], wx
, player
->rb
.w
);
966 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
967 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
969 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
970 rb_update_transform( &player
->rb
);
977 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
979 return (player
->input_trick0
->button
.value
) |
980 (player
->input_trick1
->button
.value
<< 1) |
981 (player
->input_trick2
->button
.value
<< 1) |
982 (player
->input_trick2
->button
.value
);
985 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
987 struct player_skate
*s
= &player
->_skate
;
989 if( vg_input_button_down( player
->input_use
) )
991 player
->subsystem
= k_player_subsystem_walk
;
994 v3_copy( player
->cam
.angles
, angles
);
997 player
->holdout_time
= 0.25f
;
998 player__walk_transition( player
, angles
);
1002 if( vg_input_button_down( player
->input_reset
) )
1004 player
->rb
.co
[1] += 2.0f
;
1005 s
->state
.cog
[1] += 2.0f
;
1006 q_axis_angle( player
->rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, VG_PIf
* 0.25f
);
1007 v3_zero( player
->rb
.w
);
1008 v3_zero( player
->rb
.v
);
1010 rb_update_transform( &player
->rb
);
1014 if( (s
->state
.activity
== k_skate_activity_air
) &&
1015 (trick_id
= player_skate_trick_input( player
)) )
1017 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
)
1019 v3_zero( s
->state
.trick_vel
);
1020 s
->state
.trick_time
= 0.0f
;
1024 s
->state
.trick_vel
[0] = 3.0f
;
1026 else if( trick_id
== 2 )
1028 s
->state
.trick_vel
[2] = 3.0f
;
1030 else if( trick_id
== 3 )
1032 s
->state
.trick_vel
[0] = 2.0f
;
1033 s
->state
.trick_vel
[2] = 2.0f
;
1039 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1041 struct player_skate
*s
= &player
->_skate
;
1043 for( int i
=0; i
<s
->prediction_count
; i
++ )
1045 struct land_prediction
*p
= &s
->predictions
[i
];
1047 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1049 float brightness
= p
->score
*p
->score
*p
->score
;
1051 v3_lerp( p
->log
[j
], p
->log
[j
+1], brightness
, p1
);
1052 vg_line( p
->log
[j
], p1
, p
->colour
);
1055 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1058 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1059 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1061 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1065 vg_line_pt3( s
->state
.apex
, 0.030f
, 0xff0000ff );
1070 * truck alignment model at ra(local)
1071 * returns 1 if valid surface:
1072 * surface_normal will be filled out with an averaged normal vector
1073 * axel_dir will be the direction from left to right wheels
1075 * returns 0 if no good surface found
1078 int skate_compute_surface_alignment( player_instance
*player
,
1080 v3f surface_normal
, v3f axel_dir
)
1082 struct player_skate
*s
= &player
->_skate
;
1084 v3f truck
, left
, right
;
1085 m4x3_mulv( player
->rb
.to_world
, ra
, truck
);
1087 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_width
, left
);
1088 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_width
, right
);
1089 vg_line( left
, right
, colour
);
1091 float k_max_truck_flex
= VG_PIf
* 0.25f
;
1093 ray_hit ray_l
, ray_r
;
1096 v3_muls( player
->rb
.to_world
[1], -1.0f
, dir
);
1098 int res_l
= 0, res_r
= 0;
1100 for( int i
=0; i
<8; i
++ )
1102 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1103 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_radius
*t
, left
);
1104 v3_muladds( left
, player
->rb
.to_world
[1], k_board_radius
, left
);
1105 ray_l
.dist
= 2.1f
* k_board_radius
;
1107 res_l
= ray_world( left
, dir
, &ray_l
);
1113 for( int i
=0; i
<8; i
++ )
1115 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1116 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_radius
*t
, right
);
1117 v3_muladds( right
, player
->rb
.to_world
[1], k_board_radius
, right
);
1118 ray_r
.dist
= 2.1f
* k_board_radius
;
1120 res_r
= ray_world( right
, dir
, &ray_r
);
1128 v3f tangent_average
;
1129 v3_muladds( truck
, player
->rb
.to_world
[1], -k_board_radius
, midpoint
);
1130 v3_zero( tangent_average
);
1132 if( res_l
|| res_r
)
1135 v3_copy( midpoint
, p0
);
1136 v3_copy( midpoint
, p1
);
1140 v3_copy( ray_l
.pos
, p0
);
1141 v3_cross( ray_l
.normal
, player
->rb
.to_world
[0], t
);
1142 v3_add( t
, tangent_average
, tangent_average
);
1146 v3_copy( ray_r
.pos
, p1
);
1147 v3_cross( ray_r
.normal
, player
->rb
.to_world
[0], t
);
1148 v3_add( t
, tangent_average
, tangent_average
);
1151 v3_sub( p1
, p0
, v0
);
1156 /* fallback: use the closes point to the trucks */
1158 int idx
= bh_closest_point( world
.geo_bh
, midpoint
, closest
, 0.1f
);
1162 u32
*tri
= &world
.scene_geo
->arrindices
[ idx
* 3 ];
1165 for( int j
=0; j
<3; j
++ )
1166 v3_copy( world
.scene_geo
->arrvertices
[ tri
[j
] ].co
, verts
[j
] );
1168 v3f vert0
, vert1
, n
;
1169 v3_sub( verts
[1], verts
[0], vert0
);
1170 v3_sub( verts
[2], verts
[0], vert1
);
1171 v3_cross( vert0
, vert1
, n
);
1174 if( v3_dot( n
, player
->rb
.to_world
[1] ) < 0.3f
)
1177 v3_cross( n
, player
->rb
.to_world
[2], v0
);
1178 v3_muladds( v0
, player
->rb
.to_world
[2],
1179 -v3_dot( player
->rb
.to_world
[2], v0
), v0
);
1183 v3_cross( n
, player
->rb
.to_world
[0], t
);
1184 v3_add( t
, tangent_average
, tangent_average
);
1190 v3_muladds( truck
, v0
, k_board_width
, right
);
1191 v3_muladds( truck
, v0
, -k_board_width
, left
);
1193 vg_line( left
, right
, VG__WHITE
);
1195 v3_normalize( tangent_average
);
1196 v3_cross( v0
, tangent_average
, surface_normal
);
1197 v3_copy( v0
, axel_dir
);
1202 VG_STATIC
void skate_weight_distribute( player_instance
*player
)
1204 struct player_skate
*s
= &player
->_skate
;
1205 v3_zero( s
->weight_distribution
);
1207 int reverse_dir
= v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) < 0.0f
?1:-1;
1209 if( s
->state
.manual_direction
== 0 )
1211 if( (player
->input_js1v
->axis
.value
> 0.7f
) &&
1212 (s
->state
.activity
== k_skate_activity_ground
) &&
1213 (s
->state
.jump_charge
<= 0.01f
) )
1214 s
->state
.manual_direction
= reverse_dir
;
1218 if( player
->input_js1v
->axis
.value
< 0.1f
)
1220 s
->state
.manual_direction
= 0;
1224 if( reverse_dir
!= s
->state
.manual_direction
)
1231 if( s
->state
.manual_direction
)
1233 float amt
= vg_minf( player
->input_js1v
->axis
.value
* 8.0f
, 1.0f
);
1234 s
->weight_distribution
[2] = k_board_length
* amt
*
1235 (float)s
->state
.manual_direction
;
1238 /* TODO: Fall back on land normal */
1239 /* TODO: Lerp weight distribution */
1240 if( s
->state
.manual_direction
)
1244 m3x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, plane_z
);
1245 v3_negate( plane_z
, plane_z
);
1247 v3_muladds( plane_z
, s
->surface_picture
,
1248 -v3_dot( plane_z
, s
->surface_picture
), plane_z
);
1249 v3_normalize( plane_z
);
1251 v3_muladds( plane_z
, s
->surface_picture
, 0.3f
, plane_z
);
1252 v3_normalize( plane_z
);
1255 v3_muladds( player
->rb
.co
, plane_z
, 1.5f
, p1
);
1256 vg_line( player
->rb
.co
, p1
, VG__GREEN
);
1259 v3_muls( player
->rb
.to_world
[2], -(float)s
->state
.manual_direction
,
1262 rb_effect_spring_target_vector( &player
->rb
, refdir
, plane_z
,
1263 k_manul_spring
, k_manul_dampener
,
1268 VG_STATIC
void skate_adjust_up_direction( player_instance
*player
)
1270 struct player_skate
*s
= &player
->_skate
;
1272 if( s
->state
.activity
== k_skate_activity_ground
)
1275 v3_copy( s
->surface_picture
, target
);
1277 target
[1] += 2.0f
* s
->surface_picture
[1];
1278 v3_normalize( target
);
1280 v3_lerp( s
->state
.up_dir
, target
,
1281 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1283 else if( s
->state
.activity
== k_skate_activity_air
)
1285 v3_lerp( s
->state
.up_dir
, player
->rb
.to_world
[1],
1286 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1290 v3_lerp( s
->state
.up_dir
, player
->basis
[1],
1291 12.0f
* s
->substep_delta
, s
->state
.up_dir
);
1295 VG_STATIC
int skate_point_visible( v3f origin
, v3f target
)
1298 v3_sub( target
, origin
, dir
);
1301 ray
.dist
= v3_length( dir
);
1302 v3_muls( dir
, 1.0f
/ray
.dist
, dir
);
1305 if( ray_world( origin
, dir
, &ray
) )
1311 VG_STATIC
void skate_grind_orient( struct grind_info
*inf
, m3x3f mtx
)
1313 /* TODO: Is N and Dir really orthogonal? */
1314 v3_copy( inf
->dir
, mtx
[0] );
1315 v3_copy( inf
->n
, mtx
[1] );
1316 v3_cross( mtx
[0], mtx
[1], mtx
[2] );
1319 VG_STATIC
void skate_grind_friction( player_instance
*player
,
1320 struct grind_info
*inf
, float strength
)
1323 v3_muladds( player
->rb
.to_world
[2], inf
->n
,
1324 -v3_dot( player
->rb
.to_world
[2], inf
->n
), v2
);
1326 float a
= 1.0f
-fabsf( v3_dot( v2
, inf
->dir
) ),
1327 dir
= vg_signf( v3_dot( player
->rb
.v
, inf
->dir
) ),
1328 F
= a
* -dir
* k_grind_max_friction
;
1330 v3_muladds( player
->rb
.v
, inf
->dir
, F
*k_rb_delta
*strength
, player
->rb
.v
);
1333 VG_STATIC
void skate_grind_decay( player_instance
*player
,
1334 struct grind_info
*inf
, float strength
)
1337 skate_grind_orient( inf
, mtx
);
1338 m3x3_transpose( mtx
, mtx_inv
);
1341 m3x3_mulv( mtx_inv
, player
->rb
.v
, v_grind
);
1343 float decay
= 1.0f
- ( k_rb_delta
* k_grind_decayxy
* strength
);
1344 v3_mul( v_grind
, (v3f
){ 1.0f
, decay
, decay
}, v_grind
);
1345 m3x3_mulv( mtx
, v_grind
, player
->rb
.v
);
1348 VG_STATIC
void skate_grind_truck_apply( player_instance
*player
,
1349 float sign
, struct grind_info
*inf
,
1352 struct player_skate
*s
= &player
->_skate
;
1354 /* TODO: Trash compactor this */
1355 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1357 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1358 v3_add( player
->rb
.co
, raw
, wsp
);
1360 v3_copy( ra
, s
->weight_distribution
);
1363 v3_sub( inf
->co
, wsp
, delta
);
1366 v3_muladds( player
->rb
.v
, delta
, k_spring_force
*strength
*k_rb_delta
,
1369 skate_grind_decay( player
, inf
, strength
);
1370 skate_grind_friction( player
, inf
, strength
);
1372 /* yeah yeah yeah yeah */
1373 v3f raw_nplane
, axis
;
1374 v3_muladds( raw
, inf
->n
, -v3_dot( inf
->n
, raw
), raw_nplane
);
1375 v3_cross( raw_nplane
, inf
->n
, axis
);
1376 v3_normalize( axis
);
1380 skate_grind_orient( inf
, mtx
);
1381 v3f target_fwd
, fwd
, up
, target_up
;
1382 m3x3_mulv( mtx
, s
->grind_vec
, target_fwd
);
1383 v3_copy( raw_nplane
, fwd
);
1384 v3_copy( player
->rb
.to_world
[1], up
);
1385 v3_copy( inf
->n
, target_up
);
1387 v3_muladds( target_fwd
, inf
->n
, -v3_dot(inf
->n
,target_fwd
), target_fwd
);
1388 v3_muladds( fwd
, inf
->n
, -v3_dot(inf
->n
,fwd
), fwd
);
1390 v3_normalize( target_fwd
);
1391 v3_normalize( fwd
);
1394 float way
= player
->input_js1v
->axis
.value
*
1395 vg_signf( v3_dot( raw_nplane
, player
->rb
.v
) );
1398 q_axis_angle( q
, axis
, VG_PIf
*0.125f
* way
);
1399 q_mulv( q
, target_up
, target_up
);
1400 q_mulv( q
, target_fwd
, target_fwd
);
1402 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1407 rb_effect_spring_target_vector( &player
->rb
, fwd
, target_fwd
,
1408 k_grind_spring
*strength
,
1409 k_grind_dampener
*strength
,
1412 vg_line_arrow( player
->rb
.co
, target_up
, 1.0f
, VG__GREEN
);
1413 vg_line_arrow( player
->rb
.co
, fwd
, 0.8f
, VG__RED
);
1414 vg_line_arrow( player
->rb
.co
, target_fwd
, 1.0f
, VG__YELOW
);
1416 s
->grind_strength
= strength
;
1419 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1420 m4x3_mulv( player
->rb
.to_local
, wsp
, limit
->ra
);
1421 m3x3_mulv( player
->rb
.to_local
, inf
->n
, limit
->n
);
1424 v3_copy( inf
->dir
, s
->grind_dir
);
1427 VG_STATIC
void skate_5050_apply( player_instance
*player
,
1428 struct grind_info
*inf_front
,
1429 struct grind_info
*inf_back
)
1431 struct player_skate
*s
= &player
->_skate
;
1432 struct grind_info inf_avg
;
1434 v3_sub( inf_front
->co
, inf_back
->co
, inf_avg
.dir
);
1435 v3_muladds( inf_back
->co
, inf_avg
.dir
, 0.5f
, inf_avg
.co
);
1436 v3_normalize( inf_avg
.dir
);
1438 v3f axis_front
, axis_back
, axis
;
1439 v3_cross( inf_front
->dir
, inf_front
->n
, axis_front
);
1440 v3_cross( inf_back
->dir
, inf_back
->n
, axis_back
);
1441 v3_add( axis_front
, axis_back
, axis
);
1442 v3_normalize( axis
);
1444 v3_cross( axis
, inf_avg
.dir
, inf_avg
.n
);
1446 skate_grind_decay( player
, &inf_avg
, 1.0f
);
1449 float way
= player
->input_js1v
->axis
.value
*
1450 vg_signf( v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) );
1453 v3_copy( player
->rb
.to_world
[1], up
);
1454 v3_copy( inf_avg
.n
, target_up
);
1455 q_axis_angle( q
, player
->rb
.to_world
[0], VG_PIf
*0.25f
* -way
);
1456 q_mulv( q
, target_up
, target_up
);
1458 v3_zero( s
->weight_distribution
);
1459 s
->weight_distribution
[2] = k_board_length
* -way
;
1461 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1466 v3f fwd_nplane
, dir_nplane
;
1467 v3_muladds( player
->rb
.to_world
[2], inf_avg
.n
,
1468 -v3_dot( player
->rb
.to_world
[2], inf_avg
.n
), fwd_nplane
);
1471 v3_muls( inf_avg
.dir
, v3_dot( fwd_nplane
, inf_avg
.dir
), dir
);
1472 v3_muladds( dir
, inf_avg
.n
, -v3_dot( dir
, inf_avg
.n
), dir_nplane
);
1474 v3_normalize( fwd_nplane
);
1475 v3_normalize( dir_nplane
);
1477 rb_effect_spring_target_vector( &player
->rb
, fwd_nplane
, dir_nplane
,
1482 v3f pos_front
= { 0.0f
, -k_board_radius
, -1.0f
* k_board_length
},
1483 pos_back
= { 0.0f
, -k_board_radius
, 1.0f
* k_board_length
},
1484 delta_front
, delta_back
, delta_total
;
1486 m4x3_mulv( player
->rb
.to_world
, pos_front
, pos_front
);
1487 m4x3_mulv( player
->rb
.to_world
, pos_back
, pos_back
);
1489 v3_sub( inf_front
->co
, pos_front
, delta_front
);
1490 v3_sub( inf_back
->co
, pos_back
, delta_back
);
1491 v3_add( delta_front
, delta_back
, delta_total
);
1493 v3_muladds( player
->rb
.v
, delta_total
, 50.0f
* k_rb_delta
, player
->rb
.v
);
1496 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1497 v3_zero( limit
->ra
);
1498 m3x3_mulv( player
->rb
.to_local
, inf_avg
.n
, limit
->n
);
1501 v3_copy( inf_avg
.dir
, s
->grind_dir
);
1504 VG_STATIC
int skate_grind_truck_renew( player_instance
*player
, float sign
,
1505 struct grind_info
*inf
)
1507 struct player_skate
*s
= &player
->_skate
;
1509 v3f wheel_co
= { 0.0f
, 0.0f
, sign
* k_board_length
},
1510 grind_co
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1512 m4x3_mulv( player
->rb
.to_world
, wheel_co
, wheel_co
);
1513 m4x3_mulv( player
->rb
.to_world
, grind_co
, grind_co
);
1515 /* Exit condition: lost grind tracking */
1516 if( !skate_grind_scansq( player
, grind_co
, player
->rb
.v
, 0.3f
, inf
) )
1519 /* Exit condition: cant see grind target directly */
1520 if( !skate_point_visible( wheel_co
, inf
->co
) )
1523 /* Exit condition: minimum velocity not reached, but allow a bit of error */
1524 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1525 minv
= k_grind_axel_min_vel
*0.8f
;
1530 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1533 v3_copy( inf
->dir
, s
->grind_dir
);
1537 VG_STATIC
int skate_grind_truck_entry( player_instance
*player
, float sign
,
1538 struct grind_info
*inf
)
1540 struct player_skate
*s
= &player
->_skate
;
1542 /* TODO: Trash compactor this */
1543 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1546 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1547 v3_add( player
->rb
.co
, raw
, wsp
);
1549 if( skate_grind_scansq( player
, wsp
, player
->rb
.v
, 0.3, inf
) )
1551 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1554 /* velocity should be at least 60% aligned */
1556 v3_cross( inf
->n
, inf
->dir
, axis
);
1557 v3_muladds( player
->rb
.v
, inf
->n
, -v3_dot( player
->rb
.v
, inf
->n
), pv
);
1559 if( v3_length2( pv
) < 0.0001f
)
1563 if( fabsf(v3_dot( pv
, inf
->dir
)) < k_grind_axel_max_angle
)
1566 if( v3_dot( player
->rb
.v
, inf
->n
) > 0.5f
)
1570 /* check for vertical alignment */
1571 if( v3_dot( player
->rb
.to_world
[1], inf
->n
) < k_grind_axel_max_vangle
)
1575 v3f local_co
, local_dir
, local_n
;
1576 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1577 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1578 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1580 v2f delta
= { local_co
[0], local_co
[2] - k_board_length
*sign
};
1582 float truck_height
= -(k_board_radius
+0.03f
);
1585 v3_cross( player
->rb
.w
, raw
, rv
);
1586 v3_add( player
->rb
.v
, rv
, rv
);
1588 if( (local_co
[1] >= truck_height
) &&
1589 (v2_length2( delta
) <= k_board_radius
*k_board_radius
) )
1598 VG_STATIC
void skate_boardslide_apply( player_instance
*player
,
1599 struct grind_info
*inf
)
1601 struct player_skate
*s
= &player
->_skate
;
1603 v3f local_co
, local_dir
, local_n
;
1604 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1605 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1606 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1609 v3_muladds( local_co
, local_dir
, local_co
[0]/-local_dir
[0],
1611 v3_copy( intersection
, s
->weight_distribution
);
1613 skate_grind_decay( player
, inf
, 0.1f
);
1614 skate_grind_friction( player
, inf
, 0.25f
);
1616 /* direction alignment */
1618 v3_cross( local_dir
, local_n
, perp
);
1619 v3_muls( local_dir
, vg_signf(local_dir
[0]), dir
);
1620 v3_muls( perp
, vg_signf(perp
[2]), perp
);
1622 m3x3_mulv( player
->rb
.to_world
, dir
, dir
);
1623 m3x3_mulv( player
->rb
.to_world
, perp
, perp
);
1625 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1627 k_grind_spring
, k_grind_dampener
,
1630 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[2],
1632 k_grind_spring
, k_grind_dampener
,
1635 vg_line_arrow( player
->rb
.co
, dir
, 0.5f
, VG__GREEN
);
1636 vg_line_arrow( player
->rb
.co
, perp
, 0.5f
, VG__BLUE
);
1638 v3_copy( inf
->dir
, s
->grind_dir
);
1641 VG_STATIC
int skate_boardslide_entry( player_instance
*player
,
1642 struct grind_info
*inf
)
1644 struct player_skate
*s
= &player
->_skate
;
1646 if( skate_grind_scansq( player
, player
->rb
.co
,
1647 player
->rb
.to_world
[0], k_board_length
,
1650 v3f local_co
, local_dir
;
1651 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1652 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1654 if( (fabsf(local_co
[2]) <= k_board_length
) && /* within wood area */
1655 (local_co
[1] >= 0.0f
) && /* at deck level */
1656 (fabsf(local_dir
[0]) >= 0.5f
) ) /* perpendicular to us */
1658 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1668 VG_STATIC
int skate_boardslide_renew( player_instance
*player
,
1669 struct grind_info
*inf
)
1671 struct player_skate
*s
= &player
->_skate
;
1673 if( !skate_grind_scansq( player
, player
->rb
.co
,
1674 player
->rb
.to_world
[0], k_board_length
,
1678 /* Exit condition: cant see grind target directly */
1680 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.2f
, vis
);
1681 if( !skate_point_visible( vis
, inf
->co
) )
1684 /* Exit condition: minimum velocity not reached, but allow a bit of error
1685 * TODO: trash compactor */
1686 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1687 minv
= k_grind_axel_min_vel
*0.8f
;
1692 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1698 VG_STATIC
void skate_store_grind_vec( player_instance
*player
,
1699 struct grind_info
*inf
)
1701 struct player_skate
*s
= &player
->_skate
;
1704 skate_grind_orient( inf
, mtx
);
1705 m3x3_transpose( mtx
, mtx
);
1708 v3_sub( inf
->co
, player
->rb
.co
, raw
);
1710 m3x3_mulv( mtx
, raw
, s
->grind_vec
);
1711 v3_normalize( s
->grind_vec
);
1712 v3_copy( inf
->dir
, s
->grind_dir
);
1715 VG_STATIC
enum skate_activity
skate_availible_grind( player_instance
*player
)
1717 struct player_skate
*s
= &player
->_skate
;
1719 /* debounces this state manager a little bit */
1720 if( s
->frames_since_activity_change
< 10 )
1722 s
->frames_since_activity_change
++;
1723 return k_skate_activity_undefined
;
1726 struct grind_info inf_back50
,
1734 if( s
->state
.activity
== k_skate_activity_grind_boardslide
)
1736 res_slide
= skate_boardslide_renew( player
, &inf_slide
);
1738 else if( s
->state
.activity
== k_skate_activity_grind_back50
)
1740 res_back50
= skate_grind_truck_renew( player
, 1.0f
, &inf_back50
);
1741 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1743 else if( s
->state
.activity
== k_skate_activity_grind_front50
)
1745 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1746 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1748 else if( s
->state
.activity
== k_skate_activity_grind_5050
)
1750 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1751 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1755 res_slide
= skate_boardslide_entry( player
, &inf_slide
);
1756 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1757 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1759 if( res_back50
!= res_front50
)
1761 int wants_to_do_that
= fabsf(player
->input_js1v
->axis
.value
) >= 0.25f
;
1763 res_back50
&= wants_to_do_that
;
1764 res_front50
&= wants_to_do_that
;
1768 const enum skate_activity table
[] =
1769 { /* slide | back | front */
1770 k_skate_activity_undefined
, /* 0 0 0 */
1771 k_skate_activity_grind_front50
, /* 0 0 1 */
1772 k_skate_activity_grind_back50
, /* 0 1 0 */
1773 k_skate_activity_grind_5050
, /* 0 1 1 */
1775 /* slide has priority always */
1776 k_skate_activity_grind_boardslide
, /* 1 0 0 */
1777 k_skate_activity_grind_boardslide
, /* 1 0 1 */
1778 k_skate_activity_grind_boardslide
, /* 1 1 0 */
1779 k_skate_activity_grind_boardslide
, /* 1 1 1 */
1781 , new_activity
= table
[ res_slide
<< 2 | res_back50
<< 1 | res_front50
];
1783 if( new_activity
== k_skate_activity_undefined
)
1785 if( s
->state
.activity
>= k_skate_activity_grind_any
)
1786 s
->frames_since_activity_change
= 0;
1788 else if( new_activity
== k_skate_activity_grind_boardslide
)
1790 skate_boardslide_apply( player
, &inf_slide
);
1792 else if( new_activity
== k_skate_activity_grind_back50
)
1794 if( s
->state
.activity
!= k_skate_activity_grind_back50
)
1795 skate_store_grind_vec( player
, &inf_back50
);
1797 skate_grind_truck_apply( player
, 1.0f
, &inf_back50
, 1.0f
);
1799 else if( new_activity
== k_skate_activity_grind_front50
)
1801 if( s
->state
.activity
!= k_skate_activity_grind_front50
)
1802 skate_store_grind_vec( player
, &inf_front50
);
1804 skate_grind_truck_apply( player
, -1.0f
, &inf_front50
, 1.0f
);
1806 else if( new_activity
== k_skate_activity_grind_5050
)
1807 skate_5050_apply( player
, &inf_front50
, &inf_back50
);
1809 return new_activity
;
1812 VG_STATIC
void player__skate_update( player_instance
*player
)
1814 struct player_skate
*s
= &player
->_skate
;
1815 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1816 s
->state
.activity_prev
= s
->state
.activity
;
1818 struct board_collider
1825 enum board_collider_state
1827 k_collider_state_default
,
1828 k_collider_state_disabled
,
1829 k_collider_state_colliding
1836 { 0.0f
, 0.0f
, -k_board_length
},
1837 .radius
= k_board_radius
,
1841 { 0.0f
, 0.0f
, k_board_length
},
1842 .radius
= k_board_radius
,
1847 const int k_wheel_count
= 2;
1849 s
->substep
= k_rb_delta
;
1850 s
->substep_delta
= s
->substep
;
1853 int substep_count
= 0;
1855 v3_zero( s
->surface_picture
);
1857 for( int i
=0; i
<k_wheel_count
; i
++ )
1858 wheels
[i
].state
= k_collider_state_default
;
1860 /* check if we can enter or continue grind */
1861 enum skate_activity grindable_activity
= skate_availible_grind( player
);
1862 if( grindable_activity
!= k_skate_activity_undefined
)
1864 s
->state
.activity
= grindable_activity
;
1868 int contact_count
= 0;
1869 for( int i
=0; i
<2; i
++ )
1872 v3_copy( player
->rb
.to_world
[0], axel
);
1874 if( skate_compute_surface_alignment( player
, wheels
[i
].pos
,
1875 wheels
[i
].colour
, normal
, axel
) )
1877 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1879 k_board_spring
, k_board_dampener
,
1882 v3_add( normal
, s
->surface_picture
, s
->surface_picture
);
1886 m3x3_mulv( player
->rb
.to_local
, axel
, s
->truckv0
[i
] );
1891 s
->state
.activity
= k_skate_activity_ground
;
1892 s
->state
.gravity_bias
= k_gravity
;
1893 v3_normalize( s
->surface_picture
);
1895 skate_apply_friction_model( player
);
1896 skate_weight_distribute( player
);
1897 skate_apply_pump_model( player
);
1901 s
->state
.activity
= k_skate_activity_air
;
1902 v3_zero( s
->weight_distribution
);
1903 skate_apply_air_model( player
);
1908 if( s
->state
.activity
== k_skate_activity_grind_back50
)
1909 wheels
[1].state
= k_collider_state_disabled
;
1910 if( s
->state
.activity
== k_skate_activity_grind_front50
)
1911 wheels
[0].state
= k_collider_state_disabled
;
1912 if( s
->state
.activity
== k_skate_activity_grind_5050
)
1914 wheels
[0].state
= k_collider_state_disabled
;
1915 wheels
[1].state
= k_collider_state_disabled
;
1918 /* all activities */
1919 skate_apply_steering_model( player
);
1920 skate_adjust_up_direction( player
);
1921 skate_apply_cog_model( player
);
1922 skate_apply_jump_model( player
);
1923 skate_apply_grab_model( player
);
1924 skate_apply_trick_model( player
);
1929 * Phase 0: Continous collision detection
1930 * --------------------------------------------------------------------------
1933 v3f head_wp0
, head_wp1
, start_co
;
1934 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp0
);
1935 v3_copy( player
->rb
.co
, start_co
);
1937 /* calculate transform one step into future */
1940 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
1942 if( v3_length2( player
->rb
.w
) > 0.0f
)
1946 v3_copy( player
->rb
.w
, axis
);
1948 float mag
= v3_length( axis
);
1949 v3_divs( axis
, mag
, axis
);
1950 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
1951 q_mul( rotation
, player
->rb
.q
, future_q
);
1952 q_normalize( future_q
);
1955 v4_copy( player
->rb
.q
, future_q
);
1957 v3f future_cg
, current_cg
, cg_offset
;
1958 q_mulv( player
->rb
.q
, s
->weight_distribution
, current_cg
);
1959 q_mulv( future_q
, s
->weight_distribution
, future_cg
);
1960 v3_sub( future_cg
, current_cg
, cg_offset
);
1962 /* calculate the minimum time we can move */
1963 float max_time
= s
->substep
;
1965 for( int i
=0; i
<k_wheel_count
; i
++ )
1967 if( wheels
[i
].state
== k_collider_state_disabled
)
1970 v3f current
, future
, r_cg
;
1972 q_mulv( future_q
, wheels
[i
].pos
, future
);
1973 v3_add( future
, future_co
, future
);
1974 v3_add( cg_offset
, future
, future
);
1976 q_mulv( player
->rb
.q
, wheels
[i
].pos
, current
);
1977 v3_add( current
, player
->rb
.co
, current
);
1982 float cast_radius
= wheels
[i
].radius
- k_penetration_slop
* 2.0f
;
1983 if( spherecast_world( current
, future
, cast_radius
, &t
, n
) != -1)
1984 max_time
= vg_minf( max_time
, t
* s
->substep
);
1987 /* clamp to a fraction of delta, to prevent locking */
1988 float rate_lock
= substep_count
;
1989 rate_lock
*= k_rb_delta
* 0.1f
;
1990 rate_lock
*= rate_lock
;
1992 max_time
= vg_maxf( max_time
, rate_lock
);
1993 s
->substep_delta
= max_time
;
1996 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
1997 if( v3_length2( player
->rb
.w
) > 0.0f
)
2001 v3_copy( player
->rb
.w
, axis
);
2003 float mag
= v3_length( axis
);
2004 v3_divs( axis
, mag
, axis
);
2005 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
2006 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
2007 q_normalize( player
->rb
.q
);
2009 q_mulv( player
->rb
.q
, s
->weight_distribution
, future_cg
);
2010 v3_sub( current_cg
, future_cg
, cg_offset
);
2011 v3_add( player
->rb
.co
, cg_offset
, player
->rb
.co
);
2014 rb_update_transform( &player
->rb
);
2015 v3_muladds( player
->rb
.v
, player
->basis
[1],
2016 -s
->state
.gravity_bias
* s
->substep_delta
, player
->rb
.v
);
2018 s
->substep
-= s
->substep_delta
;
2020 rb_ct manifold
[128];
2021 int manifold_len
= 0;
2024 * Phase -1: head detection
2025 * --------------------------------------------------------------------------
2027 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp1
);
2031 if( (v3_dist2( head_wp0
, head_wp1
) > 0.001f
) &&
2032 (spherecast_world( head_wp0
, head_wp1
, 0.2f
, &t
, n
) != -1) )
2034 v3_lerp( start_co
, player
->rb
.co
, t
, player
->rb
.co
);
2035 rb_update_transform( &player
->rb
);
2037 player__dead_transition( player
);
2042 * Phase 1: Regular collision detection
2043 * --------------------------------------------------------------------------
2046 for( int i
=0; i
<k_wheel_count
; i
++ )
2048 if( wheels
[i
].state
== k_collider_state_disabled
)
2052 m3x3_identity( mtx
);
2053 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2055 rb_sphere collider
= { .radius
= wheels
[i
].radius
};
2057 rb_ct
*man
= &manifold
[ manifold_len
];
2059 int l
= skate_collide_smooth( player
, mtx
, &collider
, man
);
2061 wheels
[i
].state
= k_collider_state_colliding
;
2066 float grind_radius
= k_board_radius
* 0.75f
;
2067 rb_capsule capsule
= { .height
= (k_board_length
+0.2f
)*2.0f
,
2068 .radius
=grind_radius
};
2070 v3_muls( player
->rb
.to_world
[0], 1.0f
, mtx
[0] );
2071 v3_muls( player
->rb
.to_world
[2], -1.0f
, mtx
[1] );
2072 v3_muls( player
->rb
.to_world
[1], 1.0f
, mtx
[2] );
2073 v3_muladds( player
->rb
.to_world
[3], player
->rb
.to_world
[1],
2074 grind_radius
+ k_board_radius
*0.25f
, mtx
[3] );
2076 rb_ct
*cman
= &manifold
[manifold_len
];
2078 int l
= rb_capsule__scene( mtx
, &capsule
, NULL
, &world
.rb_geo
.inf
.scene
,
2082 for( int i
=0; i
<l
; i
++ )
2083 cman
[l
].type
= k_contact_type_edge
;
2084 rb_manifold_filter_joint_edges( cman
, l
, 0.03f
);
2085 l
= rb_manifold_apply_filtered( cman
, l
);
2089 debug_capsule( mtx
, capsule
.radius
, capsule
.height
, VG__WHITE
);
2092 for( int i
=0; i
<s
->limit_count
; i
++ )
2094 struct grind_limit
*limit
= &s
->limits
[i
];
2095 rb_ct
*ct
= &manifold
[ manifold_len
++ ];
2096 m4x3_mulv( player
->rb
.to_world
, limit
->ra
, ct
->co
);
2097 m3x3_mulv( player
->rb
.to_world
, limit
->n
, ct
->n
);
2099 ct
->type
= k_contact_type_default
;
2104 * --------------------------------------------------------------------------
2109 m4x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, world_cog
);
2110 vg_line_pt3( world_cog
, 0.02f
, VG__BLACK
);
2112 for( int i
=0; i
<manifold_len
; i
++ )
2114 rb_prepare_contact( &manifold
[i
], s
->substep_delta
);
2115 rb_debug_contact( &manifold
[i
] );
2118 /* yes, we are currently rebuilding mass matrices every frame. too bad! */
2119 v3f extent
= { k_board_width
, 0.1f
, k_board_length
};
2120 float ex2
= k_board_interia
*extent
[0]*extent
[0],
2121 ey2
= k_board_interia
*extent
[1]*extent
[1],
2122 ez2
= k_board_interia
*extent
[2]*extent
[2];
2124 float mass
= 2.0f
* (extent
[0]*extent
[1]*extent
[2]);
2125 float inv_mass
= 1.0f
/mass
;
2128 I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
2129 I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
2130 I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
2133 m3x3_identity( iI
);
2140 m3x3_mul( iI
, player
->rb
.to_local
, iIw
);
2141 m3x3_mul( player
->rb
.to_world
, iIw
, iIw
);
2143 for( int j
=0; j
<10; j
++ )
2145 for( int i
=0; i
<manifold_len
; i
++ )
2148 * regular dance; calculate velocity & total mass, apply impulse.
2151 struct contact
*ct
= &manifold
[i
];
2154 v3_sub( ct
->co
, world_cog
, delta
);
2155 v3_cross( player
->rb
.w
, delta
, rv
);
2156 v3_add( player
->rb
.v
, rv
, rv
);
2159 v3_cross( delta
, ct
->n
, raCn
);
2162 m3x3_mulv( iIw
, raCn
, raCnI
);
2164 float normal_mass
= 1.0f
/ (inv_mass
+ v3_dot(raCn
,raCnI
)),
2165 vn
= v3_dot( rv
, ct
->n
),
2166 lambda
= normal_mass
* ( -vn
);
2168 float temp
= ct
->norm_impulse
;
2169 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2170 lambda
= ct
->norm_impulse
- temp
;
2173 v3_muls( ct
->n
, lambda
, impulse
);
2175 v3_muladds( player
->rb
.v
, impulse
, inv_mass
, player
->rb
.v
);
2176 v3_cross( delta
, impulse
, impulse
);
2177 m3x3_mulv( iIw
, impulse
, impulse
);
2178 v3_add( impulse
, player
->rb
.w
, player
->rb
.w
);
2180 v3_cross( player
->rb
.w
, delta
, rv
);
2181 v3_add( player
->rb
.v
, rv
, rv
);
2182 vn
= v3_dot( rv
, ct
->n
);
2187 rb_depenetrate( manifold
, manifold_len
, dt
);
2188 v3_add( dt
, player
->rb
.co
, player
->rb
.co
);
2189 rb_update_transform( &player
->rb
);
2193 if( s
->substep
>= 0.0001f
)
2194 goto begin_collision
; /* again! */
2197 * End of collision and dynamics routine
2198 * --------------------------------------------------------------------------
2201 for( int i
=0; i
<k_wheel_count
; i
++ )
2204 m3x3_copy( player
->rb
.to_world
, mtx
);
2205 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2206 debug_sphere( mtx
, wheels
[i
].radius
,
2207 (u32
[]){ VG__WHITE
, VG__BLACK
,
2208 wheels
[i
].colour
}[ wheels
[i
].state
]);
2211 skate_integrate( player
);
2212 vg_line_pt3( s
->state
.cog
, 0.02f
, VG__WHITE
);
2214 teleport_gate
*gate
;
2215 if( (gate
= world_intersect_gates( player
->rb
.co
, s
->state
.prev_pos
)) )
2217 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
2218 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
2219 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
2220 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
2221 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
2222 m3x3_mulv( gate
->transport
, s
->state
.head_position
,
2223 s
->state
.head_position
);
2224 m3x3_mulv( gate
->transport
, s
->state
.up_dir
, s
->state
.up_dir
);
2226 v4f transport_rotation
;
2227 m3x3_q( gate
->transport
, transport_rotation
);
2228 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
2229 rb_update_transform( &player
->rb
);
2231 s
->state_gate_storage
= s
->state
;
2232 player__pass_gate( player
, gate
);
2236 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
2238 struct player_skate
*s
= &player
->_skate
;
2240 /* FIXME: Compression */
2241 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
2244 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
2247 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
2251 const char *activity_txt
[] =
2255 "undefined (INVALID)",
2256 "grind_any (INVALID)",
2265 player__debugtext( 1, "activity: %s", activity_txt
[s
->state
.activity
] );
2267 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
2268 s
->state
.steerx_s
, s
->state
.steery_s
,
2269 k_steer_ground
, k_steer_air
);
2271 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
2272 s
->state
.flip_time
);
2273 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
2274 s
->state
.trick_vel
[0],
2275 s
->state
.trick_vel
[1],
2276 s
->state
.trick_vel
[2] );
2277 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
2278 s
->state
.trick_euler
[0],
2279 s
->state
.trick_euler
[1],
2280 s
->state
.trick_euler
[2] );
2283 VG_STATIC
void player__skate_animate( player_instance
*player
,
2284 player_animation
*dest
)
2286 struct player_skate
*s
= &player
->_skate
;
2287 struct player_avatar
*av
= player
->playeravatar
;
2288 struct skeleton
*sk
= &av
->sk
;
2291 float kheight
= 2.0f
,
2297 v3f cog_local
, cog_ideal
;
2298 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, cog_local
);
2300 v3_copy( s
->state
.up_dir
, cog_ideal
);
2301 v3_normalize( cog_ideal
);
2302 m3x3_mulv( player
->rb
.to_local
, cog_ideal
, cog_ideal
);
2304 v3_sub( cog_ideal
, cog_local
, offset
);
2307 v3_muls( offset
, 4.0f
, offset
);
2310 float curspeed
= v3_length( player
->rb
.v
),
2311 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
2312 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
2313 sign
= vg_signf( kicks
);
2315 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
2316 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
2319 offset
[0] += s
->wobble
[1]*3.0f
;
2324 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
2325 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
2328 * Animation blending
2329 * ===========================================
2334 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
2335 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
2338 /* movement information */
2340 int iair
= s
->state
.activity
== k_skate_activity_air
;
2342 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
2343 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
2344 fly
= iair
? 1.0f
: 0.0f
,
2345 wdist
= s
->weight_distribution
[2] / k_board_length
;
2347 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
2348 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
2349 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
2350 s
->blend_weight
= vg_lerpf( s
->blend_weight
, wdist
, 9.0f
*vg
.time_delta
);
2353 mdl_keyframe apose
[32], bpose
[32];
2354 mdl_keyframe ground_pose
[32];
2356 /* when the player is moving fast he will crouch down a little bit */
2357 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
2358 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
2361 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
2362 stand_blend
= offset
[1]*-2.0f
;
2365 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
2367 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
2369 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
2370 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
2371 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
2374 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
2375 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
2376 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
2379 double push_time
= vg
.time
- s
->state
.start_push
;
2380 s
->blend_push
= vg_lerpf( s
->blend_push
,
2381 (vg
.time
- s
->state
.cur_push
) < 0.125,
2382 6.0f
*vg
.time_delta
);
2384 float pt
= push_time
+ vg
.accumulator
;
2385 if( s
->state
.reverse
> 0.0f
)
2386 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
2388 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
2390 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
2393 float jump_start_frame
= 14.0f
/30.0f
;
2395 float charge
= s
->state
.jump_charge
;
2396 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
2398 float setup_frame
= charge
* jump_start_frame
,
2399 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
2401 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
2402 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
2403 setup_frame
= jump_frame
;
2405 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
2407 s
->anim_ollie_reverse
;
2409 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
2410 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
2413 mdl_keyframe air_pose
[32];
2415 float target
= -player
->input_js1h
->axis
.value
;
2416 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
2418 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
2419 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
2421 static v2f grab_choice
;
2423 v2f grab_input
= { player
->input_js2h
->axis
.value
,
2424 player
->input_js2v
->axis
.value
};
2425 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
2426 if( v2_length2( grab_input
) <= 0.001f
)
2427 grab_input
[0] = -1.0f
;
2429 v2_normalize_clamp( grab_input
);
2430 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
2432 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
2433 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
2434 grab_frame
= ang_unit
* (15.0f
/30.0f
);
2436 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
2437 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
2440 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
2442 float add_grab_mod
= 1.0f
- s
->blend_fly
;
2444 /* additive effects */
2446 u32 apply_to
[] = { av
->id_hip
,
2450 av
->id_ik_elbow_r
};
2452 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2454 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
2455 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
2459 /* angle correction */
2460 if( v3_length2( s
->state
.up_dir
) > 0.001f
)
2463 m3x3_mulv( player
->rb
.to_local
, s
->state
.up_dir
, ndir
);
2464 v3_normalize( ndir
);
2466 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
2468 float a
= v3_dot( ndir
, up
);
2469 a
= acosf( vg_clampf( a
, -1.0f
, 1.0f
) );
2474 v3_cross( up
, ndir
, axis
);
2475 q_axis_angle( q
, axis
, a
);
2477 mdl_keyframe
*kf_hip
= &dest
->pose
[av
->id_hip
-1];
2479 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2481 mdl_keyframe
*kf
= &dest
->pose
[apply_to
[i
]-1];
2484 v3_sub( kf
->co
, kf_hip
->co
, v0
);
2485 q_mulv( q
, v0
, v0
);
2486 v3_add( v0
, kf_hip
->co
, kf
->co
);
2488 q_mul( q
, kf
->q
, kf
->q
);
2489 q_normalize( kf
->q
);
2493 m3x3_mulv( player
->rb
.to_world
, up
, p1
);
2494 m3x3_mulv( player
->rb
.to_world
, ndir
, p2
);
2496 vg_line_arrow( player
->rb
.co
, p1
, 0.25f
, VG__PINK
);
2497 vg_line_arrow( player
->rb
.co
, p2
, 0.25f
, VG__PINK
);
2502 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
2503 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
2504 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1],
2505 *kf_wheels
[] = { &dest
->pose
[av
->id_wheel_r
-1],
2506 &dest
->pose
[av
->id_wheel_l
-1] };
2509 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
2512 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
2514 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
2515 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
2516 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
2518 q_mul( qpitchr
, qrollr
, qtrickr
);
2519 q_mul( qyawr
, qtrickr
, qtotal
);
2520 q_normalize( qtotal
);
2522 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
2525 /* trick rotation */
2526 v4f qtrick
, qyaw
, qpitch
, qroll
;
2528 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
2530 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
2531 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
2532 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
2534 q_mul( qpitch
, qroll
, qtrick
);
2535 q_mul( qyaw
, qtrick
, qtrick
);
2536 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
2537 q_normalize( kf_board
->q
);
2539 /* foot weight distribution */
2540 if( s
->blend_weight
> 0.0f
)
2542 kf_foot_l
->co
[2] += s
->blend_weight
* 0.2f
;
2543 kf_foot_r
->co
[2] += s
->blend_weight
* 0.1f
;
2547 kf_foot_r
->co
[2] += s
->blend_weight
* 0.3f
;
2548 kf_foot_l
->co
[2] += s
->blend_weight
* 0.1f
;
2551 /* truck rotation */
2552 for( int i
=0; i
<2; i
++ )
2554 float a
= vg_minf( s
->truckv0
[i
][0], 1.0f
);
2555 a
= -acosf( a
) * vg_signf( s
->truckv0
[i
][1] );
2558 q_axis_angle( q
, (v3f
){0.0f
,0.0f
,1.0f
}, a
);
2559 q_mul( q
, kf_wheels
[i
]->q
, kf_wheels
[i
]->q
);
2560 q_normalize( kf_wheels
[i
]->q
);
2565 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
2566 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.1f
, dest
->root_co
);
2568 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
2570 v4f qresy
, qresx
, qresidual
;
2572 q_axis_angle( qresy
, player
->rb
.to_world
[1], s
->state
.steery_s
*substep
);
2573 q_axis_angle( qresx
, player
->rb
.to_world
[0], s
->state
.steerx_s
*substep
);
2575 q_mul( qresy
, qresx
, qresidual
);
2576 q_normalize( qresidual
);
2577 q_mul( dest
->root_q
, qresidual
, dest
->root_q
);
2578 q_normalize( dest
->root_q
);
2582 if( (s
->state
.activity
== k_skate_activity_air
) &&
2583 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
2585 float t
= s
->state
.flip_time
+ s
->state
.flip_rate
*substep
*k_rb_delta
,
2586 angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
2587 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
2588 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
2590 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
2592 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
2593 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
2594 q_normalize( dest
->root_q
);
2596 v3f rotation_point
, rco
;
2597 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
2598 v3_sub( dest
->root_co
, rotation_point
, rco
);
2600 q_mulv( qflip
, rco
, rco
);
2601 v3_add( rco
, rotation_point
, dest
->root_co
);
2604 skeleton_copy_pose( sk
, dest
->pose
, player
->holdout_pose
);
2607 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
2609 struct player_skate
*s
= &player
->_skate
;
2610 struct player_avatar
*av
= player
->playeravatar
;
2612 player
->cam_velocity_influence
= 1.0f
;
2614 v3f head
= { 0.0f
, 1.8f
, 0.0f
}; /* FIXME: Viewpoint entity */
2615 m4x3_mulv( av
->sk
.final_mtx
[ av
->id_head
], head
, s
->state
.head_position
);
2616 m4x3_mulv( player
->rb
.to_local
, s
->state
.head_position
,
2617 s
->state
.head_position
);
2620 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
2622 struct player_skate
*s
= &player
->_skate
;
2624 if( s
->state
.activity
== k_skate_activity_air
)
2625 s
->blend_fly
= 1.0f
;
2627 s
->blend_fly
= 0.0f
;
2629 s
->blend_slide
= 0.0f
;
2632 s
->blend_stand
= 0.0f
;
2633 s
->blend_push
= 0.0f
;
2634 s
->blend_jump
= 0.0f
;
2635 s
->blend_airdir
= 0.0f
;
2638 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
2640 struct player_skate
*s
= &player
->_skate
;
2641 s
->state
.jump_charge
= 0.0f
;
2642 s
->state
.lift_frames
= 0;
2643 s
->state
.flip_rate
= 0.0f
;
2645 s
->state
.steery
= 0.0f
;
2646 s
->state
.steerx
= 0.0f
;
2647 s
->state
.steery_s
= 0.0f
;
2648 s
->state
.steerx_s
= 0.0f
;
2650 s
->state
.reverse
= 0.0f
;
2651 s
->state
.slip
= 0.0f
;
2652 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
2655 m3x3_identity( s
->state
.velocity_bias
);
2656 m3x3_identity( s
->state
.velocity_bias_pstep
);
2659 v3_zero( s
->state
.throw_v
);
2660 v3_zero( s
->state
.trick_vel
);
2661 v3_zero( s
->state
.trick_euler
);
2664 VG_STATIC
void player__skate_reset( player_instance
*player
,
2665 struct respawn_point
*rp
)
2667 struct player_skate
*s
= &player
->_skate
;
2668 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2669 v3_zero( player
->rb
.v
);
2670 v3_zero( s
->state
.cog_v
);
2671 v4_copy( rp
->q
, player
->rb
.q
);
2673 s
->state
.activity
= k_skate_activity_air
;
2674 s
->state
.activity_prev
= k_skate_activity_air
;
2676 player__skate_clear_mechanics( player
);
2677 player__skate_reset_animator( player
);
2679 v3_zero( s
->state
.head_position
);
2680 s
->state
.head_position
[1] = 1.8f
;
2683 #endif /* PLAYER_SKATE_C */