7 VG_STATIC
void player__skate_bind( player_instance
*player
)
9 struct player_skate
*s
= &player
->_skate
;
10 struct player_avatar
*av
= player
->playeravatar
;
11 struct skeleton
*sk
= &av
->sk
;
13 rb_update_transform( &player
->rb
);
14 s
->anim_stand
= skeleton_get_anim( sk
, "pose_stand" );
15 s
->anim_highg
= skeleton_get_anim( sk
, "pose_highg" );
16 s
->anim_air
= skeleton_get_anim( sk
, "pose_air" );
17 s
->anim_slide
= skeleton_get_anim( sk
, "pose_slide" );
18 s
->anim_push
= skeleton_get_anim( sk
, "push" );
19 s
->anim_push_reverse
= skeleton_get_anim( sk
, "push_reverse" );
20 s
->anim_ollie
= skeleton_get_anim( sk
, "ollie" );
21 s
->anim_ollie_reverse
= skeleton_get_anim( sk
, "ollie_reverse" );
22 s
->anim_grabs
= skeleton_get_anim( sk
, "grabs" );
26 * Collision detection routines
32 * Does collision detection on a sphere vs world, and applies some smoothing
33 * filters to the manifold afterwards
35 VG_STATIC
int skate_collide_smooth( player_instance
*player
,
36 m4x3f mtx
, rb_sphere
*sphere
,
39 world_instance
*world
= get_active_world();
42 len
= rb_sphere__scene( mtx
, sphere
, NULL
, &world
->rb_geo
.inf
.scene
, man
);
44 for( int i
=0; i
<len
; i
++ )
46 man
[i
].rba
= &player
->rb
;
50 rb_manifold_filter_coplanar( man
, len
, 0.03f
);
54 rb_manifold_filter_backface( man
, len
);
55 rb_manifold_filter_joint_edges( man
, len
, 0.03f
);
56 rb_manifold_filter_pairs( man
, len
, 0.03f
);
58 int new_len
= rb_manifold_apply_filtered( man
, len
);
72 VG_STATIC
int skate_grind_scansq( player_instance
*player
,
73 v3f pos
, v3f dir
, float r
,
74 struct grind_info
*inf
)
76 world_instance
*world
= get_active_world();
79 v3_copy( dir
, plane
);
80 v3_normalize( plane
);
81 plane
[3] = v3_dot( plane
, pos
);
84 v3_add( pos
, (v3f
){ r
, r
, r
}, box
[1] );
85 v3_sub( pos
, (v3f
){ r
, r
, r
}, box
[0] );
88 bh_iter_init( 0, &it
);
105 v3_cross( plane
, player
->basis
[1], support_axis
);
106 v3_normalize( support_axis
);
108 while( bh_next( world
->geo_bh
, &it
, box
, &idx
) )
110 u32
*ptri
= &world
->scene_geo
->arrindices
[ idx
*3 ];
113 struct world_material
*mat
= world_tri_index_material(world
,ptri
[0]);
114 if( !(mat
->info
.flags
& k_material_flag_skate_surface
) )
117 for( int j
=0; j
<3; j
++ )
118 v3_copy( world
->scene_geo
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
120 for( int j
=0; j
<3; j
++ )
125 struct grind_sample
*sample
= &samples
[ sample_count
];
128 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) )
131 v3_sub( co
, pos
, d
);
132 if( v3_length2( d
) > r
*r
)
136 v3_sub( tri
[1], tri
[0], va
);
137 v3_sub( tri
[2], tri
[0], vb
);
138 v3_cross( va
, vb
, normal
);
140 sample
->normal
[0] = v3_dot( support_axis
, normal
);
141 sample
->normal
[1] = v3_dot( player
->basis
[1], normal
);
142 sample
->co
[0] = v3_dot( support_axis
, d
);
143 sample
->co
[1] = v3_dot( player
->basis
[1], d
);
145 v3_copy( normal
, sample
->normal3
); /* normalize later
146 if we want to us it */
148 v3_muls( tri
[0], 1.0f
/3.0f
, sample
->centroid
);
149 v3_muladds( sample
->centroid
, tri
[1], 1.0f
/3.0f
, sample
->centroid
);
150 v3_muladds( sample
->centroid
, tri
[2], 1.0f
/3.0f
, sample
->centroid
);
152 v2_normalize( sample
->normal
);
155 if( sample_count
== vg_list_size( samples
) )
156 goto too_many_samples
;
163 if( sample_count
< 2 )
171 v2_fill( min_co
, INFINITY
);
172 v2_fill( max_co
, -INFINITY
);
174 v3_zero( average_direction
);
175 v3_zero( average_normal
);
177 int passed_samples
= 0;
179 for( int i
=0; i
<sample_count
-1; i
++ )
181 struct grind_sample
*si
, *sj
;
185 for( int j
=i
+1; j
<sample_count
; j
++ )
192 /* non overlapping */
193 if( v2_dist2( si
->co
, sj
->co
) >= (0.01f
*0.01f
) )
196 /* not sharp angle */
197 if( v2_dot( si
->normal
, sj
->normal
) >= 0.7f
)
202 v3_sub( sj
->centroid
, si
->centroid
, v0
);
203 if( v3_dot( v0
, si
->normal3
) >= 0.0f
||
204 v3_dot( v0
, sj
->normal3
) <= 0.0f
)
207 v2_minv( sj
->co
, min_co
, min_co
);
208 v2_maxv( sj
->co
, max_co
, max_co
);
211 v3_copy( si
->normal3
, n0
);
212 v3_copy( sj
->normal3
, n1
);
213 v3_cross( n0
, n1
, dir
);
216 /* make sure the directions all face a common hemisphere */
217 v3_muls( dir
, vg_signf(v3_dot(dir
,plane
)), dir
);
218 v3_add( average_direction
, dir
, average_direction
);
220 float yi
= v3_dot( player
->basis
[1], si
->normal3
),
221 yj
= v3_dot( player
->basis
[1], sj
->normal3
);
224 v3_add( si
->normal3
, average_normal
, average_normal
);
226 v3_add( sj
->normal3
, average_normal
, average_normal
);
232 if( !passed_samples
)
235 if( (v3_length2( average_direction
) <= 0.001f
) ||
236 (v3_length2( average_normal
) <= 0.001f
) )
239 float div
= 1.0f
/(float)passed_samples
;
240 v3_normalize( average_direction
);
241 v3_normalize( average_normal
);
244 v2_add( min_co
, max_co
, average_coord
);
245 v2_muls( average_coord
, 0.5f
, average_coord
);
247 v3_muls( support_axis
, average_coord
[0], inf
->co
);
248 inf
->co
[1] += average_coord
[1];
249 v3_add( pos
, inf
->co
, inf
->co
);
250 v3_copy( average_normal
, inf
->n
);
251 v3_copy( average_direction
, inf
->dir
);
253 vg_line_pt3( inf
->co
, 0.02f
, VG__GREEN
);
254 vg_line_arrow( inf
->co
, average_direction
, 0.3f
, VG__GREEN
);
255 vg_line_arrow( inf
->co
, inf
->n
, 0.2f
, VG__CYAN
);
257 return passed_samples
;
260 VG_STATIC
int solve_prediction_for_target( player_instance
*player
,
261 v3f target
, float max_angle
,
262 struct land_prediction
*p
)
264 /* calculate the exact solution(s) to jump onto that grind spot */
267 v3_sub( target
, player
->rb
.co
, v0
);
268 m3x3_mulv( player
->invbasis
, v0
, v0
);
276 m3x3_mulv( player
->invbasis
, player
->rb
.v
, v_local
);
278 v2f d
= { v3_dot( ax
, v0
), v0
[1] },
279 v
= { v3_dot( ax
, player
->rb
.v
), v_local
[1] };
281 float a
= atan2f( v
[1], v
[0] ),
283 root
= m
*m
*m
*m
- p
->gravity
*(p
->gravity
*d
[0]*d
[0] + 2.0f
*d
[1]*m
*m
);
287 root
= sqrtf( root
);
288 float a0
= atanf( (m
*m
+ root
) / (p
->gravity
* d
[0]) ),
289 a1
= atanf( (m
*m
- root
) / (p
->gravity
* d
[0]) );
291 if( fabsf(a0
-a
) > fabsf(a1
-a
) )
294 if( fabsf(a0
-a
) > max_angle
)
297 /* TODO: sweep the path before chosing the smallest dist */
302 p
->type
= k_prediction_grind
;
304 v3_muls( ax
, cosf( a0
) * m
, p
->v
);
305 p
->v
[1] += sinf( a0
) * m
;
306 m3x3_mulv( player
->basis
, p
->v
, p
->v
);
308 p
->land_dist
= d
[0] / (cosf(a0
)*m
);
311 for( int i
=0; i
<=20; i
++ )
313 float t
= (float)i
* (1.0f
/20.0f
) * p
->land_dist
;
316 v3_muls( p
->v
, t
, p0
);
317 v3_muladds( p0
, player
->basis
[1], -0.5f
* p
->gravity
* t
*t
, p0
);
319 v3_add( player
->rb
.co
, p0
, p
->log
[ p
->log_length
++ ] );
329 void player__approximate_best_trajectory( player_instance
*player
)
331 world_instance
*world
= get_active_world();
333 struct player_skate
*s
= &player
->_skate
;
334 float k_trace_delta
= k_rb_delta
* 10.0f
;
336 s
->state
.air_start
= vg
.time
;
337 v3_copy( player
->rb
.v
, s
->state
.air_init_v
);
338 v3_copy( player
->rb
.co
, s
->state
.air_init_co
);
340 s
->prediction_count
= 0;
343 v3_cross( player
->rb
.v
, player
->rb
.to_world
[1], axis
);
344 v3_normalize( axis
);
346 /* at high slopes, Y component is low */
347 float upness
= v3_dot( player
->rb
.to_world
[1], player
->basis
[1] ),
348 angle_begin
= -(1.0f
-fabsf( upness
)),
351 struct grind_info grind
;
352 int grind_located
= 0;
354 for( int m
=0;m
<=30; m
++ )
356 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
361 p
->type
= k_prediction_none
;
363 v3f launch_co
, launch_v
, co0
, co1
;
364 v3_copy( player
->rb
.co
, launch_co
);
365 v3_copy( player
->rb
.v
, launch_v
);
366 v3_copy( launch_co
, co0
);
368 float vt
= (float)m
* (1.0f
/30.0f
),
369 ang
= vg_lerpf( angle_begin
, angle_end
, vt
) * 0.15f
;
372 q_axis_angle( qbias
, axis
, ang
);
373 q_mulv( qbias
, launch_v
, launch_v
);
375 float yaw_sketch
= 1.0f
-fabsf(upness
);
377 float yaw_bias
= ((float)(m
%3) - 1.0f
) * 0.08f
* yaw_sketch
;
378 q_axis_angle( qbias
, player
->rb
.to_world
[1], yaw_bias
);
379 q_mulv( qbias
, launch_v
, launch_v
);
382 float gravity_bias
= vg_lerpf( 0.85f
, 1.4f
, vt
),
383 gravity
= k_gravity
* gravity_bias
;
384 p
->gravity
= gravity
;
386 v3_copy( launch_v
, p
->v
);
388 for( int i
=1; i
<=50; i
++ )
390 float t
= (float)i
* k_trace_delta
;
392 v3_muls( launch_v
, t
, co1
);
393 v3_muladds( co1
, player
->basis
[1], -0.5f
* gravity
* t
*t
, co1
);
394 v3_add( launch_co
, co1
, co1
);
396 float launch_vy
= v3_dot( launch_v
,player
->basis
[1] );
397 if( !grind_located
&& (launch_vy
- gravity
*t
< 0.0f
) )
400 if( bh_closest_point( world
->geo_bh
, co1
, closest
, 1.0f
) != -1 )
403 v3_copy( launch_v
, ve
);
404 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
406 if( skate_grind_scansq( player
, closest
, ve
, 0.5f
, &grind
) )
408 /* check alignment */
409 v2f v0
= { v3_dot( ve
, player
->basis
[0] ),
410 v3_dot( ve
, player
->basis
[2] ) },
411 v1
= { v3_dot( grind
.dir
, player
->basis
[0] ),
412 v3_dot( grind
.dir
, player
->basis
[2] ) };
417 float a
= v2_dot( v0
, v1
);
419 if( a
>= cosf( VG_PIf
* 0.185f
) )
430 int idx
= spherecast_world( world
, co0
, co1
, k_board_radius
, &t1
, n
);
434 v3_lerp( co0
, co1
, t1
, co
);
435 v3_copy( co
, p
->log
[ p
->log_length
++ ] );
438 p
->type
= k_prediction_land
;
441 v3_copy( launch_v
, ve
);
442 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
444 struct grind_info replace_grind
;
445 if( skate_grind_scansq( player
, co
, ve
, 0.3f
, &replace_grind
) )
447 v3_copy( replace_grind
.n
, p
->n
);
448 p
->type
= k_prediction_grind
;
451 p
->score
= -v3_dot( ve
, p
->n
);
452 p
->land_dist
= t
+ k_trace_delta
* t1
;
454 u32 vert_index
= world
->scene_geo
->arrindices
[ idx
*3 ];
455 struct world_material
*mat
=
456 world_tri_index_material( world
, vert_index
);
458 /* Bias prediction towords ramps */
459 if( !(mat
->info
.flags
& k_material_flag_skate_surface
) )
466 v3_copy( co1
, p
->log
[ p
->log_length
++ ] );
471 if( p
->type
== k_prediction_none
)
472 s
->prediction_count
--;
477 /* calculate the exact solution(s) to jump onto that grind spot */
478 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
];
479 p
->gravity
= k_gravity
;
481 if( solve_prediction_for_target( player
, grind
.co
, 0.125f
*VG_PIf
, p
) )
483 v3_copy( grind
.n
, p
->n
);
485 /* determine score */
488 v3_muladds( ve
, player
->basis
[1], -p
->gravity
* p
->land_dist
, ve
);
489 p
->score
= -v3_dot( ve
, grind
.n
) * 0.85f
;
491 s
->prediction_count
++;
496 float score_min
= INFINITY
,
497 score_max
= -INFINITY
;
499 struct land_prediction
*best
= NULL
;
501 for( int i
=0; i
<s
->prediction_count
; i
++ )
503 struct land_prediction
*p
= &s
->predictions
[i
];
505 if( p
->score
< score_min
)
508 score_min
= vg_minf( score_min
, p
->score
);
509 score_max
= vg_maxf( score_max
, p
->score
);
512 for( int i
=0; i
<s
->prediction_count
; i
++ )
514 struct land_prediction
*p
= &s
->predictions
[i
];
518 s
/= (score_max
-score_min
);
522 p
->colour
= s
* 255.0f
;
526 else if( p
->type
== k_prediction_land
)
529 p
->colour
|= 0xff000000;
534 v3_copy( best
->n
, s
->land_normal
);
535 v3_copy( best
->v
, player
->rb
.v
);
536 s
->land_dist
= best
->land_dist
;
538 v2f steer
= { player
->input_js1h
->axis
.value
,
539 player
->input_js1v
->axis
.value
};
540 v2_normalize_clamp( steer
);
541 s
->state
.gravity_bias
= best
->gravity
;
543 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.5f
) )
545 s
->state
.flip_rate
= (1.0f
/s
->land_dist
) * vg_signf(steer
[1]) *
547 s
->state
.flip_time
= 0.0f
;
548 v3_copy( player
->rb
.to_world
[0], s
->state
.flip_axis
);
552 s
->state
.flip_rate
= 0.0f
;
553 v3_zero( s
->state
.flip_axis
);
558 v3_copy( player
->basis
[1], s
->land_normal
);
564 * Varius physics models
565 * ------------------------------------------------
569 * Air control, no real physics
571 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
573 struct player_skate
*s
= &player
->_skate
;
575 if( s
->state
.activity_prev
!= k_skate_activity_air
)
576 player__approximate_best_trajectory( player
);
578 float angle
= v3_dot( player
->rb
.to_world
[1], s
->land_normal
);
579 angle
= vg_clampf( angle
, -1.0f
, 1.0f
);
581 v3_cross( player
->rb
.to_world
[1], s
->land_normal
, axis
);
584 q_axis_angle( correction
, axis
,
585 acosf(angle
)*2.0f
*VG_TIMESTEP_FIXED
);
586 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
588 v2f steer
= { player
->input_js1h
->axis
.value
,
589 player
->input_js1v
->axis
.value
};
590 v2_normalize_clamp( steer
);
593 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
594 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
596 struct player_skate
*s
= &player
->_skate
;
599 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
601 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
602 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
604 v3_mul( strength
, F
, F
);
606 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
607 s
->board_trick_residualv
);
608 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
609 k_rb_delta
, s
->board_trick_residuald
);
611 if( s
->state
.activity
== k_skate_activity_air
)
613 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
616 int carry_on
= player_skate_trick_input( player
);
618 /* we assume velocities share a common divisor, in which case the
619 * interval is the minimum value (if not zero) */
621 float min_rate
= 99999.0f
;
623 for( int i
=0; i
<3; i
++ )
625 float v
= s
->state
.trick_vel
[i
];
626 if( (v
> 0.0f
) && (v
< min_rate
) )
630 float interval
= 1.0f
/ min_rate
,
631 current
= floorf( s
->state
.trick_time
/ interval
),
632 next_end
= (current
+1.0f
) * interval
;
635 /* integrate trick velocities */
636 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
637 s
->state
.trick_euler
);
639 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) )
641 s
->state
.trick_time
= 0.0f
;
642 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
643 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
644 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
645 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
646 v3_zero( s
->state
.trick_vel
);
649 s
->state
.trick_time
+= k_rb_delta
;
653 if( (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
654 s
->state
.trick_time
> 0.2f
)
656 player__dead_transition( player
);
659 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
660 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
661 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
662 s
->state
.trick_time
= 0.0f
;
663 v3_zero( s
->state
.trick_vel
);
667 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
669 struct player_skate
*s
= &player
->_skate
;
671 float grabt
= player
->input_grab
->axis
.value
;
675 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
676 s
->state
.grab_mouse_delta
);
678 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
681 v2_zero( s
->state
.grab_mouse_delta
);
683 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
686 VG_STATIC
void skate_apply_steering_model( player_instance
*player
)
688 struct player_skate
*s
= &player
->_skate
;
691 float steer
= player
->input_js1h
->axis
.value
,
692 grab
= player
->input_grab
->axis
.value
;
694 steer
= vg_signf( steer
) * steer
*steer
* k_steer_ground
;
697 v3_muls( player
->rb
.to_world
[1], -vg_signf( steer
), steer_axis
);
702 if( s
->state
.activity
== k_skate_activity_air
)
704 rate
= 6.0f
* fabsf(steer
);
709 /* rotate slower when grabbing on ground */
710 steer
*= (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
);
712 if( s
->state
.activity
== k_skate_activity_grind_5050
)
718 else if( s
->state
.activity
>= k_skate_activity_grind_any
)
720 rate
*= fabsf(steer
);
722 float a
= 0.8f
* -steer
* k_rb_delta
;
725 q_axis_angle( q
, player
->rb
.to_world
[1], a
);
726 q_mulv( q
, s
->grind_vec
, s
->grind_vec
);
728 v3_normalize( s
->grind_vec
);
731 else if( s
->state
.manual_direction
)
738 float current
= v3_dot( player
->rb
.to_world
[1], player
->rb
.w
),
739 addspeed
= (steer
* -top
) - current
,
740 maxaccel
= rate
* k_rb_delta
,
741 accel
= vg_clampf( addspeed
, -maxaccel
, maxaccel
);
743 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], accel
, player
->rb
.w
);
747 * Computes friction and surface interface model
749 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
751 struct player_skate
*s
= &player
->_skate
;
754 * Computing localized friction forces for controlling the character
755 * Friction across X is significantly more than Z
759 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
762 if( fabsf(vel
[2]) > 0.01f
)
763 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
765 if( fabsf( slip
) > 1.2f
)
766 slip
= vg_signf( slip
) * 1.2f
;
768 s
->state
.slip
= slip
;
769 s
->state
.reverse
= -vg_signf(vel
[2]);
771 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
772 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
774 /* Pushing additive force */
776 if( !player
->input_jump
->button
.value
)
778 if( player
->input_push
->button
.value
||
779 (vg
.time
-s
->state
.start_push
<0.75) )
781 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
782 s
->state
.start_push
= vg
.time
;
784 s
->state
.cur_push
= vg
.time
;
786 double push_time
= vg
.time
- s
->state
.start_push
;
788 float cycle_time
= push_time
*k_push_cycle_rate
,
789 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
790 amt
= accel
* VG_TIMESTEP_FIXED
,
791 current
= v3_length( vel
),
792 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
793 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
795 vel
[2] += delta
* -s
->state
.reverse
;
799 /* Send back to velocity */
800 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
803 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
805 struct player_skate
*s
= &player
->_skate
;
806 int charging_jump_prev
= s
->state
.charging_jump
;
807 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
809 /* Cannot charge this in air */
810 if( s
->state
.activity
== k_skate_activity_air
)
812 s
->state
.charging_jump
= 0;
816 if( s
->state
.charging_jump
)
818 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
820 if( !charging_jump_prev
)
821 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
825 s
->state
.jump_charge
-= k_jump_charge_speed
* k_rb_delta
;
828 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
830 /* player let go after charging past 0.2: trigger jump */
831 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
835 /* Launch more up if alignment is up else improve velocity */
836 float aup
= v3_dot( player
->basis
[1], player
->rb
.to_world
[1] ),
838 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
840 v3_copy( player
->rb
.v
, jumpdir
);
841 v3_normalize( jumpdir
);
842 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
843 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
844 v3_normalize( jumpdir
);
846 float force
= k_jump_force
*s
->state
.jump_charge
;
847 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
848 s
->state
.jump_charge
= 0.0f
;
849 s
->state
.jump_time
= vg
.time
;
850 s
->state
.activity
= k_skate_activity_air
;
852 v2f steer
= { player
->input_js1h
->axis
.value
,
853 player
->input_js1v
->axis
.value
};
854 v2_normalize_clamp( steer
);
855 skate_apply_air_model( player
);
858 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
859 s
->state
.steery_s
= -steer
[0] * maxspin
;
860 s
->state
.steerx
= s
->state
.steerx_s
;
861 s
->state
.lift_frames
++;
865 audio_oneshot_3d( &audio_jumps
[rand()%2], player
->rb
.co
, 40.0f
, 1.0f
);
870 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
872 struct player_skate
*s
= &player
->_skate
;
874 if( s
->state
.activity
!= k_skate_activity_ground
)
876 v3_zero( s
->state
.throw_v
);
880 /* Throw / collect routine
882 * TODO: Max speed boost
884 if( player
->input_grab
->axis
.value
> 0.5f
)
886 if( s
->state
.activity
== k_skate_activity_ground
)
889 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
895 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
898 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
900 if( s
->state
.activity
== k_skate_activity_ground
)
902 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
903 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
906 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
907 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
908 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
912 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
915 v3_copy( s
->state
.throw_v
, dir
);
918 float max
= v3_dot( dir
, s
->state
.throw_v
),
919 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
920 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
924 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
926 struct player_skate
*s
= &player
->_skate
;
928 v3f ideal_cog
, ideal_diff
, ideal_dir
;
929 v3_copy( s
->state
.up_dir
, ideal_dir
);
930 v3_normalize( ideal_dir
);
932 v3_muladds( player
->rb
.co
, ideal_dir
,
933 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
934 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
936 /* Apply velocities */
938 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
941 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
942 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
944 float ra
= k_cog_mass_ratio
,
945 rb
= 1.0f
-k_cog_mass_ratio
;
947 /* Apply forces & intergrate */
948 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
949 v3_muladds( s
->state
.cog_v
, player
->basis
[1], -9.8f
* k_rb_delta
,
952 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
956 VG_STATIC
void skate_integrate( player_instance
*player
)
958 struct player_skate
*s
= &player
->_skate
;
960 float decay_rate
= 1.0f
- (k_rb_delta
* 3.0f
),
963 if( s
->state
.activity
>= k_skate_activity_grind_any
)
965 decay_rate
= 1.0f
-vg_lerpf( 3.0f
, 20.0f
, s
->grind_strength
) * k_rb_delta
;
966 decay_rate_y
= decay_rate
;
969 float wx
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[0] ) * decay_rate
,
970 wy
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[1] ) * decay_rate_y
,
971 wz
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[2] ) * decay_rate
;
973 v3_muls( player
->rb
.to_world
[0], wx
, player
->rb
.w
);
974 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
975 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
977 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
978 rb_update_transform( &player
->rb
);
985 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
987 return (player
->input_trick0
->button
.value
) |
988 (player
->input_trick1
->button
.value
<< 1) |
989 (player
->input_trick2
->button
.value
<< 1) |
990 (player
->input_trick2
->button
.value
);
993 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
995 struct player_skate
*s
= &player
->_skate
;
997 if( vg_input_button_down( player
->input_use
) )
999 player
->subsystem
= k_player_subsystem_walk
;
1002 v3_copy( player
->cam
.angles
, angles
);
1005 player
->holdout_time
= 0.25f
;
1006 player__walk_transition( player
, angles
);
1010 if( vg_input_button_down( player
->input_reset
) )
1012 player
->rb
.co
[1] += 2.0f
;
1013 s
->state
.cog
[1] += 2.0f
;
1014 q_axis_angle( player
->rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, VG_PIf
* 0.25f
);
1015 v3_zero( player
->rb
.w
);
1016 v3_zero( player
->rb
.v
);
1018 rb_update_transform( &player
->rb
);
1022 if( (s
->state
.activity
== k_skate_activity_air
) &&
1023 (trick_id
= player_skate_trick_input( player
)) )
1025 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
)
1027 v3_zero( s
->state
.trick_vel
);
1028 s
->state
.trick_time
= 0.0f
;
1032 s
->state
.trick_vel
[0] = 3.0f
;
1034 else if( trick_id
== 2 )
1036 s
->state
.trick_vel
[2] = 3.0f
;
1038 else if( trick_id
== 3 )
1040 s
->state
.trick_vel
[0] = 2.0f
;
1041 s
->state
.trick_vel
[2] = 2.0f
;
1047 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1049 struct player_skate
*s
= &player
->_skate
;
1051 for( int i
=0; i
<s
->prediction_count
; i
++ )
1053 struct land_prediction
*p
= &s
->predictions
[i
];
1055 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1057 float brightness
= p
->score
*p
->score
*p
->score
;
1059 v3_lerp( p
->log
[j
], p
->log
[j
+1], brightness
, p1
);
1060 vg_line( p
->log
[j
], p1
, p
->colour
);
1063 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1066 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1067 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1069 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1073 vg_line_pt3( s
->state
.apex
, 0.030f
, 0xff0000ff );
1078 float air
= s
->state
.activity
== k_skate_activity_air
? 1.0f
: 0.0f
,
1079 speed
= v3_length( player
->rb
.v
),
1080 attn
= vg_minf( 1.0f
, speed
*0.1f
),
1081 slide
= vg_clampf( fabsf(s
->state
.slip
), 0.0f
, 1.0f
),
1083 vol_main
= sqrtf( (1.0f
-air
)*attn
*(1.0f
-slide
) * 0.4f
),
1084 vol_air
= sqrtf( air
*attn
* 0.5f
),
1085 vol_slide
= sqrtf( (1.0f
-air
)*attn
*slide
* 0.25f
);
1087 const u32 flags
= AUDIO_FLAG_SPACIAL_3D
|AUDIO_FLAG_LOOP
;
1089 s
->aud_main
= audio_request_channel( &audio_board
[0], flags
);
1092 s
->aud_air
= audio_request_channel( &audio_board
[1], flags
);
1095 s
->aud_slide
= audio_request_channel( &audio_board
[2], flags
);
1098 /* brrrrrrrrrrrt sound for tiles and stuff
1099 * --------------------------------------------------------*/
1100 float sidechain_amt
= 0.0f
,
1103 if( s
->surface
== k_surface_prop_tiles
)
1104 sidechain_amt
= 1.0f
;
1106 sidechain_amt
= 0.0f
;
1108 audio_set_lfo_frequency( 0, hz
);
1109 audio_set_lfo_wave( 0, k_lfo_polynomial_bipolar
,
1110 vg_lerpf( 250.0f
, 80.0f
, attn
) );
1114 s
->aud_main
->colour
= 0x00103efe;
1115 audio_channel_set_spacial( s
->aud_main
, player
->rb
.co
, 40.0f
);
1116 audio_channel_slope_volume( s
->aud_main
, 0.05f
, vol_main
);
1117 audio_channel_sidechain_lfo( s
->aud_main
, 0, sidechain_amt
);
1119 float rate
= 1.0f
+ (attn
-0.5f
)*0.2f
;
1120 audio_channel_set_sampling_rate( s
->aud_main
, rate
);
1125 s
->aud_slide
->colour
= 0x00103efe;
1126 audio_channel_set_spacial( s
->aud_slide
, player
->rb
.co
, 40.0f
);
1127 audio_channel_slope_volume( s
->aud_slide
, 0.05f
, vol_slide
);
1128 audio_channel_sidechain_lfo( s
->aud_slide
, 0, sidechain_amt
);
1133 s
->aud_air
->colour
= 0x00103efe;
1134 audio_channel_set_spacial( s
->aud_air
, player
->rb
.co
, 40.0f
);
1135 audio_channel_slope_volume( s
->aud_air
, 0.05f
, vol_air
);
1142 * truck alignment model at ra(local)
1143 * returns 1 if valid surface:
1144 * surface_normal will be filled out with an averaged normal vector
1145 * axel_dir will be the direction from left to right wheels
1147 * returns 0 if no good surface found
1150 int skate_compute_surface_alignment( player_instance
*player
,
1152 v3f surface_normal
, v3f axel_dir
)
1154 struct player_skate
*s
= &player
->_skate
;
1155 world_instance
*world
= get_active_world();
1157 v3f truck
, left
, right
;
1158 m4x3_mulv( player
->rb
.to_world
, ra
, truck
);
1160 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_width
, left
);
1161 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_width
, right
);
1162 vg_line( left
, right
, colour
);
1164 float k_max_truck_flex
= VG_PIf
* 0.25f
;
1166 ray_hit ray_l
, ray_r
;
1169 v3_muls( player
->rb
.to_world
[1], -1.0f
, dir
);
1171 int res_l
= 0, res_r
= 0;
1173 for( int i
=0; i
<8; i
++ )
1175 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1176 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_radius
*t
, left
);
1177 v3_muladds( left
, player
->rb
.to_world
[1], k_board_radius
, left
);
1178 ray_l
.dist
= 2.1f
* k_board_radius
;
1180 res_l
= ray_world( world
, left
, dir
, &ray_l
);
1186 for( int i
=0; i
<8; i
++ )
1188 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1189 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_radius
*t
, right
);
1190 v3_muladds( right
, player
->rb
.to_world
[1], k_board_radius
, right
);
1191 ray_r
.dist
= 2.1f
* k_board_radius
;
1193 res_r
= ray_world( world
, right
, dir
, &ray_r
);
1201 v3f tangent_average
;
1202 v3_muladds( truck
, player
->rb
.to_world
[1], -k_board_radius
, midpoint
);
1203 v3_zero( tangent_average
);
1205 if( res_l
|| res_r
)
1208 v3_copy( midpoint
, p0
);
1209 v3_copy( midpoint
, p1
);
1213 v3_copy( ray_l
.pos
, p0
);
1214 v3_cross( ray_l
.normal
, player
->rb
.to_world
[0], t
);
1215 v3_add( t
, tangent_average
, tangent_average
);
1219 v3_copy( ray_r
.pos
, p1
);
1220 v3_cross( ray_r
.normal
, player
->rb
.to_world
[0], t
);
1221 v3_add( t
, tangent_average
, tangent_average
);
1224 v3_sub( p1
, p0
, v0
);
1229 /* fallback: use the closes point to the trucks */
1231 int idx
= bh_closest_point( world
->geo_bh
, midpoint
, closest
, 0.1f
);
1235 u32
*tri
= &world
->scene_geo
->arrindices
[ idx
* 3 ];
1238 for( int j
=0; j
<3; j
++ )
1239 v3_copy( world
->scene_geo
->arrvertices
[ tri
[j
] ].co
, verts
[j
] );
1241 v3f vert0
, vert1
, n
;
1242 v3_sub( verts
[1], verts
[0], vert0
);
1243 v3_sub( verts
[2], verts
[0], vert1
);
1244 v3_cross( vert0
, vert1
, n
);
1247 if( v3_dot( n
, player
->rb
.to_world
[1] ) < 0.3f
)
1250 v3_cross( n
, player
->rb
.to_world
[2], v0
);
1251 v3_muladds( v0
, player
->rb
.to_world
[2],
1252 -v3_dot( player
->rb
.to_world
[2], v0
), v0
);
1256 v3_cross( n
, player
->rb
.to_world
[0], t
);
1257 v3_add( t
, tangent_average
, tangent_average
);
1263 v3_muladds( truck
, v0
, k_board_width
, right
);
1264 v3_muladds( truck
, v0
, -k_board_width
, left
);
1266 vg_line( left
, right
, VG__WHITE
);
1268 v3_normalize( tangent_average
);
1269 v3_cross( v0
, tangent_average
, surface_normal
);
1270 v3_copy( v0
, axel_dir
);
1275 VG_STATIC
void skate_weight_distribute( player_instance
*player
)
1277 struct player_skate
*s
= &player
->_skate
;
1278 v3_zero( s
->weight_distribution
);
1280 int reverse_dir
= v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) < 0.0f
?1:-1;
1282 if( s
->state
.manual_direction
== 0 )
1284 if( (player
->input_js1v
->axis
.value
> 0.7f
) &&
1285 (s
->state
.activity
== k_skate_activity_ground
) &&
1286 (s
->state
.jump_charge
<= 0.01f
) )
1287 s
->state
.manual_direction
= reverse_dir
;
1291 if( player
->input_js1v
->axis
.value
< 0.1f
)
1293 s
->state
.manual_direction
= 0;
1297 if( reverse_dir
!= s
->state
.manual_direction
)
1304 if( s
->state
.manual_direction
)
1306 float amt
= vg_minf( player
->input_js1v
->axis
.value
* 8.0f
, 1.0f
);
1307 s
->weight_distribution
[2] = k_board_length
* amt
*
1308 (float)s
->state
.manual_direction
;
1311 /* TODO: Fall back on land normal */
1312 /* TODO: Lerp weight distribution */
1313 if( s
->state
.manual_direction
)
1317 m3x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, plane_z
);
1318 v3_negate( plane_z
, plane_z
);
1320 v3_muladds( plane_z
, s
->surface_picture
,
1321 -v3_dot( plane_z
, s
->surface_picture
), plane_z
);
1322 v3_normalize( plane_z
);
1324 v3_muladds( plane_z
, s
->surface_picture
, 0.3f
, plane_z
);
1325 v3_normalize( plane_z
);
1328 v3_muladds( player
->rb
.co
, plane_z
, 1.5f
, p1
);
1329 vg_line( player
->rb
.co
, p1
, VG__GREEN
);
1332 v3_muls( player
->rb
.to_world
[2], -(float)s
->state
.manual_direction
,
1335 rb_effect_spring_target_vector( &player
->rb
, refdir
, plane_z
,
1336 k_manul_spring
, k_manul_dampener
,
1341 VG_STATIC
void skate_adjust_up_direction( player_instance
*player
)
1343 struct player_skate
*s
= &player
->_skate
;
1345 if( s
->state
.activity
== k_skate_activity_ground
)
1348 v3_copy( s
->surface_picture
, target
);
1350 target
[1] += 2.0f
* s
->surface_picture
[1];
1351 v3_normalize( target
);
1353 v3_lerp( s
->state
.up_dir
, target
,
1354 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1356 else if( s
->state
.activity
== k_skate_activity_air
)
1358 v3_lerp( s
->state
.up_dir
, player
->rb
.to_world
[1],
1359 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1363 v3_lerp( s
->state
.up_dir
, player
->basis
[1],
1364 12.0f
* s
->substep_delta
, s
->state
.up_dir
);
1368 VG_STATIC
int skate_point_visible( v3f origin
, v3f target
)
1371 v3_sub( target
, origin
, dir
);
1374 ray
.dist
= v3_length( dir
);
1375 v3_muls( dir
, 1.0f
/ray
.dist
, dir
);
1378 if( ray_world( get_active_world(), origin
, dir
, &ray
) )
1384 VG_STATIC
void skate_grind_orient( struct grind_info
*inf
, m3x3f mtx
)
1386 /* TODO: Is N and Dir really orthogonal? */
1387 v3_copy( inf
->dir
, mtx
[0] );
1388 v3_copy( inf
->n
, mtx
[1] );
1389 v3_cross( mtx
[0], mtx
[1], mtx
[2] );
1392 VG_STATIC
void skate_grind_friction( player_instance
*player
,
1393 struct grind_info
*inf
, float strength
)
1396 v3_muladds( player
->rb
.to_world
[2], inf
->n
,
1397 -v3_dot( player
->rb
.to_world
[2], inf
->n
), v2
);
1399 float a
= 1.0f
-fabsf( v3_dot( v2
, inf
->dir
) ),
1400 dir
= vg_signf( v3_dot( player
->rb
.v
, inf
->dir
) ),
1401 F
= a
* -dir
* k_grind_max_friction
;
1403 v3_muladds( player
->rb
.v
, inf
->dir
, F
*k_rb_delta
*strength
, player
->rb
.v
);
1406 VG_STATIC
void skate_grind_decay( player_instance
*player
,
1407 struct grind_info
*inf
, float strength
)
1410 skate_grind_orient( inf
, mtx
);
1411 m3x3_transpose( mtx
, mtx_inv
);
1414 m3x3_mulv( mtx_inv
, player
->rb
.v
, v_grind
);
1416 float decay
= 1.0f
- ( k_rb_delta
* k_grind_decayxy
* strength
);
1417 v3_mul( v_grind
, (v3f
){ 1.0f
, decay
, decay
}, v_grind
);
1418 m3x3_mulv( mtx
, v_grind
, player
->rb
.v
);
1421 VG_STATIC
void skate_grind_truck_apply( player_instance
*player
,
1422 float sign
, struct grind_info
*inf
,
1425 struct player_skate
*s
= &player
->_skate
;
1427 /* TODO: Trash compactor this */
1428 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1430 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1431 v3_add( player
->rb
.co
, raw
, wsp
);
1433 v3_copy( ra
, s
->weight_distribution
);
1436 v3_sub( inf
->co
, wsp
, delta
);
1439 v3_muladds( player
->rb
.v
, delta
, k_spring_force
*strength
*k_rb_delta
,
1442 skate_grind_decay( player
, inf
, strength
);
1443 skate_grind_friction( player
, inf
, strength
);
1445 /* yeah yeah yeah yeah */
1446 v3f raw_nplane
, axis
;
1447 v3_muladds( raw
, inf
->n
, -v3_dot( inf
->n
, raw
), raw_nplane
);
1448 v3_cross( raw_nplane
, inf
->n
, axis
);
1449 v3_normalize( axis
);
1453 skate_grind_orient( inf
, mtx
);
1454 v3f target_fwd
, fwd
, up
, target_up
;
1455 m3x3_mulv( mtx
, s
->grind_vec
, target_fwd
);
1456 v3_copy( raw_nplane
, fwd
);
1457 v3_copy( player
->rb
.to_world
[1], up
);
1458 v3_copy( inf
->n
, target_up
);
1460 v3_muladds( target_fwd
, inf
->n
, -v3_dot(inf
->n
,target_fwd
), target_fwd
);
1461 v3_muladds( fwd
, inf
->n
, -v3_dot(inf
->n
,fwd
), fwd
);
1463 v3_normalize( target_fwd
);
1464 v3_normalize( fwd
);
1467 float way
= player
->input_js1v
->axis
.value
*
1468 vg_signf( v3_dot( raw_nplane
, player
->rb
.v
) );
1471 q_axis_angle( q
, axis
, VG_PIf
*0.125f
* way
);
1472 q_mulv( q
, target_up
, target_up
);
1473 q_mulv( q
, target_fwd
, target_fwd
);
1475 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1480 rb_effect_spring_target_vector( &player
->rb
, fwd
, target_fwd
,
1481 k_grind_spring
*strength
,
1482 k_grind_dampener
*strength
,
1485 vg_line_arrow( player
->rb
.co
, target_up
, 1.0f
, VG__GREEN
);
1486 vg_line_arrow( player
->rb
.co
, fwd
, 0.8f
, VG__RED
);
1487 vg_line_arrow( player
->rb
.co
, target_fwd
, 1.0f
, VG__YELOW
);
1489 s
->grind_strength
= strength
;
1492 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1493 m4x3_mulv( player
->rb
.to_local
, wsp
, limit
->ra
);
1494 m3x3_mulv( player
->rb
.to_local
, inf
->n
, limit
->n
);
1497 v3_copy( inf
->dir
, s
->grind_dir
);
1500 VG_STATIC
void skate_5050_apply( player_instance
*player
,
1501 struct grind_info
*inf_front
,
1502 struct grind_info
*inf_back
)
1504 struct player_skate
*s
= &player
->_skate
;
1505 struct grind_info inf_avg
;
1507 v3_sub( inf_front
->co
, inf_back
->co
, inf_avg
.dir
);
1508 v3_muladds( inf_back
->co
, inf_avg
.dir
, 0.5f
, inf_avg
.co
);
1509 v3_normalize( inf_avg
.dir
);
1511 v3f axis_front
, axis_back
, axis
;
1512 v3_cross( inf_front
->dir
, inf_front
->n
, axis_front
);
1513 v3_cross( inf_back
->dir
, inf_back
->n
, axis_back
);
1514 v3_add( axis_front
, axis_back
, axis
);
1515 v3_normalize( axis
);
1517 v3_cross( axis
, inf_avg
.dir
, inf_avg
.n
);
1519 skate_grind_decay( player
, &inf_avg
, 1.0f
);
1522 float way
= player
->input_js1v
->axis
.value
*
1523 vg_signf( v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) );
1526 v3_copy( player
->rb
.to_world
[1], up
);
1527 v3_copy( inf_avg
.n
, target_up
);
1528 q_axis_angle( q
, player
->rb
.to_world
[0], VG_PIf
*0.25f
* -way
);
1529 q_mulv( q
, target_up
, target_up
);
1531 v3_zero( s
->weight_distribution
);
1532 s
->weight_distribution
[2] = k_board_length
* -way
;
1534 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1539 v3f fwd_nplane
, dir_nplane
;
1540 v3_muladds( player
->rb
.to_world
[2], inf_avg
.n
,
1541 -v3_dot( player
->rb
.to_world
[2], inf_avg
.n
), fwd_nplane
);
1544 v3_muls( inf_avg
.dir
, v3_dot( fwd_nplane
, inf_avg
.dir
), dir
);
1545 v3_muladds( dir
, inf_avg
.n
, -v3_dot( dir
, inf_avg
.n
), dir_nplane
);
1547 v3_normalize( fwd_nplane
);
1548 v3_normalize( dir_nplane
);
1550 rb_effect_spring_target_vector( &player
->rb
, fwd_nplane
, dir_nplane
,
1555 v3f pos_front
= { 0.0f
, -k_board_radius
, -1.0f
* k_board_length
},
1556 pos_back
= { 0.0f
, -k_board_radius
, 1.0f
* k_board_length
},
1557 delta_front
, delta_back
, delta_total
;
1559 m4x3_mulv( player
->rb
.to_world
, pos_front
, pos_front
);
1560 m4x3_mulv( player
->rb
.to_world
, pos_back
, pos_back
);
1562 v3_sub( inf_front
->co
, pos_front
, delta_front
);
1563 v3_sub( inf_back
->co
, pos_back
, delta_back
);
1564 v3_add( delta_front
, delta_back
, delta_total
);
1566 v3_muladds( player
->rb
.v
, delta_total
, 50.0f
* k_rb_delta
, player
->rb
.v
);
1569 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1570 v3_zero( limit
->ra
);
1571 m3x3_mulv( player
->rb
.to_local
, inf_avg
.n
, limit
->n
);
1574 v3_copy( inf_avg
.dir
, s
->grind_dir
);
1577 VG_STATIC
int skate_grind_truck_renew( player_instance
*player
, float sign
,
1578 struct grind_info
*inf
)
1580 struct player_skate
*s
= &player
->_skate
;
1582 v3f wheel_co
= { 0.0f
, 0.0f
, sign
* k_board_length
},
1583 grind_co
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1585 m4x3_mulv( player
->rb
.to_world
, wheel_co
, wheel_co
);
1586 m4x3_mulv( player
->rb
.to_world
, grind_co
, grind_co
);
1588 /* Exit condition: lost grind tracking */
1589 if( !skate_grind_scansq( player
, grind_co
, player
->rb
.v
, 0.3f
, inf
) )
1592 /* Exit condition: cant see grind target directly */
1593 if( !skate_point_visible( wheel_co
, inf
->co
) )
1596 /* Exit condition: minimum velocity not reached, but allow a bit of error */
1597 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1598 minv
= k_grind_axel_min_vel
*0.8f
;
1603 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1606 v3_copy( inf
->dir
, s
->grind_dir
);
1610 VG_STATIC
int skate_grind_truck_entry( player_instance
*player
, float sign
,
1611 struct grind_info
*inf
)
1613 struct player_skate
*s
= &player
->_skate
;
1615 /* TODO: Trash compactor this */
1616 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1619 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1620 v3_add( player
->rb
.co
, raw
, wsp
);
1622 if( skate_grind_scansq( player
, wsp
, player
->rb
.v
, 0.3, inf
) )
1624 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1627 /* velocity should be at least 60% aligned */
1629 v3_cross( inf
->n
, inf
->dir
, axis
);
1630 v3_muladds( player
->rb
.v
, inf
->n
, -v3_dot( player
->rb
.v
, inf
->n
), pv
);
1632 if( v3_length2( pv
) < 0.0001f
)
1636 if( fabsf(v3_dot( pv
, inf
->dir
)) < k_grind_axel_max_angle
)
1639 if( v3_dot( player
->rb
.v
, inf
->n
) > 0.5f
)
1643 /* check for vertical alignment */
1644 if( v3_dot( player
->rb
.to_world
[1], inf
->n
) < k_grind_axel_max_vangle
)
1648 v3f local_co
, local_dir
, local_n
;
1649 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1650 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1651 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1653 v2f delta
= { local_co
[0], local_co
[2] - k_board_length
*sign
};
1655 float truck_height
= -(k_board_radius
+0.03f
);
1658 v3_cross( player
->rb
.w
, raw
, rv
);
1659 v3_add( player
->rb
.v
, rv
, rv
);
1661 if( (local_co
[1] >= truck_height
) &&
1662 (v2_length2( delta
) <= k_board_radius
*k_board_radius
) )
1671 VG_STATIC
void skate_boardslide_apply( player_instance
*player
,
1672 struct grind_info
*inf
)
1674 struct player_skate
*s
= &player
->_skate
;
1676 v3f local_co
, local_dir
, local_n
;
1677 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1678 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1679 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1682 v3_muladds( local_co
, local_dir
, local_co
[0]/-local_dir
[0],
1684 v3_copy( intersection
, s
->weight_distribution
);
1686 skate_grind_decay( player
, inf
, 0.1f
);
1687 skate_grind_friction( player
, inf
, 0.25f
);
1689 /* direction alignment */
1691 v3_cross( local_dir
, local_n
, perp
);
1692 v3_muls( local_dir
, vg_signf(local_dir
[0]), dir
);
1693 v3_muls( perp
, vg_signf(perp
[2]), perp
);
1695 m3x3_mulv( player
->rb
.to_world
, dir
, dir
);
1696 m3x3_mulv( player
->rb
.to_world
, perp
, perp
);
1698 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1700 k_grind_spring
, k_grind_dampener
,
1703 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[2],
1705 k_grind_spring
, k_grind_dampener
,
1708 vg_line_arrow( player
->rb
.co
, dir
, 0.5f
, VG__GREEN
);
1709 vg_line_arrow( player
->rb
.co
, perp
, 0.5f
, VG__BLUE
);
1711 v3_copy( inf
->dir
, s
->grind_dir
);
1714 VG_STATIC
int skate_boardslide_entry( player_instance
*player
,
1715 struct grind_info
*inf
)
1717 struct player_skate
*s
= &player
->_skate
;
1719 if( skate_grind_scansq( player
, player
->rb
.co
,
1720 player
->rb
.to_world
[0], k_board_length
,
1723 v3f local_co
, local_dir
;
1724 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1725 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1727 if( (fabsf(local_co
[2]) <= k_board_length
) && /* within wood area */
1728 (local_co
[1] >= 0.0f
) && /* at deck level */
1729 (fabsf(local_dir
[0]) >= 0.5f
) ) /* perpendicular to us */
1731 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1741 VG_STATIC
int skate_boardslide_renew( player_instance
*player
,
1742 struct grind_info
*inf
)
1744 struct player_skate
*s
= &player
->_skate
;
1746 if( !skate_grind_scansq( player
, player
->rb
.co
,
1747 player
->rb
.to_world
[0], k_board_length
,
1751 /* Exit condition: cant see grind target directly */
1753 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.2f
, vis
);
1754 if( !skate_point_visible( vis
, inf
->co
) )
1757 /* Exit condition: minimum velocity not reached, but allow a bit of error
1758 * TODO: trash compactor */
1759 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1760 minv
= k_grind_axel_min_vel
*0.8f
;
1765 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1771 VG_STATIC
void skate_store_grind_vec( player_instance
*player
,
1772 struct grind_info
*inf
)
1774 struct player_skate
*s
= &player
->_skate
;
1777 skate_grind_orient( inf
, mtx
);
1778 m3x3_transpose( mtx
, mtx
);
1781 v3_sub( inf
->co
, player
->rb
.co
, raw
);
1783 m3x3_mulv( mtx
, raw
, s
->grind_vec
);
1784 v3_normalize( s
->grind_vec
);
1785 v3_copy( inf
->dir
, s
->grind_dir
);
1788 VG_STATIC
enum skate_activity
skate_availible_grind( player_instance
*player
)
1790 struct player_skate
*s
= &player
->_skate
;
1792 /* debounces this state manager a little bit */
1793 if( s
->frames_since_activity_change
< 10 )
1795 s
->frames_since_activity_change
++;
1796 return k_skate_activity_undefined
;
1799 struct grind_info inf_back50
,
1807 if( s
->state
.activity
== k_skate_activity_grind_boardslide
)
1809 res_slide
= skate_boardslide_renew( player
, &inf_slide
);
1811 else if( s
->state
.activity
== k_skate_activity_grind_back50
)
1813 res_back50
= skate_grind_truck_renew( player
, 1.0f
, &inf_back50
);
1814 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1816 else if( s
->state
.activity
== k_skate_activity_grind_front50
)
1818 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1819 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1821 else if( s
->state
.activity
== k_skate_activity_grind_5050
)
1823 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1824 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1828 res_slide
= skate_boardslide_entry( player
, &inf_slide
);
1829 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1830 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1832 if( res_back50
!= res_front50
)
1834 int wants_to_do_that
= fabsf(player
->input_js1v
->axis
.value
) >= 0.25f
;
1836 res_back50
&= wants_to_do_that
;
1837 res_front50
&= wants_to_do_that
;
1841 const enum skate_activity table
[] =
1842 { /* slide | back | front */
1843 k_skate_activity_undefined
, /* 0 0 0 */
1844 k_skate_activity_grind_front50
, /* 0 0 1 */
1845 k_skate_activity_grind_back50
, /* 0 1 0 */
1846 k_skate_activity_grind_5050
, /* 0 1 1 */
1848 /* slide has priority always */
1849 k_skate_activity_grind_boardslide
, /* 1 0 0 */
1850 k_skate_activity_grind_boardslide
, /* 1 0 1 */
1851 k_skate_activity_grind_boardslide
, /* 1 1 0 */
1852 k_skate_activity_grind_boardslide
, /* 1 1 1 */
1854 , new_activity
= table
[ res_slide
<< 2 | res_back50
<< 1 | res_front50
];
1856 if( new_activity
== k_skate_activity_undefined
)
1858 if( s
->state
.activity
>= k_skate_activity_grind_any
)
1859 s
->frames_since_activity_change
= 0;
1861 else if( new_activity
== k_skate_activity_grind_boardslide
)
1863 skate_boardslide_apply( player
, &inf_slide
);
1865 else if( new_activity
== k_skate_activity_grind_back50
)
1867 if( s
->state
.activity
!= k_skate_activity_grind_back50
)
1868 skate_store_grind_vec( player
, &inf_back50
);
1870 skate_grind_truck_apply( player
, 1.0f
, &inf_back50
, 1.0f
);
1872 else if( new_activity
== k_skate_activity_grind_front50
)
1874 if( s
->state
.activity
!= k_skate_activity_grind_front50
)
1875 skate_store_grind_vec( player
, &inf_front50
);
1877 skate_grind_truck_apply( player
, -1.0f
, &inf_front50
, 1.0f
);
1879 else if( new_activity
== k_skate_activity_grind_5050
)
1880 skate_5050_apply( player
, &inf_front50
, &inf_back50
);
1882 return new_activity
;
1885 VG_STATIC
void player__skate_update( player_instance
*player
)
1887 struct player_skate
*s
= &player
->_skate
;
1888 world_instance
*world
= get_active_world();
1890 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1891 s
->state
.activity_prev
= s
->state
.activity
;
1893 struct board_collider
1900 enum board_collider_state
1902 k_collider_state_default
,
1903 k_collider_state_disabled
,
1904 k_collider_state_colliding
1911 { 0.0f
, 0.0f
, -k_board_length
},
1912 .radius
= k_board_radius
,
1916 { 0.0f
, 0.0f
, k_board_length
},
1917 .radius
= k_board_radius
,
1922 const int k_wheel_count
= 2;
1924 s
->substep
= k_rb_delta
;
1925 s
->substep_delta
= s
->substep
;
1928 int substep_count
= 0;
1930 v3_zero( s
->surface_picture
);
1932 for( int i
=0; i
<k_wheel_count
; i
++ )
1933 wheels
[i
].state
= k_collider_state_default
;
1935 /* check if we can enter or continue grind */
1936 enum skate_activity grindable_activity
= skate_availible_grind( player
);
1937 if( grindable_activity
!= k_skate_activity_undefined
)
1939 s
->state
.activity
= grindable_activity
;
1943 int contact_count
= 0;
1944 for( int i
=0; i
<2; i
++ )
1947 v3_copy( player
->rb
.to_world
[0], axel
);
1949 if( skate_compute_surface_alignment( player
, wheels
[i
].pos
,
1950 wheels
[i
].colour
, normal
, axel
) )
1952 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1954 k_surface_spring
, k_surface_dampener
,
1957 v3_add( normal
, s
->surface_picture
, s
->surface_picture
);
1961 m3x3_mulv( player
->rb
.to_local
, axel
, s
->truckv0
[i
] );
1966 s
->state
.activity
= k_skate_activity_ground
;
1967 s
->state
.gravity_bias
= k_gravity
;
1968 v3_normalize( s
->surface_picture
);
1970 skate_apply_friction_model( player
);
1971 skate_weight_distribute( player
);
1975 s
->state
.activity
= k_skate_activity_air
;
1976 v3_zero( s
->weight_distribution
);
1977 skate_apply_air_model( player
);
1982 if( s
->state
.activity
== k_skate_activity_grind_back50
)
1983 wheels
[1].state
= k_collider_state_disabled
;
1984 if( s
->state
.activity
== k_skate_activity_grind_front50
)
1985 wheels
[0].state
= k_collider_state_disabled
;
1986 if( s
->state
.activity
== k_skate_activity_grind_5050
)
1988 wheels
[0].state
= k_collider_state_disabled
;
1989 wheels
[1].state
= k_collider_state_disabled
;
1992 /* all activities */
1993 skate_apply_steering_model( player
);
1994 skate_adjust_up_direction( player
);
1995 skate_apply_cog_model( player
);
1996 skate_apply_jump_model( player
);
1997 skate_apply_grab_model( player
);
1998 skate_apply_trick_model( player
);
1999 skate_apply_pump_model( player
);
2004 * Phase 0: Continous collision detection
2005 * --------------------------------------------------------------------------
2008 v3f head_wp0
, head_wp1
, start_co
;
2009 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp0
);
2010 v3_copy( player
->rb
.co
, start_co
);
2012 /* calculate transform one step into future */
2015 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
2017 if( v3_length2( player
->rb
.w
) > 0.0f
)
2021 v3_copy( player
->rb
.w
, axis
);
2023 float mag
= v3_length( axis
);
2024 v3_divs( axis
, mag
, axis
);
2025 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
2026 q_mul( rotation
, player
->rb
.q
, future_q
);
2027 q_normalize( future_q
);
2030 v4_copy( player
->rb
.q
, future_q
);
2032 v3f future_cg
, current_cg
, cg_offset
;
2033 q_mulv( player
->rb
.q
, s
->weight_distribution
, current_cg
);
2034 q_mulv( future_q
, s
->weight_distribution
, future_cg
);
2035 v3_sub( future_cg
, current_cg
, cg_offset
);
2037 /* calculate the minimum time we can move */
2038 float max_time
= s
->substep
;
2040 for( int i
=0; i
<k_wheel_count
; i
++ )
2042 if( wheels
[i
].state
== k_collider_state_disabled
)
2045 v3f current
, future
, r_cg
;
2047 q_mulv( future_q
, wheels
[i
].pos
, future
);
2048 v3_add( future
, future_co
, future
);
2049 v3_add( cg_offset
, future
, future
);
2051 q_mulv( player
->rb
.q
, wheels
[i
].pos
, current
);
2052 v3_add( current
, player
->rb
.co
, current
);
2057 float cast_radius
= wheels
[i
].radius
- k_penetration_slop
* 2.0f
;
2058 if( spherecast_world( world
, current
, future
, cast_radius
, &t
, n
) != -1)
2059 max_time
= vg_minf( max_time
, t
* s
->substep
);
2062 /* clamp to a fraction of delta, to prevent locking */
2063 float rate_lock
= substep_count
;
2064 rate_lock
*= k_rb_delta
* 0.1f
;
2065 rate_lock
*= rate_lock
;
2067 max_time
= vg_maxf( max_time
, rate_lock
);
2068 s
->substep_delta
= max_time
;
2071 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
2072 if( v3_length2( player
->rb
.w
) > 0.0f
)
2076 v3_copy( player
->rb
.w
, axis
);
2078 float mag
= v3_length( axis
);
2079 v3_divs( axis
, mag
, axis
);
2080 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
2081 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
2082 q_normalize( player
->rb
.q
);
2084 q_mulv( player
->rb
.q
, s
->weight_distribution
, future_cg
);
2085 v3_sub( current_cg
, future_cg
, cg_offset
);
2086 v3_add( player
->rb
.co
, cg_offset
, player
->rb
.co
);
2089 rb_update_transform( &player
->rb
);
2090 v3_muladds( player
->rb
.v
, player
->basis
[1],
2091 -s
->state
.gravity_bias
* s
->substep_delta
, player
->rb
.v
);
2093 s
->substep
-= s
->substep_delta
;
2095 rb_ct manifold
[128];
2096 int manifold_len
= 0;
2099 * Phase -1: head detection
2100 * --------------------------------------------------------------------------
2102 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp1
);
2106 if( (v3_dist2( head_wp0
, head_wp1
) > 0.001f
) &&
2107 (spherecast_world( world
, head_wp0
, head_wp1
, 0.2f
, &t
, n
) != -1) )
2109 v3_lerp( start_co
, player
->rb
.co
, t
, player
->rb
.co
);
2110 rb_update_transform( &player
->rb
);
2112 player__dead_transition( player
);
2117 * Phase 1: Regular collision detection
2118 * --------------------------------------------------------------------------
2121 for( int i
=0; i
<k_wheel_count
; i
++ )
2123 if( wheels
[i
].state
== k_collider_state_disabled
)
2127 m3x3_identity( mtx
);
2128 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2130 rb_sphere collider
= { .radius
= wheels
[i
].radius
};
2132 rb_ct
*man
= &manifold
[ manifold_len
];
2134 int l
= skate_collide_smooth( player
, mtx
, &collider
, man
);
2136 wheels
[i
].state
= k_collider_state_colliding
;
2141 float grind_radius
= k_board_radius
* 0.75f
;
2142 rb_capsule capsule
= { .height
= (k_board_length
+0.2f
)*2.0f
,
2143 .radius
=grind_radius
};
2145 v3_muls( player
->rb
.to_world
[0], 1.0f
, mtx
[0] );
2146 v3_muls( player
->rb
.to_world
[2], -1.0f
, mtx
[1] );
2147 v3_muls( player
->rb
.to_world
[1], 1.0f
, mtx
[2] );
2148 v3_muladds( player
->rb
.to_world
[3], player
->rb
.to_world
[1],
2149 grind_radius
+ k_board_radius
*0.25f
, mtx
[3] );
2151 rb_ct
*cman
= &manifold
[manifold_len
];
2153 int l
= rb_capsule__scene( mtx
, &capsule
, NULL
, &world
->rb_geo
.inf
.scene
,
2157 for( int i
=0; i
<l
; i
++ )
2158 cman
[l
].type
= k_contact_type_edge
;
2159 rb_manifold_filter_joint_edges( cman
, l
, 0.03f
);
2160 l
= rb_manifold_apply_filtered( cman
, l
);
2164 debug_capsule( mtx
, capsule
.radius
, capsule
.height
, VG__WHITE
);
2167 for( int i
=0; i
<s
->limit_count
; i
++ )
2169 struct grind_limit
*limit
= &s
->limits
[i
];
2170 rb_ct
*ct
= &manifold
[ manifold_len
++ ];
2171 m4x3_mulv( player
->rb
.to_world
, limit
->ra
, ct
->co
);
2172 m3x3_mulv( player
->rb
.to_world
, limit
->n
, ct
->n
);
2174 ct
->type
= k_contact_type_default
;
2179 * --------------------------------------------------------------------------
2184 m4x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, world_cog
);
2185 vg_line_pt3( world_cog
, 0.02f
, VG__BLACK
);
2187 for( int i
=0; i
<manifold_len
; i
++ )
2189 rb_prepare_contact( &manifold
[i
], s
->substep_delta
);
2190 rb_debug_contact( &manifold
[i
] );
2193 /* yes, we are currently rebuilding mass matrices every frame. too bad! */
2194 v3f extent
= { k_board_width
, 0.1f
, k_board_length
};
2195 float ex2
= k_board_interia
*extent
[0]*extent
[0],
2196 ey2
= k_board_interia
*extent
[1]*extent
[1],
2197 ez2
= k_board_interia
*extent
[2]*extent
[2];
2199 float mass
= 2.0f
* (extent
[0]*extent
[1]*extent
[2]);
2200 float inv_mass
= 1.0f
/mass
;
2203 I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
2204 I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
2205 I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
2208 m3x3_identity( iI
);
2215 m3x3_mul( iI
, player
->rb
.to_local
, iIw
);
2216 m3x3_mul( player
->rb
.to_world
, iIw
, iIw
);
2218 for( int j
=0; j
<10; j
++ )
2220 for( int i
=0; i
<manifold_len
; i
++ )
2223 * regular dance; calculate velocity & total mass, apply impulse.
2226 struct contact
*ct
= &manifold
[i
];
2229 v3_sub( ct
->co
, world_cog
, delta
);
2230 v3_cross( player
->rb
.w
, delta
, rv
);
2231 v3_add( player
->rb
.v
, rv
, rv
);
2234 v3_cross( delta
, ct
->n
, raCn
);
2237 m3x3_mulv( iIw
, raCn
, raCnI
);
2239 float normal_mass
= 1.0f
/ (inv_mass
+ v3_dot(raCn
,raCnI
)),
2240 vn
= v3_dot( rv
, ct
->n
),
2241 lambda
= normal_mass
* ( -vn
);
2243 float temp
= ct
->norm_impulse
;
2244 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2245 lambda
= ct
->norm_impulse
- temp
;
2248 v3_muls( ct
->n
, lambda
, impulse
);
2250 v3_muladds( player
->rb
.v
, impulse
, inv_mass
, player
->rb
.v
);
2251 v3_cross( delta
, impulse
, impulse
);
2252 m3x3_mulv( iIw
, impulse
, impulse
);
2253 v3_add( impulse
, player
->rb
.w
, player
->rb
.w
);
2255 v3_cross( player
->rb
.w
, delta
, rv
);
2256 v3_add( player
->rb
.v
, rv
, rv
);
2257 vn
= v3_dot( rv
, ct
->n
);
2262 rb_depenetrate( manifold
, manifold_len
, dt
);
2263 v3_add( dt
, player
->rb
.co
, player
->rb
.co
);
2264 rb_update_transform( &player
->rb
);
2268 if( s
->substep
>= 0.0001f
)
2269 goto begin_collision
; /* again! */
2272 * End of collision and dynamics routine
2273 * --------------------------------------------------------------------------
2276 s
->surface
= k_surface_prop_concrete
;
2278 for( int i
=0; i
<manifold_len
; i
++ )
2280 rb_ct
*ct
= &manifold
[i
];
2281 struct world_material
*surface_mat
= world_contact_material( world
, ct
);
2283 if( surface_mat
->info
.surface_prop
!= k_surface_prop_concrete
)
2284 s
->surface
= surface_mat
->info
.surface_prop
;
2287 for( int i
=0; i
<k_wheel_count
; i
++ )
2290 m3x3_copy( player
->rb
.to_world
, mtx
);
2291 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2292 debug_sphere( mtx
, wheels
[i
].radius
,
2293 (u32
[]){ VG__WHITE
, VG__BLACK
,
2294 wheels
[i
].colour
}[ wheels
[i
].state
]);
2297 skate_integrate( player
);
2298 vg_line_pt3( s
->state
.cog
, 0.02f
, VG__WHITE
);
2300 struct gate_hit hit
;
2301 if( world_intersect_gates(world
, player
->rb
.co
, s
->state
.prev_pos
, &hit
) )
2303 teleport_gate
*gate
= hit
.gate
;
2304 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
2305 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
2306 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
2307 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
2308 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
2309 m3x3_mulv( gate
->transport
, s
->state
.head_position
,
2310 s
->state
.head_position
);
2311 m3x3_mulv( gate
->transport
, s
->state
.up_dir
, s
->state
.up_dir
);
2313 v4f transport_rotation
;
2314 m3x3_q( gate
->transport
, transport_rotation
);
2315 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
2316 rb_update_transform( &player
->rb
);
2318 s
->state_gate_storage
= s
->state
;
2319 player__pass_gate( player
, &hit
);
2322 /* FIXME: Rate limit */
2323 static int stick_frames
= 0;
2325 if( s
->state
.activity
== k_skate_activity_ground
)
2331 if( stick_frames
== 4 )
2334 if( (fabsf(s
->state
.slip
) > 0.75f
) )
2336 audio_oneshot_3d( &audio_lands
[rand()%2+3], player
->rb
.co
,
2341 audio_oneshot_3d( &audio_lands
[rand()%3], player
->rb
.co
,
2348 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
2350 struct player_skate
*s
= &player
->_skate
;
2351 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
2354 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
2357 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
2361 const char *activity_txt
[] =
2365 "undefined (INVALID)",
2366 "grind_any (INVALID)",
2375 player__debugtext( 1, "activity: %s", activity_txt
[s
->state
.activity
] );
2377 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
2378 s
->state
.steerx_s
, s
->state
.steery_s
,
2379 k_steer_ground
, k_steer_air
);
2381 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
2382 s
->state
.flip_time
);
2383 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
2384 s
->state
.trick_vel
[0],
2385 s
->state
.trick_vel
[1],
2386 s
->state
.trick_vel
[2] );
2387 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
2388 s
->state
.trick_euler
[0],
2389 s
->state
.trick_euler
[1],
2390 s
->state
.trick_euler
[2] );
2393 VG_STATIC
void player__skate_animate( player_instance
*player
,
2394 player_animation
*dest
)
2396 struct player_skate
*s
= &player
->_skate
;
2397 struct player_avatar
*av
= player
->playeravatar
;
2398 struct skeleton
*sk
= &av
->sk
;
2401 float kheight
= 2.0f
,
2407 v3f cog_local
, cog_ideal
;
2408 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, cog_local
);
2410 v3_copy( s
->state
.up_dir
, cog_ideal
);
2411 v3_normalize( cog_ideal
);
2412 m3x3_mulv( player
->rb
.to_local
, cog_ideal
, cog_ideal
);
2414 v3_sub( cog_ideal
, cog_local
, offset
);
2417 v3_muls( offset
, 4.0f
, offset
);
2420 float curspeed
= v3_length( player
->rb
.v
),
2421 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
2422 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
2423 sign
= vg_signf( kicks
);
2425 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
2426 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
2429 offset
[0] += s
->wobble
[1]*3.0f
;
2434 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
2435 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
2438 * Animation blending
2439 * ===========================================
2444 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
2445 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
2448 /* movement information */
2450 int iair
= s
->state
.activity
== k_skate_activity_air
;
2452 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
2453 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
2454 fly
= iair
? 1.0f
: 0.0f
,
2455 wdist
= s
->weight_distribution
[2] / k_board_length
;
2457 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
2458 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
2459 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
2460 s
->blend_weight
= vg_lerpf( s
->blend_weight
, wdist
, 9.0f
*vg
.time_delta
);
2463 mdl_keyframe apose
[32], bpose
[32];
2464 mdl_keyframe ground_pose
[32];
2466 /* when the player is moving fast he will crouch down a little bit */
2467 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
2468 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
2471 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
2472 stand_blend
= offset
[1]*-2.0f
;
2475 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
2477 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
2479 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
2480 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
2481 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
2484 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
2485 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
2486 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
2489 double push_time
= vg
.time
- s
->state
.start_push
;
2490 s
->blend_push
= vg_lerpf( s
->blend_push
,
2491 (vg
.time
- s
->state
.cur_push
) < 0.125,
2492 6.0f
*vg
.time_delta
);
2494 float pt
= push_time
+ vg
.accumulator
;
2495 if( s
->state
.reverse
> 0.0f
)
2496 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
2498 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
2500 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
2503 float jump_start_frame
= 14.0f
/30.0f
;
2505 float charge
= s
->state
.jump_charge
;
2506 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
2508 float setup_frame
= charge
* jump_start_frame
,
2509 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
2511 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
2512 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
2513 setup_frame
= jump_frame
;
2515 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
2517 s
->anim_ollie_reverse
;
2519 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
2520 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
2523 mdl_keyframe air_pose
[32];
2525 float target
= -player
->input_js1h
->axis
.value
;
2526 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
2528 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
2529 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
2531 static v2f grab_choice
;
2533 v2f grab_input
= { player
->input_js2h
->axis
.value
,
2534 player
->input_js2v
->axis
.value
};
2535 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
2536 if( v2_length2( grab_input
) <= 0.001f
)
2537 grab_input
[0] = -1.0f
;
2539 v2_normalize_clamp( grab_input
);
2540 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
2542 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
2543 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
2544 grab_frame
= ang_unit
* (15.0f
/30.0f
);
2546 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
2547 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
2550 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
2552 float add_grab_mod
= 1.0f
- s
->blend_fly
;
2554 /* additive effects */
2556 u32 apply_to
[] = { av
->id_hip
,
2560 av
->id_ik_elbow_r
};
2562 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2564 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
2565 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
2569 /* angle correction */
2570 if( v3_length2( s
->state
.up_dir
) > 0.001f
)
2573 m3x3_mulv( player
->rb
.to_local
, s
->state
.up_dir
, ndir
);
2574 v3_normalize( ndir
);
2576 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
2578 float a
= v3_dot( ndir
, up
);
2579 a
= acosf( vg_clampf( a
, -1.0f
, 1.0f
) );
2584 v3_cross( up
, ndir
, axis
);
2585 q_axis_angle( q
, axis
, a
);
2587 mdl_keyframe
*kf_hip
= &dest
->pose
[av
->id_hip
-1];
2589 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2591 mdl_keyframe
*kf
= &dest
->pose
[apply_to
[i
]-1];
2594 v3_sub( kf
->co
, kf_hip
->co
, v0
);
2595 q_mulv( q
, v0
, v0
);
2596 v3_add( v0
, kf_hip
->co
, kf
->co
);
2598 q_mul( q
, kf
->q
, kf
->q
);
2599 q_normalize( kf
->q
);
2603 m3x3_mulv( player
->rb
.to_world
, up
, p1
);
2604 m3x3_mulv( player
->rb
.to_world
, ndir
, p2
);
2606 vg_line_arrow( player
->rb
.co
, p1
, 0.25f
, VG__PINK
);
2607 vg_line_arrow( player
->rb
.co
, p2
, 0.25f
, VG__PINK
);
2612 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
2613 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
2614 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1],
2615 *kf_wheels
[] = { &dest
->pose
[av
->id_wheel_r
-1],
2616 &dest
->pose
[av
->id_wheel_l
-1] };
2619 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
2622 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
2624 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
2625 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
2626 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
2628 q_mul( qpitchr
, qrollr
, qtrickr
);
2629 q_mul( qyawr
, qtrickr
, qtotal
);
2630 q_normalize( qtotal
);
2632 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
2635 /* trick rotation */
2636 v4f qtrick
, qyaw
, qpitch
, qroll
;
2638 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
2640 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
2641 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
2642 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
2644 q_mul( qpitch
, qroll
, qtrick
);
2645 q_mul( qyaw
, qtrick
, qtrick
);
2646 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
2647 q_normalize( kf_board
->q
);
2649 /* foot weight distribution */
2650 if( s
->blend_weight
> 0.0f
)
2652 kf_foot_l
->co
[2] += s
->blend_weight
* 0.2f
;
2653 kf_foot_r
->co
[2] += s
->blend_weight
* 0.1f
;
2657 kf_foot_r
->co
[2] += s
->blend_weight
* 0.3f
;
2658 kf_foot_l
->co
[2] += s
->blend_weight
* 0.1f
;
2661 /* truck rotation */
2662 for( int i
=0; i
<2; i
++ )
2664 float a
= vg_minf( s
->truckv0
[i
][0], 1.0f
);
2665 a
= -acosf( a
) * vg_signf( s
->truckv0
[i
][1] );
2668 q_axis_angle( q
, (v3f
){0.0f
,0.0f
,1.0f
}, a
);
2669 q_mul( q
, kf_wheels
[i
]->q
, kf_wheels
[i
]->q
);
2670 q_normalize( kf_wheels
[i
]->q
);
2675 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
2676 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.1f
, dest
->root_co
);
2678 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
2681 if( (s
->state
.activity
== k_skate_activity_air
) &&
2682 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
2684 float t
= s
->state
.flip_time
;
2685 sign
= vg_signf( t
);
2687 t
= 1.0f
- vg_minf( 1.0f
, fabsf( t
* 1.1f
) );
2688 t
= sign
* (1.0f
-t
*t
);
2690 float angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
2691 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
2692 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
2694 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
2696 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
2697 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
2698 q_normalize( dest
->root_q
);
2700 v3f rotation_point
, rco
;
2701 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
2702 v3_sub( dest
->root_co
, rotation_point
, rco
);
2704 q_mulv( qflip
, rco
, rco
);
2705 v3_add( rco
, rotation_point
, dest
->root_co
);
2708 skeleton_copy_pose( sk
, dest
->pose
, player
->holdout_pose
);
2711 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
2713 struct player_skate
*s
= &player
->_skate
;
2714 struct player_avatar
*av
= player
->playeravatar
;
2716 player
->cam_velocity_influence
= 1.0f
;
2718 v3f head
= { 0.0f
, 1.8f
, 0.0f
};
2719 m4x3_mulv( av
->sk
.final_mtx
[ av
->id_head
], head
, s
->state
.head_position
);
2720 m4x3_mulv( player
->rb
.to_local
, s
->state
.head_position
,
2721 s
->state
.head_position
);
2724 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
2726 struct player_skate
*s
= &player
->_skate
;
2728 if( s
->state
.activity
== k_skate_activity_air
)
2729 s
->blend_fly
= 1.0f
;
2731 s
->blend_fly
= 0.0f
;
2733 s
->blend_slide
= 0.0f
;
2736 s
->blend_stand
= 0.0f
;
2737 s
->blend_push
= 0.0f
;
2738 s
->blend_jump
= 0.0f
;
2739 s
->blend_airdir
= 0.0f
;
2742 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
2744 struct player_skate
*s
= &player
->_skate
;
2745 s
->state
.jump_charge
= 0.0f
;
2746 s
->state
.lift_frames
= 0;
2747 s
->state
.flip_rate
= 0.0f
;
2749 s
->state
.steery
= 0.0f
;
2750 s
->state
.steerx
= 0.0f
;
2751 s
->state
.steery_s
= 0.0f
;
2752 s
->state
.steerx_s
= 0.0f
;
2754 s
->state
.reverse
= 0.0f
;
2755 s
->state
.slip
= 0.0f
;
2756 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
2759 m3x3_identity( s
->state
.velocity_bias
);
2760 m3x3_identity( s
->state
.velocity_bias_pstep
);
2763 v3_zero( s
->state
.throw_v
);
2764 v3_zero( s
->state
.trick_vel
);
2765 v3_zero( s
->state
.trick_euler
);
2768 VG_STATIC
void player__skate_reset( player_instance
*player
,
2769 struct respawn_point
*rp
)
2771 struct player_skate
*s
= &player
->_skate
;
2772 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2773 v3_zero( player
->rb
.v
);
2774 v3_zero( s
->state
.cog_v
);
2775 v4_copy( rp
->q
, player
->rb
.q
);
2777 s
->state
.activity
= k_skate_activity_air
;
2778 s
->state
.activity_prev
= k_skate_activity_air
;
2780 player__skate_clear_mechanics( player
);
2781 player__skate_reset_animator( player
);
2783 v3_zero( s
->state
.head_position
);
2784 s
->state
.head_position
[1] = 1.8f
;
2787 #endif /* PLAYER_SKATE_C */