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
, 0.05f
);
51 rb_manifold_filter_backface( man
, len
);
52 rb_manifold_filter_joint_edges( man
, len
, 0.05f
);
53 rb_manifold_filter_pairs( man
, len
, 0.05f
);
55 int new_len
= rb_manifold_apply_filtered( man
, len
);
64 * Gets the closest grindable edge to the player within max_dist
66 VG_STATIC
struct grind_edge
*skate_collect_grind_edge( v3f p0
, v3f p1
,
71 bh_iter_init( 0, &it
);
75 box_init_inf( region
);
76 box_addpt( region
, p0
);
77 box_addpt( region
, p1
);
80 v3_add( (v3f
){ k_r
, k_r
, k_r
}, region
[1], region
[1] );
81 v3_add( (v3f
){-k_r
,-k_r
,-k_r
}, region
[0], region
[0] );
83 float closest
= k_r
*k_r
;
84 struct grind_edge
*closest_edge
= NULL
;
87 while( bh_next( world
.grind_bh
, &it
, region
, &idx
) )
89 struct grind_edge
*edge
= &world
.grind_edges
[ idx
];
95 closest_segment_segment( p0
, p1
, edge
->p0
, edge
->p1
, &s
,&t
, pa
, pb
);
109 VG_STATIC
int skate_grind_collide( player_instance
*player
, rb_ct
*contact
)
112 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[2], 0.5f
, p0
);
113 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[2], -0.5f
, p1
);
114 v3_muladds( p0
, player
->rb
.to_world
[1], 0.08f
, p0
);
115 v3_muladds( p1
, player
->rb
.to_world
[1], 0.08f
, p1
);
117 float const k_r
= 0.25f
;
118 struct grind_edge
*closest_edge
= skate_collect_grind_edge( p0
, p1
,
124 v3_sub( c1
, c0
, delta
);
126 if( v3_dot( delta
, player
->rb
.to_world
[1] ) > 0.0001f
)
128 contact
->p
= v3_length( delta
);
129 contact
->type
= k_contact_type_edge
;
130 contact
->element_id
= 0;
131 v3_copy( c1
, contact
->co
);
135 v3f edge_dir
, axis_dir
;
136 v3_sub( closest_edge
->p1
, closest_edge
->p0
, edge_dir
);
137 v3_normalize( edge_dir
);
138 v3_cross( (v3f
){0.0f
,1.0f
,0.0f
}, edge_dir
, axis_dir
);
139 v3_cross( edge_dir
, axis_dir
, contact
->n
);
150 VG_STATIC
int skate_grind_scansq( player_instance
*player
, v3f ra
)
153 m4x3_mulv( player
->rb
.to_world
, ra
, pos
);
156 v3_copy( player
->rb
.to_world
[2], plane
);
157 v3_normalize( plane
);
158 plane
[3] = v3_dot( plane
, pos
);
162 v3_add( pos
, (v3f
){ r
, r
, r
}, box
[1] );
163 v3_sub( pos
, (v3f
){ r
, r
, r
}, box
[0] );
166 vg_line_boxf( box
, VG__BLUE
);
170 m3x3_copy( player
->rb
.to_world
, mtx
);
171 v3_copy( pos
, mtx
[3] );
173 debug_sphere( mtx
, r
, VG__CYAN
);
176 bh_iter_init( 0, &it
);
187 int sample_count
= 0;
193 v3_cross( plane
, (v3f
){0.0f
,1.0f
,0.0f
}, support_axis
);
194 v3_normalize( support_axis
);
196 while( bh_next( world
.geo_bh
, &it
, box
, &idx
) )
198 u32
*ptri
= &world
.scene_geo
->arrindices
[ idx
*3 ];
201 for( int j
=0; j
<3; j
++ )
202 v3_copy( world
.scene_geo
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
204 for( int j
=0; j
<3; j
++ )
209 struct grind_sample
*sample
= &samples
[ sample_count
];
212 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) )
215 v3_sub( co
, pos
, d
);
216 if( v3_length2( d
) > r
*r
)
220 v3_sub( tri
[1], tri
[0], va
);
221 v3_sub( tri
[2], tri
[0], vb
);
222 v3_cross( va
, vb
, normal
);
224 sample
->normal
[0] = v3_dot( support_axis
, normal
);
225 sample
->normal
[1] = normal
[1];
226 sample
->co
[0] = v3_dot( support_axis
, d
);
227 sample
->co
[1] = d
[1];
229 v3_copy( normal
, sample
->normal3
); /* normalize later
230 if we want to us it */
232 v2_normalize( sample
->normal
);
235 if( sample_count
== vg_list_size( samples
) )
243 if( sample_count
< 2 )
246 v3f average_position
,
249 v3_zero( average_position
);
250 v3_zero( average_direction
);
252 int passed_samples
= 0;
254 for( int i
=0; i
<sample_count
-1; i
++ )
256 struct grind_sample
*si
, *sj
;
260 for( int j
=i
+1; j
<sample_count
; j
++ )
267 if( v2_dist2( si
->co
, sj
->co
) <= (0.01f
*0.01f
) &&
268 v2_dot( si
->normal
, sj
->normal
) < 0.7f
)
270 /* TODO: Filter concave */
273 v3_muls( support_axis
, sj
->co
[0], p0
);
276 v3_add( average_position
, p0
, average_position
);
279 v3_copy( si
->normal3
, n0
);
280 v3_copy( sj
->normal3
, n1
);
281 v3_cross( n0
, n1
, dir
);
284 /* make sure the directions all face a common hemisphere */
285 v3_muls( dir
, vg_signf(v3_dot(dir
,plane
)), dir
);
287 v3_add( average_direction
, dir
, average_direction
);
293 if( !passed_samples
)
296 float div
= 1.0f
/(float)passed_samples
;
297 v3_muls( average_position
, div
, average_position
);
298 v3_muls( average_direction
, div
, average_direction
); /* !! not normed */
300 v3_add( pos
, average_position
, average_position
);
301 vg_line_pt3( average_position
, 0.02f
, VG__GREEN
);
304 v3_muladds( average_position
, average_direction
, 0.35f
, p0
);
305 v3_muladds( average_position
, average_direction
, -0.35f
, p1
);
306 vg_line( p0
, p1
, VG__PINK
);
310 v3f displacement
, dir
;
311 v3_sub( pos
, average_position
, displacement
);
312 v3_copy( displacement
, dir
);
316 q_mulv( player
->rb
.q
, ra
, raW
);
318 v3_cross( player
->rb
.w
, raW
, rv
);
319 v3_add( player
->rb
.v
, rv
, rv
);
321 v3_muladds( rv
, player
->rb
.to_world
[2],
322 -v3_dot( rv
, player
->rb
.to_world
[2] ), rv
);
325 v3_muls( displacement
, -k_grind_spring
, Fs
);
326 v3_muls( rv
, -k_grind_dampener
, Fd
);
329 v3_muls( F
, k_rb_delta
, F
);
331 v3_add( player
->rb
.v
, F
, player
->rb
.v
);
333 v3_cross( raW
, F
, wa
);
334 v3_add( player
->rb
.w
, wa
, player
->rb
.w
);
336 /* Constraint based */
348 * Trace a path given a velocity rotation.
350 * TODO: this MIGHT be worth doing RK4 on the gravity field.
352 VG_STATIC
void skate_score_biased_path( v3f co
, v3f v
, m3x3f vr
,
353 struct land_prediction
*prediction
)
355 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
356 float k_bias
= 0.96f
;
360 v3_muls( v
, k_bias
, pv
);
362 m3x3_mulv( vr
, pv
, pv
);
363 v3_muladds( pco
, pv
, pstep
, pco
);
365 struct grind_edge
*best_grind
= NULL
;
366 float closest_grind
= INFINITY
;
368 float grind_score
= INFINITY
,
369 air_score
= INFINITY
,
370 time_to_impact
= 0.0f
;
372 prediction
->log_length
= 0;
373 v3_copy( pco
, prediction
->apex
);
375 for( int i
=0; i
<vg_list_size(prediction
->log
); i
++ )
377 v3_copy( pco
, pco1
);
379 pv
[1] += -k_gravity
* pstep
;
381 m3x3_mulv( vr
, pv
, pv
);
382 v3_muladds( pco
, pv
, pstep
, pco
);
384 if( pco
[1] > prediction
->apex
[1] )
385 v3_copy( pco
, prediction
->apex
);
389 v3_sub( pco
, pco1
, vdir
);
391 float l
= v3_length( vdir
);
392 v3_muls( vdir
, 1.0f
/l
, vdir
);
395 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
398 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
400 float d2
= v3_dist2( c0
, c1
);
401 if( d2
< closest_grind
)
405 grind_score
= closest_grind
* 0.05f
;
412 int idx
= spherecast_world( pco1
, pco
, 0.4f
, &t1
, n1
);
415 v3_copy( n1
, prediction
->n
);
416 air_score
= -v3_dot( pv
, n1
);
418 u32 vert_index
= world
.scene_geo
->arrindices
[ idx
*3 ];
419 struct world_material
*mat
= world_tri_index_material( vert_index
);
421 /* Bias prediction towords ramps */
422 if( mat
->info
.flags
& k_material_flag_skate_surface
)
425 v3_lerp( pco1
, pco
, t1
, prediction
->log
[ prediction
->log_length
++ ] );
426 time_to_impact
+= t1
* pstep
;
430 time_to_impact
+= pstep
;
431 v3_copy( pco
, prediction
->log
[ prediction
->log_length
++ ] );
434 if( grind_score
< air_score
)
436 prediction
->score
= grind_score
;
437 prediction
->type
= k_prediction_grind
;
439 else if( air_score
< INFINITY
)
441 prediction
->score
= air_score
;
442 prediction
->type
= k_prediction_land
;
446 prediction
->score
= INFINITY
;
447 prediction
->type
= k_prediction_none
;
450 prediction
->land_dist
= time_to_impact
;
454 void player__approximate_best_trajectory( player_instance
*player
)
456 struct player_skate
*s
= &player
->_skate
;
458 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
459 float best_velocity_delta
= -9999.9f
;
462 v3_cross( player
->rb
.to_world
[1], player
->rb
.v
, axis
);
463 v3_normalize( axis
);
465 s
->prediction_count
= 0;
466 m3x3_identity( s
->state
.velocity_bias
);
468 float best_vmod
= 0.0f
,
469 min_score
= INFINITY
,
470 max_score
= -INFINITY
;
472 v3_zero( s
->state
.apex
);
476 * Search a broad selection of futures
478 for( int m
=-3;m
<=12; m
++ )
480 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
482 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
487 q_axis_angle( bias_q
, axis
, vmod
);
488 q_m3x3( bias_q
, bias
);
490 skate_score_biased_path( player
->rb
.co
, player
->rb
.v
, bias
, p
);
492 if( p
->type
!= k_prediction_none
)
494 if( p
->score
< min_score
)
496 min_score
= p
->score
;
498 s
->land_dist
= p
->land_dist
;
499 v3_copy( p
->apex
, s
->state
.apex
);
502 if( p
->score
> max_score
)
503 max_score
= p
->score
;
508 q_axis_angle( vr_q
, axis
, best_vmod
*0.1f
);
509 q_m3x3( vr_q
, s
->state
.velocity_bias
);
511 q_axis_angle( vr_q
, axis
, best_vmod
);
512 q_m3x3( vr_q
, s
->state
.velocity_bias_pstep
);
517 for( int i
=0; i
<s
->prediction_count
; i
++ )
519 struct land_prediction
*p
= &s
->predictions
[i
];
525 vg_error( "negative score! (%f)\n", l
);
529 l
/= (max_score
-min_score
);
535 p
->colour
|= 0xff000000;
539 v2f steer
= { player
->input_js1h
->axis
.value
,
540 player
->input_js1v
->axis
.value
};
541 v2_normalize_clamp( steer
);
543 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.0f
) )
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
);
559 * Varius physics models
560 * ------------------------------------------------
563 VG_STATIC
void skate_apply_grind_model( player_instance
*player
,
564 rb_ct
*manifold
, int len
)
566 struct player_skate
*s
= &player
->_skate
;
568 /* FIXME: Queue audio events instead */
571 if( s
->state
.activity
== k_skate_activity_grind
)
575 audio_player_set_flags( &audio_player_extra
,
576 AUDIO_FLAG_SPACIAL_3D
);
577 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
578 audio_player_set_vol( &audio_player_extra
, 20.0f
);
579 audio_player_playclip( &audio_player_extra
, &audio_board
[6] );
583 s
->state
.activity
= k_skate_activity_air
;
588 v2f steer
= { player
->input_js1h
->axis
.value
,
589 player
->input_js1v
->axis
.value
};
590 v2_normalize_clamp( steer
);
592 s
->state
.steery
-= steer
[0] * k_steer_air
* k_rb_delta
;
593 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
* k_rb_delta
;
597 q_axis_angle( rotate
, player
->rb
.to_world
[0], siX
);
598 q_mul( rotate
, player
.rb
.q
, player
.rb
.q
);
601 s
->state
.slip
= 0.0f
;
602 s
->state
.activity
= k_skate_activity_grind
;
604 /* TODO: Compression */
605 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
606 float angle
= v3_dot( player
->rb
.to_world
[1], up
);
608 if( fabsf(angle
) < 0.99f
)
611 v3_cross( player
->rb
.to_world
[1], up
, axis
);
614 q_axis_angle( correction
, axis
, k_rb_delta
* 10.0f
* acosf(angle
) );
615 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
618 float const DOWNFORCE
= -k_downforce
*1.2f
*VG_TIMESTEP_FIXED
;
619 v3_muladds( player
->rb
.v
, manifold
->n
, DOWNFORCE
, player
->rb
.v
);
620 m3x3_identity( s
->state
.velocity_bias
);
621 m3x3_identity( s
->state
.velocity_bias_pstep
);
623 if( s
->state
.activity_prev
!= k_skate_activity_grind
)
625 /* FIXME: Queue audio events instead */
628 audio_player_set_flags( &audio_player_extra
,
629 AUDIO_FLAG_SPACIAL_3D
);
630 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
631 audio_player_set_vol( &audio_player_extra
, 20.0f
);
632 audio_player_playclip( &audio_player_extra
, &audio_board
[5] );
639 * Air control, no real physics
641 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
643 struct player_skate
*s
= &player
->_skate
;
645 if( s
->state
.activity
!= k_skate_activity_air
)
648 if( s
->state
.activity_prev
!= k_skate_activity_air
)
649 player__approximate_best_trajectory( player
);
651 m3x3_mulv( s
->state
.velocity_bias
, player
->rb
.v
, player
->rb
.v
);
657 float pstep
= VG_TIMESTEP_FIXED
* 1.0f
;
658 float k_bias
= 0.98f
;
661 v3_copy( player
->rb
.co
, pco
);
662 v3_muls( player
->rb
.v
, 1.0f
, pv
);
664 float time_to_impact
= 0.0f
;
665 float limiter
= 1.0f
;
667 struct grind_edge
*best_grind
= NULL
;
668 float closest_grind
= INFINITY
;
670 v3f target_normal
= { 0.0f
, 1.0f
, 0.0f
};
673 for( int i
=0; i
<250; i
++ )
675 v3_copy( pco
, pco1
);
676 m3x3_mulv( s
->state
.velocity_bias
, pv
, pv
);
678 pv
[1] += -k_gravity
* pstep
;
679 v3_muladds( pco
, pv
, pstep
, pco
);
684 v3_sub( pco
, pco1
, vdir
);
685 contact
.dist
= v3_length( vdir
);
686 v3_divs( vdir
, contact
.dist
, vdir
);
689 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
692 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
694 vg_line( ge
->p0
, ge
->p1
, 0xff0000ff );
695 vg_line_cross( pco
, 0xff0000ff, 0.25f
);
700 float orig_dist
= contact
.dist
;
701 if( ray_world( pco1
, vdir
, &contact
) )
703 v3_copy( contact
.normal
, target_normal
);
705 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
706 vg_line_cross( contact
.pos
, 0xffff0000, 0.25f
);
709 time_to_impact
+= pstep
;
714 float angle
= v3_dot( player
->rb
.to_world
[1], target_normal
);
716 v3_cross( player
->rb
.to_world
[1], target_normal
, axis
);
718 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
719 limiter
= 1.0f
-limiter
;
721 limiter
= 1.0f
-limiter
;
723 if( fabsf(angle
) < 0.99f
)
726 q_axis_angle( correction
, axis
,
727 acosf(angle
)*(1.0f
-limiter
)*2.0f
*VG_TIMESTEP_FIXED
);
728 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
732 v2f steer
= { player
->input_js1h
->axis
.value
,
733 player
->input_js1v
->axis
.value
};
734 v2_normalize_clamp( steer
);
736 s
->state
.steery
-= steer
[0] * k_steer_air
* VG_TIMESTEP_FIXED
;
737 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
738 * limiter
* k_rb_delta
;
739 s
->land_dist
= time_to_impact
;
740 v3_copy( target_normal
, s
->land_normal
);
743 VG_STATIC
void skate_get_board_points( player_instance
*player
,
744 v3f front
, v3f back
)
746 v3f pos_front
= {0.0f
,0.0f
,-k_board_length
},
747 pos_back
= {0.0f
,0.0f
, k_board_length
};
749 m4x3_mulv( player
->rb
.to_world
, pos_front
, front
);
750 m4x3_mulv( player
->rb
.to_world
, pos_back
, back
);
754 * Casts and pushes a sphere-spring model into the world
756 VG_STATIC
int skate_simulate_spring( player_instance
*player
,
759 struct player_skate
*s
= &player
->_skate
;
761 float mod
= 0.7f
* player
->input_grab
->axis
.value
+ 0.3f
,
762 spring_k
= mod
* k_spring_force
,
763 damp_k
= mod
* k_spring_dampener
,
767 v3_copy( pos
, start
);
768 v3_muladds( pos
, player
->rb
.to_world
[1], -disp_k
, end
);
772 int hit_info
= spherecast_world( start
, end
, 0.2f
, &t
, n
);
777 v3_sub( start
, player
->rb
.co
, delta
);
779 float displacement
= vg_clampf( 1.0f
-t
, 0.0f
, 1.0f
),
781 vg_maxf( 0.0f
, v3_dot( player
->rb
.to_world
[1], player
->rb
.v
) );
783 v3_muls( player
->rb
.to_world
[1], displacement
*spring_k
*k_rb_delta
-
784 damp
*damp_k
*k_rb_delta
, F
);
786 v3_muladds( player
->rb
.v
, F
, 1.0f
, player
->rb
.v
);
788 /* Angular velocity */
790 v3_cross( delta
, F
, wa
);
791 v3_muladds( player
->rb
.w
, wa
, k_spring_angular
, player
->rb
.w
);
793 v3_lerp( start
, end
, t
, pos
);
805 * Handles connection between the player and the ground
807 * TODO: Must save original velocity to use here
809 VG_STATIC
void skate_apply_interface_model( player_instance
*player
,
810 rb_ct
*manifold
, int len
)
812 struct player_skate
*s
= &player
->_skate
;
814 if( !((s
->state
.activity
== k_skate_activity_ground
) ||
815 (s
->state
.activity
== k_skate_activity_air
)) )
818 if( s
->state
.activity
== k_skate_activity_air
)
819 s
->debug_normal_pressure
= 0.0f
;
821 s
->debug_normal_pressure
= v3_dot( player
->rb
.to_world
[1], player
->rb
.v
);
824 v3f spring0
, spring1
;
826 skate_get_board_points( player
, spring1
, spring0
);
827 int spring_hit0
= 0, //skate_simulate_spring( player, s, spring0 ),
828 spring_hit1
= 0; //skate_simulate_spring( player, s, spring1 );
830 v3f animavg
, animdelta
;
831 v3_add( spring0
, spring1
, animavg
);
832 v3_muls( animavg
, 0.5f
, animavg
);
834 v3_sub( spring1
, spring0
, animdelta
);
835 v3_normalize( animdelta
);
837 m4x3_mulv( player
->rb
.to_local
, animavg
, s
->board_offset
);
839 float dx
= -v3_dot( animdelta
, player
->rb
.to_world
[2] ),
840 dy
= v3_dot( animdelta
, player
->rb
.to_world
[1] );
842 float angle
= -atan2f( dy
, dx
);
843 q_axis_angle( s
->board_rotation
, (v3f
){1.0f
,0.0f
,0.0f
}, angle
);
845 int lift_frames_limit
= 6;
847 /* Surface connection */
848 if( len
== 0 && !(spring_hit0
&& spring_hit1
) )
850 s
->state
.lift_frames
++;
852 if( s
->state
.lift_frames
>= lift_frames_limit
)
853 s
->state
.activity
= k_skate_activity_air
;
858 v3_zero( surface_avg
);
860 for( int i
=0; i
<len
; i
++ )
861 v3_add( surface_avg
, manifold
[i
].n
, surface_avg
);
862 v3_normalize( surface_avg
);
864 if( v3_dot( player
->rb
.v
, surface_avg
) > 0.7f
)
866 s
->state
.lift_frames
++;
868 if( s
->state
.lift_frames
>= lift_frames_limit
)
869 s
->state
.activity
= k_skate_activity_air
;
873 s
->state
.activity
= k_skate_activity_ground
;
874 s
->state
.lift_frames
= 0;
877 if( s
->state
.activity_prev
== k_skate_activity_air
)
879 player
->cam_land_punch_v
+= v3_dot( player
->rb
.v
, surface_avg
) *
883 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
884 v3_muladds( player
->rb
.v
, player
->rb
.to_world
[1],
885 DOWNFORCE
, player
->rb
.v
);
887 float d
= v3_dot( player
->rb
.to_world
[2], surface_avg
);
888 v3_muladds( surface_avg
, player
->rb
.to_world
[2], -d
, projected
);
889 v3_normalize( projected
);
891 float angle
= v3_dot( player
->rb
.to_world
[1], projected
);
892 v3_cross( player
->rb
.to_world
[1], projected
, axis
);
895 if( fabsf(angle
) < 0.9999f
)
898 q_axis_angle( correction
, axis
,
899 acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
900 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
907 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
908 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
910 struct player_skate
*s
= &player
->_skate
;
913 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
915 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
916 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
918 v3_mul( strength
, F
, F
);
920 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
921 s
->board_trick_residualv
);
922 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
923 k_rb_delta
, s
->board_trick_residuald
);
925 if( s
->state
.activity
== k_skate_activity_air
)
927 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
930 int carry_on
= player_skate_trick_input( player
);
932 /* we assume velocities share a common divisor, in which case the
933 * interval is the minimum value (if not zero) */
935 float min_rate
= 99999.0f
;
937 for( int i
=0; i
<3; i
++ )
939 float v
= s
->state
.trick_vel
[i
];
940 if( (v
> 0.0f
) && (v
< min_rate
) )
944 float interval
= 1.0f
/ min_rate
,
945 current
= floorf( s
->state
.trick_time
/ interval
),
946 next_end
= (current
+1.0f
) * interval
;
949 /* integrate trick velocities */
950 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
951 s
->state
.trick_euler
);
953 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) )
955 s
->state
.trick_time
= 0.0f
;
956 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
957 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
958 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
959 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
960 v3_zero( s
->state
.trick_vel
);
963 s
->state
.trick_time
+= k_rb_delta
;
967 if( (s
->state
.lift_frames
== 0)
968 && (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
969 s
->state
.trick_time
> 0.2f
)
971 player__dead_transition( player
);
974 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
975 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
976 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
977 s
->state
.trick_time
= 0.0f
;
978 v3_zero( s
->state
.trick_vel
);
982 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
984 struct player_skate
*s
= &player
->_skate
;
986 float grabt
= player
->input_grab
->axis
.value
;
990 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
991 s
->state
.grab_mouse_delta
);
993 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
996 v2_zero( s
->state
.grab_mouse_delta
);
998 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
1002 * Computes friction and surface interface model
1004 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
1006 struct player_skate
*s
= &player
->_skate
;
1008 if( s
->state
.activity
!= k_skate_activity_ground
)
1012 * Computing localized friction forces for controlling the character
1013 * Friction across X is significantly more than Z
1017 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
1020 if( fabsf(vel
[2]) > 0.01f
)
1021 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
1023 if( fabsf( slip
) > 1.2f
)
1024 slip
= vg_signf( slip
) * 1.2f
;
1026 s
->state
.slip
= slip
;
1027 s
->state
.reverse
= -vg_signf(vel
[2]);
1029 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
1030 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
1032 /* Pushing additive force */
1034 if( !player
->input_jump
->button
.value
)
1036 if( player
->input_push
->button
.value
)
1038 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
1039 s
->state
.start_push
= vg
.time
;
1041 s
->state
.cur_push
= vg
.time
;
1043 double push_time
= vg
.time
- s
->state
.start_push
;
1045 float cycle_time
= push_time
*k_push_cycle_rate
,
1046 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
1047 amt
= accel
* VG_TIMESTEP_FIXED
,
1048 current
= v3_length( vel
),
1049 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
1050 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
1052 vel
[2] += delta
* -s
->state
.reverse
;
1056 /* Send back to velocity */
1057 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
1060 float input
= player
->input_js1h
->axis
.value
,
1061 grab
= player
->input_grab
->axis
.value
,
1062 steer
= input
* (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
),
1063 steer_scaled
= vg_signf(steer
) * powf(steer
,2.0f
) * k_steer_ground
;
1065 s
->state
.steery
-= steer_scaled
* k_rb_delta
;
1068 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
1070 struct player_skate
*s
= &player
->_skate
;
1071 int charging_jump_prev
= s
->state
.charging_jump
;
1072 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
1074 /* Cannot charge this in air */
1075 if( s
->state
.activity
!= k_skate_activity_ground
)
1076 s
->state
.charging_jump
= 0;
1078 if( s
->state
.charging_jump
)
1080 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
1082 if( !charging_jump_prev
)
1083 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
1087 s
->state
.jump_charge
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
1090 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
1092 if( s
->state
.activity
== k_skate_activity_air
)
1095 /* player let go after charging past 0.2: trigger jump */
1096 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
1100 /* Launch more up if alignment is up else improve velocity */
1101 float aup
= v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, player
->rb
.to_world
[1] ),
1103 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
1105 v3_copy( player
->rb
.v
, jumpdir
);
1106 v3_normalize( jumpdir
);
1107 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
1108 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
1109 v3_normalize( jumpdir
);
1111 float force
= k_jump_force
*s
->state
.jump_charge
;
1112 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
1113 s
->state
.jump_charge
= 0.0f
;
1114 s
->state
.jump_time
= vg
.time
;
1116 v2f steer
= { player
->input_js1h
->axis
.value
,
1117 player
->input_js1v
->axis
.value
};
1118 v2_normalize_clamp( steer
);
1120 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
1121 s
->state
.steery_s
= -steer
[0] * maxspin
;
1122 s
->state
.steerx
= s
->state
.steerx_s
;
1123 s
->state
.lift_frames
++;
1125 /* FIXME audio events */
1128 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
1129 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
1130 audio_player_set_vol( &audio_player_extra
, 20.0f
);
1131 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
1137 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
1139 struct player_skate
*s
= &player
->_skate
;
1141 /* Throw / collect routine
1143 * TODO: Max speed boost
1145 if( player
->input_grab
->axis
.value
> 0.5f
)
1147 if( s
->state
.activity
== k_skate_activity_ground
)
1150 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
1156 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
1159 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
1161 if( s
->state
.activity
== k_skate_activity_ground
)
1163 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
1164 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
1167 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
1168 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
1169 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
1173 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
1176 v3_copy( s
->state
.throw_v
, dir
);
1177 v3_normalize( dir
);
1179 float max
= v3_dot( dir
, s
->state
.throw_v
),
1180 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
1181 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
1185 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
1187 struct player_skate
*s
= &player
->_skate
;
1189 v3f ideal_cog
, ideal_diff
;
1190 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1],
1191 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
1192 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
1194 /* Apply velocities */
1196 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
1199 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
1200 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
1202 float ra
= k_cog_mass_ratio
,
1203 rb
= 1.0f
-k_cog_mass_ratio
;
1205 /* Apply forces & intergrate */
1206 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
1207 s
->state
.cog_v
[1] += -9.8f
* k_rb_delta
;
1208 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
1211 VG_STATIC
void skate_collision_response( player_instance
*player
,
1212 rb_ct
*manifold
, int len
)
1214 struct player_skate
*s
= &player
->_skate
;
1216 for( int j
=0; j
<10; j
++ )
1218 for( int i
=0; i
<len
; i
++ )
1220 struct contact
*ct
= &manifold
[i
];
1223 v3_sub( ct
->co
, player
->rb
.co
, delta
);
1224 v3_cross( player
->rb
.w
, delta
, dv
);
1225 v3_add( player
->rb
.v
, dv
, dv
);
1227 float vn
= -v3_dot( dv
, ct
->n
);
1230 float temp
= ct
->norm_impulse
;
1231 ct
->norm_impulse
= vg_maxf( temp
+ vn
, 0.0f
);
1232 vn
= ct
->norm_impulse
- temp
;
1235 v3_muls( ct
->n
, vn
, impulse
);
1237 if( fabsf(v3_dot( impulse
, player
->rb
.to_world
[2] )) > 10.0f
||
1238 fabsf(v3_dot( impulse
, player
->rb
.to_world
[1] )) > 50.0f
)
1240 player__dead_transition( player
);
1244 v3_add( impulse
, player
->rb
.v
, player
->rb
.v
);
1245 v3_cross( delta
, impulse
, impulse
);
1248 * W Impulses are limited to the Y and X axises, we don't really want
1249 * roll angular velocities being included.
1251 * Can also tweak the resistance of each axis here by scaling the wx,wy
1255 float wy
= v3_dot( player
->rb
.to_world
[1], impulse
) * 0.8f
,
1256 wx
= v3_dot( player
->rb
.to_world
[0], impulse
) * 1.0f
,
1257 wz
= v3_dot( player
->rb
.to_world
[2], impulse
) * 2.0f
;
1259 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
1260 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[0], wx
, player
->rb
.w
);
1261 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
1266 VG_STATIC
void skate_integrate( player_instance
*player
)
1268 struct player_skate
*s
= &player
->_skate
;
1270 /* integrate rigidbody velocities */
1272 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1273 v3_muladds( player
->rb
.v
, gravity
, k_rb_delta
, player
->rb
.v
);
1274 v3_muladds( player
->rb
.co
, player
->rb
.v
, k_rb_delta
, player
->rb
.co
);
1277 float decay_rate
= 0.5f
*0.125f
;
1279 if( s
->state
.activity
== k_skate_activity_air
)
1281 float dist
= 1.0f
-(s
->land_dist
/4.0f
);
1282 decay_rate
= 0.5f
* vg_maxf( dist
*dist
, 0.0f
);
1285 v3_lerp( player
->rb
.w
, (v3f
){0.0f
,0.0f
,0.0f
}, decay_rate
, player
->rb
.w
);
1288 if( v3_length2( player
->rb
.w
) > 0.0f
)
1292 v3_copy( player
->rb
.w
, axis
);
1294 float mag
= v3_length( axis
);
1295 v3_divs( axis
, mag
, axis
);
1296 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
1297 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1301 /* integrate steering velocities */
1303 float l
= (s
->state
.activity
== k_skate_activity_air
)? 0.04f
: 0.24f
;
1305 s
->state
.steery_s
= vg_lerpf( s
->state
.steery_s
, s
->state
.steery
, l
);
1306 s
->state
.steerx_s
= vg_lerpf( s
->state
.steerx_s
, s
->state
.steerx
, l
);
1308 q_axis_angle( rotate
, player
->rb
.to_world
[1], s
->state
.steery_s
);
1309 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1311 q_axis_angle( rotate
, player
->rb
.to_world
[0], s
->state
.steerx_s
);
1312 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1314 s
->state
.steerx
= 0.0f
;
1315 s
->state
.steery
= 0.0f
;
1317 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
1318 rb_update_transform( &player
->rb
);
1325 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
1327 return (player
->input_trick0
->button
.value
) |
1328 (player
->input_trick1
->button
.value
<< 1) |
1329 (player
->input_trick2
->button
.value
<< 1) |
1330 (player
->input_trick2
->button
.value
);
1333 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
1335 struct player_skate
*s
= &player
->_skate
;
1337 if( vg_input_button_down( player
->input_use
) )
1339 player
->subsystem
= k_player_subsystem_walk
;
1342 v3_copy( player
->cam
.angles
, angles
);
1345 player__walk_transition( player
, angles
);
1350 if( (s
->state
.lift_frames
> 0) &&
1351 (trick_id
= player_skate_trick_input( player
)) )
1353 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
)
1355 v3_zero( s
->state
.trick_vel
);
1356 s
->state
.trick_time
= 0.0f
;
1360 s
->state
.trick_vel
[0] = 3.0f
;
1362 else if( trick_id
== 2 )
1364 s
->state
.trick_vel
[2] = 3.0f
;
1366 else if( trick_id
== 3 )
1368 s
->state
.trick_vel
[0] = 2.0f
;
1369 s
->state
.trick_vel
[2] = 2.0f
;
1375 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1377 struct player_skate
*s
= &player
->_skate
;
1378 for( int i
=0; i
<s
->prediction_count
; i
++ )
1380 struct land_prediction
*p
= &s
->predictions
[i
];
1382 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1383 vg_line( p
->log
[j
], p
->log
[j
+1], p
->colour
);
1385 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1388 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1389 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1391 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1394 vg_line_pt3( s
->state
.apex
, 0.200f
, 0xff0000ff );
1395 vg_line_pt3( s
->state
.apex
, 0.201f
, 0xff00ffff );
1398 VG_STATIC
void player__skate_update( player_instance
*player
)
1400 struct player_skate
*s
= &player
->_skate
;
1401 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1402 s
->state
.activity_prev
= s
->state
.activity
;
1404 float l
= k_board_length
,
1407 v3f wheel_positions
[] =
1415 int wheel_states
[] =
1420 if( skate_grind_scansq( player
, (v3f
){ 0.0f
, 0.0f
, -l
} ) )
1422 wheel_states
[0] = 0;
1423 wheel_states
[1] = 0;
1426 if( skate_grind_scansq( player
, (v3f
){ 0.0f
, 0.0f
, l
} ) )
1428 wheel_states
[2] = 0;
1429 wheel_states
[3] = 0;
1433 collider
.radius
= 0.07f
;
1435 s
->substep
= k_rb_delta
;
1437 for( int i
=0; i
<4; i
++ )
1440 m3x3_copy( player
->rb
.to_world
, mtx
);
1441 m4x3_mulv( player
->rb
.to_world
, wheel_positions
[i
], mtx
[3] );
1442 debug_sphere( mtx
, collider
.radius
, wheel_states
[i
]? VG__WHITE
:
1451 /* calculate transform one step into future */
1454 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
1456 if( v3_length2( player
->rb
.w
) > 0.0f
)
1460 v3_copy( player
->rb
.w
, axis
);
1462 float mag
= v3_length( axis
);
1463 v3_divs( axis
, mag
, axis
);
1464 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
1465 q_mul( rotation
, player
->rb
.q
, future_q
);
1466 q_normalize( future_q
);
1469 /* calculate the minimum time we can move */
1470 float max_time
= s
->substep
,
1471 cast_radius
= collider
.radius
- 0.05f
;
1473 for( int i
=0; i
<4; i
++ )
1475 if( !wheel_states
[i
] )
1478 v3f current
, future
;
1479 q_mulv( future_q
, wheel_positions
[i
], future
);
1480 v3_add( future
, future_co
, future
);
1482 q_mulv( player
->rb
.q
, wheel_positions
[i
], current
);
1483 v3_add( current
, player
->rb
.co
, current
);
1485 float t
; /* TODO: ignore lightly grazing normals? */
1487 if( spherecast_world( current
, future
, cast_radius
, &t
, n
) != -1)
1489 max_time
= vg_minf( max_time
, t
* s
->substep
);
1493 /* clamp to a fraction of delta, to prevent locking */
1494 max_time
= vg_minf( vg_maxf( max_time
, k_rb_delta
*0.025f
), s
->substep
);
1495 s
->substep_delta
= max_time
;
1498 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
1499 if( v3_length2( player
->rb
.w
) > 0.0f
)
1503 v3_copy( player
->rb
.w
, axis
);
1505 float mag
= v3_length( axis
);
1506 v3_divs( axis
, mag
, axis
);
1507 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
1508 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1511 rb_update_transform( &player
->rb
);
1513 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1514 v3_muladds( player
->rb
.v
, gravity
, s
->substep_delta
, player
->rb
.v
);
1518 s
->substep_delta
= k_rb_delta
;
1522 s
->substep
-= s
->substep_delta
;
1525 /* create manifold(s) */
1526 rb_ct manifold
[128];
1528 int manifold_len
= 0,
1531 manifold_interface
= 0;
1533 rb_ct
*cmanifold
= manifold
;
1535 for( int i
=0; i
<4; i
++ )
1537 if( !wheel_states
[i
] )
1541 m3x3_identity( mtx
);
1543 m4x3_mulv( player
->rb
.to_world
, wheel_positions
[i
], mtx
[3] );
1545 int l
= skate_collide_smooth( player
, mtx
, &collider
, cmanifold
);
1549 manifold_interface
+= l
;
1557 /* try to slap both wheels onto the ground when landing to prevent mega
1558 * angular velocities being added */
1559 if( (s
->state
.activity
== k_skate_activity_air
) &&
1560 (manifold_front
!= manifold_back
) )
1562 v3f trace_from
, trace_dir
;
1563 v3_muls( player
->rb
.to_world
[1], -1.0f
, trace_dir
);
1565 if( manifold_front
)
1566 v3_copy( (v3f
){0.0f
,0.0f
, k_board_length
}, trace_from
);
1568 v3_copy( (v3f
){0.0f
,0.0f
,-k_board_length
}, trace_from
);
1569 m4x3_mulv( player
->rb
.to_world
, trace_from
, trace_from
);
1574 if( ray_world( trace_from
, trace_dir
, &ray
) )
1576 rb_ct
*ct
= cmanifold
;
1578 v3_copy( ray
.pos
, ct
->co
);
1579 v3_copy( ray
.normal
, ct
->n
);
1583 manifold_interface
++;
1587 int grind_len
= skate_grind_collide( player
, cmanifold
);
1588 manifold_len
+= grind_len
;
1590 for( int i
=0; i
<manifold_len
; i
++ )
1593 rb_ct
*ct
= &manifold
[i
];
1595 (s
->substep_delta
* 3600.0f
)
1596 * vg_minf( 0.0f
, -ct
->p
+k_penetration_slop
);
1597 rb_tangent_basis( ct
->n
, ct
->t
[0], ct
->t
[1] );
1598 ct
->norm_impulse
= 0.0f
;
1599 ct
->tangent_impulse
[0] = 0.0f
;
1600 ct
->tangent_impulse
[1] = 0.0f
;
1602 rb_prepare_contact( &manifold
[i
] );
1606 skate_collision_response( player
, manifold
, manifold_len
);
1608 if( s
->substep
>= 0.0001f
)
1609 goto begin_collision
;
1611 skate_apply_grind_model( player
, &manifold
[manifold_interface
], grind_len
);
1612 skate_apply_interface_model( player
, manifold
, manifold_interface
);
1614 skate_apply_pump_model( player
);
1615 skate_apply_cog_model( player
);
1617 skate_apply_grab_model( player
);
1618 skate_apply_friction_model( player
);
1619 skate_apply_jump_model( player
);
1620 skate_apply_air_model( player
);
1621 skate_apply_trick_model( player
);
1623 skate_integrate( player
);
1625 vg_line_pt3( s
->state
.cog
, 0.1f
, VG__WHITE
);
1626 vg_line_pt3( s
->state
.cog
, 0.11f
, VG__WHITE
);
1627 vg_line_pt3( s
->state
.cog
, 0.12f
, VG__WHITE
);
1628 vg_line_pt3( s
->state
.cog
, 0.13f
, VG__WHITE
);
1629 vg_line_pt3( s
->state
.cog
, 0.14f
, VG__WHITE
);
1631 vg_line( player
->rb
.co
, s
->state
.cog
, VG__RED
);
1633 teleport_gate
*gate
;
1634 if( (gate
= world_intersect_gates( player
->rb
.co
, s
->state
.prev_pos
)) )
1636 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
1637 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
1638 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
1639 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
1640 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
1642 v4f transport_rotation
;
1643 m3x3_q( gate
->transport
, transport_rotation
);
1644 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
1645 rb_update_transform( &player
->rb
);
1647 s
->state_gate_storage
= s
->state
;
1648 player__pass_gate( player
, gate
);
1652 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
1654 struct player_skate
*s
= &player
->_skate
;
1656 /* FIXME: Compression */
1657 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
1660 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
1663 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
1667 player__debugtext( 1, "activity: %s",
1668 (const char *[]){ "k_skate_activity_air",
1669 "k_skate_activity_ground",
1670 "k_skate_activity_grind }" }
1671 [s
->state
.activity
] );
1672 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
1673 s
->state
.steerx_s
, s
->state
.steery_s
,
1674 k_steer_ground
, k_steer_air
);
1675 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
1676 s
->state
.flip_time
);
1677 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
1678 s
->state
.trick_vel
[0],
1679 s
->state
.trick_vel
[1],
1680 s
->state
.trick_vel
[2] );
1681 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
1682 s
->state
.trick_euler
[0],
1683 s
->state
.trick_euler
[1],
1684 s
->state
.trick_euler
[2] );
1687 VG_STATIC
void player__skate_animate( player_instance
*player
,
1688 player_animation
*dest
)
1690 struct player_skate
*s
= &player
->_skate
;
1691 struct player_avatar
*av
= player
->playeravatar
;
1692 struct skeleton
*sk
= &av
->sk
;
1695 float kheight
= 2.0f
,
1701 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, offset
);
1702 v3_muls( offset
, -4.0f
, offset
);
1704 float curspeed
= v3_length( player
->rb
.v
),
1705 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
1706 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
1707 sign
= vg_signf( kicks
);
1709 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
1710 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
1713 offset
[0] += s
->wobble
[1]*3.0f
;
1718 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
1719 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
1722 * Animation blending
1723 * ===========================================
1728 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
1729 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
1732 /* movement information */
1734 int iair
= (s
->state
.activity
== k_skate_activity_air
) ||
1735 (s
->state
.activity
== k_skate_activity_grind
);
1737 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
1738 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
1739 fly
= iair
? 1.0f
: 0.0f
;
1741 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
1742 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
1743 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
1746 mdl_keyframe apose
[32], bpose
[32];
1747 mdl_keyframe ground_pose
[32];
1749 /* when the player is moving fast he will crouch down a little bit */
1750 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
1751 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
1754 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
1755 stand_blend
= offset
[1]*-2.0f
;
1758 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
1760 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
1762 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
1763 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
1764 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
1767 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
1768 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
1769 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
1772 double push_time
= vg
.time
- s
->state
.start_push
;
1773 s
->blend_push
= vg_lerpf( s
->blend_push
,
1774 (vg
.time
- s
->state
.cur_push
) < 0.125,
1775 6.0f
*vg
.time_delta
);
1777 float pt
= push_time
+ vg
.accumulator
;
1778 if( s
->state
.reverse
> 0.0f
)
1779 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
1781 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
1783 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
1786 float jump_start_frame
= 14.0f
/30.0f
;
1788 float charge
= s
->state
.jump_charge
;
1789 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
1791 float setup_frame
= charge
* jump_start_frame
,
1792 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
1794 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
1795 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
1796 setup_frame
= jump_frame
;
1798 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
1800 s
->anim_ollie_reverse
;
1802 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
1803 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
1806 mdl_keyframe air_pose
[32];
1808 float target
= -player
->input_js1h
->axis
.value
;
1809 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
1811 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
1812 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
1814 static v2f grab_choice
;
1816 v2f grab_input
= { player
->input_js2h
->axis
.value
,
1817 player
->input_js2v
->axis
.value
};
1818 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
1819 if( v2_length2( grab_input
) <= 0.001f
)
1820 grab_input
[0] = -1.0f
;
1822 v2_normalize_clamp( grab_input
);
1823 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
1825 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
1826 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
1827 grab_frame
= ang_unit
* (15.0f
/30.0f
);
1829 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
1830 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
1833 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
1835 float add_grab_mod
= 1.0f
- s
->blend_fly
;
1837 /* additive effects */
1839 u32 apply_to
[] = { av
->id_hip
,
1843 av
->id_ik_elbow_r
};
1845 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
1847 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
1848 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
1851 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
1852 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
1853 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1];
1856 v3_muls( s
->board_offset
, add_grab_mod
, bo
);
1858 v3_add( bo
, kf_board
->co
, kf_board
->co
);
1859 v3_add( bo
, kf_foot_l
->co
, kf_foot_l
->co
);
1860 v3_add( bo
, kf_foot_r
->co
, kf_foot_r
->co
);
1864 q_m3x3( s
->board_rotation
, c
);
1869 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
1874 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
1876 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
1877 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
1878 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
1880 q_mul( qpitchr
, qrollr
, qtrickr
);
1881 q_mul( qyawr
, qtrickr
, qtrickr
);
1882 q_mul( s
->board_rotation
, qtrickr
, qtotal
);
1883 q_normalize( qtotal
);
1885 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
1889 v3_sub( kf_foot_l
->co
, bo
, d
);
1890 q_mulv( qtotal
, d
, d
);
1891 v3_add( bo
, d
, kf_foot_l
->co
);
1893 v3_sub( kf_foot_r
->co
, bo
, d
);
1894 q_mulv( qtotal
, d
, d
);
1895 v3_add( bo
, d
, kf_foot_r
->co
);
1897 q_mul( s
->board_rotation
, kf_board
->q
, kf_board
->q
);
1898 q_normalize( kf_board
->q
);
1901 /* trick rotation */
1902 v4f qtrick
, qyaw
, qpitch
, qroll
;
1904 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
1906 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
1907 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
1908 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
1910 q_mul( qpitch
, qroll
, qtrick
);
1911 q_mul( qyaw
, qtrick
, qtrick
);
1912 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
1913 q_normalize( kf_board
->q
);
1917 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
1918 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.28f
, dest
->root_co
);
1920 v4f qresy
, qresx
, qresidual
;
1922 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
1923 q_axis_angle( qresy
, player
->rb
.to_world
[1], s
->state
.steery_s
*substep
);
1924 q_axis_angle( qresx
, player
->rb
.to_world
[0], s
->state
.steerx_s
*substep
);
1926 q_mul( qresy
, qresx
, qresidual
);
1927 q_normalize( qresidual
);
1928 q_mul( dest
->root_q
, qresidual
, dest
->root_q
);
1929 q_normalize( dest
->root_q
);
1932 if( (s
->state
.activity
== k_skate_activity_air
) &&
1933 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
1935 float t
= s
->state
.flip_time
+ s
->state
.flip_rate
*substep
*k_rb_delta
,
1936 angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
1937 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
1938 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
1940 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
1942 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
1943 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
1944 q_normalize( dest
->root_q
);
1946 v3f rotation_point
, rco
;
1947 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
1948 v3_sub( dest
->root_co
, rotation_point
, rco
);
1950 q_mulv( qflip
, rco
, rco
);
1951 v3_add( rco
, rotation_point
, dest
->root_co
);
1955 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
1957 struct player_skate
*s
= &player
->_skate
;
1958 struct player_avatar
*av
= player
->playeravatar
;
1960 player
->cam_velocity_influence
= 1.0f
;
1963 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
1965 struct player_skate
*s
= &player
->_skate
;
1967 if( s
->state
.activity
== k_skate_activity_air
)
1968 s
->blend_fly
= 1.0f
;
1970 s
->blend_fly
= 0.0f
;
1972 s
->blend_slide
= 0.0f
;
1975 s
->blend_stand
= 0.0f
;
1976 s
->blend_push
= 0.0f
;
1977 s
->blend_jump
= 0.0f
;
1978 s
->blend_airdir
= 0.0f
;
1981 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
1983 struct player_skate
*s
= &player
->_skate
;
1984 s
->state
.jump_charge
= 0.0f
;
1985 s
->state
.lift_frames
= 0;
1986 s
->state
.flip_rate
= 0.0f
;
1987 s
->state
.steery
= 0.0f
;
1988 s
->state
.steerx
= 0.0f
;
1989 s
->state
.steery_s
= 0.0f
;
1990 s
->state
.steerx_s
= 0.0f
;
1991 s
->state
.reverse
= 0.0f
;
1992 s
->state
.slip
= 0.0f
;
1993 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1995 m3x3_identity( s
->state
.velocity_bias
);
1996 m3x3_identity( s
->state
.velocity_bias_pstep
);
1997 v3_zero( s
->state
.throw_v
);
1998 v3_zero( s
->state
.trick_vel
);
1999 v3_zero( s
->state
.trick_euler
);
2002 VG_STATIC
void player__skate_reset( player_instance
*player
,
2003 struct respawn_point
*rp
)
2005 struct player_skate
*s
= &player
->_skate
;
2006 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2007 v3_zero( player
->rb
.v
);
2008 v3_zero( s
->state
.cog_v
);
2009 v4_copy( rp
->q
, player
->rb
.q
);
2011 s
->state
.activity
= k_skate_activity_air
;
2012 s
->state
.activity_prev
= k_skate_activity_air
;
2014 player__skate_clear_mechanics( player
);
2015 player__skate_reset_animator( player
);
2018 #endif /* PLAYER_SKATE_C */