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
) ){
109 u32
*ptri
= &world
->scene_geo
->arrindices
[ idx
*3 ];
112 struct world_surface
*surf
= world_tri_index_surface(world
,ptri
[0]);
113 if( !(surf
->info
.flags
& k_material_flag_skate_surface
) )
116 for( int j
=0; j
<3; j
++ )
117 v3_copy( world
->scene_geo
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
119 for( int j
=0; j
<3; j
++ ){
123 struct grind_sample
*sample
= &samples
[ sample_count
];
126 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) ){
128 v3_sub( co
, pos
, d
);
129 if( v3_length2( d
) > r
*r
)
133 v3_sub( tri
[1], tri
[0], va
);
134 v3_sub( tri
[2], tri
[0], vb
);
135 v3_cross( va
, vb
, normal
);
137 sample
->normal
[0] = v3_dot( support_axis
, normal
);
138 sample
->normal
[1] = v3_dot( player
->basis
[1], normal
);
139 sample
->co
[0] = v3_dot( support_axis
, d
);
140 sample
->co
[1] = v3_dot( player
->basis
[1], d
);
142 v3_copy( normal
, sample
->normal3
); /* normalize later
143 if we want to us it */
145 v3_muls( tri
[0], 1.0f
/3.0f
, sample
->centroid
);
146 v3_muladds( sample
->centroid
, tri
[1], 1.0f
/3.0f
, sample
->centroid
);
147 v3_muladds( sample
->centroid
, tri
[2], 1.0f
/3.0f
, sample
->centroid
);
149 v2_normalize( sample
->normal
);
152 if( sample_count
== vg_list_size( samples
) )
153 goto too_many_samples
;
160 if( sample_count
< 2 )
168 v2_fill( min_co
, INFINITY
);
169 v2_fill( max_co
, -INFINITY
);
171 v3_zero( average_direction
);
172 v3_zero( average_normal
);
174 int passed_samples
= 0;
176 for( int i
=0; i
<sample_count
-1; i
++ ){
177 struct grind_sample
*si
, *sj
;
181 for( int j
=i
+1; j
<sample_count
; j
++ ){
187 /* non overlapping */
188 if( v2_dist2( si
->co
, sj
->co
) >= (0.01f
*0.01f
) )
191 /* not sharp angle */
192 if( v2_dot( si
->normal
, sj
->normal
) >= 0.7f
)
197 v3_sub( sj
->centroid
, si
->centroid
, v0
);
198 if( v3_dot( v0
, si
->normal3
) >= 0.0f
||
199 v3_dot( v0
, sj
->normal3
) <= 0.0f
)
202 v2_minv( sj
->co
, min_co
, min_co
);
203 v2_maxv( sj
->co
, max_co
, max_co
);
206 v3_copy( si
->normal3
, n0
);
207 v3_copy( sj
->normal3
, n1
);
208 v3_cross( n0
, n1
, dir
);
211 /* make sure the directions all face a common hemisphere */
212 v3_muls( dir
, vg_signf(v3_dot(dir
,plane
)), dir
);
213 v3_add( average_direction
, dir
, average_direction
);
215 float yi
= v3_dot( player
->basis
[1], si
->normal3
),
216 yj
= v3_dot( player
->basis
[1], sj
->normal3
);
219 v3_add( si
->normal3
, average_normal
, average_normal
);
221 v3_add( sj
->normal3
, average_normal
, average_normal
);
227 if( !passed_samples
)
230 if( (v3_length2( average_direction
) <= 0.001f
) ||
231 (v3_length2( average_normal
) <= 0.001f
) )
234 float div
= 1.0f
/(float)passed_samples
;
235 v3_normalize( average_direction
);
236 v3_normalize( average_normal
);
239 v2_add( min_co
, max_co
, average_coord
);
240 v2_muls( average_coord
, 0.5f
, average_coord
);
242 v3_muls( support_axis
, average_coord
[0], inf
->co
);
243 inf
->co
[1] += average_coord
[1];
244 v3_add( pos
, inf
->co
, inf
->co
);
245 v3_copy( average_normal
, inf
->n
);
246 v3_copy( average_direction
, inf
->dir
);
248 vg_line_pt3( inf
->co
, 0.02f
, VG__GREEN
);
249 vg_line_arrow( inf
->co
, average_direction
, 0.3f
, VG__GREEN
);
250 vg_line_arrow( inf
->co
, inf
->n
, 0.2f
, VG__CYAN
);
252 return passed_samples
;
255 VG_STATIC
int solve_prediction_for_target( player_instance
*player
,
256 v3f target
, float max_angle
,
257 struct land_prediction
*p
)
259 /* calculate the exact solution(s) to jump onto that grind spot */
262 v3_sub( target
, player
->rb
.co
, v0
);
263 m3x3_mulv( player
->invbasis
, v0
, v0
);
271 m3x3_mulv( player
->invbasis
, player
->rb
.v
, v_local
);
273 v2f d
= { v3_dot( ax
, v0
), v0
[1] },
274 v
= { v3_dot( ax
, player
->rb
.v
), v_local
[1] };
276 float a
= atan2f( v
[1], v
[0] ),
278 root
= m
*m
*m
*m
- p
->gravity
*(p
->gravity
*d
[0]*d
[0] + 2.0f
*d
[1]*m
*m
);
282 root
= sqrtf( root
);
283 float a0
= atanf( (m
*m
+ root
) / (p
->gravity
* d
[0]) ),
284 a1
= atanf( (m
*m
- root
) / (p
->gravity
* d
[0]) );
286 if( fabsf(a0
-a
) > fabsf(a1
-a
) )
289 if( fabsf(a0
-a
) > max_angle
)
292 /* TODO: sweep the path before chosing the smallest dist */
297 p
->type
= k_prediction_grind
;
299 v3_muls( ax
, cosf( a0
) * m
, p
->v
);
300 p
->v
[1] += sinf( a0
) * m
;
301 m3x3_mulv( player
->basis
, p
->v
, p
->v
);
303 p
->land_dist
= d
[0] / (cosf(a0
)*m
);
306 for( int i
=0; i
<=20; i
++ )
308 float t
= (float)i
* (1.0f
/20.0f
) * p
->land_dist
;
311 v3_muls( p
->v
, t
, p0
);
312 v3_muladds( p0
, player
->basis
[1], -0.5f
* p
->gravity
* t
*t
, p0
);
314 v3_add( player
->rb
.co
, p0
, p
->log
[ p
->log_length
++ ] );
324 void player__approximate_best_trajectory( player_instance
*player
)
326 world_instance
*world
= get_active_world();
328 struct player_skate
*s
= &player
->_skate
;
329 float k_trace_delta
= k_rb_delta
* 10.0f
;
331 s
->state
.air_start
= vg
.time
;
332 v3_copy( player
->rb
.v
, s
->state
.air_init_v
);
333 v3_copy( player
->rb
.co
, s
->state
.air_init_co
);
335 s
->prediction_count
= 0;
338 v3_cross( player
->rb
.v
, player
->rb
.to_world
[1], axis
);
339 v3_normalize( axis
);
341 /* at high slopes, Y component is low */
342 float upness
= v3_dot( player
->rb
.to_world
[1], player
->basis
[1] ),
343 angle_begin
= -(1.0f
-fabsf( upness
)),
346 struct grind_info grind
;
347 int grind_located
= 0;
349 for( int m
=0;m
<=30; m
++ )
351 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
356 p
->type
= k_prediction_none
;
358 v3f launch_co
, launch_v
, co0
, co1
;
359 v3_copy( player
->rb
.co
, launch_co
);
360 v3_copy( player
->rb
.v
, launch_v
);
361 v3_copy( launch_co
, co0
);
363 float vt
= (float)m
* (1.0f
/30.0f
),
364 ang
= vg_lerpf( angle_begin
, angle_end
, vt
) * 0.15f
;
367 q_axis_angle( qbias
, axis
, ang
);
368 q_mulv( qbias
, launch_v
, launch_v
);
370 float yaw_sketch
= 1.0f
-fabsf(upness
);
372 float yaw_bias
= ((float)(m
%3) - 1.0f
) * 0.08f
* yaw_sketch
;
373 q_axis_angle( qbias
, player
->rb
.to_world
[1], yaw_bias
);
374 q_mulv( qbias
, launch_v
, launch_v
);
377 float gravity_bias
= vg_lerpf( 0.85f
, 1.4f
, vt
),
378 gravity
= k_gravity
* gravity_bias
;
379 p
->gravity
= gravity
;
381 v3_copy( launch_v
, p
->v
);
383 for( int i
=1; i
<=50; i
++ )
385 float t
= (float)i
* k_trace_delta
;
387 v3_muls( launch_v
, t
, co1
);
388 v3_muladds( co1
, player
->basis
[1], -0.5f
* gravity
* t
*t
, co1
);
389 v3_add( launch_co
, co1
, co1
);
391 float launch_vy
= v3_dot( launch_v
,player
->basis
[1] );
392 if( !grind_located
&& (launch_vy
- gravity
*t
< 0.0f
) )
395 if( bh_closest_point( world
->geo_bh
, co1
, closest
, 1.0f
) != -1 )
398 v3_copy( launch_v
, ve
);
399 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
401 if( skate_grind_scansq( player
, closest
, ve
, 0.5f
, &grind
) )
403 /* check alignment */
404 v2f v0
= { v3_dot( ve
, player
->basis
[0] ),
405 v3_dot( ve
, player
->basis
[2] ) },
406 v1
= { v3_dot( grind
.dir
, player
->basis
[0] ),
407 v3_dot( grind
.dir
, player
->basis
[2] ) };
412 float a
= v2_dot( v0
, v1
);
414 if( a
>= cosf( VG_PIf
* 0.185f
) )
425 int idx
= spherecast_world( world
, co0
, co1
, k_board_radius
, &t1
, n
);
429 v3_lerp( co0
, co1
, t1
, co
);
430 v3_copy( co
, p
->log
[ p
->log_length
++ ] );
433 p
->type
= k_prediction_land
;
436 v3_copy( launch_v
, ve
);
437 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
439 struct grind_info replace_grind
;
440 if( skate_grind_scansq( player
, co
, ve
, 0.3f
, &replace_grind
) )
442 v3_copy( replace_grind
.n
, p
->n
);
443 p
->type
= k_prediction_grind
;
446 p
->score
= -v3_dot( ve
, p
->n
);
447 p
->land_dist
= t
+ k_trace_delta
* t1
;
449 u32 vert_index
= world
->scene_geo
->arrindices
[ idx
*3 ];
450 struct world_surface
*surf
=
451 world_tri_index_surface( world
, vert_index
);
453 /* Bias prediction towords ramps */
454 if( !(surf
->info
.flags
& k_material_flag_skate_surface
) )
461 v3_copy( co1
, p
->log
[ p
->log_length
++ ] );
466 if( p
->type
== k_prediction_none
)
467 s
->prediction_count
--;
471 /* calculate the exact solution(s) to jump onto that grind spot */
472 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
];
473 p
->gravity
= k_gravity
;
475 if( solve_prediction_for_target( player
, grind
.co
, 0.125f
*VG_PIf
, p
) ){
476 v3_copy( grind
.n
, p
->n
);
478 /* determine score */
481 v3_muladds( ve
, player
->basis
[1], -p
->gravity
* p
->land_dist
, ve
);
482 p
->score
= -v3_dot( ve
, grind
.n
) * 0.85f
;
484 s
->prediction_count
++;
489 float score_min
= INFINITY
,
490 score_max
= -INFINITY
;
492 struct land_prediction
*best
= NULL
;
494 for( int i
=0; i
<s
->prediction_count
; i
++ ){
495 struct land_prediction
*p
= &s
->predictions
[i
];
497 if( p
->score
< score_min
)
500 score_min
= vg_minf( score_min
, p
->score
);
501 score_max
= vg_maxf( score_max
, p
->score
);
504 for( int i
=0; i
<s
->prediction_count
; i
++ ){
505 struct land_prediction
*p
= &s
->predictions
[i
];
509 s
/= (score_max
-score_min
);
513 p
->colour
= s
* 255.0f
;
517 else if( p
->type
== k_prediction_land
)
520 p
->colour
|= 0xff000000;
524 v3_copy( best
->n
, s
->land_normal
);
525 v3_copy( best
->v
, player
->rb
.v
);
526 s
->land_dist
= best
->land_dist
;
528 v2f steer
= { player
->input_js1h
->axis
.value
,
529 player
->input_js1v
->axis
.value
};
530 v2_normalize_clamp( steer
);
531 s
->state
.gravity_bias
= best
->gravity
;
533 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.5f
) ){
534 s
->state
.flip_rate
= (1.0f
/s
->land_dist
) * vg_signf(steer
[1]) *
536 s
->state
.flip_time
= 0.0f
;
537 v3_copy( player
->rb
.to_world
[0], s
->state
.flip_axis
);
540 s
->state
.flip_rate
= 0.0f
;
541 v3_zero( s
->state
.flip_axis
);
545 v3_copy( player
->basis
[1], s
->land_normal
);
551 * Varius physics models
552 * ------------------------------------------------
556 * Air control, no real physics
558 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
560 struct player_skate
*s
= &player
->_skate
;
562 if( s
->state
.activity_prev
!= k_skate_activity_air
)
563 player__approximate_best_trajectory( player
);
565 float angle
= v3_dot( player
->rb
.to_world
[1], s
->land_normal
);
566 angle
= vg_clampf( angle
, -1.0f
, 1.0f
);
568 v3_cross( player
->rb
.to_world
[1], s
->land_normal
, axis
);
571 q_axis_angle( correction
, axis
,
572 acosf(angle
)*2.0f
*VG_TIMESTEP_FIXED
);
573 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
575 v2f steer
= { player
->input_js1h
->axis
.value
,
576 player
->input_js1v
->axis
.value
};
577 v2_normalize_clamp( steer
);
580 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
581 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
583 struct player_skate
*s
= &player
->_skate
;
586 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
588 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
589 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
591 v3_mul( strength
, F
, F
);
593 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
594 s
->board_trick_residualv
);
595 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
596 k_rb_delta
, s
->board_trick_residuald
);
598 if( s
->state
.activity
== k_skate_activity_air
){
599 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
602 int carry_on
= player_skate_trick_input( player
);
604 /* we assume velocities share a common divisor, in which case the
605 * interval is the minimum value (if not zero) */
607 float min_rate
= 99999.0f
;
609 for( int i
=0; i
<3; i
++ ){
610 float v
= s
->state
.trick_vel
[i
];
611 if( (v
> 0.0f
) && (v
< min_rate
) )
615 float interval
= 1.0f
/ min_rate
,
616 current
= floorf( s
->state
.trick_time
/ interval
),
617 next_end
= (current
+1.0f
) * interval
;
620 /* integrate trick velocities */
621 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
622 s
->state
.trick_euler
);
624 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) ){
625 s
->state
.trick_time
= 0.0f
;
626 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
627 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
628 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
629 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
630 v3_zero( s
->state
.trick_vel
);
633 s
->state
.trick_time
+= k_rb_delta
;
636 if( (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
637 s
->state
.trick_time
> 0.2f
)
639 player__dead_transition( player
);
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 s
->state
.trick_time
= 0.0f
;
646 v3_zero( s
->state
.trick_vel
);
650 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
652 struct player_skate
*s
= &player
->_skate
;
654 float grabt
= player
->input_grab
->axis
.value
;
657 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
658 s
->state
.grab_mouse_delta
);
660 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
663 v2_zero( s
->state
.grab_mouse_delta
);
665 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
668 VG_STATIC
void skate_apply_steering_model( player_instance
*player
)
670 struct player_skate
*s
= &player
->_skate
;
673 float steer
= player
->input_js1h
->axis
.value
,
674 grab
= player
->input_grab
->axis
.value
;
676 steer
= vg_signf( steer
) * steer
*steer
* k_steer_ground
;
679 v3_muls( player
->rb
.to_world
[1], -vg_signf( steer
), steer_axis
);
684 if( s
->state
.activity
== k_skate_activity_air
){
685 rate
= 6.0f
* fabsf(steer
);
689 /* rotate slower when grabbing on ground */
690 steer
*= (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
);
692 if( s
->state
.activity
== k_skate_activity_grind_5050
){
697 else if( s
->state
.activity
>= k_skate_activity_grind_any
){
698 rate
*= fabsf(steer
);
700 float a
= 0.8f
* -steer
* k_rb_delta
;
703 q_axis_angle( q
, player
->rb
.to_world
[1], a
);
704 q_mulv( q
, s
->grind_vec
, s
->grind_vec
);
706 v3_normalize( s
->grind_vec
);
709 else if( s
->state
.manual_direction
){
715 float current
= v3_dot( player
->rb
.to_world
[1], player
->rb
.w
),
716 addspeed
= (steer
* -top
) - current
,
717 maxaccel
= rate
* k_rb_delta
,
718 accel
= vg_clampf( addspeed
, -maxaccel
, maxaccel
);
720 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], accel
, player
->rb
.w
);
724 * Computes friction and surface interface model
726 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
728 struct player_skate
*s
= &player
->_skate
;
731 * Computing localized friction forces for controlling the character
732 * Friction across X is significantly more than Z
736 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
739 if( fabsf(vel
[2]) > 0.01f
)
740 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
742 if( fabsf( slip
) > 1.2f
)
743 slip
= vg_signf( slip
) * 1.2f
;
745 s
->state
.slip
= slip
;
746 s
->state
.reverse
= -vg_signf(vel
[2]);
748 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
749 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
751 /* Pushing additive force */
753 if( !player
->input_jump
->button
.value
){
754 if( player
->input_push
->button
.value
||
755 (vg
.time
-s
->state
.start_push
<0.75) )
757 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
758 s
->state
.start_push
= vg
.time
;
760 s
->state
.cur_push
= vg
.time
;
762 double push_time
= vg
.time
- s
->state
.start_push
;
764 float cycle_time
= push_time
*k_push_cycle_rate
,
765 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
766 amt
= accel
* VG_TIMESTEP_FIXED
,
767 current
= v3_length( vel
),
768 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
769 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
771 vel
[2] += delta
* -s
->state
.reverse
;
775 /* Send back to velocity */
776 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
779 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
781 struct player_skate
*s
= &player
->_skate
;
782 int charging_jump_prev
= s
->state
.charging_jump
;
783 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
785 /* Cannot charge this in air */
786 if( s
->state
.activity
== k_skate_activity_air
){
787 s
->state
.charging_jump
= 0;
791 if( s
->state
.charging_jump
){
792 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
794 if( !charging_jump_prev
)
795 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
798 s
->state
.jump_charge
-= k_jump_charge_speed
* k_rb_delta
;
801 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
803 /* player let go after charging past 0.2: trigger jump */
804 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) ){
807 /* Launch more up if alignment is up else improve velocity */
808 float aup
= v3_dot( player
->basis
[1], player
->rb
.to_world
[1] ),
810 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
812 v3_copy( player
->rb
.v
, jumpdir
);
813 v3_normalize( jumpdir
);
814 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
815 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
816 v3_normalize( jumpdir
);
818 float force
= k_jump_force
*s
->state
.jump_charge
;
819 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
820 s
->state
.jump_charge
= 0.0f
;
821 s
->state
.jump_time
= vg
.time
;
822 s
->state
.activity
= k_skate_activity_air
;
824 v2f steer
= { player
->input_js1h
->axis
.value
,
825 player
->input_js1v
->axis
.value
};
826 v2_normalize_clamp( steer
);
827 skate_apply_air_model( player
);
830 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
831 s
->state
.steery_s
= -steer
[0] * maxspin
;
832 s
->state
.steerx
= s
->state
.steerx_s
;
833 s
->state
.lift_frames
++;
837 audio_oneshot_3d( &audio_jumps
[rand()%2], player
->rb
.co
, 40.0f
, 1.0f
);
842 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
844 struct player_skate
*s
= &player
->_skate
;
846 if( s
->state
.activity
!= k_skate_activity_ground
){
847 v3_zero( s
->state
.throw_v
);
851 /* Throw / collect routine
853 * TODO: Max speed boost
855 if( player
->input_grab
->axis
.value
> 0.5f
){
856 if( s
->state
.activity
== k_skate_activity_ground
){
858 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
863 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
866 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
868 if( s
->state
.activity
== k_skate_activity_ground
){
869 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
870 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
873 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
874 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
875 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
879 if( v3_length2( s
->state
.throw_v
) > 0.0001f
){
881 v3_copy( s
->state
.throw_v
, dir
);
884 float max
= v3_dot( dir
, s
->state
.throw_v
),
885 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
886 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
890 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
892 struct player_skate
*s
= &player
->_skate
;
894 v3f ideal_cog
, ideal_diff
, ideal_dir
;
895 v3_copy( s
->state
.up_dir
, ideal_dir
);
896 v3_normalize( ideal_dir
);
898 v3_muladds( player
->rb
.co
, ideal_dir
,
899 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
900 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
902 /* Apply velocities */
904 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
907 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
908 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
910 float ra
= k_cog_mass_ratio
,
911 rb
= 1.0f
-k_cog_mass_ratio
;
913 /* Apply forces & intergrate */
914 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
915 v3_muladds( s
->state
.cog_v
, player
->basis
[1], -9.8f
* k_rb_delta
,
918 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
922 VG_STATIC
void skate_integrate( player_instance
*player
)
924 struct player_skate
*s
= &player
->_skate
;
926 float decay_rate
= 1.0f
- (k_rb_delta
* 3.0f
),
929 if( s
->state
.activity
>= k_skate_activity_grind_any
){
930 decay_rate
= 1.0f
-vg_lerpf( 3.0f
, 20.0f
, s
->grind_strength
) * k_rb_delta
;
931 decay_rate_y
= decay_rate
;
934 float wx
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[0] ) * decay_rate
,
935 wy
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[1] ) * decay_rate_y
,
936 wz
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[2] ) * decay_rate
;
938 v3_muls( player
->rb
.to_world
[0], wx
, player
->rb
.w
);
939 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
940 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
942 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
943 rb_update_transform( &player
->rb
);
950 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
952 return (player
->input_trick0
->button
.value
) |
953 (player
->input_trick1
->button
.value
<< 1) |
954 (player
->input_trick2
->button
.value
<< 1) |
955 (player
->input_trick2
->button
.value
);
958 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
960 struct player_skate
*s
= &player
->_skate
;
962 if( vg_input_button_down( player
->input_use
) ){
963 player
->subsystem
= k_player_subsystem_walk
;
966 v3_copy( player
->cam
.angles
, angles
);
969 player
->holdout_time
= 0.25f
;
970 player__walk_transition( player
, angles
);
974 if( vg_input_button_down( player
->input_reset
) ){
975 player
->rb
.co
[1] += 2.0f
;
976 s
->state
.cog
[1] += 2.0f
;
977 q_axis_angle( player
->rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, VG_PIf
* 0.25f
);
978 v3_zero( player
->rb
.w
);
979 v3_zero( player
->rb
.v
);
981 rb_update_transform( &player
->rb
);
985 if( (s
->state
.activity
== k_skate_activity_air
) &&
986 (trick_id
= player_skate_trick_input( player
)) )
988 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
){
989 v3_zero( s
->state
.trick_vel
);
990 s
->state
.trick_time
= 0.0f
;
993 s
->state
.trick_vel
[0] = 3.0f
;
995 else if( trick_id
== 2 ){
996 s
->state
.trick_vel
[2] = 3.0f
;
998 else if( trick_id
== 3 ){
999 s
->state
.trick_vel
[0] = 2.0f
;
1000 s
->state
.trick_vel
[2] = 2.0f
;
1006 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1008 struct player_skate
*s
= &player
->_skate
;
1010 for( int i
=0; i
<s
->prediction_count
; i
++ )
1012 struct land_prediction
*p
= &s
->predictions
[i
];
1014 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1016 float brightness
= p
->score
*p
->score
*p
->score
;
1018 v3_lerp( p
->log
[j
], p
->log
[j
+1], brightness
, p1
);
1019 vg_line( p
->log
[j
], p1
, p
->colour
);
1022 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1025 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1026 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1028 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1032 vg_line_pt3( s
->state
.apex
, 0.030f
, 0xff0000ff );
1037 float air
= s
->state
.activity
== k_skate_activity_air
? 1.0f
: 0.0f
,
1038 speed
= v3_length( player
->rb
.v
),
1039 attn
= vg_minf( 1.0f
, speed
*0.1f
),
1040 slide
= vg_clampf( fabsf(s
->state
.slip
), 0.0f
, 1.0f
),
1042 vol_main
= sqrtf( (1.0f
-air
)*attn
*(1.0f
-slide
) * 0.4f
),
1043 vol_air
= sqrtf( air
*attn
* 0.5f
),
1044 vol_slide
= sqrtf( (1.0f
-air
)*attn
*slide
* 0.25f
);
1046 const u32 flags
= AUDIO_FLAG_SPACIAL_3D
|AUDIO_FLAG_LOOP
;
1048 s
->aud_main
= audio_request_channel( &audio_board
[0], flags
);
1051 s
->aud_air
= audio_request_channel( &audio_board
[1], flags
);
1054 s
->aud_slide
= audio_request_channel( &audio_board
[2], flags
);
1057 /* brrrrrrrrrrrt sound for tiles and stuff
1058 * --------------------------------------------------------*/
1059 float sidechain_amt
= 0.0f
,
1062 if( s
->surface
== k_surface_prop_tiles
)
1063 sidechain_amt
= 1.0f
;
1065 sidechain_amt
= 0.0f
;
1067 audio_set_lfo_frequency( 0, hz
);
1068 audio_set_lfo_wave( 0, k_lfo_polynomial_bipolar
,
1069 vg_lerpf( 250.0f
, 80.0f
, attn
) );
1072 s
->aud_main
->colour
= 0x00103efe;
1073 audio_channel_set_spacial( s
->aud_main
, player
->rb
.co
, 40.0f
);
1074 audio_channel_slope_volume( s
->aud_main
, 0.05f
, vol_main
);
1075 audio_channel_sidechain_lfo( s
->aud_main
, 0, sidechain_amt
);
1077 float rate
= 1.0f
+ (attn
-0.5f
)*0.2f
;
1078 audio_channel_set_sampling_rate( s
->aud_main
, rate
);
1082 s
->aud_slide
->colour
= 0x00103efe;
1083 audio_channel_set_spacial( s
->aud_slide
, player
->rb
.co
, 40.0f
);
1084 audio_channel_slope_volume( s
->aud_slide
, 0.05f
, vol_slide
);
1085 audio_channel_sidechain_lfo( s
->aud_slide
, 0, sidechain_amt
);
1089 s
->aud_air
->colour
= 0x00103efe;
1090 audio_channel_set_spacial( s
->aud_air
, player
->rb
.co
, 40.0f
);
1091 audio_channel_slope_volume( s
->aud_air
, 0.05f
, vol_air
);
1098 * truck alignment model at ra(local)
1099 * returns 1 if valid surface:
1100 * surface_normal will be filled out with an averaged normal vector
1101 * axel_dir will be the direction from left to right wheels
1103 * returns 0 if no good surface found
1106 int skate_compute_surface_alignment( player_instance
*player
,
1108 v3f surface_normal
, v3f axel_dir
)
1110 struct player_skate
*s
= &player
->_skate
;
1111 world_instance
*world
= get_active_world();
1113 v3f truck
, left
, right
;
1114 m4x3_mulv( player
->rb
.to_world
, ra
, truck
);
1116 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_width
, left
);
1117 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_width
, right
);
1118 vg_line( left
, right
, colour
);
1120 float k_max_truck_flex
= VG_PIf
* 0.25f
;
1122 ray_hit ray_l
, ray_r
;
1125 v3_muls( player
->rb
.to_world
[1], -1.0f
, dir
);
1127 int res_l
= 0, res_r
= 0;
1129 for( int i
=0; i
<8; i
++ )
1131 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1132 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_radius
*t
, left
);
1133 v3_muladds( left
, player
->rb
.to_world
[1], k_board_radius
, left
);
1134 ray_l
.dist
= 2.1f
* k_board_radius
;
1136 res_l
= ray_world( world
, left
, dir
, &ray_l
);
1142 for( int i
=0; i
<8; i
++ )
1144 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1145 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_radius
*t
, right
);
1146 v3_muladds( right
, player
->rb
.to_world
[1], k_board_radius
, right
);
1147 ray_r
.dist
= 2.1f
* k_board_radius
;
1149 res_r
= ray_world( world
, right
, dir
, &ray_r
);
1157 v3f tangent_average
;
1158 v3_muladds( truck
, player
->rb
.to_world
[1], -k_board_radius
, midpoint
);
1159 v3_zero( tangent_average
);
1161 if( res_l
|| res_r
)
1164 v3_copy( midpoint
, p0
);
1165 v3_copy( midpoint
, p1
);
1169 v3_copy( ray_l
.pos
, p0
);
1170 v3_cross( ray_l
.normal
, player
->rb
.to_world
[0], t
);
1171 v3_add( t
, tangent_average
, tangent_average
);
1175 v3_copy( ray_r
.pos
, p1
);
1176 v3_cross( ray_r
.normal
, player
->rb
.to_world
[0], t
);
1177 v3_add( t
, tangent_average
, tangent_average
);
1180 v3_sub( p1
, p0
, v0
);
1185 /* fallback: use the closes point to the trucks */
1187 int idx
= bh_closest_point( world
->geo_bh
, midpoint
, closest
, 0.1f
);
1191 u32
*tri
= &world
->scene_geo
->arrindices
[ idx
* 3 ];
1194 for( int j
=0; j
<3; j
++ )
1195 v3_copy( world
->scene_geo
->arrvertices
[ tri
[j
] ].co
, verts
[j
] );
1197 v3f vert0
, vert1
, n
;
1198 v3_sub( verts
[1], verts
[0], vert0
);
1199 v3_sub( verts
[2], verts
[0], vert1
);
1200 v3_cross( vert0
, vert1
, n
);
1203 if( v3_dot( n
, player
->rb
.to_world
[1] ) < 0.3f
)
1206 v3_cross( n
, player
->rb
.to_world
[2], v0
);
1207 v3_muladds( v0
, player
->rb
.to_world
[2],
1208 -v3_dot( player
->rb
.to_world
[2], v0
), v0
);
1212 v3_cross( n
, player
->rb
.to_world
[0], t
);
1213 v3_add( t
, tangent_average
, tangent_average
);
1219 v3_muladds( truck
, v0
, k_board_width
, right
);
1220 v3_muladds( truck
, v0
, -k_board_width
, left
);
1222 vg_line( left
, right
, VG__WHITE
);
1224 v3_normalize( tangent_average
);
1225 v3_cross( v0
, tangent_average
, surface_normal
);
1226 v3_copy( v0
, axel_dir
);
1231 VG_STATIC
void skate_weight_distribute( player_instance
*player
)
1233 struct player_skate
*s
= &player
->_skate
;
1234 v3_zero( s
->weight_distribution
);
1236 int reverse_dir
= v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) < 0.0f
?1:-1;
1238 if( s
->state
.manual_direction
== 0 )
1240 if( (player
->input_js1v
->axis
.value
> 0.7f
) &&
1241 (s
->state
.activity
== k_skate_activity_ground
) &&
1242 (s
->state
.jump_charge
<= 0.01f
) )
1243 s
->state
.manual_direction
= reverse_dir
;
1247 if( player
->input_js1v
->axis
.value
< 0.1f
)
1249 s
->state
.manual_direction
= 0;
1253 if( reverse_dir
!= s
->state
.manual_direction
)
1260 if( s
->state
.manual_direction
)
1262 float amt
= vg_minf( player
->input_js1v
->axis
.value
* 8.0f
, 1.0f
);
1263 s
->weight_distribution
[2] = k_board_length
* amt
*
1264 (float)s
->state
.manual_direction
;
1267 /* TODO: Fall back on land normal */
1268 /* TODO: Lerp weight distribution */
1269 if( s
->state
.manual_direction
)
1273 m3x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, plane_z
);
1274 v3_negate( plane_z
, plane_z
);
1276 v3_muladds( plane_z
, s
->surface_picture
,
1277 -v3_dot( plane_z
, s
->surface_picture
), plane_z
);
1278 v3_normalize( plane_z
);
1280 v3_muladds( plane_z
, s
->surface_picture
, 0.3f
, plane_z
);
1281 v3_normalize( plane_z
);
1284 v3_muladds( player
->rb
.co
, plane_z
, 1.5f
, p1
);
1285 vg_line( player
->rb
.co
, p1
, VG__GREEN
);
1288 v3_muls( player
->rb
.to_world
[2], -(float)s
->state
.manual_direction
,
1291 rb_effect_spring_target_vector( &player
->rb
, refdir
, plane_z
,
1292 k_manul_spring
, k_manul_dampener
,
1297 VG_STATIC
void skate_adjust_up_direction( player_instance
*player
)
1299 struct player_skate
*s
= &player
->_skate
;
1301 if( s
->state
.activity
== k_skate_activity_ground
)
1304 v3_copy( s
->surface_picture
, target
);
1306 target
[1] += 2.0f
* s
->surface_picture
[1];
1307 v3_normalize( target
);
1309 v3_lerp( s
->state
.up_dir
, target
,
1310 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1312 else if( s
->state
.activity
== k_skate_activity_air
)
1314 v3_lerp( s
->state
.up_dir
, player
->rb
.to_world
[1],
1315 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1319 v3_lerp( s
->state
.up_dir
, player
->basis
[1],
1320 12.0f
* s
->substep_delta
, s
->state
.up_dir
);
1324 VG_STATIC
int skate_point_visible( v3f origin
, v3f target
)
1327 v3_sub( target
, origin
, dir
);
1330 ray
.dist
= v3_length( dir
);
1331 v3_muls( dir
, 1.0f
/ray
.dist
, dir
);
1334 if( ray_world( get_active_world(), origin
, dir
, &ray
) )
1340 VG_STATIC
void skate_grind_orient( struct grind_info
*inf
, m3x3f mtx
)
1342 /* TODO: Is N and Dir really orthogonal? */
1343 v3_copy( inf
->dir
, mtx
[0] );
1344 v3_copy( inf
->n
, mtx
[1] );
1345 v3_cross( mtx
[0], mtx
[1], mtx
[2] );
1348 VG_STATIC
void skate_grind_friction( player_instance
*player
,
1349 struct grind_info
*inf
, float strength
)
1352 v3_muladds( player
->rb
.to_world
[2], inf
->n
,
1353 -v3_dot( player
->rb
.to_world
[2], inf
->n
), v2
);
1355 float a
= 1.0f
-fabsf( v3_dot( v2
, inf
->dir
) ),
1356 dir
= vg_signf( v3_dot( player
->rb
.v
, inf
->dir
) ),
1357 F
= a
* -dir
* k_grind_max_friction
;
1359 v3_muladds( player
->rb
.v
, inf
->dir
, F
*k_rb_delta
*strength
, player
->rb
.v
);
1362 VG_STATIC
void skate_grind_decay( player_instance
*player
,
1363 struct grind_info
*inf
, float strength
)
1366 skate_grind_orient( inf
, mtx
);
1367 m3x3_transpose( mtx
, mtx_inv
);
1370 m3x3_mulv( mtx_inv
, player
->rb
.v
, v_grind
);
1372 float decay
= 1.0f
- ( k_rb_delta
* k_grind_decayxy
* strength
);
1373 v3_mul( v_grind
, (v3f
){ 1.0f
, decay
, decay
}, v_grind
);
1374 m3x3_mulv( mtx
, v_grind
, player
->rb
.v
);
1377 VG_STATIC
void skate_grind_truck_apply( player_instance
*player
,
1378 float sign
, struct grind_info
*inf
,
1381 struct player_skate
*s
= &player
->_skate
;
1383 /* TODO: Trash compactor this */
1384 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1386 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1387 v3_add( player
->rb
.co
, raw
, wsp
);
1389 v3_copy( ra
, s
->weight_distribution
);
1392 v3_sub( inf
->co
, wsp
, delta
);
1395 v3_muladds( player
->rb
.v
, delta
, k_spring_force
*strength
*k_rb_delta
,
1398 skate_grind_decay( player
, inf
, strength
);
1399 skate_grind_friction( player
, inf
, strength
);
1401 /* yeah yeah yeah yeah */
1402 v3f raw_nplane
, axis
;
1403 v3_muladds( raw
, inf
->n
, -v3_dot( inf
->n
, raw
), raw_nplane
);
1404 v3_cross( raw_nplane
, inf
->n
, axis
);
1405 v3_normalize( axis
);
1409 skate_grind_orient( inf
, mtx
);
1410 v3f target_fwd
, fwd
, up
, target_up
;
1411 m3x3_mulv( mtx
, s
->grind_vec
, target_fwd
);
1412 v3_copy( raw_nplane
, fwd
);
1413 v3_copy( player
->rb
.to_world
[1], up
);
1414 v3_copy( inf
->n
, target_up
);
1416 v3_muladds( target_fwd
, inf
->n
, -v3_dot(inf
->n
,target_fwd
), target_fwd
);
1417 v3_muladds( fwd
, inf
->n
, -v3_dot(inf
->n
,fwd
), fwd
);
1419 v3_normalize( target_fwd
);
1420 v3_normalize( fwd
);
1423 float way
= player
->input_js1v
->axis
.value
*
1424 vg_signf( v3_dot( raw_nplane
, player
->rb
.v
) );
1427 q_axis_angle( q
, axis
, VG_PIf
*0.125f
* way
);
1428 q_mulv( q
, target_up
, target_up
);
1429 q_mulv( q
, target_fwd
, target_fwd
);
1431 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1436 rb_effect_spring_target_vector( &player
->rb
, fwd
, target_fwd
,
1437 k_grind_spring
*strength
,
1438 k_grind_dampener
*strength
,
1441 vg_line_arrow( player
->rb
.co
, target_up
, 1.0f
, VG__GREEN
);
1442 vg_line_arrow( player
->rb
.co
, fwd
, 0.8f
, VG__RED
);
1443 vg_line_arrow( player
->rb
.co
, target_fwd
, 1.0f
, VG__YELOW
);
1445 s
->grind_strength
= strength
;
1448 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1449 m4x3_mulv( player
->rb
.to_local
, wsp
, limit
->ra
);
1450 m3x3_mulv( player
->rb
.to_local
, inf
->n
, limit
->n
);
1453 v3_copy( inf
->dir
, s
->grind_dir
);
1456 VG_STATIC
void skate_5050_apply( player_instance
*player
,
1457 struct grind_info
*inf_front
,
1458 struct grind_info
*inf_back
)
1460 struct player_skate
*s
= &player
->_skate
;
1461 struct grind_info inf_avg
;
1463 v3_sub( inf_front
->co
, inf_back
->co
, inf_avg
.dir
);
1464 v3_muladds( inf_back
->co
, inf_avg
.dir
, 0.5f
, inf_avg
.co
);
1465 v3_normalize( inf_avg
.dir
);
1467 v3f axis_front
, axis_back
, axis
;
1468 v3_cross( inf_front
->dir
, inf_front
->n
, axis_front
);
1469 v3_cross( inf_back
->dir
, inf_back
->n
, axis_back
);
1470 v3_add( axis_front
, axis_back
, axis
);
1471 v3_normalize( axis
);
1473 v3_cross( axis
, inf_avg
.dir
, inf_avg
.n
);
1475 skate_grind_decay( player
, &inf_avg
, 1.0f
);
1478 float way
= player
->input_js1v
->axis
.value
*
1479 vg_signf( v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) );
1482 v3_copy( player
->rb
.to_world
[1], up
);
1483 v3_copy( inf_avg
.n
, target_up
);
1484 q_axis_angle( q
, player
->rb
.to_world
[0], VG_PIf
*0.25f
* -way
);
1485 q_mulv( q
, target_up
, target_up
);
1487 v3_zero( s
->weight_distribution
);
1488 s
->weight_distribution
[2] = k_board_length
* -way
;
1490 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1495 v3f fwd_nplane
, dir_nplane
;
1496 v3_muladds( player
->rb
.to_world
[2], inf_avg
.n
,
1497 -v3_dot( player
->rb
.to_world
[2], inf_avg
.n
), fwd_nplane
);
1500 v3_muls( inf_avg
.dir
, v3_dot( fwd_nplane
, inf_avg
.dir
), dir
);
1501 v3_muladds( dir
, inf_avg
.n
, -v3_dot( dir
, inf_avg
.n
), dir_nplane
);
1503 v3_normalize( fwd_nplane
);
1504 v3_normalize( dir_nplane
);
1506 rb_effect_spring_target_vector( &player
->rb
, fwd_nplane
, dir_nplane
,
1511 v3f pos_front
= { 0.0f
, -k_board_radius
, -1.0f
* k_board_length
},
1512 pos_back
= { 0.0f
, -k_board_radius
, 1.0f
* k_board_length
},
1513 delta_front
, delta_back
, delta_total
;
1515 m4x3_mulv( player
->rb
.to_world
, pos_front
, pos_front
);
1516 m4x3_mulv( player
->rb
.to_world
, pos_back
, pos_back
);
1518 v3_sub( inf_front
->co
, pos_front
, delta_front
);
1519 v3_sub( inf_back
->co
, pos_back
, delta_back
);
1520 v3_add( delta_front
, delta_back
, delta_total
);
1522 v3_muladds( player
->rb
.v
, delta_total
, 50.0f
* k_rb_delta
, player
->rb
.v
);
1525 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1526 v3_zero( limit
->ra
);
1527 m3x3_mulv( player
->rb
.to_local
, inf_avg
.n
, limit
->n
);
1530 v3_copy( inf_avg
.dir
, s
->grind_dir
);
1533 VG_STATIC
int skate_grind_truck_renew( player_instance
*player
, float sign
,
1534 struct grind_info
*inf
)
1536 struct player_skate
*s
= &player
->_skate
;
1538 v3f wheel_co
= { 0.0f
, 0.0f
, sign
* k_board_length
},
1539 grind_co
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1541 m4x3_mulv( player
->rb
.to_world
, wheel_co
, wheel_co
);
1542 m4x3_mulv( player
->rb
.to_world
, grind_co
, grind_co
);
1544 /* Exit condition: lost grind tracking */
1545 if( !skate_grind_scansq( player
, grind_co
, player
->rb
.v
, 0.3f
, inf
) )
1548 /* Exit condition: cant see grind target directly */
1549 if( !skate_point_visible( wheel_co
, inf
->co
) )
1552 /* Exit condition: minimum velocity not reached, but allow a bit of error */
1553 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1554 minv
= k_grind_axel_min_vel
*0.8f
;
1559 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1562 v3_copy( inf
->dir
, s
->grind_dir
);
1566 VG_STATIC
int skate_grind_truck_entry( player_instance
*player
, float sign
,
1567 struct grind_info
*inf
)
1569 struct player_skate
*s
= &player
->_skate
;
1571 /* TODO: Trash compactor this */
1572 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1575 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1576 v3_add( player
->rb
.co
, raw
, wsp
);
1578 if( skate_grind_scansq( player
, wsp
, player
->rb
.v
, 0.3, inf
) )
1580 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1583 /* velocity should be at least 60% aligned */
1585 v3_cross( inf
->n
, inf
->dir
, axis
);
1586 v3_muladds( player
->rb
.v
, inf
->n
, -v3_dot( player
->rb
.v
, inf
->n
), pv
);
1588 if( v3_length2( pv
) < 0.0001f
)
1592 if( fabsf(v3_dot( pv
, inf
->dir
)) < k_grind_axel_max_angle
)
1595 if( v3_dot( player
->rb
.v
, inf
->n
) > 0.5f
)
1599 /* check for vertical alignment */
1600 if( v3_dot( player
->rb
.to_world
[1], inf
->n
) < k_grind_axel_max_vangle
)
1604 v3f local_co
, local_dir
, local_n
;
1605 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1606 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1607 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1609 v2f delta
= { local_co
[0], local_co
[2] - k_board_length
*sign
};
1611 float truck_height
= -(k_board_radius
+0.03f
);
1614 v3_cross( player
->rb
.w
, raw
, rv
);
1615 v3_add( player
->rb
.v
, rv
, rv
);
1617 if( (local_co
[1] >= truck_height
) &&
1618 (v2_length2( delta
) <= k_board_radius
*k_board_radius
) )
1627 VG_STATIC
void skate_boardslide_apply( player_instance
*player
,
1628 struct grind_info
*inf
)
1630 struct player_skate
*s
= &player
->_skate
;
1632 v3f local_co
, local_dir
, local_n
;
1633 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1634 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1635 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1638 v3_muladds( local_co
, local_dir
, local_co
[0]/-local_dir
[0],
1640 v3_copy( intersection
, s
->weight_distribution
);
1642 skate_grind_decay( player
, inf
, 0.1f
);
1643 skate_grind_friction( player
, inf
, 0.25f
);
1645 /* direction alignment */
1647 v3_cross( local_dir
, local_n
, perp
);
1648 v3_muls( local_dir
, vg_signf(local_dir
[0]), dir
);
1649 v3_muls( perp
, vg_signf(perp
[2]), perp
);
1651 m3x3_mulv( player
->rb
.to_world
, dir
, dir
);
1652 m3x3_mulv( player
->rb
.to_world
, perp
, perp
);
1654 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1656 k_grind_spring
, k_grind_dampener
,
1659 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[2],
1661 k_grind_spring
, k_grind_dampener
,
1664 vg_line_arrow( player
->rb
.co
, dir
, 0.5f
, VG__GREEN
);
1665 vg_line_arrow( player
->rb
.co
, perp
, 0.5f
, VG__BLUE
);
1667 v3_copy( inf
->dir
, s
->grind_dir
);
1670 VG_STATIC
int skate_boardslide_entry( player_instance
*player
,
1671 struct grind_info
*inf
)
1673 struct player_skate
*s
= &player
->_skate
;
1675 if( skate_grind_scansq( player
, player
->rb
.co
,
1676 player
->rb
.to_world
[0], k_board_length
,
1679 v3f local_co
, local_dir
;
1680 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1681 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1683 if( (fabsf(local_co
[2]) <= k_board_length
) && /* within wood area */
1684 (local_co
[1] >= 0.0f
) && /* at deck level */
1685 (fabsf(local_dir
[0]) >= 0.5f
) ) /* perpendicular to us */
1687 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1697 VG_STATIC
int skate_boardslide_renew( player_instance
*player
,
1698 struct grind_info
*inf
)
1700 struct player_skate
*s
= &player
->_skate
;
1702 if( !skate_grind_scansq( player
, player
->rb
.co
,
1703 player
->rb
.to_world
[0], k_board_length
,
1707 /* Exit condition: cant see grind target directly */
1709 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.2f
, vis
);
1710 if( !skate_point_visible( vis
, inf
->co
) )
1713 /* Exit condition: minimum velocity not reached, but allow a bit of error
1714 * TODO: trash compactor */
1715 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1716 minv
= k_grind_axel_min_vel
*0.8f
;
1721 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1727 VG_STATIC
void skate_store_grind_vec( player_instance
*player
,
1728 struct grind_info
*inf
)
1730 struct player_skate
*s
= &player
->_skate
;
1733 skate_grind_orient( inf
, mtx
);
1734 m3x3_transpose( mtx
, mtx
);
1737 v3_sub( inf
->co
, player
->rb
.co
, raw
);
1739 m3x3_mulv( mtx
, raw
, s
->grind_vec
);
1740 v3_normalize( s
->grind_vec
);
1741 v3_copy( inf
->dir
, s
->grind_dir
);
1744 VG_STATIC
enum skate_activity
skate_availible_grind( player_instance
*player
)
1746 struct player_skate
*s
= &player
->_skate
;
1748 /* debounces this state manager a little bit */
1749 if( s
->frames_since_activity_change
< 10 )
1751 s
->frames_since_activity_change
++;
1752 return k_skate_activity_undefined
;
1755 struct grind_info inf_back50
,
1763 if( s
->state
.activity
== k_skate_activity_grind_boardslide
)
1765 res_slide
= skate_boardslide_renew( player
, &inf_slide
);
1767 else if( s
->state
.activity
== k_skate_activity_grind_back50
)
1769 res_back50
= skate_grind_truck_renew( player
, 1.0f
, &inf_back50
);
1770 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1772 else if( s
->state
.activity
== k_skate_activity_grind_front50
)
1774 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1775 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1777 else if( s
->state
.activity
== k_skate_activity_grind_5050
)
1779 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1780 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1784 res_slide
= skate_boardslide_entry( player
, &inf_slide
);
1785 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1786 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1788 if( res_back50
!= res_front50
)
1790 int wants_to_do_that
= fabsf(player
->input_js1v
->axis
.value
) >= 0.25f
;
1792 res_back50
&= wants_to_do_that
;
1793 res_front50
&= wants_to_do_that
;
1797 const enum skate_activity table
[] =
1798 { /* slide | back | front */
1799 k_skate_activity_undefined
, /* 0 0 0 */
1800 k_skate_activity_grind_front50
, /* 0 0 1 */
1801 k_skate_activity_grind_back50
, /* 0 1 0 */
1802 k_skate_activity_grind_5050
, /* 0 1 1 */
1804 /* slide has priority always */
1805 k_skate_activity_grind_boardslide
, /* 1 0 0 */
1806 k_skate_activity_grind_boardslide
, /* 1 0 1 */
1807 k_skate_activity_grind_boardslide
, /* 1 1 0 */
1808 k_skate_activity_grind_boardslide
, /* 1 1 1 */
1810 , new_activity
= table
[ res_slide
<< 2 | res_back50
<< 1 | res_front50
];
1812 if( new_activity
== k_skate_activity_undefined
)
1814 if( s
->state
.activity
>= k_skate_activity_grind_any
)
1815 s
->frames_since_activity_change
= 0;
1817 else if( new_activity
== k_skate_activity_grind_boardslide
)
1819 skate_boardslide_apply( player
, &inf_slide
);
1821 else if( new_activity
== k_skate_activity_grind_back50
)
1823 if( s
->state
.activity
!= k_skate_activity_grind_back50
)
1824 skate_store_grind_vec( player
, &inf_back50
);
1826 skate_grind_truck_apply( player
, 1.0f
, &inf_back50
, 1.0f
);
1828 else if( new_activity
== k_skate_activity_grind_front50
)
1830 if( s
->state
.activity
!= k_skate_activity_grind_front50
)
1831 skate_store_grind_vec( player
, &inf_front50
);
1833 skate_grind_truck_apply( player
, -1.0f
, &inf_front50
, 1.0f
);
1835 else if( new_activity
== k_skate_activity_grind_5050
)
1836 skate_5050_apply( player
, &inf_front50
, &inf_back50
);
1838 return new_activity
;
1841 VG_STATIC
void player__skate_update( player_instance
*player
)
1843 struct player_skate
*s
= &player
->_skate
;
1844 world_instance
*world
= get_active_world();
1846 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1847 s
->state
.activity_prev
= s
->state
.activity
;
1849 struct board_collider
1856 enum board_collider_state
1858 k_collider_state_default
,
1859 k_collider_state_disabled
,
1860 k_collider_state_colliding
1867 { 0.0f
, 0.0f
, -k_board_length
},
1868 .radius
= k_board_radius
,
1872 { 0.0f
, 0.0f
, k_board_length
},
1873 .radius
= k_board_radius
,
1878 const int k_wheel_count
= 2;
1880 s
->substep
= k_rb_delta
;
1881 s
->substep_delta
= s
->substep
;
1884 int substep_count
= 0;
1886 v3_zero( s
->surface_picture
);
1888 for( int i
=0; i
<k_wheel_count
; i
++ )
1889 wheels
[i
].state
= k_collider_state_default
;
1891 /* check if we can enter or continue grind */
1892 enum skate_activity grindable_activity
= skate_availible_grind( player
);
1893 if( grindable_activity
!= k_skate_activity_undefined
)
1895 s
->state
.activity
= grindable_activity
;
1899 int contact_count
= 0;
1900 for( int i
=0; i
<2; i
++ )
1903 v3_copy( player
->rb
.to_world
[0], axel
);
1905 if( skate_compute_surface_alignment( player
, wheels
[i
].pos
,
1906 wheels
[i
].colour
, normal
, axel
) )
1908 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1910 k_surface_spring
, k_surface_dampener
,
1913 v3_add( normal
, s
->surface_picture
, s
->surface_picture
);
1917 m3x3_mulv( player
->rb
.to_local
, axel
, s
->truckv0
[i
] );
1922 s
->state
.activity
= k_skate_activity_ground
;
1923 s
->state
.gravity_bias
= k_gravity
;
1924 v3_normalize( s
->surface_picture
);
1926 skate_apply_friction_model( player
);
1927 skate_weight_distribute( player
);
1931 s
->state
.activity
= k_skate_activity_air
;
1932 v3_zero( s
->weight_distribution
);
1933 skate_apply_air_model( player
);
1938 if( s
->state
.activity
== k_skate_activity_grind_back50
)
1939 wheels
[1].state
= k_collider_state_disabled
;
1940 if( s
->state
.activity
== k_skate_activity_grind_front50
)
1941 wheels
[0].state
= k_collider_state_disabled
;
1942 if( s
->state
.activity
== k_skate_activity_grind_5050
)
1944 wheels
[0].state
= k_collider_state_disabled
;
1945 wheels
[1].state
= k_collider_state_disabled
;
1948 /* all activities */
1949 skate_apply_steering_model( player
);
1950 skate_adjust_up_direction( player
);
1951 skate_apply_cog_model( player
);
1952 skate_apply_jump_model( player
);
1953 skate_apply_grab_model( player
);
1954 skate_apply_trick_model( player
);
1955 skate_apply_pump_model( player
);
1960 * Phase 0: Continous collision detection
1961 * --------------------------------------------------------------------------
1964 v3f head_wp0
, head_wp1
, start_co
;
1965 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp0
);
1966 v3_copy( player
->rb
.co
, start_co
);
1968 /* calculate transform one step into future */
1971 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
1973 if( v3_length2( player
->rb
.w
) > 0.0f
)
1977 v3_copy( player
->rb
.w
, axis
);
1979 float mag
= v3_length( axis
);
1980 v3_divs( axis
, mag
, axis
);
1981 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
1982 q_mul( rotation
, player
->rb
.q
, future_q
);
1983 q_normalize( future_q
);
1986 v4_copy( player
->rb
.q
, future_q
);
1988 v3f future_cg
, current_cg
, cg_offset
;
1989 q_mulv( player
->rb
.q
, s
->weight_distribution
, current_cg
);
1990 q_mulv( future_q
, s
->weight_distribution
, future_cg
);
1991 v3_sub( future_cg
, current_cg
, cg_offset
);
1993 /* calculate the minimum time we can move */
1994 float max_time
= s
->substep
;
1996 for( int i
=0; i
<k_wheel_count
; i
++ )
1998 if( wheels
[i
].state
== k_collider_state_disabled
)
2001 v3f current
, future
, r_cg
;
2003 q_mulv( future_q
, wheels
[i
].pos
, future
);
2004 v3_add( future
, future_co
, future
);
2005 v3_add( cg_offset
, future
, future
);
2007 q_mulv( player
->rb
.q
, wheels
[i
].pos
, current
);
2008 v3_add( current
, player
->rb
.co
, current
);
2013 float cast_radius
= wheels
[i
].radius
- k_penetration_slop
* 2.0f
;
2014 if( spherecast_world( world
, current
, future
, cast_radius
, &t
, n
) != -1)
2015 max_time
= vg_minf( max_time
, t
* s
->substep
);
2018 /* clamp to a fraction of delta, to prevent locking */
2019 float rate_lock
= substep_count
;
2020 rate_lock
*= k_rb_delta
* 0.1f
;
2021 rate_lock
*= rate_lock
;
2023 max_time
= vg_maxf( max_time
, rate_lock
);
2024 s
->substep_delta
= max_time
;
2027 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
2028 if( v3_length2( player
->rb
.w
) > 0.0f
)
2032 v3_copy( player
->rb
.w
, axis
);
2034 float mag
= v3_length( axis
);
2035 v3_divs( axis
, mag
, axis
);
2036 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
2037 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
2038 q_normalize( player
->rb
.q
);
2040 q_mulv( player
->rb
.q
, s
->weight_distribution
, future_cg
);
2041 v3_sub( current_cg
, future_cg
, cg_offset
);
2042 v3_add( player
->rb
.co
, cg_offset
, player
->rb
.co
);
2045 rb_update_transform( &player
->rb
);
2046 v3_muladds( player
->rb
.v
, player
->basis
[1],
2047 -s
->state
.gravity_bias
* s
->substep_delta
, player
->rb
.v
);
2049 s
->substep
-= s
->substep_delta
;
2051 rb_ct manifold
[128];
2052 int manifold_len
= 0;
2055 * Phase -1: head detection
2056 * --------------------------------------------------------------------------
2058 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp1
);
2062 if( (v3_dist2( head_wp0
, head_wp1
) > 0.001f
) &&
2063 (spherecast_world( world
, head_wp0
, head_wp1
, 0.2f
, &t
, n
) != -1) )
2065 v3_lerp( start_co
, player
->rb
.co
, t
, player
->rb
.co
);
2066 rb_update_transform( &player
->rb
);
2068 player__dead_transition( player
);
2073 * Phase 1: Regular collision detection
2074 * --------------------------------------------------------------------------
2077 for( int i
=0; i
<k_wheel_count
; i
++ )
2079 if( wheels
[i
].state
== k_collider_state_disabled
)
2083 m3x3_identity( mtx
);
2084 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2086 rb_sphere collider
= { .radius
= wheels
[i
].radius
};
2088 rb_ct
*man
= &manifold
[ manifold_len
];
2090 int l
= skate_collide_smooth( player
, mtx
, &collider
, man
);
2092 wheels
[i
].state
= k_collider_state_colliding
;
2097 float grind_radius
= k_board_radius
* 0.75f
;
2098 rb_capsule capsule
= { .height
= (k_board_length
+0.2f
)*2.0f
,
2099 .radius
=grind_radius
};
2101 v3_muls( player
->rb
.to_world
[0], 1.0f
, mtx
[0] );
2102 v3_muls( player
->rb
.to_world
[2], -1.0f
, mtx
[1] );
2103 v3_muls( player
->rb
.to_world
[1], 1.0f
, mtx
[2] );
2104 v3_muladds( player
->rb
.to_world
[3], player
->rb
.to_world
[1],
2105 grind_radius
+ k_board_radius
*0.25f
, mtx
[3] );
2107 rb_ct
*cman
= &manifold
[manifold_len
];
2109 int l
= rb_capsule__scene( mtx
, &capsule
, NULL
, &world
->rb_geo
.inf
.scene
,
2113 for( int i
=0; i
<l
; i
++ )
2114 cman
[l
].type
= k_contact_type_edge
;
2115 rb_manifold_filter_joint_edges( cman
, l
, 0.03f
);
2116 l
= rb_manifold_apply_filtered( cman
, l
);
2120 debug_capsule( mtx
, capsule
.radius
, capsule
.height
, VG__WHITE
);
2123 for( int i
=0; i
<s
->limit_count
; i
++ )
2125 struct grind_limit
*limit
= &s
->limits
[i
];
2126 rb_ct
*ct
= &manifold
[ manifold_len
++ ];
2127 m4x3_mulv( player
->rb
.to_world
, limit
->ra
, ct
->co
);
2128 m3x3_mulv( player
->rb
.to_world
, limit
->n
, ct
->n
);
2130 ct
->type
= k_contact_type_default
;
2135 * --------------------------------------------------------------------------
2140 m4x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, world_cog
);
2141 vg_line_pt3( world_cog
, 0.02f
, VG__BLACK
);
2143 for( int i
=0; i
<manifold_len
; i
++ )
2145 rb_prepare_contact( &manifold
[i
], s
->substep_delta
);
2146 rb_debug_contact( &manifold
[i
] );
2149 /* yes, we are currently rebuilding mass matrices every frame. too bad! */
2150 v3f extent
= { k_board_width
, 0.1f
, k_board_length
};
2151 float ex2
= k_board_interia
*extent
[0]*extent
[0],
2152 ey2
= k_board_interia
*extent
[1]*extent
[1],
2153 ez2
= k_board_interia
*extent
[2]*extent
[2];
2155 float mass
= 2.0f
* (extent
[0]*extent
[1]*extent
[2]);
2156 float inv_mass
= 1.0f
/mass
;
2159 I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
2160 I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
2161 I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
2164 m3x3_identity( iI
);
2171 m3x3_mul( iI
, player
->rb
.to_local
, iIw
);
2172 m3x3_mul( player
->rb
.to_world
, iIw
, iIw
);
2174 for( int j
=0; j
<10; j
++ )
2176 for( int i
=0; i
<manifold_len
; i
++ )
2179 * regular dance; calculate velocity & total mass, apply impulse.
2182 struct contact
*ct
= &manifold
[i
];
2185 v3_sub( ct
->co
, world_cog
, delta
);
2186 v3_cross( player
->rb
.w
, delta
, rv
);
2187 v3_add( player
->rb
.v
, rv
, rv
);
2190 v3_cross( delta
, ct
->n
, raCn
);
2193 m3x3_mulv( iIw
, raCn
, raCnI
);
2195 float normal_mass
= 1.0f
/ (inv_mass
+ v3_dot(raCn
,raCnI
)),
2196 vn
= v3_dot( rv
, ct
->n
),
2197 lambda
= normal_mass
* ( -vn
);
2199 float temp
= ct
->norm_impulse
;
2200 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2201 lambda
= ct
->norm_impulse
- temp
;
2204 v3_muls( ct
->n
, lambda
, impulse
);
2206 v3_muladds( player
->rb
.v
, impulse
, inv_mass
, player
->rb
.v
);
2207 v3_cross( delta
, impulse
, impulse
);
2208 m3x3_mulv( iIw
, impulse
, impulse
);
2209 v3_add( impulse
, player
->rb
.w
, player
->rb
.w
);
2211 v3_cross( player
->rb
.w
, delta
, rv
);
2212 v3_add( player
->rb
.v
, rv
, rv
);
2213 vn
= v3_dot( rv
, ct
->n
);
2218 rb_depenetrate( manifold
, manifold_len
, dt
);
2219 v3_add( dt
, player
->rb
.co
, player
->rb
.co
);
2220 rb_update_transform( &player
->rb
);
2224 if( s
->substep
>= 0.0001f
)
2225 goto begin_collision
; /* again! */
2228 * End of collision and dynamics routine
2229 * --------------------------------------------------------------------------
2232 s
->surface
= k_surface_prop_concrete
;
2234 for( int i
=0; i
<manifold_len
; i
++ ){
2235 rb_ct
*ct
= &manifold
[i
];
2236 struct world_surface
*surf
= world_contact_surface( world
, ct
);
2238 if( surf
->info
.surface_prop
!= k_surface_prop_concrete
)
2239 s
->surface
= surf
->info
.surface_prop
;
2242 for( int i
=0; i
<k_wheel_count
; i
++ ){
2244 m3x3_copy( player
->rb
.to_world
, mtx
);
2245 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2246 debug_sphere( mtx
, wheels
[i
].radius
,
2247 (u32
[]){ VG__WHITE
, VG__BLACK
,
2248 wheels
[i
].colour
}[ wheels
[i
].state
]);
2251 skate_integrate( player
);
2252 vg_line_pt3( s
->state
.cog
, 0.02f
, VG__WHITE
);
2255 world_intersect_gates(world
, player
->rb
.co
, s
->state
.prev_pos
);
2258 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
2259 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
2260 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
2261 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
2262 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
2263 m3x3_mulv( gate
->transport
, s
->state
.head_position
,
2264 s
->state
.head_position
);
2265 m3x3_mulv( gate
->transport
, s
->state
.up_dir
, s
->state
.up_dir
);
2267 v4f transport_rotation
;
2268 m3x3_q( gate
->transport
, transport_rotation
);
2269 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
2270 rb_update_transform( &player
->rb
);
2272 s
->state_gate_storage
= s
->state
;
2273 player__pass_gate( player
, gate
);
2276 /* FIXME: Rate limit */
2277 static int stick_frames
= 0;
2279 if( s
->state
.activity
== k_skate_activity_ground
)
2285 if( stick_frames
== 4 )
2288 if( (fabsf(s
->state
.slip
) > 0.75f
) )
2290 audio_oneshot_3d( &audio_lands
[rand()%2+3], player
->rb
.co
,
2295 audio_oneshot_3d( &audio_lands
[rand()%3], player
->rb
.co
,
2302 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
2304 struct player_skate
*s
= &player
->_skate
;
2305 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
2308 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
2311 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
2315 const char *activity_txt
[] =
2319 "undefined (INVALID)",
2320 "grind_any (INVALID)",
2329 player__debugtext( 1, "activity: %s", activity_txt
[s
->state
.activity
] );
2331 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
2332 s
->state
.steerx_s
, s
->state
.steery_s
,
2333 k_steer_ground
, k_steer_air
);
2335 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
2336 s
->state
.flip_time
);
2337 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
2338 s
->state
.trick_vel
[0],
2339 s
->state
.trick_vel
[1],
2340 s
->state
.trick_vel
[2] );
2341 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
2342 s
->state
.trick_euler
[0],
2343 s
->state
.trick_euler
[1],
2344 s
->state
.trick_euler
[2] );
2347 VG_STATIC
void player__skate_animate( player_instance
*player
,
2348 player_animation
*dest
)
2350 struct player_skate
*s
= &player
->_skate
;
2351 struct player_avatar
*av
= player
->playeravatar
;
2352 struct skeleton
*sk
= &av
->sk
;
2355 float kheight
= 2.0f
,
2361 v3f cog_local
, cog_ideal
;
2362 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, cog_local
);
2364 v3_copy( s
->state
.up_dir
, cog_ideal
);
2365 v3_normalize( cog_ideal
);
2366 m3x3_mulv( player
->rb
.to_local
, cog_ideal
, cog_ideal
);
2368 v3_sub( cog_ideal
, cog_local
, offset
);
2371 v3_muls( offset
, 4.0f
, offset
);
2374 float curspeed
= v3_length( player
->rb
.v
),
2375 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
2376 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
2377 sign
= vg_signf( kicks
);
2379 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
2380 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
2383 offset
[0] += s
->wobble
[1]*3.0f
;
2388 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
2389 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
2392 * Animation blending
2393 * ===========================================
2398 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
2399 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
2402 /* movement information */
2404 int iair
= s
->state
.activity
== k_skate_activity_air
;
2406 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
2407 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
2408 fly
= iair
? 1.0f
: 0.0f
,
2409 wdist
= s
->weight_distribution
[2] / k_board_length
;
2411 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
2412 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
2413 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
2414 s
->blend_weight
= vg_lerpf( s
->blend_weight
, wdist
, 9.0f
*vg
.time_delta
);
2417 mdl_keyframe apose
[32], bpose
[32];
2418 mdl_keyframe ground_pose
[32];
2420 /* when the player is moving fast he will crouch down a little bit */
2421 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
2422 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
2425 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
2426 stand_blend
= offset
[1]*-2.0f
;
2429 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
2431 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
2433 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
2434 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
2435 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
2438 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
2439 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
2440 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
2443 double push_time
= vg
.time
- s
->state
.start_push
;
2444 s
->blend_push
= vg_lerpf( s
->blend_push
,
2445 (vg
.time
- s
->state
.cur_push
) < 0.125,
2446 6.0f
*vg
.time_delta
);
2448 float pt
= push_time
+ vg
.accumulator
;
2449 if( s
->state
.reverse
> 0.0f
)
2450 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
2452 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
2454 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
2457 float jump_start_frame
= 14.0f
/30.0f
;
2459 float charge
= s
->state
.jump_charge
;
2460 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
2462 float setup_frame
= charge
* jump_start_frame
,
2463 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
2465 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
2466 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
2467 setup_frame
= jump_frame
;
2469 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
2471 s
->anim_ollie_reverse
;
2473 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
2474 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
2477 mdl_keyframe air_pose
[32];
2479 float target
= -player
->input_js1h
->axis
.value
;
2480 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
2482 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
2483 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
2485 static v2f grab_choice
;
2487 v2f grab_input
= { player
->input_js2h
->axis
.value
,
2488 player
->input_js2v
->axis
.value
};
2489 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
2490 if( v2_length2( grab_input
) <= 0.001f
)
2491 grab_input
[0] = -1.0f
;
2493 v2_normalize_clamp( grab_input
);
2494 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
2496 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
2497 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
2498 grab_frame
= ang_unit
* (15.0f
/30.0f
);
2500 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
2501 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
2504 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
2506 float add_grab_mod
= 1.0f
- s
->blend_fly
;
2508 /* additive effects */
2510 u32 apply_to
[] = { av
->id_hip
,
2514 av
->id_ik_elbow_r
};
2516 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2518 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
2519 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
2523 /* angle correction */
2524 if( v3_length2( s
->state
.up_dir
) > 0.001f
)
2527 m3x3_mulv( player
->rb
.to_local
, s
->state
.up_dir
, ndir
);
2528 v3_normalize( ndir
);
2530 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
2532 float a
= v3_dot( ndir
, up
);
2533 a
= acosf( vg_clampf( a
, -1.0f
, 1.0f
) );
2538 v3_cross( up
, ndir
, axis
);
2539 q_axis_angle( q
, axis
, a
);
2541 mdl_keyframe
*kf_hip
= &dest
->pose
[av
->id_hip
-1];
2543 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2545 mdl_keyframe
*kf
= &dest
->pose
[apply_to
[i
]-1];
2548 v3_sub( kf
->co
, kf_hip
->co
, v0
);
2549 q_mulv( q
, v0
, v0
);
2550 v3_add( v0
, kf_hip
->co
, kf
->co
);
2552 q_mul( q
, kf
->q
, kf
->q
);
2553 q_normalize( kf
->q
);
2557 m3x3_mulv( player
->rb
.to_world
, up
, p1
);
2558 m3x3_mulv( player
->rb
.to_world
, ndir
, p2
);
2560 vg_line_arrow( player
->rb
.co
, p1
, 0.25f
, VG__PINK
);
2561 vg_line_arrow( player
->rb
.co
, p2
, 0.25f
, VG__PINK
);
2566 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
2567 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
2568 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1],
2569 *kf_wheels
[] = { &dest
->pose
[av
->id_wheel_r
-1],
2570 &dest
->pose
[av
->id_wheel_l
-1] };
2573 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
2576 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
2578 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
2579 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
2580 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
2582 q_mul( qpitchr
, qrollr
, qtrickr
);
2583 q_mul( qyawr
, qtrickr
, qtotal
);
2584 q_normalize( qtotal
);
2586 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
2589 /* trick rotation */
2590 v4f qtrick
, qyaw
, qpitch
, qroll
;
2592 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
2594 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
2595 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
2596 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
2598 q_mul( qpitch
, qroll
, qtrick
);
2599 q_mul( qyaw
, qtrick
, qtrick
);
2600 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
2601 q_normalize( kf_board
->q
);
2603 /* foot weight distribution */
2604 if( s
->blend_weight
> 0.0f
)
2606 kf_foot_l
->co
[2] += s
->blend_weight
* 0.2f
;
2607 kf_foot_r
->co
[2] += s
->blend_weight
* 0.1f
;
2611 kf_foot_r
->co
[2] += s
->blend_weight
* 0.3f
;
2612 kf_foot_l
->co
[2] += s
->blend_weight
* 0.1f
;
2615 /* truck rotation */
2616 for( int i
=0; i
<2; i
++ )
2618 float a
= vg_minf( s
->truckv0
[i
][0], 1.0f
);
2619 a
= -acosf( a
) * vg_signf( s
->truckv0
[i
][1] );
2622 q_axis_angle( q
, (v3f
){0.0f
,0.0f
,1.0f
}, a
);
2623 q_mul( q
, kf_wheels
[i
]->q
, kf_wheels
[i
]->q
);
2624 q_normalize( kf_wheels
[i
]->q
);
2629 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
2630 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.1f
, dest
->root_co
);
2632 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
2635 if( (s
->state
.activity
== k_skate_activity_air
) &&
2636 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
2638 float t
= s
->state
.flip_time
;
2639 sign
= vg_signf( t
);
2641 t
= 1.0f
- vg_minf( 1.0f
, fabsf( t
* 1.1f
) );
2642 t
= sign
* (1.0f
-t
*t
);
2644 float angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
2645 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
2646 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
2648 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
2650 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
2651 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
2652 q_normalize( dest
->root_q
);
2654 v3f rotation_point
, rco
;
2655 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
2656 v3_sub( dest
->root_co
, rotation_point
, rco
);
2658 q_mulv( qflip
, rco
, rco
);
2659 v3_add( rco
, rotation_point
, dest
->root_co
);
2662 skeleton_copy_pose( sk
, dest
->pose
, player
->holdout_pose
);
2665 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
2667 struct player_skate
*s
= &player
->_skate
;
2668 struct player_avatar
*av
= player
->playeravatar
;
2670 player
->cam_velocity_influence
= 1.0f
;
2672 v3f head
= { 0.0f
, 1.8f
, 0.0f
};
2673 m4x3_mulv( av
->sk
.final_mtx
[ av
->id_head
], head
, s
->state
.head_position
);
2674 m4x3_mulv( player
->rb
.to_local
, s
->state
.head_position
,
2675 s
->state
.head_position
);
2678 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
2680 struct player_skate
*s
= &player
->_skate
;
2682 if( s
->state
.activity
== k_skate_activity_air
)
2683 s
->blend_fly
= 1.0f
;
2685 s
->blend_fly
= 0.0f
;
2687 s
->blend_slide
= 0.0f
;
2690 s
->blend_stand
= 0.0f
;
2691 s
->blend_push
= 0.0f
;
2692 s
->blend_jump
= 0.0f
;
2693 s
->blend_airdir
= 0.0f
;
2696 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
2698 struct player_skate
*s
= &player
->_skate
;
2699 s
->state
.jump_charge
= 0.0f
;
2700 s
->state
.lift_frames
= 0;
2701 s
->state
.flip_rate
= 0.0f
;
2703 s
->state
.steery
= 0.0f
;
2704 s
->state
.steerx
= 0.0f
;
2705 s
->state
.steery_s
= 0.0f
;
2706 s
->state
.steerx_s
= 0.0f
;
2708 s
->state
.reverse
= 0.0f
;
2709 s
->state
.slip
= 0.0f
;
2710 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
2713 m3x3_identity( s
->state
.velocity_bias
);
2714 m3x3_identity( s
->state
.velocity_bias_pstep
);
2717 v3_zero( s
->state
.throw_v
);
2718 v3_zero( s
->state
.trick_vel
);
2719 v3_zero( s
->state
.trick_euler
);
2722 VG_STATIC
void player__skate_reset( player_instance
*player
,
2725 struct player_skate
*s
= &player
->_skate
;
2726 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2727 v3_zero( player
->rb
.v
);
2728 v3_zero( s
->state
.cog_v
);
2729 v4_copy( rp
->transform
.q
, player
->rb
.q
);
2731 s
->state
.activity
= k_skate_activity_air
;
2732 s
->state
.activity_prev
= k_skate_activity_air
;
2734 player__skate_clear_mechanics( player
);
2735 player__skate_reset_animator( player
);
2737 v3_zero( s
->state
.head_position
);
2738 s
->state
.head_position
[1] = 1.8f
;
2741 #endif /* PLAYER_SKATE_C */