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
,
38 world_instance
*world
= get_active_world();
41 len
= rb_sphere__scene( mtx
, sphere
, NULL
, &world
->rb_geo
.inf
.scene
, man
);
43 for( int i
=0; i
<len
; i
++ )
45 man
[i
].rba
= &player
->rb
;
49 rb_manifold_filter_coplanar( man
, len
, 0.03f
);
53 rb_manifold_filter_backface( man
, len
);
54 rb_manifold_filter_joint_edges( man
, len
, 0.03f
);
55 rb_manifold_filter_pairs( man
, len
, 0.03f
);
57 int new_len
= rb_manifold_apply_filtered( man
, len
);
71 VG_STATIC
int skate_grind_scansq( player_instance
*player
,
72 v3f pos
, v3f dir
, float r
,
73 struct grind_info
*inf
)
75 world_instance
*world
= get_active_world();
78 v3_copy( dir
, plane
);
79 v3_normalize( plane
);
80 plane
[3] = v3_dot( plane
, pos
);
83 v3_add( pos
, (v3f
){ r
, r
, r
}, box
[1] );
84 v3_sub( pos
, (v3f
){ r
, r
, r
}, box
[0] );
87 bh_iter_init( 0, &it
);
104 v3_cross( plane
, player
->basis
[1], support_axis
);
105 v3_normalize( support_axis
);
107 while( bh_next( world
->geo_bh
, &it
, box
, &idx
) )
109 u32
*ptri
= &world
->scene_geo
->arrindices
[ idx
*3 ];
112 struct world_material
*mat
= world_tri_index_material(world
,ptri
[0]);
113 if( !(mat
->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
++ )
124 struct grind_sample
*sample
= &samples
[ sample_count
];
127 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) )
130 v3_sub( co
, pos
, d
);
131 if( v3_length2( d
) > r
*r
)
135 v3_sub( tri
[1], tri
[0], va
);
136 v3_sub( tri
[2], tri
[0], vb
);
137 v3_cross( va
, vb
, normal
);
139 sample
->normal
[0] = v3_dot( support_axis
, normal
);
140 sample
->normal
[1] = v3_dot( player
->basis
[1], normal
);
141 sample
->co
[0] = v3_dot( support_axis
, d
);
142 sample
->co
[1] = v3_dot( player
->basis
[1], d
);
144 v3_copy( normal
, sample
->normal3
); /* normalize later
145 if we want to us it */
147 v3_muls( tri
[0], 1.0f
/3.0f
, sample
->centroid
);
148 v3_muladds( sample
->centroid
, tri
[1], 1.0f
/3.0f
, sample
->centroid
);
149 v3_muladds( sample
->centroid
, tri
[2], 1.0f
/3.0f
, sample
->centroid
);
151 v2_normalize( sample
->normal
);
154 if( sample_count
== vg_list_size( samples
) )
155 goto too_many_samples
;
162 if( sample_count
< 2 )
170 v2_fill( min_co
, INFINITY
);
171 v2_fill( max_co
, -INFINITY
);
173 v3_zero( average_direction
);
174 v3_zero( average_normal
);
176 int passed_samples
= 0;
178 for( int i
=0; i
<sample_count
-1; i
++ )
180 struct grind_sample
*si
, *sj
;
184 for( int j
=i
+1; j
<sample_count
; j
++ )
191 /* non overlapping */
192 if( v2_dist2( si
->co
, sj
->co
) >= (0.01f
*0.01f
) )
195 /* not sharp angle */
196 if( v2_dot( si
->normal
, sj
->normal
) >= 0.7f
)
201 v3_sub( sj
->centroid
, si
->centroid
, v0
);
202 if( v3_dot( v0
, si
->normal3
) >= 0.0f
||
203 v3_dot( v0
, sj
->normal3
) <= 0.0f
)
206 v2_minv( sj
->co
, min_co
, min_co
);
207 v2_maxv( sj
->co
, max_co
, max_co
);
210 v3_copy( si
->normal3
, n0
);
211 v3_copy( sj
->normal3
, n1
);
212 v3_cross( n0
, n1
, dir
);
215 /* make sure the directions all face a common hemisphere */
216 v3_muls( dir
, vg_signf(v3_dot(dir
,plane
)), dir
);
217 v3_add( average_direction
, dir
, average_direction
);
219 float yi
= v3_dot( player
->basis
[1], si
->normal3
),
220 yj
= v3_dot( player
->basis
[1], sj
->normal3
);
223 v3_add( si
->normal3
, average_normal
, average_normal
);
225 v3_add( sj
->normal3
, average_normal
, average_normal
);
231 if( !passed_samples
)
234 if( (v3_length2( average_direction
) <= 0.001f
) ||
235 (v3_length2( average_normal
) <= 0.001f
) )
238 float div
= 1.0f
/(float)passed_samples
;
239 v3_normalize( average_direction
);
240 v3_normalize( average_normal
);
243 v2_add( min_co
, max_co
, average_coord
);
244 v2_muls( average_coord
, 0.5f
, average_coord
);
246 v3_muls( support_axis
, average_coord
[0], inf
->co
);
247 inf
->co
[1] += average_coord
[1];
248 v3_add( pos
, inf
->co
, inf
->co
);
249 v3_copy( average_normal
, inf
->n
);
250 v3_copy( average_direction
, inf
->dir
);
252 vg_line_pt3( inf
->co
, 0.02f
, VG__GREEN
);
253 vg_line_arrow( inf
->co
, average_direction
, 0.3f
, VG__GREEN
);
254 vg_line_arrow( inf
->co
, inf
->n
, 0.2f
, VG__CYAN
);
256 return passed_samples
;
259 VG_STATIC
int solve_prediction_for_target( player_instance
*player
,
260 v3f target
, float max_angle
,
261 struct land_prediction
*p
)
263 /* calculate the exact solution(s) to jump onto that grind spot */
266 v3_sub( target
, player
->rb
.co
, v0
);
267 m3x3_mulv( player
->invbasis
, v0
, v0
);
275 m3x3_mulv( player
->invbasis
, player
->rb
.v
, v_local
);
277 v2f d
= { v3_dot( ax
, v0
), v0
[1] },
278 v
= { v3_dot( ax
, player
->rb
.v
), v_local
[1] };
280 float a
= atan2f( v
[1], v
[0] ),
282 root
= m
*m
*m
*m
- p
->gravity
*(p
->gravity
*d
[0]*d
[0] + 2.0f
*d
[1]*m
*m
);
286 root
= sqrtf( root
);
287 float a0
= atanf( (m
*m
+ root
) / (p
->gravity
* d
[0]) ),
288 a1
= atanf( (m
*m
- root
) / (p
->gravity
* d
[0]) );
290 if( fabsf(a0
-a
) > fabsf(a1
-a
) )
293 if( fabsf(a0
-a
) > max_angle
)
296 /* TODO: sweep the path before chosing the smallest dist */
301 p
->type
= k_prediction_grind
;
303 v3_muls( ax
, cosf( a0
) * m
, p
->v
);
304 p
->v
[1] += sinf( a0
) * m
;
305 m3x3_mulv( player
->basis
, p
->v
, p
->v
);
307 p
->land_dist
= d
[0] / (cosf(a0
)*m
);
310 for( int i
=0; i
<=20; i
++ )
312 float t
= (float)i
* (1.0f
/20.0f
) * p
->land_dist
;
315 v3_muls( p
->v
, t
, p0
);
316 v3_muladds( p0
, player
->basis
[1], -0.5f
* p
->gravity
* t
*t
, p0
);
318 v3_add( player
->rb
.co
, p0
, p
->log
[ p
->log_length
++ ] );
328 void player__approximate_best_trajectory( player_instance
*player
)
330 world_instance
*world
= get_active_world();
332 struct player_skate
*s
= &player
->_skate
;
333 float k_trace_delta
= k_rb_delta
* 10.0f
;
335 s
->state
.air_start
= vg
.time
;
336 v3_copy( player
->rb
.v
, s
->state
.air_init_v
);
337 v3_copy( player
->rb
.co
, s
->state
.air_init_co
);
339 s
->prediction_count
= 0;
342 v3_cross( player
->rb
.v
, player
->rb
.to_world
[1], axis
);
343 v3_normalize( axis
);
345 /* at high slopes, Y component is low */
346 float upness
= v3_dot( player
->rb
.to_world
[1], player
->basis
[1] ),
347 angle_begin
= -(1.0f
-fabsf( upness
)),
350 struct grind_info grind
;
351 int grind_located
= 0;
353 for( int m
=0;m
<=30; m
++ )
355 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
360 p
->type
= k_prediction_none
;
362 v3f launch_co
, launch_v
, co0
, co1
;
363 v3_copy( player
->rb
.co
, launch_co
);
364 v3_copy( player
->rb
.v
, launch_v
);
365 v3_copy( launch_co
, co0
);
367 float vt
= (float)m
* (1.0f
/30.0f
),
368 ang
= vg_lerpf( angle_begin
, angle_end
, vt
) * 0.15f
;
371 q_axis_angle( qbias
, axis
, ang
);
372 q_mulv( qbias
, launch_v
, launch_v
);
374 float yaw_sketch
= 1.0f
-fabsf(upness
);
376 float yaw_bias
= ((float)(m
%3) - 1.0f
) * 0.08f
* yaw_sketch
;
377 q_axis_angle( qbias
, player
->rb
.to_world
[1], yaw_bias
);
378 q_mulv( qbias
, launch_v
, launch_v
);
381 float gravity_bias
= vg_lerpf( 0.85f
, 1.4f
, vt
),
382 gravity
= k_gravity
* gravity_bias
;
383 p
->gravity
= gravity
;
385 v3_copy( launch_v
, p
->v
);
387 for( int i
=1; i
<=50; i
++ )
389 float t
= (float)i
* k_trace_delta
;
391 v3_muls( launch_v
, t
, co1
);
392 v3_muladds( co1
, player
->basis
[1], -0.5f
* gravity
* t
*t
, co1
);
393 v3_add( launch_co
, co1
, co1
);
395 float launch_vy
= v3_dot( launch_v
,player
->basis
[1] );
396 if( !grind_located
&& (launch_vy
- gravity
*t
< 0.0f
) )
399 if( bh_closest_point( world
->geo_bh
, co1
, closest
, 1.0f
) != -1 )
402 v3_copy( launch_v
, ve
);
403 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
405 if( skate_grind_scansq( player
, closest
, ve
, 0.5f
, &grind
) )
407 /* check alignment */
408 v2f v0
= { v3_dot( ve
, player
->basis
[0] ),
409 v3_dot( ve
, player
->basis
[2] ) },
410 v1
= { v3_dot( grind
.dir
, player
->basis
[0] ),
411 v3_dot( grind
.dir
, player
->basis
[2] ) };
416 float a
= v2_dot( v0
, v1
);
418 if( a
>= cosf( VG_PIf
* 0.185f
) )
429 int idx
= spherecast_world( world
, co0
, co1
, k_board_radius
, &t1
, n
);
433 v3_lerp( co0
, co1
, t1
, co
);
434 v3_copy( co
, p
->log
[ p
->log_length
++ ] );
437 p
->type
= k_prediction_land
;
440 v3_copy( launch_v
, ve
);
441 v3_muladds( ve
, player
->basis
[1], -gravity
* t
, ve
);
443 struct grind_info replace_grind
;
444 if( skate_grind_scansq( player
, co
, ve
, 0.3f
, &replace_grind
) )
446 v3_copy( replace_grind
.n
, p
->n
);
447 p
->type
= k_prediction_grind
;
450 p
->score
= -v3_dot( ve
, p
->n
);
451 p
->land_dist
= t
+ k_trace_delta
* t1
;
453 u32 vert_index
= world
->scene_geo
->arrindices
[ idx
*3 ];
454 struct world_material
*mat
=
455 world_tri_index_material( world
, vert_index
);
457 /* Bias prediction towords ramps */
458 if( !(mat
->info
.flags
& k_material_flag_skate_surface
) )
465 v3_copy( co1
, p
->log
[ p
->log_length
++ ] );
470 if( p
->type
== k_prediction_none
)
471 s
->prediction_count
--;
476 /* calculate the exact solution(s) to jump onto that grind spot */
477 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
];
478 p
->gravity
= k_gravity
;
480 if( solve_prediction_for_target( player
, grind
.co
, 0.125f
*VG_PIf
, p
) )
482 v3_copy( grind
.n
, p
->n
);
484 /* determine score */
487 v3_muladds( ve
, player
->basis
[1], -p
->gravity
* p
->land_dist
, ve
);
488 p
->score
= -v3_dot( ve
, grind
.n
) * 0.85f
;
490 s
->prediction_count
++;
495 float score_min
= INFINITY
,
496 score_max
= -INFINITY
;
498 struct land_prediction
*best
= NULL
;
500 for( int i
=0; i
<s
->prediction_count
; i
++ )
502 struct land_prediction
*p
= &s
->predictions
[i
];
504 if( p
->score
< score_min
)
507 score_min
= vg_minf( score_min
, p
->score
);
508 score_max
= vg_maxf( score_max
, p
->score
);
511 for( int i
=0; i
<s
->prediction_count
; i
++ )
513 struct land_prediction
*p
= &s
->predictions
[i
];
517 s
/= (score_max
-score_min
);
521 p
->colour
= s
* 255.0f
;
525 else if( p
->type
== k_prediction_land
)
528 p
->colour
|= 0xff000000;
533 v3_copy( best
->n
, s
->land_normal
);
534 v3_copy( best
->v
, player
->rb
.v
);
535 s
->land_dist
= best
->land_dist
;
537 v2f steer
= { player
->input_js1h
->axis
.value
,
538 player
->input_js1v
->axis
.value
};
539 v2_normalize_clamp( steer
);
540 s
->state
.gravity_bias
= best
->gravity
;
542 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.5f
) )
544 s
->state
.flip_rate
= (1.0f
/s
->land_dist
) * vg_signf(steer
[1]) *
546 s
->state
.flip_time
= 0.0f
;
547 v3_copy( player
->rb
.to_world
[0], s
->state
.flip_axis
);
551 s
->state
.flip_rate
= 0.0f
;
552 v3_zero( s
->state
.flip_axis
);
557 v3_copy( player
->basis
[1], s
->land_normal
);
563 * Varius physics models
564 * ------------------------------------------------
568 * Air control, no real physics
570 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
572 struct player_skate
*s
= &player
->_skate
;
574 if( s
->state
.activity_prev
!= k_skate_activity_air
)
575 player__approximate_best_trajectory( player
);
577 float angle
= v3_dot( player
->rb
.to_world
[1], s
->land_normal
);
578 angle
= vg_clampf( angle
, -1.0f
, 1.0f
);
580 v3_cross( player
->rb
.to_world
[1], s
->land_normal
, axis
);
583 q_axis_angle( correction
, axis
,
584 acosf(angle
)*2.0f
*VG_TIMESTEP_FIXED
);
585 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
587 v2f steer
= { player
->input_js1h
->axis
.value
,
588 player
->input_js1v
->axis
.value
};
589 v2_normalize_clamp( steer
);
592 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
593 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
595 struct player_skate
*s
= &player
->_skate
;
598 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
600 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
601 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
603 v3_mul( strength
, F
, F
);
605 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
606 s
->board_trick_residualv
);
607 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
608 k_rb_delta
, s
->board_trick_residuald
);
610 if( s
->state
.activity
== k_skate_activity_air
)
612 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
615 int carry_on
= player_skate_trick_input( player
);
617 /* we assume velocities share a common divisor, in which case the
618 * interval is the minimum value (if not zero) */
620 float min_rate
= 99999.0f
;
622 for( int i
=0; i
<3; i
++ )
624 float v
= s
->state
.trick_vel
[i
];
625 if( (v
> 0.0f
) && (v
< min_rate
) )
629 float interval
= 1.0f
/ min_rate
,
630 current
= floorf( s
->state
.trick_time
/ interval
),
631 next_end
= (current
+1.0f
) * interval
;
634 /* integrate trick velocities */
635 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
636 s
->state
.trick_euler
);
638 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) )
640 s
->state
.trick_time
= 0.0f
;
641 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
642 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
643 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
644 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
645 v3_zero( s
->state
.trick_vel
);
648 s
->state
.trick_time
+= k_rb_delta
;
652 if( (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
653 s
->state
.trick_time
> 0.2f
)
655 player__dead_transition( player
);
658 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
659 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
660 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
661 s
->state
.trick_time
= 0.0f
;
662 v3_zero( s
->state
.trick_vel
);
666 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
668 struct player_skate
*s
= &player
->_skate
;
670 float grabt
= player
->input_grab
->axis
.value
;
674 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
675 s
->state
.grab_mouse_delta
);
677 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
680 v2_zero( s
->state
.grab_mouse_delta
);
682 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
685 VG_STATIC
void skate_apply_steering_model( player_instance
*player
)
687 struct player_skate
*s
= &player
->_skate
;
690 float steer
= player
->input_js1h
->axis
.value
,
691 grab
= player
->input_grab
->axis
.value
;
693 steer
= vg_signf( steer
) * steer
*steer
* k_steer_ground
;
696 v3_muls( player
->rb
.to_world
[1], -vg_signf( steer
), steer_axis
);
701 if( s
->state
.activity
== k_skate_activity_air
)
703 rate
= 6.0f
* fabsf(steer
);
708 /* rotate slower when grabbing on ground */
709 steer
*= (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
);
711 if( s
->state
.activity
== k_skate_activity_grind_5050
)
717 else if( s
->state
.activity
>= k_skate_activity_grind_any
)
719 rate
*= fabsf(steer
);
721 float a
= 0.8f
* -steer
* k_rb_delta
;
724 q_axis_angle( q
, player
->rb
.to_world
[1], a
);
725 q_mulv( q
, s
->grind_vec
, s
->grind_vec
);
727 v3_normalize( s
->grind_vec
);
730 else if( s
->state
.manual_direction
)
737 float current
= v3_dot( player
->rb
.to_world
[1], player
->rb
.w
),
738 addspeed
= (steer
* -top
) - current
,
739 maxaccel
= rate
* k_rb_delta
,
740 accel
= vg_clampf( addspeed
, -maxaccel
, maxaccel
);
742 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], accel
, player
->rb
.w
);
746 * Computes friction and surface interface model
748 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
750 struct player_skate
*s
= &player
->_skate
;
753 * Computing localized friction forces for controlling the character
754 * Friction across X is significantly more than Z
758 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
761 if( fabsf(vel
[2]) > 0.01f
)
762 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
764 if( fabsf( slip
) > 1.2f
)
765 slip
= vg_signf( slip
) * 1.2f
;
767 s
->state
.slip
= slip
;
768 s
->state
.reverse
= -vg_signf(vel
[2]);
770 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
771 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
773 /* Pushing additive force */
775 if( !player
->input_jump
->button
.value
)
777 if( player
->input_push
->button
.value
||
778 (vg
.time
-s
->state
.start_push
<0.75) )
780 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
781 s
->state
.start_push
= vg
.time
;
783 s
->state
.cur_push
= vg
.time
;
785 double push_time
= vg
.time
- s
->state
.start_push
;
787 float cycle_time
= push_time
*k_push_cycle_rate
,
788 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
789 amt
= accel
* VG_TIMESTEP_FIXED
,
790 current
= v3_length( vel
),
791 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
792 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
794 vel
[2] += delta
* -s
->state
.reverse
;
798 /* Send back to velocity */
799 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
802 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
804 struct player_skate
*s
= &player
->_skate
;
805 int charging_jump_prev
= s
->state
.charging_jump
;
806 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
808 /* Cannot charge this in air */
809 if( s
->state
.activity
== k_skate_activity_air
)
811 s
->state
.charging_jump
= 0;
815 if( s
->state
.charging_jump
)
817 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
819 if( !charging_jump_prev
)
820 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
824 s
->state
.jump_charge
-= k_jump_charge_speed
* k_rb_delta
;
827 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
829 /* player let go after charging past 0.2: trigger jump */
830 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
834 /* Launch more up if alignment is up else improve velocity */
835 float aup
= v3_dot( player
->basis
[1], player
->rb
.to_world
[1] ),
837 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
839 v3_copy( player
->rb
.v
, jumpdir
);
840 v3_normalize( jumpdir
);
841 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
842 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
843 v3_normalize( jumpdir
);
845 float force
= k_jump_force
*s
->state
.jump_charge
;
846 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
847 s
->state
.jump_charge
= 0.0f
;
848 s
->state
.jump_time
= vg
.time
;
849 s
->state
.activity
= k_skate_activity_air
;
851 v2f steer
= { player
->input_js1h
->axis
.value
,
852 player
->input_js1v
->axis
.value
};
853 v2_normalize_clamp( steer
);
854 skate_apply_air_model( player
);
857 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
858 s
->state
.steery_s
= -steer
[0] * maxspin
;
859 s
->state
.steerx
= s
->state
.steerx_s
;
860 s
->state
.lift_frames
++;
863 /* FIXME audio events */
866 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
867 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
868 audio_player_set_vol( &audio_player_extra
, 20.0f
);
869 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
875 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
877 struct player_skate
*s
= &player
->_skate
;
879 if( s
->state
.activity
!= k_skate_activity_ground
)
881 v3_zero( s
->state
.throw_v
);
885 /* Throw / collect routine
887 * TODO: Max speed boost
889 if( player
->input_grab
->axis
.value
> 0.5f
)
891 if( s
->state
.activity
== k_skate_activity_ground
)
894 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
900 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
903 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
905 if( s
->state
.activity
== k_skate_activity_ground
)
907 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
908 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
911 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
912 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
913 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
917 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
920 v3_copy( s
->state
.throw_v
, dir
);
923 float max
= v3_dot( dir
, s
->state
.throw_v
),
924 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
925 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
929 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
931 struct player_skate
*s
= &player
->_skate
;
933 v3f ideal_cog
, ideal_diff
, ideal_dir
;
934 v3_copy( s
->state
.up_dir
, ideal_dir
);
935 v3_normalize( ideal_dir
);
937 v3_muladds( player
->rb
.co
, ideal_dir
,
938 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
939 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
941 /* Apply velocities */
943 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
946 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
947 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
949 float ra
= k_cog_mass_ratio
,
950 rb
= 1.0f
-k_cog_mass_ratio
;
952 /* Apply forces & intergrate */
953 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
954 v3_muladds( s
->state
.cog_v
, player
->basis
[1], -9.8f
* k_rb_delta
,
957 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
961 VG_STATIC
void skate_integrate( player_instance
*player
)
963 struct player_skate
*s
= &player
->_skate
;
965 float decay_rate
= 1.0f
- (k_rb_delta
* 3.0f
),
968 if( s
->state
.activity
>= k_skate_activity_grind_any
)
970 decay_rate
= 1.0f
-vg_lerpf( 3.0f
, 20.0f
, s
->grind_strength
) * k_rb_delta
;
971 decay_rate_y
= decay_rate
;
974 float wx
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[0] ) * decay_rate
,
975 wy
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[1] ) * decay_rate_y
,
976 wz
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[2] ) * decay_rate
;
978 v3_muls( player
->rb
.to_world
[0], wx
, player
->rb
.w
);
979 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
980 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
982 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
983 rb_update_transform( &player
->rb
);
990 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
992 return (player
->input_trick0
->button
.value
) |
993 (player
->input_trick1
->button
.value
<< 1) |
994 (player
->input_trick2
->button
.value
<< 1) |
995 (player
->input_trick2
->button
.value
);
998 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
1000 struct player_skate
*s
= &player
->_skate
;
1002 if( vg_input_button_down( player
->input_use
) )
1004 player
->subsystem
= k_player_subsystem_walk
;
1007 v3_copy( player
->cam
.angles
, angles
);
1010 player
->holdout_time
= 0.25f
;
1011 player__walk_transition( player
, angles
);
1015 if( vg_input_button_down( player
->input_reset
) )
1017 player
->rb
.co
[1] += 2.0f
;
1018 s
->state
.cog
[1] += 2.0f
;
1019 q_axis_angle( player
->rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, VG_PIf
* 0.25f
);
1020 v3_zero( player
->rb
.w
);
1021 v3_zero( player
->rb
.v
);
1023 rb_update_transform( &player
->rb
);
1027 if( (s
->state
.activity
== k_skate_activity_air
) &&
1028 (trick_id
= player_skate_trick_input( player
)) )
1030 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
)
1032 v3_zero( s
->state
.trick_vel
);
1033 s
->state
.trick_time
= 0.0f
;
1037 s
->state
.trick_vel
[0] = 3.0f
;
1039 else if( trick_id
== 2 )
1041 s
->state
.trick_vel
[2] = 3.0f
;
1043 else if( trick_id
== 3 )
1045 s
->state
.trick_vel
[0] = 2.0f
;
1046 s
->state
.trick_vel
[2] = 2.0f
;
1052 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1054 struct player_skate
*s
= &player
->_skate
;
1056 for( int i
=0; i
<s
->prediction_count
; i
++ )
1058 struct land_prediction
*p
= &s
->predictions
[i
];
1060 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1062 float brightness
= p
->score
*p
->score
*p
->score
;
1064 v3_lerp( p
->log
[j
], p
->log
[j
+1], brightness
, p1
);
1065 vg_line( p
->log
[j
], p1
, p
->colour
);
1068 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1071 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1072 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1074 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1078 vg_line_pt3( s
->state
.apex
, 0.030f
, 0xff0000ff );
1083 * truck alignment model at ra(local)
1084 * returns 1 if valid surface:
1085 * surface_normal will be filled out with an averaged normal vector
1086 * axel_dir will be the direction from left to right wheels
1088 * returns 0 if no good surface found
1091 int skate_compute_surface_alignment( player_instance
*player
,
1093 v3f surface_normal
, v3f axel_dir
)
1095 struct player_skate
*s
= &player
->_skate
;
1096 world_instance
*world
= get_active_world();
1098 v3f truck
, left
, right
;
1099 m4x3_mulv( player
->rb
.to_world
, ra
, truck
);
1101 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_width
, left
);
1102 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_width
, right
);
1103 vg_line( left
, right
, colour
);
1105 float k_max_truck_flex
= VG_PIf
* 0.25f
;
1107 ray_hit ray_l
, ray_r
;
1110 v3_muls( player
->rb
.to_world
[1], -1.0f
, dir
);
1112 int res_l
= 0, res_r
= 0;
1114 for( int i
=0; i
<8; i
++ )
1116 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1117 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_radius
*t
, left
);
1118 v3_muladds( left
, player
->rb
.to_world
[1], k_board_radius
, left
);
1119 ray_l
.dist
= 2.1f
* k_board_radius
;
1121 res_l
= ray_world( world
, left
, dir
, &ray_l
);
1127 for( int i
=0; i
<8; i
++ )
1129 float t
= 1.0f
- (float)i
* (1.0f
/8.0f
);
1130 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_radius
*t
, right
);
1131 v3_muladds( right
, player
->rb
.to_world
[1], k_board_radius
, right
);
1132 ray_r
.dist
= 2.1f
* k_board_radius
;
1134 res_r
= ray_world( world
, right
, dir
, &ray_r
);
1142 v3f tangent_average
;
1143 v3_muladds( truck
, player
->rb
.to_world
[1], -k_board_radius
, midpoint
);
1144 v3_zero( tangent_average
);
1146 if( res_l
|| res_r
)
1149 v3_copy( midpoint
, p0
);
1150 v3_copy( midpoint
, p1
);
1154 v3_copy( ray_l
.pos
, p0
);
1155 v3_cross( ray_l
.normal
, player
->rb
.to_world
[0], t
);
1156 v3_add( t
, tangent_average
, tangent_average
);
1160 v3_copy( ray_r
.pos
, p1
);
1161 v3_cross( ray_r
.normal
, player
->rb
.to_world
[0], t
);
1162 v3_add( t
, tangent_average
, tangent_average
);
1165 v3_sub( p1
, p0
, v0
);
1170 /* fallback: use the closes point to the trucks */
1172 int idx
= bh_closest_point( world
->geo_bh
, midpoint
, closest
, 0.1f
);
1176 u32
*tri
= &world
->scene_geo
->arrindices
[ idx
* 3 ];
1179 for( int j
=0; j
<3; j
++ )
1180 v3_copy( world
->scene_geo
->arrvertices
[ tri
[j
] ].co
, verts
[j
] );
1182 v3f vert0
, vert1
, n
;
1183 v3_sub( verts
[1], verts
[0], vert0
);
1184 v3_sub( verts
[2], verts
[0], vert1
);
1185 v3_cross( vert0
, vert1
, n
);
1188 if( v3_dot( n
, player
->rb
.to_world
[1] ) < 0.3f
)
1191 v3_cross( n
, player
->rb
.to_world
[2], v0
);
1192 v3_muladds( v0
, player
->rb
.to_world
[2],
1193 -v3_dot( player
->rb
.to_world
[2], v0
), v0
);
1197 v3_cross( n
, player
->rb
.to_world
[0], t
);
1198 v3_add( t
, tangent_average
, tangent_average
);
1204 v3_muladds( truck
, v0
, k_board_width
, right
);
1205 v3_muladds( truck
, v0
, -k_board_width
, left
);
1207 vg_line( left
, right
, VG__WHITE
);
1209 v3_normalize( tangent_average
);
1210 v3_cross( v0
, tangent_average
, surface_normal
);
1211 v3_copy( v0
, axel_dir
);
1216 VG_STATIC
void skate_weight_distribute( player_instance
*player
)
1218 struct player_skate
*s
= &player
->_skate
;
1219 v3_zero( s
->weight_distribution
);
1221 int reverse_dir
= v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) < 0.0f
?1:-1;
1223 if( s
->state
.manual_direction
== 0 )
1225 if( (player
->input_js1v
->axis
.value
> 0.7f
) &&
1226 (s
->state
.activity
== k_skate_activity_ground
) &&
1227 (s
->state
.jump_charge
<= 0.01f
) )
1228 s
->state
.manual_direction
= reverse_dir
;
1232 if( player
->input_js1v
->axis
.value
< 0.1f
)
1234 s
->state
.manual_direction
= 0;
1238 if( reverse_dir
!= s
->state
.manual_direction
)
1245 if( s
->state
.manual_direction
)
1247 float amt
= vg_minf( player
->input_js1v
->axis
.value
* 8.0f
, 1.0f
);
1248 s
->weight_distribution
[2] = k_board_length
* amt
*
1249 (float)s
->state
.manual_direction
;
1252 /* TODO: Fall back on land normal */
1253 /* TODO: Lerp weight distribution */
1254 if( s
->state
.manual_direction
)
1258 m3x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, plane_z
);
1259 v3_negate( plane_z
, plane_z
);
1261 v3_muladds( plane_z
, s
->surface_picture
,
1262 -v3_dot( plane_z
, s
->surface_picture
), plane_z
);
1263 v3_normalize( plane_z
);
1265 v3_muladds( plane_z
, s
->surface_picture
, 0.3f
, plane_z
);
1266 v3_normalize( plane_z
);
1269 v3_muladds( player
->rb
.co
, plane_z
, 1.5f
, p1
);
1270 vg_line( player
->rb
.co
, p1
, VG__GREEN
);
1273 v3_muls( player
->rb
.to_world
[2], -(float)s
->state
.manual_direction
,
1276 rb_effect_spring_target_vector( &player
->rb
, refdir
, plane_z
,
1277 k_manul_spring
, k_manul_dampener
,
1282 VG_STATIC
void skate_adjust_up_direction( player_instance
*player
)
1284 struct player_skate
*s
= &player
->_skate
;
1286 if( s
->state
.activity
== k_skate_activity_ground
)
1289 v3_copy( s
->surface_picture
, target
);
1291 target
[1] += 2.0f
* s
->surface_picture
[1];
1292 v3_normalize( target
);
1294 v3_lerp( s
->state
.up_dir
, target
,
1295 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1297 else if( s
->state
.activity
== k_skate_activity_air
)
1299 v3_lerp( s
->state
.up_dir
, player
->rb
.to_world
[1],
1300 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1304 v3_lerp( s
->state
.up_dir
, player
->basis
[1],
1305 12.0f
* s
->substep_delta
, s
->state
.up_dir
);
1309 VG_STATIC
int skate_point_visible( v3f origin
, v3f target
)
1312 v3_sub( target
, origin
, dir
);
1315 ray
.dist
= v3_length( dir
);
1316 v3_muls( dir
, 1.0f
/ray
.dist
, dir
);
1319 if( ray_world( get_active_world(), origin
, dir
, &ray
) )
1325 VG_STATIC
void skate_grind_orient( struct grind_info
*inf
, m3x3f mtx
)
1327 /* TODO: Is N and Dir really orthogonal? */
1328 v3_copy( inf
->dir
, mtx
[0] );
1329 v3_copy( inf
->n
, mtx
[1] );
1330 v3_cross( mtx
[0], mtx
[1], mtx
[2] );
1333 VG_STATIC
void skate_grind_friction( player_instance
*player
,
1334 struct grind_info
*inf
, float strength
)
1337 v3_muladds( player
->rb
.to_world
[2], inf
->n
,
1338 -v3_dot( player
->rb
.to_world
[2], inf
->n
), v2
);
1340 float a
= 1.0f
-fabsf( v3_dot( v2
, inf
->dir
) ),
1341 dir
= vg_signf( v3_dot( player
->rb
.v
, inf
->dir
) ),
1342 F
= a
* -dir
* k_grind_max_friction
;
1344 v3_muladds( player
->rb
.v
, inf
->dir
, F
*k_rb_delta
*strength
, player
->rb
.v
);
1347 VG_STATIC
void skate_grind_decay( player_instance
*player
,
1348 struct grind_info
*inf
, float strength
)
1351 skate_grind_orient( inf
, mtx
);
1352 m3x3_transpose( mtx
, mtx_inv
);
1355 m3x3_mulv( mtx_inv
, player
->rb
.v
, v_grind
);
1357 float decay
= 1.0f
- ( k_rb_delta
* k_grind_decayxy
* strength
);
1358 v3_mul( v_grind
, (v3f
){ 1.0f
, decay
, decay
}, v_grind
);
1359 m3x3_mulv( mtx
, v_grind
, player
->rb
.v
);
1362 VG_STATIC
void skate_grind_truck_apply( player_instance
*player
,
1363 float sign
, struct grind_info
*inf
,
1366 struct player_skate
*s
= &player
->_skate
;
1368 /* TODO: Trash compactor this */
1369 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1371 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1372 v3_add( player
->rb
.co
, raw
, wsp
);
1374 v3_copy( ra
, s
->weight_distribution
);
1377 v3_sub( inf
->co
, wsp
, delta
);
1380 v3_muladds( player
->rb
.v
, delta
, k_spring_force
*strength
*k_rb_delta
,
1383 skate_grind_decay( player
, inf
, strength
);
1384 skate_grind_friction( player
, inf
, strength
);
1386 /* yeah yeah yeah yeah */
1387 v3f raw_nplane
, axis
;
1388 v3_muladds( raw
, inf
->n
, -v3_dot( inf
->n
, raw
), raw_nplane
);
1389 v3_cross( raw_nplane
, inf
->n
, axis
);
1390 v3_normalize( axis
);
1394 skate_grind_orient( inf
, mtx
);
1395 v3f target_fwd
, fwd
, up
, target_up
;
1396 m3x3_mulv( mtx
, s
->grind_vec
, target_fwd
);
1397 v3_copy( raw_nplane
, fwd
);
1398 v3_copy( player
->rb
.to_world
[1], up
);
1399 v3_copy( inf
->n
, target_up
);
1401 v3_muladds( target_fwd
, inf
->n
, -v3_dot(inf
->n
,target_fwd
), target_fwd
);
1402 v3_muladds( fwd
, inf
->n
, -v3_dot(inf
->n
,fwd
), fwd
);
1404 v3_normalize( target_fwd
);
1405 v3_normalize( fwd
);
1408 float way
= player
->input_js1v
->axis
.value
*
1409 vg_signf( v3_dot( raw_nplane
, player
->rb
.v
) );
1412 q_axis_angle( q
, axis
, VG_PIf
*0.125f
* way
);
1413 q_mulv( q
, target_up
, target_up
);
1414 q_mulv( q
, target_fwd
, target_fwd
);
1416 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1421 rb_effect_spring_target_vector( &player
->rb
, fwd
, target_fwd
,
1422 k_grind_spring
*strength
,
1423 k_grind_dampener
*strength
,
1426 vg_line_arrow( player
->rb
.co
, target_up
, 1.0f
, VG__GREEN
);
1427 vg_line_arrow( player
->rb
.co
, fwd
, 0.8f
, VG__RED
);
1428 vg_line_arrow( player
->rb
.co
, target_fwd
, 1.0f
, VG__YELOW
);
1430 s
->grind_strength
= strength
;
1433 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1434 m4x3_mulv( player
->rb
.to_local
, wsp
, limit
->ra
);
1435 m3x3_mulv( player
->rb
.to_local
, inf
->n
, limit
->n
);
1438 v3_copy( inf
->dir
, s
->grind_dir
);
1441 VG_STATIC
void skate_5050_apply( player_instance
*player
,
1442 struct grind_info
*inf_front
,
1443 struct grind_info
*inf_back
)
1445 struct player_skate
*s
= &player
->_skate
;
1446 struct grind_info inf_avg
;
1448 v3_sub( inf_front
->co
, inf_back
->co
, inf_avg
.dir
);
1449 v3_muladds( inf_back
->co
, inf_avg
.dir
, 0.5f
, inf_avg
.co
);
1450 v3_normalize( inf_avg
.dir
);
1452 v3f axis_front
, axis_back
, axis
;
1453 v3_cross( inf_front
->dir
, inf_front
->n
, axis_front
);
1454 v3_cross( inf_back
->dir
, inf_back
->n
, axis_back
);
1455 v3_add( axis_front
, axis_back
, axis
);
1456 v3_normalize( axis
);
1458 v3_cross( axis
, inf_avg
.dir
, inf_avg
.n
);
1460 skate_grind_decay( player
, &inf_avg
, 1.0f
);
1463 float way
= player
->input_js1v
->axis
.value
*
1464 vg_signf( v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) );
1467 v3_copy( player
->rb
.to_world
[1], up
);
1468 v3_copy( inf_avg
.n
, target_up
);
1469 q_axis_angle( q
, player
->rb
.to_world
[0], VG_PIf
*0.25f
* -way
);
1470 q_mulv( q
, target_up
, target_up
);
1472 v3_zero( s
->weight_distribution
);
1473 s
->weight_distribution
[2] = k_board_length
* -way
;
1475 rb_effect_spring_target_vector( &player
->rb
, up
, target_up
,
1480 v3f fwd_nplane
, dir_nplane
;
1481 v3_muladds( player
->rb
.to_world
[2], inf_avg
.n
,
1482 -v3_dot( player
->rb
.to_world
[2], inf_avg
.n
), fwd_nplane
);
1485 v3_muls( inf_avg
.dir
, v3_dot( fwd_nplane
, inf_avg
.dir
), dir
);
1486 v3_muladds( dir
, inf_avg
.n
, -v3_dot( dir
, inf_avg
.n
), dir_nplane
);
1488 v3_normalize( fwd_nplane
);
1489 v3_normalize( dir_nplane
);
1491 rb_effect_spring_target_vector( &player
->rb
, fwd_nplane
, dir_nplane
,
1496 v3f pos_front
= { 0.0f
, -k_board_radius
, -1.0f
* k_board_length
},
1497 pos_back
= { 0.0f
, -k_board_radius
, 1.0f
* k_board_length
},
1498 delta_front
, delta_back
, delta_total
;
1500 m4x3_mulv( player
->rb
.to_world
, pos_front
, pos_front
);
1501 m4x3_mulv( player
->rb
.to_world
, pos_back
, pos_back
);
1503 v3_sub( inf_front
->co
, pos_front
, delta_front
);
1504 v3_sub( inf_back
->co
, pos_back
, delta_back
);
1505 v3_add( delta_front
, delta_back
, delta_total
);
1507 v3_muladds( player
->rb
.v
, delta_total
, 50.0f
* k_rb_delta
, player
->rb
.v
);
1510 struct grind_limit
*limit
= &s
->limits
[ s
->limit_count
++ ];
1511 v3_zero( limit
->ra
);
1512 m3x3_mulv( player
->rb
.to_local
, inf_avg
.n
, limit
->n
);
1515 v3_copy( inf_avg
.dir
, s
->grind_dir
);
1518 VG_STATIC
int skate_grind_truck_renew( player_instance
*player
, float sign
,
1519 struct grind_info
*inf
)
1521 struct player_skate
*s
= &player
->_skate
;
1523 v3f wheel_co
= { 0.0f
, 0.0f
, sign
* k_board_length
},
1524 grind_co
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1526 m4x3_mulv( player
->rb
.to_world
, wheel_co
, wheel_co
);
1527 m4x3_mulv( player
->rb
.to_world
, grind_co
, grind_co
);
1529 /* Exit condition: lost grind tracking */
1530 if( !skate_grind_scansq( player
, grind_co
, player
->rb
.v
, 0.3f
, inf
) )
1533 /* Exit condition: cant see grind target directly */
1534 if( !skate_point_visible( wheel_co
, inf
->co
) )
1537 /* Exit condition: minimum velocity not reached, but allow a bit of error */
1538 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1539 minv
= k_grind_axel_min_vel
*0.8f
;
1544 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1547 v3_copy( inf
->dir
, s
->grind_dir
);
1551 VG_STATIC
int skate_grind_truck_entry( player_instance
*player
, float sign
,
1552 struct grind_info
*inf
)
1554 struct player_skate
*s
= &player
->_skate
;
1556 /* TODO: Trash compactor this */
1557 v3f ra
= { 0.0f
, -k_board_radius
, sign
* k_board_length
};
1560 m3x3_mulv( player
->rb
.to_world
, ra
, raw
);
1561 v3_add( player
->rb
.co
, raw
, wsp
);
1563 if( skate_grind_scansq( player
, wsp
, player
->rb
.v
, 0.3, inf
) )
1565 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1568 /* velocity should be at least 60% aligned */
1570 v3_cross( inf
->n
, inf
->dir
, axis
);
1571 v3_muladds( player
->rb
.v
, inf
->n
, -v3_dot( player
->rb
.v
, inf
->n
), pv
);
1573 if( v3_length2( pv
) < 0.0001f
)
1577 if( fabsf(v3_dot( pv
, inf
->dir
)) < k_grind_axel_max_angle
)
1580 if( v3_dot( player
->rb
.v
, inf
->n
) > 0.5f
)
1584 /* check for vertical alignment */
1585 if( v3_dot( player
->rb
.to_world
[1], inf
->n
) < k_grind_axel_max_vangle
)
1589 v3f local_co
, local_dir
, local_n
;
1590 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1591 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1592 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1594 v2f delta
= { local_co
[0], local_co
[2] - k_board_length
*sign
};
1596 float truck_height
= -(k_board_radius
+0.03f
);
1599 v3_cross( player
->rb
.w
, raw
, rv
);
1600 v3_add( player
->rb
.v
, rv
, rv
);
1602 if( (local_co
[1] >= truck_height
) &&
1603 (v2_length2( delta
) <= k_board_radius
*k_board_radius
) )
1612 VG_STATIC
void skate_boardslide_apply( player_instance
*player
,
1613 struct grind_info
*inf
)
1615 struct player_skate
*s
= &player
->_skate
;
1617 v3f local_co
, local_dir
, local_n
;
1618 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1619 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1620 m3x3_mulv( player
->rb
.to_local
, inf
->n
, local_n
);
1623 v3_muladds( local_co
, local_dir
, local_co
[0]/-local_dir
[0],
1625 v3_copy( intersection
, s
->weight_distribution
);
1627 skate_grind_decay( player
, inf
, 0.1f
);
1628 skate_grind_friction( player
, inf
, 0.25f
);
1630 /* direction alignment */
1632 v3_cross( local_dir
, local_n
, perp
);
1633 v3_muls( local_dir
, vg_signf(local_dir
[0]), dir
);
1634 v3_muls( perp
, vg_signf(perp
[2]), perp
);
1636 m3x3_mulv( player
->rb
.to_world
, dir
, dir
);
1637 m3x3_mulv( player
->rb
.to_world
, perp
, perp
);
1639 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1641 k_grind_spring
, k_grind_dampener
,
1644 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[2],
1646 k_grind_spring
, k_grind_dampener
,
1649 vg_line_arrow( player
->rb
.co
, dir
, 0.5f
, VG__GREEN
);
1650 vg_line_arrow( player
->rb
.co
, perp
, 0.5f
, VG__BLUE
);
1652 v3_copy( inf
->dir
, s
->grind_dir
);
1655 VG_STATIC
int skate_boardslide_entry( player_instance
*player
,
1656 struct grind_info
*inf
)
1658 struct player_skate
*s
= &player
->_skate
;
1660 if( skate_grind_scansq( player
, player
->rb
.co
,
1661 player
->rb
.to_world
[0], k_board_length
,
1664 v3f local_co
, local_dir
;
1665 m4x3_mulv( player
->rb
.to_local
, inf
->co
, local_co
);
1666 m3x3_mulv( player
->rb
.to_local
, inf
->dir
, local_dir
);
1668 if( (fabsf(local_co
[2]) <= k_board_length
) && /* within wood area */
1669 (local_co
[1] >= 0.0f
) && /* at deck level */
1670 (fabsf(local_dir
[0]) >= 0.5f
) ) /* perpendicular to us */
1672 if( fabsf(v3_dot( player
->rb
.v
, inf
->dir
)) < k_grind_axel_min_vel
)
1682 VG_STATIC
int skate_boardslide_renew( player_instance
*player
,
1683 struct grind_info
*inf
)
1685 struct player_skate
*s
= &player
->_skate
;
1687 if( !skate_grind_scansq( player
, player
->rb
.co
,
1688 player
->rb
.to_world
[0], k_board_length
,
1692 /* Exit condition: cant see grind target directly */
1694 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.2f
, vis
);
1695 if( !skate_point_visible( vis
, inf
->co
) )
1698 /* Exit condition: minimum velocity not reached, but allow a bit of error
1699 * TODO: trash compactor */
1700 float dv
= fabsf(v3_dot( player
->rb
.v
, inf
->dir
)),
1701 minv
= k_grind_axel_min_vel
*0.8f
;
1706 if( fabsf(v3_dot( inf
->dir
, s
->grind_dir
)) < k_grind_max_edge_angle
)
1712 VG_STATIC
void skate_store_grind_vec( player_instance
*player
,
1713 struct grind_info
*inf
)
1715 struct player_skate
*s
= &player
->_skate
;
1718 skate_grind_orient( inf
, mtx
);
1719 m3x3_transpose( mtx
, mtx
);
1722 v3_sub( inf
->co
, player
->rb
.co
, raw
);
1724 m3x3_mulv( mtx
, raw
, s
->grind_vec
);
1725 v3_normalize( s
->grind_vec
);
1726 v3_copy( inf
->dir
, s
->grind_dir
);
1729 VG_STATIC
enum skate_activity
skate_availible_grind( player_instance
*player
)
1731 struct player_skate
*s
= &player
->_skate
;
1733 /* debounces this state manager a little bit */
1734 if( s
->frames_since_activity_change
< 10 )
1736 s
->frames_since_activity_change
++;
1737 return k_skate_activity_undefined
;
1740 struct grind_info inf_back50
,
1748 if( s
->state
.activity
== k_skate_activity_grind_boardslide
)
1750 res_slide
= skate_boardslide_renew( player
, &inf_slide
);
1752 else if( s
->state
.activity
== k_skate_activity_grind_back50
)
1754 res_back50
= skate_grind_truck_renew( player
, 1.0f
, &inf_back50
);
1755 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1757 else if( s
->state
.activity
== k_skate_activity_grind_front50
)
1759 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1760 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1762 else if( s
->state
.activity
== k_skate_activity_grind_5050
)
1764 res_front50
= skate_grind_truck_renew( player
, -1.0f
, &inf_front50
);
1765 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1769 res_slide
= skate_boardslide_entry( player
, &inf_slide
);
1770 res_back50
= skate_grind_truck_entry( player
, 1.0f
, &inf_back50
);
1771 res_front50
= skate_grind_truck_entry( player
, -1.0f
, &inf_front50
);
1773 if( res_back50
!= res_front50
)
1775 int wants_to_do_that
= fabsf(player
->input_js1v
->axis
.value
) >= 0.25f
;
1777 res_back50
&= wants_to_do_that
;
1778 res_front50
&= wants_to_do_that
;
1782 const enum skate_activity table
[] =
1783 { /* slide | back | front */
1784 k_skate_activity_undefined
, /* 0 0 0 */
1785 k_skate_activity_grind_front50
, /* 0 0 1 */
1786 k_skate_activity_grind_back50
, /* 0 1 0 */
1787 k_skate_activity_grind_5050
, /* 0 1 1 */
1789 /* slide has priority always */
1790 k_skate_activity_grind_boardslide
, /* 1 0 0 */
1791 k_skate_activity_grind_boardslide
, /* 1 0 1 */
1792 k_skate_activity_grind_boardslide
, /* 1 1 0 */
1793 k_skate_activity_grind_boardslide
, /* 1 1 1 */
1795 , new_activity
= table
[ res_slide
<< 2 | res_back50
<< 1 | res_front50
];
1797 if( new_activity
== k_skate_activity_undefined
)
1799 if( s
->state
.activity
>= k_skate_activity_grind_any
)
1800 s
->frames_since_activity_change
= 0;
1802 else if( new_activity
== k_skate_activity_grind_boardslide
)
1804 skate_boardslide_apply( player
, &inf_slide
);
1806 else if( new_activity
== k_skate_activity_grind_back50
)
1808 if( s
->state
.activity
!= k_skate_activity_grind_back50
)
1809 skate_store_grind_vec( player
, &inf_back50
);
1811 skate_grind_truck_apply( player
, 1.0f
, &inf_back50
, 1.0f
);
1813 else if( new_activity
== k_skate_activity_grind_front50
)
1815 if( s
->state
.activity
!= k_skate_activity_grind_front50
)
1816 skate_store_grind_vec( player
, &inf_front50
);
1818 skate_grind_truck_apply( player
, -1.0f
, &inf_front50
, 1.0f
);
1820 else if( new_activity
== k_skate_activity_grind_5050
)
1821 skate_5050_apply( player
, &inf_front50
, &inf_back50
);
1823 return new_activity
;
1826 VG_STATIC
void player__skate_update( player_instance
*player
)
1828 struct player_skate
*s
= &player
->_skate
;
1829 world_instance
*world
= get_active_world();
1831 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1832 s
->state
.activity_prev
= s
->state
.activity
;
1834 struct board_collider
1841 enum board_collider_state
1843 k_collider_state_default
,
1844 k_collider_state_disabled
,
1845 k_collider_state_colliding
1852 { 0.0f
, 0.0f
, -k_board_length
},
1853 .radius
= k_board_radius
,
1857 { 0.0f
, 0.0f
, k_board_length
},
1858 .radius
= k_board_radius
,
1863 const int k_wheel_count
= 2;
1865 s
->substep
= k_rb_delta
;
1866 s
->substep_delta
= s
->substep
;
1869 int substep_count
= 0;
1871 v3_zero( s
->surface_picture
);
1873 for( int i
=0; i
<k_wheel_count
; i
++ )
1874 wheels
[i
].state
= k_collider_state_default
;
1876 /* check if we can enter or continue grind */
1877 enum skate_activity grindable_activity
= skate_availible_grind( player
);
1878 if( grindable_activity
!= k_skate_activity_undefined
)
1880 s
->state
.activity
= grindable_activity
;
1884 int contact_count
= 0;
1885 for( int i
=0; i
<2; i
++ )
1888 v3_copy( player
->rb
.to_world
[0], axel
);
1890 if( skate_compute_surface_alignment( player
, wheels
[i
].pos
,
1891 wheels
[i
].colour
, normal
, axel
) )
1893 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0],
1895 k_surface_spring
, k_surface_dampener
,
1898 v3_add( normal
, s
->surface_picture
, s
->surface_picture
);
1902 m3x3_mulv( player
->rb
.to_local
, axel
, s
->truckv0
[i
] );
1907 s
->state
.activity
= k_skate_activity_ground
;
1908 s
->state
.gravity_bias
= k_gravity
;
1909 v3_normalize( s
->surface_picture
);
1911 skate_apply_friction_model( player
);
1912 skate_weight_distribute( player
);
1916 s
->state
.activity
= k_skate_activity_air
;
1917 v3_zero( s
->weight_distribution
);
1918 skate_apply_air_model( player
);
1923 if( s
->state
.activity
== k_skate_activity_grind_back50
)
1924 wheels
[1].state
= k_collider_state_disabled
;
1925 if( s
->state
.activity
== k_skate_activity_grind_front50
)
1926 wheels
[0].state
= k_collider_state_disabled
;
1927 if( s
->state
.activity
== k_skate_activity_grind_5050
)
1929 wheels
[0].state
= k_collider_state_disabled
;
1930 wheels
[1].state
= k_collider_state_disabled
;
1933 /* all activities */
1934 skate_apply_steering_model( player
);
1935 skate_adjust_up_direction( player
);
1936 skate_apply_cog_model( player
);
1937 skate_apply_jump_model( player
);
1938 skate_apply_grab_model( player
);
1939 skate_apply_trick_model( player
);
1940 skate_apply_pump_model( player
);
1945 * Phase 0: Continous collision detection
1946 * --------------------------------------------------------------------------
1949 v3f head_wp0
, head_wp1
, start_co
;
1950 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp0
);
1951 v3_copy( player
->rb
.co
, start_co
);
1953 /* calculate transform one step into future */
1956 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
1958 if( v3_length2( player
->rb
.w
) > 0.0f
)
1962 v3_copy( player
->rb
.w
, axis
);
1964 float mag
= v3_length( axis
);
1965 v3_divs( axis
, mag
, axis
);
1966 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
1967 q_mul( rotation
, player
->rb
.q
, future_q
);
1968 q_normalize( future_q
);
1971 v4_copy( player
->rb
.q
, future_q
);
1973 v3f future_cg
, current_cg
, cg_offset
;
1974 q_mulv( player
->rb
.q
, s
->weight_distribution
, current_cg
);
1975 q_mulv( future_q
, s
->weight_distribution
, future_cg
);
1976 v3_sub( future_cg
, current_cg
, cg_offset
);
1978 /* calculate the minimum time we can move */
1979 float max_time
= s
->substep
;
1981 for( int i
=0; i
<k_wheel_count
; i
++ )
1983 if( wheels
[i
].state
== k_collider_state_disabled
)
1986 v3f current
, future
, r_cg
;
1988 q_mulv( future_q
, wheels
[i
].pos
, future
);
1989 v3_add( future
, future_co
, future
);
1990 v3_add( cg_offset
, future
, future
);
1992 q_mulv( player
->rb
.q
, wheels
[i
].pos
, current
);
1993 v3_add( current
, player
->rb
.co
, current
);
1998 float cast_radius
= wheels
[i
].radius
- k_penetration_slop
* 2.0f
;
1999 if( spherecast_world( world
, current
, future
, cast_radius
, &t
, n
) != -1)
2000 max_time
= vg_minf( max_time
, t
* s
->substep
);
2003 /* clamp to a fraction of delta, to prevent locking */
2004 float rate_lock
= substep_count
;
2005 rate_lock
*= k_rb_delta
* 0.1f
;
2006 rate_lock
*= rate_lock
;
2008 max_time
= vg_maxf( max_time
, rate_lock
);
2009 s
->substep_delta
= max_time
;
2012 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
2013 if( v3_length2( player
->rb
.w
) > 0.0f
)
2017 v3_copy( player
->rb
.w
, axis
);
2019 float mag
= v3_length( axis
);
2020 v3_divs( axis
, mag
, axis
);
2021 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
2022 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
2023 q_normalize( player
->rb
.q
);
2025 q_mulv( player
->rb
.q
, s
->weight_distribution
, future_cg
);
2026 v3_sub( current_cg
, future_cg
, cg_offset
);
2027 v3_add( player
->rb
.co
, cg_offset
, player
->rb
.co
);
2030 rb_update_transform( &player
->rb
);
2031 v3_muladds( player
->rb
.v
, player
->basis
[1],
2032 -s
->state
.gravity_bias
* s
->substep_delta
, player
->rb
.v
);
2034 s
->substep
-= s
->substep_delta
;
2036 rb_ct manifold
[128];
2037 int manifold_len
= 0;
2040 * Phase -1: head detection
2041 * --------------------------------------------------------------------------
2043 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp1
);
2047 if( (v3_dist2( head_wp0
, head_wp1
) > 0.001f
) &&
2048 (spherecast_world( world
, head_wp0
, head_wp1
, 0.2f
, &t
, n
) != -1) )
2050 v3_lerp( start_co
, player
->rb
.co
, t
, player
->rb
.co
);
2051 rb_update_transform( &player
->rb
);
2053 player__dead_transition( player
);
2058 * Phase 1: Regular collision detection
2059 * --------------------------------------------------------------------------
2062 for( int i
=0; i
<k_wheel_count
; i
++ )
2064 if( wheels
[i
].state
== k_collider_state_disabled
)
2068 m3x3_identity( mtx
);
2069 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2071 rb_sphere collider
= { .radius
= wheels
[i
].radius
};
2073 rb_ct
*man
= &manifold
[ manifold_len
];
2075 int l
= skate_collide_smooth( player
, mtx
, &collider
, man
);
2077 wheels
[i
].state
= k_collider_state_colliding
;
2082 float grind_radius
= k_board_radius
* 0.75f
;
2083 rb_capsule capsule
= { .height
= (k_board_length
+0.2f
)*2.0f
,
2084 .radius
=grind_radius
};
2086 v3_muls( player
->rb
.to_world
[0], 1.0f
, mtx
[0] );
2087 v3_muls( player
->rb
.to_world
[2], -1.0f
, mtx
[1] );
2088 v3_muls( player
->rb
.to_world
[1], 1.0f
, mtx
[2] );
2089 v3_muladds( player
->rb
.to_world
[3], player
->rb
.to_world
[1],
2090 grind_radius
+ k_board_radius
*0.25f
, mtx
[3] );
2092 rb_ct
*cman
= &manifold
[manifold_len
];
2094 int l
= rb_capsule__scene( mtx
, &capsule
, NULL
, &world
->rb_geo
.inf
.scene
,
2098 for( int i
=0; i
<l
; i
++ )
2099 cman
[l
].type
= k_contact_type_edge
;
2100 rb_manifold_filter_joint_edges( cman
, l
, 0.03f
);
2101 l
= rb_manifold_apply_filtered( cman
, l
);
2105 debug_capsule( mtx
, capsule
.radius
, capsule
.height
, VG__WHITE
);
2108 for( int i
=0; i
<s
->limit_count
; i
++ )
2110 struct grind_limit
*limit
= &s
->limits
[i
];
2111 rb_ct
*ct
= &manifold
[ manifold_len
++ ];
2112 m4x3_mulv( player
->rb
.to_world
, limit
->ra
, ct
->co
);
2113 m3x3_mulv( player
->rb
.to_world
, limit
->n
, ct
->n
);
2115 ct
->type
= k_contact_type_default
;
2120 * --------------------------------------------------------------------------
2125 m4x3_mulv( player
->rb
.to_world
, s
->weight_distribution
, world_cog
);
2126 vg_line_pt3( world_cog
, 0.02f
, VG__BLACK
);
2128 for( int i
=0; i
<manifold_len
; i
++ )
2130 rb_prepare_contact( &manifold
[i
], s
->substep_delta
);
2131 rb_debug_contact( &manifold
[i
] );
2134 /* yes, we are currently rebuilding mass matrices every frame. too bad! */
2135 v3f extent
= { k_board_width
, 0.1f
, k_board_length
};
2136 float ex2
= k_board_interia
*extent
[0]*extent
[0],
2137 ey2
= k_board_interia
*extent
[1]*extent
[1],
2138 ez2
= k_board_interia
*extent
[2]*extent
[2];
2140 float mass
= 2.0f
* (extent
[0]*extent
[1]*extent
[2]);
2141 float inv_mass
= 1.0f
/mass
;
2144 I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
2145 I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
2146 I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
2149 m3x3_identity( iI
);
2156 m3x3_mul( iI
, player
->rb
.to_local
, iIw
);
2157 m3x3_mul( player
->rb
.to_world
, iIw
, iIw
);
2159 for( int j
=0; j
<10; j
++ )
2161 for( int i
=0; i
<manifold_len
; i
++ )
2164 * regular dance; calculate velocity & total mass, apply impulse.
2167 struct contact
*ct
= &manifold
[i
];
2170 v3_sub( ct
->co
, world_cog
, delta
);
2171 v3_cross( player
->rb
.w
, delta
, rv
);
2172 v3_add( player
->rb
.v
, rv
, rv
);
2175 v3_cross( delta
, ct
->n
, raCn
);
2178 m3x3_mulv( iIw
, raCn
, raCnI
);
2180 float normal_mass
= 1.0f
/ (inv_mass
+ v3_dot(raCn
,raCnI
)),
2181 vn
= v3_dot( rv
, ct
->n
),
2182 lambda
= normal_mass
* ( -vn
);
2184 float temp
= ct
->norm_impulse
;
2185 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2186 lambda
= ct
->norm_impulse
- temp
;
2189 v3_muls( ct
->n
, lambda
, impulse
);
2191 v3_muladds( player
->rb
.v
, impulse
, inv_mass
, player
->rb
.v
);
2192 v3_cross( delta
, impulse
, impulse
);
2193 m3x3_mulv( iIw
, impulse
, impulse
);
2194 v3_add( impulse
, player
->rb
.w
, player
->rb
.w
);
2196 v3_cross( player
->rb
.w
, delta
, rv
);
2197 v3_add( player
->rb
.v
, rv
, rv
);
2198 vn
= v3_dot( rv
, ct
->n
);
2203 rb_depenetrate( manifold
, manifold_len
, dt
);
2204 v3_add( dt
, player
->rb
.co
, player
->rb
.co
);
2205 rb_update_transform( &player
->rb
);
2209 if( s
->substep
>= 0.0001f
)
2210 goto begin_collision
; /* again! */
2213 * End of collision and dynamics routine
2214 * --------------------------------------------------------------------------
2217 for( int i
=0; i
<k_wheel_count
; i
++ )
2220 m3x3_copy( player
->rb
.to_world
, mtx
);
2221 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2222 debug_sphere( mtx
, wheels
[i
].radius
,
2223 (u32
[]){ VG__WHITE
, VG__BLACK
,
2224 wheels
[i
].colour
}[ wheels
[i
].state
]);
2227 skate_integrate( player
);
2228 vg_line_pt3( s
->state
.cog
, 0.02f
, VG__WHITE
);
2230 struct gate_hit hit
;
2231 if( world_intersect_gates(world
, player
->rb
.co
, s
->state
.prev_pos
, &hit
) )
2233 teleport_gate
*gate
= hit
.gate
;
2234 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
2235 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
2236 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
2237 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
2238 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
2239 m3x3_mulv( gate
->transport
, s
->state
.head_position
,
2240 s
->state
.head_position
);
2241 m3x3_mulv( gate
->transport
, s
->state
.up_dir
, s
->state
.up_dir
);
2243 v4f transport_rotation
;
2244 m3x3_q( gate
->transport
, transport_rotation
);
2245 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
2246 rb_update_transform( &player
->rb
);
2248 s
->state_gate_storage
= s
->state
;
2249 player__pass_gate( player
, &hit
);
2253 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
2255 struct player_skate
*s
= &player
->_skate
;
2256 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
2259 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
2262 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
2266 const char *activity_txt
[] =
2270 "undefined (INVALID)",
2271 "grind_any (INVALID)",
2280 player__debugtext( 1, "activity: %s", activity_txt
[s
->state
.activity
] );
2282 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
2283 s
->state
.steerx_s
, s
->state
.steery_s
,
2284 k_steer_ground
, k_steer_air
);
2286 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
2287 s
->state
.flip_time
);
2288 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
2289 s
->state
.trick_vel
[0],
2290 s
->state
.trick_vel
[1],
2291 s
->state
.trick_vel
[2] );
2292 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
2293 s
->state
.trick_euler
[0],
2294 s
->state
.trick_euler
[1],
2295 s
->state
.trick_euler
[2] );
2298 VG_STATIC
void player__skate_animate( player_instance
*player
,
2299 player_animation
*dest
)
2301 struct player_skate
*s
= &player
->_skate
;
2302 struct player_avatar
*av
= player
->playeravatar
;
2303 struct skeleton
*sk
= &av
->sk
;
2306 float kheight
= 2.0f
,
2312 v3f cog_local
, cog_ideal
;
2313 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, cog_local
);
2315 v3_copy( s
->state
.up_dir
, cog_ideal
);
2316 v3_normalize( cog_ideal
);
2317 m3x3_mulv( player
->rb
.to_local
, cog_ideal
, cog_ideal
);
2319 v3_sub( cog_ideal
, cog_local
, offset
);
2322 v3_muls( offset
, 4.0f
, offset
);
2325 float curspeed
= v3_length( player
->rb
.v
),
2326 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
2327 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
2328 sign
= vg_signf( kicks
);
2330 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
2331 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
2334 offset
[0] += s
->wobble
[1]*3.0f
;
2339 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
2340 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
2343 * Animation blending
2344 * ===========================================
2349 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
2350 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
2353 /* movement information */
2355 int iair
= s
->state
.activity
== k_skate_activity_air
;
2357 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
2358 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
2359 fly
= iair
? 1.0f
: 0.0f
,
2360 wdist
= s
->weight_distribution
[2] / k_board_length
;
2362 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
2363 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
2364 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
2365 s
->blend_weight
= vg_lerpf( s
->blend_weight
, wdist
, 9.0f
*vg
.time_delta
);
2368 mdl_keyframe apose
[32], bpose
[32];
2369 mdl_keyframe ground_pose
[32];
2371 /* when the player is moving fast he will crouch down a little bit */
2372 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
2373 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
2376 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
2377 stand_blend
= offset
[1]*-2.0f
;
2380 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
2382 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
2384 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
2385 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
2386 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
2389 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
2390 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
2391 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
2394 double push_time
= vg
.time
- s
->state
.start_push
;
2395 s
->blend_push
= vg_lerpf( s
->blend_push
,
2396 (vg
.time
- s
->state
.cur_push
) < 0.125,
2397 6.0f
*vg
.time_delta
);
2399 float pt
= push_time
+ vg
.accumulator
;
2400 if( s
->state
.reverse
> 0.0f
)
2401 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
2403 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
2405 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
2408 float jump_start_frame
= 14.0f
/30.0f
;
2410 float charge
= s
->state
.jump_charge
;
2411 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
2413 float setup_frame
= charge
* jump_start_frame
,
2414 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
2416 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
2417 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
2418 setup_frame
= jump_frame
;
2420 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
2422 s
->anim_ollie_reverse
;
2424 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
2425 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
2428 mdl_keyframe air_pose
[32];
2430 float target
= -player
->input_js1h
->axis
.value
;
2431 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
2433 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
2434 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
2436 static v2f grab_choice
;
2438 v2f grab_input
= { player
->input_js2h
->axis
.value
,
2439 player
->input_js2v
->axis
.value
};
2440 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
2441 if( v2_length2( grab_input
) <= 0.001f
)
2442 grab_input
[0] = -1.0f
;
2444 v2_normalize_clamp( grab_input
);
2445 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
2447 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
2448 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
2449 grab_frame
= ang_unit
* (15.0f
/30.0f
);
2451 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
2452 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
2455 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
2457 float add_grab_mod
= 1.0f
- s
->blend_fly
;
2459 /* additive effects */
2461 u32 apply_to
[] = { av
->id_hip
,
2465 av
->id_ik_elbow_r
};
2467 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2469 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
2470 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
2474 /* angle correction */
2475 if( v3_length2( s
->state
.up_dir
) > 0.001f
)
2478 m3x3_mulv( player
->rb
.to_local
, s
->state
.up_dir
, ndir
);
2479 v3_normalize( ndir
);
2481 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
2483 float a
= v3_dot( ndir
, up
);
2484 a
= acosf( vg_clampf( a
, -1.0f
, 1.0f
) );
2489 v3_cross( up
, ndir
, axis
);
2490 q_axis_angle( q
, axis
, a
);
2492 mdl_keyframe
*kf_hip
= &dest
->pose
[av
->id_hip
-1];
2494 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2496 mdl_keyframe
*kf
= &dest
->pose
[apply_to
[i
]-1];
2499 v3_sub( kf
->co
, kf_hip
->co
, v0
);
2500 q_mulv( q
, v0
, v0
);
2501 v3_add( v0
, kf_hip
->co
, kf
->co
);
2503 q_mul( q
, kf
->q
, kf
->q
);
2504 q_normalize( kf
->q
);
2508 m3x3_mulv( player
->rb
.to_world
, up
, p1
);
2509 m3x3_mulv( player
->rb
.to_world
, ndir
, p2
);
2511 vg_line_arrow( player
->rb
.co
, p1
, 0.25f
, VG__PINK
);
2512 vg_line_arrow( player
->rb
.co
, p2
, 0.25f
, VG__PINK
);
2517 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
2518 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
2519 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1],
2520 *kf_wheels
[] = { &dest
->pose
[av
->id_wheel_r
-1],
2521 &dest
->pose
[av
->id_wheel_l
-1] };
2524 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
2527 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
2529 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
2530 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
2531 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
2533 q_mul( qpitchr
, qrollr
, qtrickr
);
2534 q_mul( qyawr
, qtrickr
, qtotal
);
2535 q_normalize( qtotal
);
2537 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
2540 /* trick rotation */
2541 v4f qtrick
, qyaw
, qpitch
, qroll
;
2543 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
2545 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
2546 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
2547 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
2549 q_mul( qpitch
, qroll
, qtrick
);
2550 q_mul( qyaw
, qtrick
, qtrick
);
2551 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
2552 q_normalize( kf_board
->q
);
2554 /* foot weight distribution */
2555 if( s
->blend_weight
> 0.0f
)
2557 kf_foot_l
->co
[2] += s
->blend_weight
* 0.2f
;
2558 kf_foot_r
->co
[2] += s
->blend_weight
* 0.1f
;
2562 kf_foot_r
->co
[2] += s
->blend_weight
* 0.3f
;
2563 kf_foot_l
->co
[2] += s
->blend_weight
* 0.1f
;
2566 /* truck rotation */
2567 for( int i
=0; i
<2; i
++ )
2569 float a
= vg_minf( s
->truckv0
[i
][0], 1.0f
);
2570 a
= -acosf( a
) * vg_signf( s
->truckv0
[i
][1] );
2573 q_axis_angle( q
, (v3f
){0.0f
,0.0f
,1.0f
}, a
);
2574 q_mul( q
, kf_wheels
[i
]->q
, kf_wheels
[i
]->q
);
2575 q_normalize( kf_wheels
[i
]->q
);
2580 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
2581 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.1f
, dest
->root_co
);
2583 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
2586 if( (s
->state
.activity
== k_skate_activity_air
) &&
2587 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
2589 float t
= s
->state
.flip_time
;
2590 sign
= vg_signf( t
);
2592 t
= 1.0f
- vg_minf( 1.0f
, fabsf( t
* 1.1f
) );
2593 t
= sign
* (1.0f
-t
*t
);
2595 float angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
2596 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
2597 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
2599 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
2601 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
2602 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
2603 q_normalize( dest
->root_q
);
2605 v3f rotation_point
, rco
;
2606 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
2607 v3_sub( dest
->root_co
, rotation_point
, rco
);
2609 q_mulv( qflip
, rco
, rco
);
2610 v3_add( rco
, rotation_point
, dest
->root_co
);
2613 skeleton_copy_pose( sk
, dest
->pose
, player
->holdout_pose
);
2616 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
2618 struct player_skate
*s
= &player
->_skate
;
2619 struct player_avatar
*av
= player
->playeravatar
;
2621 player
->cam_velocity_influence
= 1.0f
;
2623 v3f head
= { 0.0f
, 1.8f
, 0.0f
};
2624 m4x3_mulv( av
->sk
.final_mtx
[ av
->id_head
], head
, s
->state
.head_position
);
2625 m4x3_mulv( player
->rb
.to_local
, s
->state
.head_position
,
2626 s
->state
.head_position
);
2629 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
2631 struct player_skate
*s
= &player
->_skate
;
2633 if( s
->state
.activity
== k_skate_activity_air
)
2634 s
->blend_fly
= 1.0f
;
2636 s
->blend_fly
= 0.0f
;
2638 s
->blend_slide
= 0.0f
;
2641 s
->blend_stand
= 0.0f
;
2642 s
->blend_push
= 0.0f
;
2643 s
->blend_jump
= 0.0f
;
2644 s
->blend_airdir
= 0.0f
;
2647 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
2649 struct player_skate
*s
= &player
->_skate
;
2650 s
->state
.jump_charge
= 0.0f
;
2651 s
->state
.lift_frames
= 0;
2652 s
->state
.flip_rate
= 0.0f
;
2654 s
->state
.steery
= 0.0f
;
2655 s
->state
.steerx
= 0.0f
;
2656 s
->state
.steery_s
= 0.0f
;
2657 s
->state
.steerx_s
= 0.0f
;
2659 s
->state
.reverse
= 0.0f
;
2660 s
->state
.slip
= 0.0f
;
2661 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
2664 m3x3_identity( s
->state
.velocity_bias
);
2665 m3x3_identity( s
->state
.velocity_bias_pstep
);
2668 v3_zero( s
->state
.throw_v
);
2669 v3_zero( s
->state
.trick_vel
);
2670 v3_zero( s
->state
.trick_euler
);
2673 VG_STATIC
void player__skate_reset( player_instance
*player
,
2674 struct respawn_point
*rp
)
2676 struct player_skate
*s
= &player
->_skate
;
2677 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2678 v3_zero( player
->rb
.v
);
2679 v3_zero( s
->state
.cog_v
);
2680 v4_copy( rp
->q
, player
->rb
.q
);
2682 s
->state
.activity
= k_skate_activity_air
;
2683 s
->state
.activity_prev
= k_skate_activity_air
;
2685 player__skate_clear_mechanics( player
);
2686 player__skate_reset_animator( player
);
2688 v3_zero( s
->state
.head_position
);
2689 s
->state
.head_position
[1] = 1.8f
;
2692 #endif /* PLAYER_SKATE_C */