6 VG_STATIC
void player__skate_bind( player_instance
*player
)
8 struct player_skate
*s
= &player
->_skate
;
9 struct player_avatar
*av
= player
->playeravatar
;
10 struct skeleton
*sk
= &av
->sk
;
12 rb_update_transform( &player
->rb
);
13 s
->anim_stand
= skeleton_get_anim( sk
, "pose_stand" );
14 s
->anim_highg
= skeleton_get_anim( sk
, "pose_highg" );
15 s
->anim_air
= skeleton_get_anim( sk
, "pose_air" );
16 s
->anim_slide
= skeleton_get_anim( sk
, "pose_slide" );
17 s
->anim_push
= skeleton_get_anim( sk
, "push" );
18 s
->anim_push_reverse
= skeleton_get_anim( sk
, "push_reverse" );
19 s
->anim_ollie
= skeleton_get_anim( sk
, "ollie" );
20 s
->anim_ollie_reverse
= skeleton_get_anim( sk
, "ollie_reverse" );
21 s
->anim_grabs
= skeleton_get_anim( sk
, "grabs" );
25 * Collision detection routines
31 * Does collision detection on a sphere vs world, and applies some smoothing
32 * filters to the manifold afterwards
34 VG_STATIC
int skate_collide_smooth( player_instance
*player
,
35 m4x3f mtx
, rb_sphere
*sphere
,
39 len
= rb_sphere__scene( mtx
, sphere
, NULL
, &world
.rb_geo
.inf
.scene
, man
);
41 for( int i
=0; i
<len
; i
++ )
43 man
[i
].rba
= &player
->rb
;
49 rb_manifold_filter_coplanar( man
, len
, 0.05f
);
53 rb_manifold_filter_backface( man
, len
);
54 rb_manifold_filter_joint_edges( man
, len
, 0.05f
);
55 rb_manifold_filter_pairs( man
, len
, 0.05f
);
57 int new_len
= rb_manifold_apply_filtered( man
, len
);
66 * Gets the closest grindable edge to the player within max_dist
68 VG_STATIC
struct grind_edge
*skate_collect_grind_edge( v3f p0
, v3f p1
,
73 bh_iter_init( 0, &it
);
77 box_init_inf( region
);
78 box_addpt( region
, p0
);
79 box_addpt( region
, p1
);
82 v3_add( (v3f
){ k_r
, k_r
, k_r
}, region
[1], region
[1] );
83 v3_add( (v3f
){-k_r
,-k_r
,-k_r
}, region
[0], region
[0] );
85 float closest
= k_r
*k_r
;
86 struct grind_edge
*closest_edge
= NULL
;
89 while( bh_next( world
.grind_bh
, &it
, region
, &idx
) )
91 struct grind_edge
*edge
= &world
.grind_edges
[ idx
];
97 closest_segment_segment( p0
, p1
, edge
->p0
, edge
->p1
, &s
,&t
, pa
, pb
);
111 VG_STATIC
int skate_grind_collide( player_instance
*player
, rb_ct
*contact
)
114 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[2], 0.5f
, p0
);
115 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[2], -0.5f
, p1
);
116 v3_muladds( p0
, player
->rb
.to_world
[1], 0.08f
, p0
);
117 v3_muladds( p1
, player
->rb
.to_world
[1], 0.08f
, p1
);
119 float const k_r
= 0.25f
;
120 struct grind_edge
*closest_edge
= skate_collect_grind_edge( p0
, p1
,
126 v3_sub( c1
, c0
, delta
);
128 if( v3_dot( delta
, player
->rb
.to_world
[1] ) > 0.0001f
)
130 contact
->p
= v3_length( delta
);
131 contact
->type
= k_contact_type_edge
;
132 contact
->element_id
= 0;
133 v3_copy( c1
, contact
->co
);
137 v3f edge_dir
, axis_dir
;
138 v3_sub( closest_edge
->p1
, closest_edge
->p0
, edge_dir
);
139 v3_normalize( edge_dir
);
140 v3_cross( (v3f
){0.0f
,1.0f
,0.0f
}, edge_dir
, axis_dir
);
141 v3_cross( edge_dir
, axis_dir
, contact
->n
);
152 VG_STATIC
int skate_grind_scansq( player_instance
*player
, v3f ra
)
155 m4x3_mulv( player
->rb
.to_world
, ra
, pos
);
158 v3_copy( player
->rb
.to_world
[2], plane
);
159 v3_normalize( plane
);
160 plane
[3] = v3_dot( plane
, pos
);
164 v3_add( pos
, (v3f
){ r
, r
, r
}, box
[1] );
165 v3_sub( pos
, (v3f
){ r
, r
, r
}, box
[0] );
168 vg_line_boxf( box
, VG__BLUE
);
172 m3x3_copy( player
->rb
.to_world
, mtx
);
173 v3_copy( pos
, mtx
[3] );
176 debug_sphere( mtx
, r
, VG__CYAN
);
180 bh_iter_init( 0, &it
);
192 int sample_count
= 0;
198 v3_cross( plane
, (v3f
){0.0f
,1.0f
,0.0f
}, support_axis
);
199 v3_normalize( support_axis
);
201 while( bh_next( world
.geo_bh
, &it
, box
, &idx
) )
203 u32
*ptri
= &world
.scene_geo
->arrindices
[ idx
*3 ];
206 for( int j
=0; j
<3; j
++ )
207 v3_copy( world
.scene_geo
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
209 for( int j
=0; j
<3; j
++ )
214 struct grind_sample
*sample
= &samples
[ sample_count
];
217 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) )
220 v3_sub( co
, pos
, d
);
221 if( v3_length2( d
) > r
*r
)
225 v3_sub( tri
[1], tri
[0], va
);
226 v3_sub( tri
[2], tri
[0], vb
);
227 v3_cross( va
, vb
, normal
);
229 sample
->normal
[0] = v3_dot( support_axis
, normal
);
230 sample
->normal
[1] = normal
[1];
231 sample
->co
[0] = v3_dot( support_axis
, d
);
232 sample
->co
[1] = d
[1];
234 v3_copy( normal
, sample
->normal3
); /* normalize later
235 if we want to us it */
237 v3_muls( tri
[0], 1.0f
/3.0f
, sample
->centroid
);
238 v3_muladds( sample
->centroid
, tri
[1], 1.0f
/3.0f
, sample
->centroid
);
239 v3_muladds( sample
->centroid
, tri
[2], 1.0f
/3.0f
, sample
->centroid
);
241 v2_normalize( sample
->normal
);
244 if( sample_count
== vg_list_size( samples
) )
252 if( sample_count
< 2 )
255 v3f average_position
,
258 v3_zero( average_position
);
259 v3_zero( average_direction
);
261 int passed_samples
= 0;
263 for( int i
=0; i
<sample_count
-1; i
++ )
265 struct grind_sample
*si
, *sj
;
269 for( int j
=i
+1; j
<sample_count
; j
++ )
276 /* non overlapping */
277 if( v2_dist2( si
->co
, sj
->co
) >= (0.01f
*0.01f
) )
280 /* not sharp angle */
281 if( v2_dot( si
->normal
, sj
->normal
) >= 0.7f
)
286 v3_sub( sj
->centroid
, si
->centroid
, v0
);
287 if( v3_dot( v0
, si
->normal3
) >= 0.0f
||
288 v3_dot( v0
, sj
->normal3
) <= 0.0f
)
292 v3_muls( support_axis
, sj
->co
[0], p0
);
295 v3_add( average_position
, p0
, average_position
);
298 v3_copy( si
->normal3
, n0
);
299 v3_copy( sj
->normal3
, n1
);
300 v3_cross( n0
, n1
, dir
);
303 /* make sure the directions all face a common hemisphere */
304 v3_muls( dir
, vg_signf(v3_dot(dir
,plane
)), dir
);
306 v3_add( average_direction
, dir
, average_direction
);
311 if( !passed_samples
)
314 float div
= 1.0f
/(float)passed_samples
;
315 v3_muls( average_position
, div
, average_position
);
316 v3_muls( average_direction
, div
, average_direction
); /* !! not normed */
318 v3_add( pos
, average_position
, average_position
);
319 vg_line_pt3( average_position
, 0.02f
, VG__GREEN
);
322 v3_muladds( average_position
, average_direction
, 0.35f
, p0
);
323 v3_muladds( average_position
, average_direction
, -0.35f
, p1
);
324 vg_line( p0
, p1
, VG__PINK
);
329 v3f displacement
, dir
;
330 v3_sub( pos
, average_position
, displacement
);
331 v3_copy( displacement
, dir
);
335 q_mulv( player
->rb
.q
, ra
, raW
);
337 v3_cross( player
->rb
.w
, raW
, rv
);
338 v3_add( player
->rb
.v
, rv
, rv
);
340 v3_muladds( rv
, player
->rb
.to_world
[2],
341 -v3_dot( rv
, player
->rb
.to_world
[2] ), rv
);
344 v3_muls( displacement
, -k_grind_spring
, Fs
);
345 v3_muls( rv
, -k_grind_dampener
, Fd
);
348 v3_muls( F
, k_rb_delta
, F
);
350 v3_add( player
->rb
.v
, F
, player
->rb
.v
);
352 v3_cross( raW
, F
, wa
);
353 v3_add( player
->rb
.w
, wa
, player
->rb
.w
);
355 /* Constraint based */
359 return passed_samples
;
370 * Trace a path given a velocity rotation.
372 * TODO: this MIGHT be worth doing RK4 on the gravity field.
374 VG_STATIC
void skate_score_biased_path( v3f co
, v3f v
, m3x3f vr
,
375 struct land_prediction
*prediction
)
377 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
378 float k_bias
= 0.96f
;
382 v3_muls( v
, k_bias
, pv
);
384 m3x3_mulv( vr
, pv
, pv
);
385 v3_muladds( pco
, pv
, pstep
, pco
);
387 struct grind_edge
*best_grind
= NULL
;
388 float closest_grind
= INFINITY
;
390 float grind_score
= INFINITY
,
391 air_score
= INFINITY
,
392 time_to_impact
= 0.0f
;
394 prediction
->log_length
= 0;
395 v3_copy( pco
, prediction
->apex
);
397 for( int i
=0; i
<vg_list_size(prediction
->log
); i
++ )
399 v3_copy( pco
, pco1
);
401 pv
[1] += -k_gravity
* pstep
;
403 m3x3_mulv( vr
, pv
, pv
);
404 v3_muladds( pco
, pv
, pstep
, pco
);
406 if( pco
[1] > prediction
->apex
[1] )
407 v3_copy( pco
, prediction
->apex
);
411 v3_sub( pco
, pco1
, vdir
);
413 float l
= v3_length( vdir
);
414 v3_muls( vdir
, 1.0f
/l
, vdir
);
417 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
420 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
422 float d2
= v3_dist2( c0
, c1
);
423 if( d2
< closest_grind
)
427 grind_score
= closest_grind
* 0.05f
;
434 int idx
= spherecast_world( pco1
, pco
, 0.4f
, &t1
, n1
);
437 v3_copy( n1
, prediction
->n
);
438 air_score
= -v3_dot( pv
, n1
);
440 u32 vert_index
= world
.scene_geo
->arrindices
[ idx
*3 ];
441 struct world_material
*mat
= world_tri_index_material( vert_index
);
443 /* Bias prediction towords ramps */
444 if( mat
->info
.flags
& k_material_flag_skate_surface
)
447 v3_lerp( pco1
, pco
, t1
, prediction
->log
[ prediction
->log_length
++ ] );
448 time_to_impact
+= t1
* pstep
;
452 time_to_impact
+= pstep
;
453 v3_copy( pco
, prediction
->log
[ prediction
->log_length
++ ] );
456 if( grind_score
< air_score
)
458 prediction
->score
= grind_score
;
459 prediction
->type
= k_prediction_grind
;
461 else if( air_score
< INFINITY
)
463 prediction
->score
= air_score
;
464 prediction
->type
= k_prediction_land
;
468 prediction
->score
= INFINITY
;
469 prediction
->type
= k_prediction_none
;
472 prediction
->land_dist
= time_to_impact
;
476 void player__approximate_best_trajectory( player_instance
*player
)
478 struct player_skate
*s
= &player
->_skate
;
480 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
481 float best_velocity_delta
= -9999.9f
;
484 v3_cross( player
->rb
.to_world
[1], player
->rb
.v
, axis
);
485 v3_normalize( axis
);
487 s
->prediction_count
= 0;
488 m3x3_identity( s
->state
.velocity_bias
);
490 float best_vmod
= 0.0f
,
491 min_score
= INFINITY
,
492 max_score
= -INFINITY
;
494 v3_zero( s
->state
.apex
);
498 * Search a broad selection of futures
500 for( int m
=-3;m
<=12; m
++ )
502 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
504 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
509 q_axis_angle( bias_q
, axis
, vmod
);
510 q_m3x3( bias_q
, bias
);
512 skate_score_biased_path( player
->rb
.co
, player
->rb
.v
, bias
, p
);
514 if( p
->type
!= k_prediction_none
)
516 if( p
->score
< min_score
)
518 min_score
= p
->score
;
520 s
->land_dist
= p
->land_dist
;
521 v3_copy( p
->apex
, s
->state
.apex
);
524 if( p
->score
> max_score
)
525 max_score
= p
->score
;
530 q_axis_angle( vr_q
, axis
, best_vmod
*0.1f
);
531 q_m3x3( vr_q
, s
->state
.velocity_bias
);
533 q_axis_angle( vr_q
, axis
, best_vmod
);
534 q_m3x3( vr_q
, s
->state
.velocity_bias_pstep
);
539 for( int i
=0; i
<s
->prediction_count
; i
++ )
541 struct land_prediction
*p
= &s
->predictions
[i
];
547 vg_error( "negative score! (%f)\n", l
);
551 l
/= (max_score
-min_score
);
557 p
->colour
|= 0xff000000;
561 v2f steer
= { player
->input_js1h
->axis
.value
,
562 player
->input_js1v
->axis
.value
};
563 v2_normalize_clamp( steer
);
565 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.0f
) )
567 s
->state
.flip_rate
= (1.0f
/s
->land_dist
) * vg_signf(steer
[1]) *
569 s
->state
.flip_time
= 0.0f
;
570 v3_copy( player
->rb
.to_world
[0], s
->state
.flip_axis
);
574 s
->state
.flip_rate
= 0.0f
;
575 v3_zero( s
->state
.flip_axis
);
581 * Varius physics models
582 * ------------------------------------------------
585 VG_STATIC
void skate_apply_grind_model( player_instance
*player
,
586 rb_ct
*manifold
, int len
)
588 struct player_skate
*s
= &player
->_skate
;
590 /* FIXME: Queue audio events instead */
593 if( s
->state
.activity
== k_skate_activity_grind
)
597 audio_player_set_flags( &audio_player_extra
,
598 AUDIO_FLAG_SPACIAL_3D
);
599 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
600 audio_player_set_vol( &audio_player_extra
, 20.0f
);
601 audio_player_playclip( &audio_player_extra
, &audio_board
[6] );
605 s
->state
.activity
= k_skate_activity_air
;
610 v2f steer
= { player
->input_js1h
->axis
.value
,
611 player
->input_js1v
->axis
.value
};
612 v2_normalize_clamp( steer
);
615 s
->state
.steery
-= steer
[0] * k_steer_air
* k_rb_delta
;
616 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
* k_rb_delta
;
621 q_axis_angle( rotate
, player
->rb
.to_world
[0], siX
);
622 q_mul( rotate
, player
.rb
.q
, player
.rb
.q
);
625 s
->state
.slip
= 0.0f
;
626 s
->state
.activity
= k_skate_activity_grind
;
628 /* TODO: Compression */
629 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
630 float angle
= v3_dot( player
->rb
.to_world
[1], up
);
632 if( fabsf(angle
) < 0.99f
)
635 v3_cross( player
->rb
.to_world
[1], up
, axis
);
638 q_axis_angle( correction
, axis
, k_rb_delta
* 10.0f
* acosf(angle
) );
639 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
642 float const DOWNFORCE
= -k_downforce
*1.2f
*VG_TIMESTEP_FIXED
;
643 v3_muladds( player
->rb
.v
, manifold
->n
, DOWNFORCE
, player
->rb
.v
);
644 m3x3_identity( s
->state
.velocity_bias
);
645 m3x3_identity( s
->state
.velocity_bias_pstep
);
647 if( s
->state
.activity_prev
!= k_skate_activity_grind
)
649 /* FIXME: Queue audio events instead */
652 audio_player_set_flags( &audio_player_extra
,
653 AUDIO_FLAG_SPACIAL_3D
);
654 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
655 audio_player_set_vol( &audio_player_extra
, 20.0f
);
656 audio_player_playclip( &audio_player_extra
, &audio_board
[5] );
663 * Air control, no real physics
665 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
667 struct player_skate
*s
= &player
->_skate
;
669 if( s
->state
.activity
!= k_skate_activity_air
)
672 if( s
->state
.activity_prev
!= k_skate_activity_air
)
673 player__approximate_best_trajectory( player
);
675 m3x3_mulv( s
->state
.velocity_bias
, player
->rb
.v
, player
->rb
.v
);
681 float pstep
= VG_TIMESTEP_FIXED
* 1.0f
;
682 float k_bias
= 0.98f
;
685 v3_copy( player
->rb
.co
, pco
);
686 v3_muls( player
->rb
.v
, 1.0f
, pv
);
688 float time_to_impact
= 0.0f
;
689 float limiter
= 1.0f
;
691 struct grind_edge
*best_grind
= NULL
;
692 float closest_grind
= INFINITY
;
694 v3f target_normal
= { 0.0f
, 1.0f
, 0.0f
};
697 for( int i
=0; i
<250; i
++ )
699 v3_copy( pco
, pco1
);
700 m3x3_mulv( s
->state
.velocity_bias
, pv
, pv
);
702 pv
[1] += -k_gravity
* pstep
;
703 v3_muladds( pco
, pv
, pstep
, pco
);
708 v3_sub( pco
, pco1
, vdir
);
709 contact
.dist
= v3_length( vdir
);
710 v3_divs( vdir
, contact
.dist
, vdir
);
713 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
716 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
718 vg_line( ge
->p0
, ge
->p1
, 0xff0000ff );
719 vg_line_cross( pco
, 0xff0000ff, 0.25f
);
724 float orig_dist
= contact
.dist
;
725 if( ray_world( pco1
, vdir
, &contact
) )
727 v3_copy( contact
.normal
, target_normal
);
729 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
730 vg_line_cross( contact
.pos
, 0xffff0000, 0.25f
);
733 time_to_impact
+= pstep
;
738 float angle
= v3_dot( player
->rb
.to_world
[1], target_normal
);
740 v3_cross( player
->rb
.to_world
[1], target_normal
, axis
);
742 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
743 limiter
= 1.0f
-limiter
;
745 limiter
= 1.0f
-limiter
;
747 if( fabsf(angle
) < 0.9999f
)
750 q_axis_angle( correction
, axis
,
751 acosf(angle
)*(1.0f
-limiter
)*2.0f
*VG_TIMESTEP_FIXED
);
752 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
756 v2f steer
= { player
->input_js1h
->axis
.value
,
757 player
->input_js1v
->axis
.value
};
758 v2_normalize_clamp( steer
);
761 s
->state
.steery
-= steer
[0] * k_steer_air
* VG_TIMESTEP_FIXED
;
762 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
763 * limiter
* k_rb_delta
;
765 s
->land_dist
= time_to_impact
;
766 v3_copy( target_normal
, s
->land_normal
);
769 VG_STATIC
void skate_get_board_points( player_instance
*player
,
770 v3f front
, v3f back
)
772 v3f pos_front
= {0.0f
,0.0f
,-k_board_length
},
773 pos_back
= {0.0f
,0.0f
, k_board_length
};
775 m4x3_mulv( player
->rb
.to_world
, pos_front
, front
);
776 m4x3_mulv( player
->rb
.to_world
, pos_back
, back
);
780 * Casts and pushes a sphere-spring model into the world
782 VG_STATIC
int skate_simulate_spring( player_instance
*player
,
785 struct player_skate
*s
= &player
->_skate
;
787 float mod
= 0.7f
* player
->input_grab
->axis
.value
+ 0.3f
,
788 spring_k
= mod
* k_spring_force
,
789 damp_k
= mod
* k_spring_dampener
,
793 v3_copy( pos
, start
);
794 v3_muladds( pos
, player
->rb
.to_world
[1], -disp_k
, end
);
798 int hit_info
= spherecast_world( start
, end
, 0.2f
, &t
, n
);
803 v3_sub( start
, player
->rb
.co
, delta
);
805 float displacement
= vg_clampf( 1.0f
-t
, 0.0f
, 1.0f
),
807 vg_maxf( 0.0f
, v3_dot( player
->rb
.to_world
[1], player
->rb
.v
) );
809 v3_muls( player
->rb
.to_world
[1], displacement
*spring_k
*k_rb_delta
-
810 damp
*damp_k
*k_rb_delta
, F
);
812 v3_muladds( player
->rb
.v
, F
, 1.0f
, player
->rb
.v
);
814 /* Angular velocity */
816 v3_cross( delta
, F
, wa
);
817 v3_muladds( player
->rb
.w
, wa
, k_spring_angular
, player
->rb
.w
);
819 v3_lerp( start
, end
, t
, pos
);
831 * Handles connection between the player and the ground
833 * TODO: Must save original velocity to use here
835 VG_STATIC
void skate_apply_interface_model( player_instance
*player
,
836 rb_ct
*manifold
, int len
)
838 struct player_skate
*s
= &player
->_skate
;
840 if( !((s
->state
.activity
== k_skate_activity_ground
) ||
841 (s
->state
.activity
== k_skate_activity_air
)) )
844 if( s
->state
.activity
== k_skate_activity_air
)
845 s
->debug_normal_pressure
= 0.0f
;
847 s
->debug_normal_pressure
= v3_dot( player
->rb
.to_world
[1], player
->rb
.v
);
850 v3f spring0
, spring1
;
852 skate_get_board_points( player
, spring1
, spring0
);
853 int spring_hit0
= 0, //skate_simulate_spring( player, s, spring0 ),
854 spring_hit1
= 0; //skate_simulate_spring( player, s, spring1 );
856 v3f animavg
, animdelta
;
857 v3_add( spring0
, spring1
, animavg
);
858 v3_muls( animavg
, 0.5f
, animavg
);
860 v3_sub( spring1
, spring0
, animdelta
);
861 v3_normalize( animdelta
);
863 m4x3_mulv( player
->rb
.to_local
, animavg
, s
->board_offset
);
865 float dx
= -v3_dot( animdelta
, player
->rb
.to_world
[2] ),
866 dy
= v3_dot( animdelta
, player
->rb
.to_world
[1] );
868 float angle
= -atan2f( dy
, dx
);
869 q_axis_angle( s
->board_rotation
, (v3f
){1.0f
,0.0f
,0.0f
}, angle
);
871 int lift_frames_limit
= 6;
873 /* Surface connection */
874 if( len
== 0 && !(spring_hit0
&& spring_hit1
) )
876 s
->state
.lift_frames
++;
878 if( s
->state
.lift_frames
>= lift_frames_limit
)
879 s
->state
.activity
= k_skate_activity_air
;
884 v3_zero( surface_avg
);
886 for( int i
=0; i
<len
; i
++ )
887 v3_add( surface_avg
, manifold
[i
].n
, surface_avg
);
888 v3_normalize( surface_avg
);
890 if( v3_dot( player
->rb
.v
, surface_avg
) > 0.7f
)
892 s
->state
.lift_frames
++;
894 if( s
->state
.lift_frames
>= lift_frames_limit
)
895 s
->state
.activity
= k_skate_activity_air
;
899 s
->state
.activity
= k_skate_activity_ground
;
900 s
->state
.lift_frames
= 0;
903 if( s
->state
.activity_prev
== k_skate_activity_air
)
905 player
->cam_land_punch_v
+= v3_dot( player
->rb
.v
, surface_avg
) *
909 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
910 v3_muladds( player
->rb
.v
, player
->rb
.to_world
[1],
911 DOWNFORCE
, player
->rb
.v
);
913 float d
= v3_dot( player
->rb
.to_world
[2], surface_avg
);
914 v3_muladds( surface_avg
, player
->rb
.to_world
[2], -d
, projected
);
915 v3_normalize( projected
);
917 float angle
= v3_dot( player
->rb
.to_world
[1], projected
);
918 v3_cross( player
->rb
.to_world
[1], projected
, axis
);
921 if( fabsf(angle
) < 0.9999f
)
924 q_axis_angle( correction
, axis
,
925 acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
926 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
933 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
934 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
936 struct player_skate
*s
= &player
->_skate
;
939 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
941 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
942 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
944 v3_mul( strength
, F
, F
);
946 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
947 s
->board_trick_residualv
);
948 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
949 k_rb_delta
, s
->board_trick_residuald
);
951 if( s
->state
.activity
== k_skate_activity_air
)
953 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
956 int carry_on
= player_skate_trick_input( player
);
958 /* we assume velocities share a common divisor, in which case the
959 * interval is the minimum value (if not zero) */
961 float min_rate
= 99999.0f
;
963 for( int i
=0; i
<3; i
++ )
965 float v
= s
->state
.trick_vel
[i
];
966 if( (v
> 0.0f
) && (v
< min_rate
) )
970 float interval
= 1.0f
/ min_rate
,
971 current
= floorf( s
->state
.trick_time
/ interval
),
972 next_end
= (current
+1.0f
) * interval
;
975 /* integrate trick velocities */
976 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
977 s
->state
.trick_euler
);
979 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) )
981 s
->state
.trick_time
= 0.0f
;
982 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
983 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
984 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
985 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
986 v3_zero( s
->state
.trick_vel
);
989 s
->state
.trick_time
+= k_rb_delta
;
993 if( (s
->state
.lift_frames
== 0)
994 && (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
995 s
->state
.trick_time
> 0.2f
)
997 player__dead_transition( player
);
1000 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
1001 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
1002 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
1003 s
->state
.trick_time
= 0.0f
;
1004 v3_zero( s
->state
.trick_vel
);
1008 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
1010 struct player_skate
*s
= &player
->_skate
;
1012 float grabt
= player
->input_grab
->axis
.value
;
1016 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
1017 s
->state
.grab_mouse_delta
);
1019 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
1022 v2_zero( s
->state
.grab_mouse_delta
);
1024 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
1028 * Computes friction and surface interface model
1030 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
1032 struct player_skate
*s
= &player
->_skate
;
1034 if( s
->state
.activity
!= k_skate_activity_ground
)
1038 * Computing localized friction forces for controlling the character
1039 * Friction across X is significantly more than Z
1043 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
1046 if( fabsf(vel
[2]) > 0.01f
)
1047 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
1049 if( fabsf( slip
) > 1.2f
)
1050 slip
= vg_signf( slip
) * 1.2f
;
1052 s
->state
.slip
= slip
;
1053 s
->state
.reverse
= -vg_signf(vel
[2]);
1055 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
1056 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
1058 /* Pushing additive force */
1060 if( !player
->input_jump
->button
.value
)
1062 if( player
->input_push
->button
.value
)
1064 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
1065 s
->state
.start_push
= vg
.time
;
1067 s
->state
.cur_push
= vg
.time
;
1069 double push_time
= vg
.time
- s
->state
.start_push
;
1071 float cycle_time
= push_time
*k_push_cycle_rate
,
1072 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
1073 amt
= accel
* VG_TIMESTEP_FIXED
,
1074 current
= v3_length( vel
),
1075 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
1076 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
1078 vel
[2] += delta
* -s
->state
.reverse
;
1082 /* Send back to velocity */
1083 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
1086 float input
= player
->input_js1h
->axis
.value
,
1087 grab
= player
->input_grab
->axis
.value
,
1088 steer
= input
* (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
),
1089 steer_scaled
= vg_signf(steer
) * powf(steer
,2.0f
) * k_steer_ground
;
1092 v3_muls( player
->rb
.to_world
[1], -vg_signf( steer_scaled
), steer_axis
);
1094 float current
= v3_dot( player
->rb
.to_world
[1], player
->rb
.w
),
1095 addspeed
= (steer_scaled
* -1.0f
) - current
,
1096 maxaccel
= 26.0f
* k_rb_delta
,
1097 accel
= vg_clampf( addspeed
, -maxaccel
, maxaccel
);
1099 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], accel
, player
->rb
.w
);
1103 player_accelerate( player
->rb
.w
, steer_axis
,
1104 fabsf(steer_scaled
) * 1.0f
, 30.0f
);
1106 //s->state.steery -= steer_scaled * k_rb_delta;
1110 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
1112 struct player_skate
*s
= &player
->_skate
;
1113 int charging_jump_prev
= s
->state
.charging_jump
;
1114 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
1116 /* Cannot charge this in air */
1117 if( s
->state
.activity
!= k_skate_activity_ground
)
1118 s
->state
.charging_jump
= 0;
1120 if( s
->state
.charging_jump
)
1122 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
1124 if( !charging_jump_prev
)
1125 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
1129 s
->state
.jump_charge
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
1132 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
1134 if( s
->state
.activity
== k_skate_activity_air
)
1137 /* player let go after charging past 0.2: trigger jump */
1138 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
1142 /* Launch more up if alignment is up else improve velocity */
1143 float aup
= v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, player
->rb
.to_world
[1] ),
1145 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
1147 v3_copy( player
->rb
.v
, jumpdir
);
1148 v3_normalize( jumpdir
);
1149 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
1150 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
1151 v3_normalize( jumpdir
);
1153 float force
= k_jump_force
*s
->state
.jump_charge
;
1154 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
1155 s
->state
.jump_charge
= 0.0f
;
1156 s
->state
.jump_time
= vg
.time
;
1158 v2f steer
= { player
->input_js1h
->axis
.value
,
1159 player
->input_js1v
->axis
.value
};
1160 v2_normalize_clamp( steer
);
1163 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
1164 s
->state
.steery_s
= -steer
[0] * maxspin
;
1165 s
->state
.steerx
= s
->state
.steerx_s
;
1167 s
->state
.lift_frames
++;
1169 /* FIXME audio events */
1172 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
1173 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
1174 audio_player_set_vol( &audio_player_extra
, 20.0f
);
1175 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
1181 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
1183 struct player_skate
*s
= &player
->_skate
;
1185 /* Throw / collect routine
1187 * TODO: Max speed boost
1189 if( player
->input_grab
->axis
.value
> 0.5f
)
1191 if( s
->state
.activity
== k_skate_activity_ground
)
1194 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
1200 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
1203 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
1205 if( s
->state
.activity
== k_skate_activity_ground
)
1207 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
1208 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
1211 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
1212 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
1213 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
1217 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
1220 v3_copy( s
->state
.throw_v
, dir
);
1221 v3_normalize( dir
);
1223 float max
= v3_dot( dir
, s
->state
.throw_v
),
1224 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
1225 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
1229 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
1231 struct player_skate
*s
= &player
->_skate
;
1233 v3f ideal_cog
, ideal_diff
;
1234 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1],
1235 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
1236 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
1238 /* Apply velocities */
1240 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
1243 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
1244 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
1246 float ra
= k_cog_mass_ratio
,
1247 rb
= 1.0f
-k_cog_mass_ratio
;
1249 /* Apply forces & intergrate */
1250 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
1251 s
->state
.cog_v
[1] += -9.8f
* k_rb_delta
;
1252 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
1255 VG_STATIC
void skate_collision_response( player_instance
*player
,
1256 rb_ct
*manifold
, int len
)
1258 struct player_skate
*s
= &player
->_skate
;
1260 for( int j
=0; j
<10; j
++ )
1262 for( int i
=0; i
<len
; i
++ )
1264 struct contact
*ct
= &manifold
[i
];
1267 v3_sub( ct
->co
, player
->rb
.co
, delta
);
1268 v3_cross( player
->rb
.w
, delta
, rv
);
1269 v3_add( player
->rb
.v
, rv
, rv
);
1272 v3_cross( delta
, ct
->n
, raCn
);
1274 float normal_mass
= 1.0f
/ (1.0f
+ v3_dot(raCn
,raCn
));
1275 float vn
= v3_dot( rv
, ct
->n
);
1276 float lambda
= normal_mass
* ( -vn
+ ct
->bias
);
1278 float temp
= ct
->norm_impulse
;
1279 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
1280 lambda
= ct
->norm_impulse
- temp
;
1283 v3_muls( ct
->n
, lambda
, impulse
);
1285 if( fabsf(v3_dot( impulse
, player
->rb
.to_world
[2] )) > 10.0f
||
1286 fabsf(v3_dot( impulse
, player
->rb
.to_world
[1] )) > 50.0f
)
1288 player__dead_transition( player
);
1292 v3_add( impulse
, player
->rb
.v
, player
->rb
.v
);
1293 v3_cross( delta
, impulse
, impulse
);
1296 * W Impulses are limited to the Y and X axises, we don't really want
1297 * roll angular velocities being included.
1299 * Can also tweak the resistance of each axis here by scaling the wx,wy
1303 float wy
= v3_dot( player
->rb
.to_world
[1], impulse
) * 1.0f
,
1304 wx
= v3_dot( player
->rb
.to_world
[0], impulse
) * 1.0f
,
1305 wz
= v3_dot( player
->rb
.to_world
[2], impulse
) * 1.0f
;
1307 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
1308 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[0], wx
, player
->rb
.w
);
1309 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
1312 v3_cross( player
->rb
.w
, delta
, rv
);
1313 v3_add( player
->rb
.v
, rv
, rv
);
1314 vn
= v3_dot( rv
, ct
->n
);
1319 VG_STATIC
void skate_integrate( player_instance
*player
)
1321 struct player_skate
*s
= &player
->_skate
;
1323 /* integrate rigidbody velocities */
1325 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1326 v3_muladds( player
->rb
.v
, gravity
, k_rb_delta
, player
->rb
.v
);
1327 v3_muladds( player
->rb
.co
, player
->rb
.v
, k_rb_delta
, player
->rb
.co
);
1330 float decay_rate
= 1.0f
- (k_rb_delta
* 3.0f
);
1333 if( s
->state
.activity
== k_skate_activity_air
)
1335 float dist
= 1.0f
-(s
->land_dist
/4.0f
);
1336 decay_rate
= 0.5f
* vg_maxf( dist
*dist
, 0.0f
);
1340 float wx
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[0] ) * decay_rate
,
1341 wy
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[1] ),
1342 wz
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[2] ) * decay_rate
;
1344 v3_muls( player
->rb
.to_world
[0], wx
, player
->rb
.w
);
1345 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
1346 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
1349 if( v3_length2( player
->rb
.w
) > 0.0f
)
1353 v3_copy( player
->rb
.w
, axis
);
1355 float mag
= v3_length( axis
);
1356 v3_divs( axis
, mag
, axis
);
1357 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
1358 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1362 /* integrate steering velocities */
1365 float l
= (s
->state
.activity
== k_skate_activity_air
)? 0.04f
: 0.24f
;
1367 s
->state
.steery_s
= vg_lerpf( s
->state
.steery_s
, s
->state
.steery
, l
);
1368 s
->state
.steerx_s
= vg_lerpf( s
->state
.steerx_s
, s
->state
.steerx
, l
);
1370 q_axis_angle( rotate
, player
->rb
.to_world
[1], s
->state
.steery_s
);
1371 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1373 q_axis_angle( rotate
, player
->rb
.to_world
[0], s
->state
.steerx_s
);
1374 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1376 s
->state
.steerx
= 0.0f
;
1377 s
->state
.steery
= 0.0f
;
1380 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
1381 rb_update_transform( &player
->rb
);
1388 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
1390 return (player
->input_trick0
->button
.value
) |
1391 (player
->input_trick1
->button
.value
<< 1) |
1392 (player
->input_trick2
->button
.value
<< 1) |
1393 (player
->input_trick2
->button
.value
);
1396 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
1398 struct player_skate
*s
= &player
->_skate
;
1400 if( vg_input_button_down( player
->input_use
) )
1402 player
->subsystem
= k_player_subsystem_walk
;
1405 v3_copy( player
->cam
.angles
, angles
);
1408 player__walk_transition( player
, angles
);
1412 if( vg_input_button_down( player
->input_reset
) )
1414 player
->rb
.co
[1] += 2.0f
;
1415 s
->state
.cog
[1] += 2.0f
;
1416 q_axis_angle( player
->rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, VG_PIf
* 0.25f
);
1417 v3_zero( player
->rb
.w
);
1418 v3_zero( player
->rb
.v
);
1420 rb_update_transform( &player
->rb
);
1424 if( (s
->state
.lift_frames
> 0) &&
1425 (trick_id
= player_skate_trick_input( player
)) )
1427 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
)
1429 v3_zero( s
->state
.trick_vel
);
1430 s
->state
.trick_time
= 0.0f
;
1434 s
->state
.trick_vel
[0] = 3.0f
;
1436 else if( trick_id
== 2 )
1438 s
->state
.trick_vel
[2] = 3.0f
;
1440 else if( trick_id
== 3 )
1442 s
->state
.trick_vel
[0] = 2.0f
;
1443 s
->state
.trick_vel
[2] = 2.0f
;
1449 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1451 struct player_skate
*s
= &player
->_skate
;
1452 for( int i
=0; i
<s
->prediction_count
; i
++ )
1454 struct land_prediction
*p
= &s
->predictions
[i
];
1456 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1457 vg_line( p
->log
[j
], p
->log
[j
+1], p
->colour
);
1459 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1462 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1463 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1465 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1468 vg_line_pt3( s
->state
.apex
, 0.200f
, 0xff0000ff );
1469 vg_line_pt3( s
->state
.apex
, 0.201f
, 0xff00ffff );
1472 VG_STATIC
void player__skate_update( player_instance
*player
)
1474 struct player_skate
*s
= &player
->_skate
;
1475 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1476 s
->state
.activity_prev
= s
->state
.activity
;
1478 struct board_collider
1486 enum board_collider_state
1488 k_collider_state_default
,
1489 k_collider_state_disabled
,
1490 k_collider_state_colliding
1497 { 0.0f
, 0.0f
, -k_board_length
},
1503 { 0.0f
, 0.0f
, k_board_length
},
1509 { 0.0f
, k_board_end_radius
, -k_board_length
- k_board_end_radius
},
1510 .radius
= k_board_end_radius
,
1515 { 0.0f
, k_board_end_radius
, k_board_length
+ k_board_end_radius
},
1516 .radius
= k_board_end_radius
,
1522 const int k_wheel_count
= 4;
1524 if( skate_grind_scansq( player
, (v3f
){ 0.0f
, 0.0f
, -k_board_length
} ) )
1527 wheel_states
[0] = 0;
1528 wheel_states
[1] = 0;
1532 if( skate_grind_scansq( player
, (v3f
){ 0.0f
, 0.0f
, k_board_length
} ) )
1535 wheel_states
[2] = 0;
1536 wheel_states
[3] = 0;
1540 s
->substep
= k_rb_delta
;
1541 int substep_count
= 0;
1543 v3f original_velocity
;
1544 v3_muladds( player
->rb
.v
, (v3f
){0.0f
,-k_gravity
,0.0f
},
1545 k_rb_delta
, original_velocity
);
1550 * Phase 0: Continous collision detection
1551 * --------------------------------------------------------------------------
1554 for( int i
=0; i
<k_wheel_count
; i
++ )
1555 wheels
[i
].state
= k_collider_state_default
;
1557 /* calculate transform one step into future */
1560 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
1562 if( v3_length2( player
->rb
.w
) > 0.0f
)
1566 v3_copy( player
->rb
.w
, axis
);
1568 float mag
= v3_length( axis
);
1569 v3_divs( axis
, mag
, axis
);
1570 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
1571 q_mul( rotation
, player
->rb
.q
, future_q
);
1572 q_normalize( future_q
);
1575 /* calculate the minimum time we can move */
1576 float max_time
= s
->substep
;
1578 for( int i
=0; i
<k_wheel_count
; i
++ )
1580 if( wheels
[i
].state
== k_collider_state_disabled
)
1583 v3f current
, future
;
1584 q_mulv( future_q
, wheels
[i
].pos
, future
);
1585 v3_add( future
, future_co
, future
);
1587 q_mulv( player
->rb
.q
, wheels
[i
].pos
, current
);
1588 v3_add( current
, player
->rb
.co
, current
);
1593 float cast_radius
= wheels
[i
].radius
- k_penetration_slop
* 1.2f
;
1594 if( spherecast_world( current
, future
, cast_radius
, &t
, n
) != -1)
1595 max_time
= vg_minf( max_time
, t
* s
->substep
);
1598 /* clamp to a fraction of delta, to prevent locking */
1599 float rate_lock
= substep_count
;
1600 rate_lock
*= k_rb_delta
* 0.1f
;
1601 rate_lock
*= rate_lock
;
1603 max_time
= vg_maxf( max_time
, rate_lock
);
1604 s
->substep_delta
= max_time
;
1607 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
1608 if( v3_length2( player
->rb
.w
) > 0.0f
)
1612 v3_copy( player
->rb
.w
, axis
);
1614 float mag
= v3_length( axis
);
1615 v3_divs( axis
, mag
, axis
);
1616 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
1617 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1620 rb_update_transform( &player
->rb
);
1622 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1623 v3_muladds( player
->rb
.v
, gravity
, s
->substep_delta
, player
->rb
.v
);
1625 s
->substep
-= s
->substep_delta
;
1628 * Phase 1: Regular collision detection
1629 * TODO: Me might want to automatically add contacts from CCD,
1630 * since at high angular velocities, theres a small change
1631 * that discreet detection will miss.
1632 * --------------------------------------------------------------------------
1635 rb_ct manifold
[128];
1637 int manifold_len
= 0;
1639 for( int i
=0; i
<k_wheel_count
; i
++ )
1641 if( wheels
[i
].state
== k_collider_state_disabled
)
1645 m3x3_identity( mtx
);
1646 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
1648 rb_sphere collider
= { .radius
= wheels
[i
].radius
};
1650 rb_ct
*man
= &manifold
[ manifold_len
];
1652 int l
= skate_collide_smooth( player
, mtx
, &collider
, man
);
1654 wheels
[i
].state
= k_collider_state_colliding
;
1656 /* for non-angular contacts we just want Y. contact positions are
1657 * snapped to the local xz plane */
1658 if( !wheels
[i
].apply_angular
)
1660 for( int j
=0; j
<l
; j
++ )
1663 v3_sub( man
[j
].co
, player
->rb
.co
, ra
);
1665 float dy
= v3_dot( player
->rb
.to_world
[1], ra
);
1666 v3_muladds( man
[j
].co
, player
->rb
.to_world
[1], -dy
, man
[j
].co
);
1674 * Phase 2: Truck alignment (spring/dampener model)
1675 * it uses the first two colliders as truck positions
1676 * --------------------------------------------------------------------------
1679 v3f surface_picture
;
1680 v3_zero( surface_picture
);
1682 for( int i
=0; i
<2; i
++ )
1684 v3f truck
, left
, right
;
1685 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, truck
);
1686 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_width
, left
);
1687 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_width
, right
);
1689 vg_line( left
, right
, wheels
[i
].colour
);
1691 v3_muladds( left
, player
->rb
.to_world
[1], 0.1f
, left
);
1692 v3_muladds( right
, player
->rb
.to_world
[1], 0.1f
, right
);
1694 float k_max_truck_flex
= VG_PIf
* 0.25f
;
1696 ray_hit ray_l
, ray_r
;
1701 v3_muls( player
->rb
.to_world
[1], -1.0f
, dir
);
1703 int res_l
= ray_world( left
, dir
, &ray_l
),
1704 res_r
= ray_world( right
, dir
, &ray_r
);
1706 /* ignore bad normals */
1709 if( v3_dot( ray_l
.normal
, player
->rb
.to_world
[1] ) < 0.7071f
)
1712 v3_add( ray_l
.normal
, surface_picture
, surface_picture
);
1717 if( v3_dot( ray_r
.normal
, player
->rb
.to_world
[1] ) < 0.7071f
)
1720 v3_add( ray_l
.normal
, surface_picture
, surface_picture
);
1725 v3_muladds( truck
, player
->rb
.to_world
[1], -wheels
[i
].radius
, midpoint
);
1727 if( res_l
|| res_r
)
1730 v3_copy( midpoint
, p0
);
1731 v3_copy( midpoint
, p1
);
1733 if( res_l
) v3_copy( ray_l
.pos
, p0
);
1734 if( res_r
) v3_copy( ray_r
.pos
, p1
);
1736 v3_sub( p1
, p0
, v0
);
1741 /* fallback: use the closes point to the trucks */
1743 int idx
= bh_closest_point( world
.geo_bh
, midpoint
, closest
, 0.1f
);
1747 u32
*tri
= &world
.scene_geo
->arrindices
[ idx
* 3 ];
1750 for( int j
=0; j
<3; j
++ )
1751 v3_copy( world
.scene_geo
->arrvertices
[ tri
[j
] ].co
, verts
[j
] );
1754 v3_sub( verts
[1], verts
[0], v0
);
1755 v3_sub( verts
[2], verts
[0], v1
);
1756 v3_cross( v0
, v1
, n
);
1759 if( v3_dot( n
, player
->rb
.to_world
[1] ) < 0.7071f
)
1768 float a
= vg_clampf( v3_dot( v0
, player
->rb
.to_world
[0] ), -1.0f
, 1.0f
);
1771 v3_muladds( truck
, v0
, k_board_width
, right
);
1772 v3_muladds( truck
, v0
, -k_board_width
, left
);
1774 vg_line( left
, right
, VG__WHITE
);
1777 v3_cross( v0
, player
->rb
.to_world
[0], axis
);
1779 float Fs
= -a
* k_board_spring
,
1780 Fd
= -v3_dot( player
->rb
.w
, axis
) * k_board_dampener
;
1782 v3_muladds( player
->rb
.w
, axis
, (Fs
+Fd
) * s
->substep_delta
,
1787 * Phase 2a: Manual alignment (spring/dampener model)
1788 * --------------------------------------------------------------------------
1791 v3f weight
, world_cog
;
1794 int reverse_dir
= v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) < 0.0f
?1:-1;
1796 if( s
->state
.manual_direction
== 0 )
1798 if( (player
->input_js1v
->axis
.value
> 0.7f
) &&
1799 s
->state
.activity
== k_skate_activity_ground
)
1800 s
->state
.manual_direction
= reverse_dir
;
1804 if( player
->input_js1v
->axis
.value
< 0.1f
)
1806 s
->state
.manual_direction
= 0;
1810 if( reverse_dir
!= s
->state
.manual_direction
)
1812 player__dead_transition( player
);
1818 if( s
->state
.manual_direction
)
1820 float amt
= vg_minf( player
->input_js1v
->axis
.value
* 8.0f
, 1.0f
);
1821 weight
[2] = k_board_length
* amt
* (float)s
->state
.manual_direction
;
1824 m4x3_mulv( player
->rb
.to_world
, weight
, world_cog
);
1825 vg_line_pt3( world_cog
, 0.1f
, VG__BLACK
);
1827 /* TODO: Fall back on land normal */
1828 /* TODO: Lerp weight distribution */
1830 if( v3_length2( surface_picture
) > 0.001f
&&
1831 v3_length2( weight
) > 0.001f
&&
1832 s
->state
.manual_direction
)
1834 v3_normalize( surface_picture
);
1837 m3x3_mulv( player
->rb
.to_world
, weight
, plane_z
);
1838 v3_negate( plane_z
, plane_z
);
1840 v3_muladds( plane_z
, surface_picture
,
1841 -v3_dot( plane_z
, surface_picture
), plane_z
);
1842 v3_normalize( plane_z
);
1844 v3_muladds( plane_z
, surface_picture
, 0.3f
, plane_z
);
1845 v3_normalize( plane_z
);
1848 v3_muladds( player
->rb
.co
, plane_z
, 1.5f
, p1
);
1849 vg_line( player
->rb
.co
, p1
, VG__GREEN
);
1852 v3_muls( player
->rb
.to_world
[2], -(float)s
->state
.manual_direction
,
1855 float a
= v3_dot( plane_z
, refdir
);
1856 a
= acosf( vg_clampf( a
, -1.0f
, 1.0f
) );
1859 v3_cross( plane_z
, refdir
, axis
);
1861 float Fs
= -a
* k_manul_spring
,
1862 Fd
= -v3_dot( player
->rb
.w
, axis
) * k_manul_dampener
;
1864 v3_muladds( player
->rb
.w
, axis
, (Fs
+Fd
) * s
->substep_delta
,
1870 * --------------------------------------------------------------------------
1873 for( int i
=0; i
<manifold_len
; i
++ )
1874 rb_prepare_contact( &manifold
[i
], s
->substep_delta
);
1876 /* yes, we are currently rebuilding mass matrices every frame. too bad! */
1877 v3f extent
= { k_board_width
, 0.1f
, k_board_length
};
1878 float ex2
= k_board_interia
*extent
[0]*extent
[0],
1879 ey2
= k_board_interia
*extent
[1]*extent
[1],
1880 ez2
= k_board_interia
*extent
[2]*extent
[2];
1882 float mass
= 2.0f
* (extent
[0]*extent
[1]*extent
[2]);
1883 float inv_mass
= 1.0f
/mass
;
1886 I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
1887 I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
1888 I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
1891 m3x3_identity( iI
);
1898 m3x3_mul( iI
, player
->rb
.to_local
, iIw
);
1899 m3x3_mul( player
->rb
.to_world
, iIw
, iIw
);
1901 for( int j
=0; j
<10; j
++ )
1903 for( int i
=0; i
<manifold_len
; i
++ )
1906 * regular dance; calculate velocity & total mass, apply impulse.
1909 struct contact
*ct
= &manifold
[i
];
1912 v3_sub( ct
->co
, world_cog
, delta
);
1913 v3_cross( player
->rb
.w
, delta
, rv
);
1914 v3_add( player
->rb
.v
, rv
, rv
);
1917 v3_cross( delta
, ct
->n
, raCn
);
1920 m3x3_mulv( iIw
, raCn
, raCnI
);
1922 float normal_mass
= 1.0f
/ (inv_mass
+ v3_dot(raCn
,raCnI
)),
1923 vn
= v3_dot( rv
, ct
->n
),
1924 lambda
= normal_mass
* ( -vn
+ ct
->bias
);
1926 float temp
= ct
->norm_impulse
;
1927 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
1928 lambda
= ct
->norm_impulse
- temp
;
1931 v3_muls( ct
->n
, lambda
, impulse
);
1933 v3_muladds( player
->rb
.v
, impulse
, inv_mass
, player
->rb
.v
);
1934 v3_cross( delta
, impulse
, impulse
);
1935 m3x3_mulv( iIw
, impulse
, impulse
);
1936 v3_add( impulse
, player
->rb
.w
, player
->rb
.w
);
1938 v3_cross( player
->rb
.w
, delta
, rv
);
1939 v3_add( player
->rb
.v
, rv
, rv
);
1940 vn
= v3_dot( rv
, ct
->n
);
1946 if( s
->substep
>= 0.0001f
)
1947 goto begin_collision
; /* again! */
1950 * End of collision and dynamics routine
1951 * --------------------------------------------------------------------------
1954 for( int i
=0; i
<k_wheel_count
; i
++ )
1957 m3x3_copy( player
->rb
.to_world
, mtx
);
1958 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
1959 debug_sphere( mtx
, wheels
[i
].radius
,
1960 (u32
[]){ VG__WHITE
, VG__BLACK
,
1961 wheels
[i
].colour
}[ wheels
[i
].state
]);
1964 v3f velocity_change
, p1
;
1965 v3_sub( player
->rb
.v
, original_velocity
, velocity_change
);
1967 v3_normalize( velocity_change
);
1968 v3_muladds( player
->rb
.co
, velocity_change
, 2.0f
, p1
);
1969 vg_line( player
->rb
.co
, p1
, VG__PINK
);
1972 skate_apply_grind_model( player
, &manifold
[manifold_len
], grind_len
);
1975 skate_apply_interface_model( player
, manifold
, manifold_len
);
1977 skate_apply_pump_model( player
);
1978 skate_apply_cog_model( player
);
1980 skate_apply_grab_model( player
);
1981 skate_apply_friction_model( player
);
1982 skate_apply_jump_model( player
);
1983 skate_apply_air_model( player
);
1984 skate_apply_trick_model( player
);
1986 skate_integrate( player
);
1988 vg_line_pt3( s
->state
.cog
, 0.1f
, VG__WHITE
);
1989 vg_line_pt3( s
->state
.cog
, 0.11f
, VG__WHITE
);
1990 vg_line_pt3( s
->state
.cog
, 0.12f
, VG__WHITE
);
1991 vg_line_pt3( s
->state
.cog
, 0.13f
, VG__WHITE
);
1992 vg_line_pt3( s
->state
.cog
, 0.14f
, VG__WHITE
);
1994 vg_line( player
->rb
.co
, s
->state
.cog
, VG__RED
);
1996 teleport_gate
*gate
;
1997 if( (gate
= world_intersect_gates( player
->rb
.co
, s
->state
.prev_pos
)) )
1999 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
2000 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
2001 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
2002 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
2003 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
2005 v4f transport_rotation
;
2006 m3x3_q( gate
->transport
, transport_rotation
);
2007 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
2008 rb_update_transform( &player
->rb
);
2010 s
->state_gate_storage
= s
->state
;
2011 player__pass_gate( player
, gate
);
2015 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
2017 struct player_skate
*s
= &player
->_skate
;
2019 /* FIXME: Compression */
2020 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
2023 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
2026 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
2030 player__debugtext( 1, "activity: %s",
2031 (const char *[]){ "k_skate_activity_air",
2032 "k_skate_activity_ground",
2033 "k_skate_activity_grind }" }
2034 [s
->state
.activity
] );
2036 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
2037 s
->state
.steerx_s
, s
->state
.steery_s
,
2038 k_steer_ground
, k_steer_air
);
2040 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
2041 s
->state
.flip_time
);
2042 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
2043 s
->state
.trick_vel
[0],
2044 s
->state
.trick_vel
[1],
2045 s
->state
.trick_vel
[2] );
2046 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
2047 s
->state
.trick_euler
[0],
2048 s
->state
.trick_euler
[1],
2049 s
->state
.trick_euler
[2] );
2052 VG_STATIC
void player__skate_animate( player_instance
*player
,
2053 player_animation
*dest
)
2055 struct player_skate
*s
= &player
->_skate
;
2056 struct player_avatar
*av
= player
->playeravatar
;
2057 struct skeleton
*sk
= &av
->sk
;
2060 float kheight
= 2.0f
,
2066 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, offset
);
2067 v3_muls( offset
, -4.0f
, offset
);
2069 float curspeed
= v3_length( player
->rb
.v
),
2070 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
2071 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
2072 sign
= vg_signf( kicks
);
2074 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
2075 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
2078 offset
[0] += s
->wobble
[1]*3.0f
;
2083 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
2084 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
2087 * Animation blending
2088 * ===========================================
2093 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
2094 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
2097 /* movement information */
2099 int iair
= (s
->state
.activity
== k_skate_activity_air
) ||
2100 (s
->state
.activity
== k_skate_activity_grind
);
2102 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
2103 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
2104 fly
= iair
? 1.0f
: 0.0f
;
2106 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
2107 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
2108 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
2111 mdl_keyframe apose
[32], bpose
[32];
2112 mdl_keyframe ground_pose
[32];
2114 /* when the player is moving fast he will crouch down a little bit */
2115 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
2116 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
2119 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
2120 stand_blend
= offset
[1]*-2.0f
;
2123 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
2125 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
2127 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
2128 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
2129 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
2132 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
2133 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
2134 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
2137 double push_time
= vg
.time
- s
->state
.start_push
;
2138 s
->blend_push
= vg_lerpf( s
->blend_push
,
2139 (vg
.time
- s
->state
.cur_push
) < 0.125,
2140 6.0f
*vg
.time_delta
);
2142 float pt
= push_time
+ vg
.accumulator
;
2143 if( s
->state
.reverse
> 0.0f
)
2144 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
2146 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
2148 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
2151 float jump_start_frame
= 14.0f
/30.0f
;
2153 float charge
= s
->state
.jump_charge
;
2154 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
2156 float setup_frame
= charge
* jump_start_frame
,
2157 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
2159 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
2160 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
2161 setup_frame
= jump_frame
;
2163 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
2165 s
->anim_ollie_reverse
;
2167 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
2168 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
2171 mdl_keyframe air_pose
[32];
2173 float target
= -player
->input_js1h
->axis
.value
;
2174 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
2176 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
2177 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
2179 static v2f grab_choice
;
2181 v2f grab_input
= { player
->input_js2h
->axis
.value
,
2182 player
->input_js2v
->axis
.value
};
2183 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
2184 if( v2_length2( grab_input
) <= 0.001f
)
2185 grab_input
[0] = -1.0f
;
2187 v2_normalize_clamp( grab_input
);
2188 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
2190 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
2191 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
2192 grab_frame
= ang_unit
* (15.0f
/30.0f
);
2194 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
2195 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
2198 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
2200 float add_grab_mod
= 1.0f
- s
->blend_fly
;
2202 /* additive effects */
2204 u32 apply_to
[] = { av
->id_hip
,
2208 av
->id_ik_elbow_r
};
2210 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2212 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
2213 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
2216 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
2217 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
2218 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1];
2221 v3_muls( s
->board_offset
, add_grab_mod
, bo
);
2223 v3_add( bo
, kf_board
->co
, kf_board
->co
);
2224 v3_add( bo
, kf_foot_l
->co
, kf_foot_l
->co
);
2225 v3_add( bo
, kf_foot_r
->co
, kf_foot_r
->co
);
2229 q_m3x3( s
->board_rotation
, c
);
2234 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
2239 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
2241 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
2242 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
2243 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
2245 q_mul( qpitchr
, qrollr
, qtrickr
);
2246 q_mul( qyawr
, qtrickr
, qtrickr
);
2247 q_mul( s
->board_rotation
, qtrickr
, qtotal
);
2248 q_normalize( qtotal
);
2250 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
2254 v3_sub( kf_foot_l
->co
, bo
, d
);
2255 q_mulv( qtotal
, d
, d
);
2256 v3_add( bo
, d
, kf_foot_l
->co
);
2258 v3_sub( kf_foot_r
->co
, bo
, d
);
2259 q_mulv( qtotal
, d
, d
);
2260 v3_add( bo
, d
, kf_foot_r
->co
);
2262 q_mul( s
->board_rotation
, kf_board
->q
, kf_board
->q
);
2263 q_normalize( kf_board
->q
);
2266 /* trick rotation */
2267 v4f qtrick
, qyaw
, qpitch
, qroll
;
2269 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
2271 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
2272 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
2273 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
2275 q_mul( qpitch
, qroll
, qtrick
);
2276 q_mul( qyaw
, qtrick
, qtrick
);
2277 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
2278 q_normalize( kf_board
->q
);
2282 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
2283 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.1f
, dest
->root_co
);
2285 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
2287 v4f qresy
, qresx
, qresidual
;
2289 q_axis_angle( qresy
, player
->rb
.to_world
[1], s
->state
.steery_s
*substep
);
2290 q_axis_angle( qresx
, player
->rb
.to_world
[0], s
->state
.steerx_s
*substep
);
2292 q_mul( qresy
, qresx
, qresidual
);
2293 q_normalize( qresidual
);
2294 q_mul( dest
->root_q
, qresidual
, dest
->root_q
);
2295 q_normalize( dest
->root_q
);
2299 if( (s
->state
.activity
== k_skate_activity_air
) &&
2300 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
2302 float t
= s
->state
.flip_time
+ s
->state
.flip_rate
*substep
*k_rb_delta
,
2303 angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
2304 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
2305 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
2307 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
2309 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
2310 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
2311 q_normalize( dest
->root_q
);
2313 v3f rotation_point
, rco
;
2314 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
2315 v3_sub( dest
->root_co
, rotation_point
, rco
);
2317 q_mulv( qflip
, rco
, rco
);
2318 v3_add( rco
, rotation_point
, dest
->root_co
);
2322 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
2324 struct player_skate
*s
= &player
->_skate
;
2325 struct player_avatar
*av
= player
->playeravatar
;
2327 player
->cam_velocity_influence
= 1.0f
;
2330 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
2332 struct player_skate
*s
= &player
->_skate
;
2334 if( s
->state
.activity
== k_skate_activity_air
)
2335 s
->blend_fly
= 1.0f
;
2337 s
->blend_fly
= 0.0f
;
2339 s
->blend_slide
= 0.0f
;
2342 s
->blend_stand
= 0.0f
;
2343 s
->blend_push
= 0.0f
;
2344 s
->blend_jump
= 0.0f
;
2345 s
->blend_airdir
= 0.0f
;
2348 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
2350 struct player_skate
*s
= &player
->_skate
;
2351 s
->state
.jump_charge
= 0.0f
;
2352 s
->state
.lift_frames
= 0;
2353 s
->state
.flip_rate
= 0.0f
;
2355 s
->state
.steery
= 0.0f
;
2356 s
->state
.steerx
= 0.0f
;
2357 s
->state
.steery_s
= 0.0f
;
2358 s
->state
.steerx_s
= 0.0f
;
2360 s
->state
.reverse
= 0.0f
;
2361 s
->state
.slip
= 0.0f
;
2362 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
2364 m3x3_identity( s
->state
.velocity_bias
);
2365 m3x3_identity( s
->state
.velocity_bias_pstep
);
2366 v3_zero( s
->state
.throw_v
);
2367 v3_zero( s
->state
.trick_vel
);
2368 v3_zero( s
->state
.trick_euler
);
2371 VG_STATIC
void player__skate_reset( player_instance
*player
,
2372 struct respawn_point
*rp
)
2374 struct player_skate
*s
= &player
->_skate
;
2375 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2376 v3_zero( player
->rb
.v
);
2377 v3_zero( s
->state
.cog_v
);
2378 v4_copy( rp
->q
, player
->rb
.q
);
2380 s
->state
.activity
= k_skate_activity_air
;
2381 s
->state
.activity_prev
= k_skate_activity_air
;
2383 player__skate_clear_mechanics( player
);
2384 player__skate_reset_animator( player
);
2387 #endif /* PLAYER_SKATE_C */