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 pos
,
153 v3f result_co
, v3f result_dir
, v3f result_n
)
156 v3_copy( player
->rb
.v
, plane
);
157 v3_normalize( plane
);
158 plane
[3] = v3_dot( plane
, pos
);
162 v3_add( pos
, (v3f
){ r
, r
, r
}, box
[1] );
163 v3_sub( pos
, (v3f
){ r
, r
, r
}, box
[0] );
166 vg_line_boxf( box
, VG__BLUE
);
170 m3x3_copy( player
->rb
.to_world
, mtx
);
171 v3_copy( pos
, mtx
[3] );
174 debug_sphere( mtx
, r
, VG__CYAN
);
178 bh_iter_init( 0, &it
);
190 int sample_count
= 0;
196 v3_cross( plane
, (v3f
){0.0f
,1.0f
,0.0f
}, support_axis
);
197 v3_normalize( support_axis
);
199 while( bh_next( world
.geo_bh
, &it
, box
, &idx
) )
201 u32
*ptri
= &world
.scene_geo
->arrindices
[ idx
*3 ];
204 for( int j
=0; j
<3; j
++ )
205 v3_copy( world
.scene_geo
->arrvertices
[ptri
[j
]].co
, tri
[j
] );
207 for( int j
=0; j
<3; j
++ )
212 struct grind_sample
*sample
= &samples
[ sample_count
];
215 if( plane_segment( plane
, tri
[i0
], tri
[i1
], co
) )
218 v3_sub( co
, pos
, d
);
219 if( v3_length2( d
) > r
*r
)
223 v3_sub( tri
[1], tri
[0], va
);
224 v3_sub( tri
[2], tri
[0], vb
);
225 v3_cross( va
, vb
, normal
);
227 sample
->normal
[0] = v3_dot( support_axis
, normal
);
228 sample
->normal
[1] = normal
[1];
229 sample
->co
[0] = v3_dot( support_axis
, d
);
230 sample
->co
[1] = d
[1];
232 v3_copy( normal
, sample
->normal3
); /* normalize later
233 if we want to us it */
235 v3_muls( tri
[0], 1.0f
/3.0f
, sample
->centroid
);
236 v3_muladds( sample
->centroid
, tri
[1], 1.0f
/3.0f
, sample
->centroid
);
237 v3_muladds( sample
->centroid
, tri
[2], 1.0f
/3.0f
, sample
->centroid
);
239 v2_normalize( sample
->normal
);
242 if( sample_count
== vg_list_size( samples
) )
250 if( sample_count
< 2 )
253 v3f average_position
,
257 v3_zero( average_position
);
258 v3_zero( average_direction
);
259 v3_zero( average_normal
);
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
);
305 v3_add( average_direction
, dir
, average_direction
);
307 if( si
->normal3
[1] > sj
->normal3
[1] )
308 v3_add( si
->normal3
, average_normal
, average_normal
);
310 v3_add( sj
->normal3
, average_normal
, average_normal
);
316 if( !passed_samples
)
319 if( (v3_length2( average_direction
) <= 0.001f
) ||
320 (v3_length2( average_normal
) <= 0.001f
) )
323 float div
= 1.0f
/(float)passed_samples
;
324 v3_muls( average_position
, div
, average_position
);
325 v3_normalize( average_direction
);
326 v3_normalize( average_normal
);
328 v3_add( pos
, average_position
, average_position
);
329 vg_line_pt3( average_position
, 0.02f
, VG__GREEN
);
332 v3_muladds( average_position
, average_direction
, 0.35f
, p0
);
333 v3_muladds( average_position
, average_direction
, -0.35f
, p1
);
334 vg_line( p0
, p1
, VG__PINK
);
336 v3_copy( average_position
, result_co
);
337 v3_copy( average_normal
, result_n
);
338 v3_copy( average_direction
, result_dir
);
340 return passed_samples
;
351 * Trace a path given a velocity rotation.
353 * TODO: this MIGHT be worth doing RK4 on the gravity field.
355 VG_STATIC
void skate_score_biased_path( v3f co
, v3f v
, m3x3f vr
,
356 struct land_prediction
*prediction
)
358 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
359 float k_bias
= 0.96f
;
363 v3_muls( v
, k_bias
, pv
);
365 m3x3_mulv( vr
, pv
, pv
);
366 v3_muladds( pco
, pv
, pstep
, pco
);
368 struct grind_edge
*best_grind
= NULL
;
369 float closest_grind
= INFINITY
;
371 float grind_score
= INFINITY
,
372 air_score
= INFINITY
,
373 time_to_impact
= 0.0f
;
375 prediction
->log_length
= 0;
376 v3_copy( pco
, prediction
->apex
);
378 for( int i
=0; i
<vg_list_size(prediction
->log
); i
++ )
380 v3_copy( pco
, pco1
);
382 pv
[1] += -k_gravity
* pstep
;
384 m3x3_mulv( vr
, pv
, pv
);
385 v3_muladds( pco
, pv
, pstep
, pco
);
387 if( pco
[1] > prediction
->apex
[1] )
388 v3_copy( pco
, prediction
->apex
);
392 v3_sub( pco
, pco1
, vdir
);
394 float l
= v3_length( vdir
);
395 v3_muls( vdir
, 1.0f
/l
, vdir
);
398 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
401 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
403 float d2
= v3_dist2( c0
, c1
);
404 if( d2
< closest_grind
)
408 grind_score
= closest_grind
* 0.05f
;
415 int idx
= spherecast_world( pco1
, pco
, 0.4f
, &t1
, n1
);
418 v3_copy( n1
, prediction
->n
);
419 air_score
= -v3_dot( pv
, n1
);
421 u32 vert_index
= world
.scene_geo
->arrindices
[ idx
*3 ];
422 struct world_material
*mat
= world_tri_index_material( vert_index
);
424 /* Bias prediction towords ramps */
425 if( mat
->info
.flags
& k_material_flag_skate_surface
)
428 v3_lerp( pco1
, pco
, t1
, prediction
->log
[ prediction
->log_length
++ ] );
429 time_to_impact
+= t1
* pstep
;
433 time_to_impact
+= pstep
;
434 v3_copy( pco
, prediction
->log
[ prediction
->log_length
++ ] );
437 if( grind_score
< air_score
)
439 prediction
->score
= grind_score
;
440 prediction
->type
= k_prediction_grind
;
442 else if( air_score
< INFINITY
)
444 prediction
->score
= air_score
;
445 prediction
->type
= k_prediction_land
;
449 prediction
->score
= INFINITY
;
450 prediction
->type
= k_prediction_none
;
453 prediction
->land_dist
= time_to_impact
;
457 void player__approximate_best_trajectory( player_instance
*player
)
459 struct player_skate
*s
= &player
->_skate
;
461 float pstep
= VG_TIMESTEP_FIXED
* 10.0f
;
462 float best_velocity_delta
= -9999.9f
;
465 v3_cross( player
->rb
.to_world
[1], player
->rb
.v
, axis
);
466 v3_normalize( axis
);
468 s
->prediction_count
= 0;
469 m3x3_identity( s
->state
.velocity_bias
);
471 float best_vmod
= 0.0f
,
472 min_score
= INFINITY
,
473 max_score
= -INFINITY
;
475 v3_zero( s
->state
.apex
);
479 * Search a broad selection of futures
481 for( int m
=-3;m
<=12; m
++ )
483 struct land_prediction
*p
= &s
->predictions
[ s
->prediction_count
++ ];
485 float vmod
= ((float)m
/ 15.0f
)*0.09f
;
490 q_axis_angle( bias_q
, axis
, vmod
);
491 q_m3x3( bias_q
, bias
);
493 skate_score_biased_path( player
->rb
.co
, player
->rb
.v
, bias
, p
);
495 if( p
->type
!= k_prediction_none
)
497 if( p
->score
< min_score
)
499 min_score
= p
->score
;
501 s
->land_dist
= p
->land_dist
;
502 v3_copy( p
->apex
, s
->state
.apex
);
505 if( p
->score
> max_score
)
506 max_score
= p
->score
;
511 q_axis_angle( vr_q
, axis
, best_vmod
*0.1f
);
512 q_m3x3( vr_q
, s
->state
.velocity_bias
);
514 q_axis_angle( vr_q
, axis
, best_vmod
);
515 q_m3x3( vr_q
, s
->state
.velocity_bias_pstep
);
520 for( int i
=0; i
<s
->prediction_count
; i
++ )
522 struct land_prediction
*p
= &s
->predictions
[i
];
528 vg_error( "negative score! (%f)\n", l
);
532 l
/= (max_score
-min_score
);
538 p
->colour
|= 0xff000000;
542 v2f steer
= { player
->input_js1h
->axis
.value
,
543 player
->input_js1v
->axis
.value
};
544 v2_normalize_clamp( steer
);
546 if( (fabsf(steer
[1]) > 0.5f
) && (s
->land_dist
>= 1.0f
) )
548 s
->state
.flip_rate
= (1.0f
/s
->land_dist
) * vg_signf(steer
[1]) *
550 s
->state
.flip_time
= 0.0f
;
551 v3_copy( player
->rb
.to_world
[0], s
->state
.flip_axis
);
555 s
->state
.flip_rate
= 0.0f
;
556 v3_zero( s
->state
.flip_axis
);
562 * Varius physics models
563 * ------------------------------------------------
566 VG_STATIC
void skate_apply_grind_model( player_instance
*player
,
567 rb_ct
*manifold
, int len
)
569 struct player_skate
*s
= &player
->_skate
;
571 /* FIXME: Queue audio events instead */
574 if( s
->state
.activity
== k_skate_activity_grind
)
578 audio_player_set_flags( &audio_player_extra
,
579 AUDIO_FLAG_SPACIAL_3D
);
580 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
581 audio_player_set_vol( &audio_player_extra
, 20.0f
);
582 audio_player_playclip( &audio_player_extra
, &audio_board
[6] );
586 s
->state
.activity
= k_skate_activity_air
;
591 v2f steer
= { player
->input_js1h
->axis
.value
,
592 player
->input_js1v
->axis
.value
};
593 v2_normalize_clamp( steer
);
596 s
->state
.steery
-= steer
[0] * k_steer_air
* k_rb_delta
;
597 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
* k_rb_delta
;
602 q_axis_angle( rotate
, player
->rb
.to_world
[0], siX
);
603 q_mul( rotate
, player
.rb
.q
, player
.rb
.q
);
606 s
->state
.slip
= 0.0f
;
607 s
->state
.activity
= k_skate_activity_grind
;
609 /* TODO: Compression */
610 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
611 float angle
= v3_dot( player
->rb
.to_world
[1], up
);
613 if( fabsf(angle
) < 0.99f
)
616 v3_cross( player
->rb
.to_world
[1], up
, axis
);
619 q_axis_angle( correction
, axis
, k_rb_delta
* 10.0f
* acosf(angle
) );
620 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
623 float const DOWNFORCE
= -k_downforce
*1.2f
*VG_TIMESTEP_FIXED
;
624 v3_muladds( player
->rb
.v
, manifold
->n
, DOWNFORCE
, player
->rb
.v
);
625 m3x3_identity( s
->state
.velocity_bias
);
626 m3x3_identity( s
->state
.velocity_bias_pstep
);
628 if( s
->state
.activity_prev
!= k_skate_activity_grind
)
630 /* FIXME: Queue audio events instead */
633 audio_player_set_flags( &audio_player_extra
,
634 AUDIO_FLAG_SPACIAL_3D
);
635 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
636 audio_player_set_vol( &audio_player_extra
, 20.0f
);
637 audio_player_playclip( &audio_player_extra
, &audio_board
[5] );
644 * Air control, no real physics
646 VG_STATIC
void skate_apply_air_model( player_instance
*player
)
648 struct player_skate
*s
= &player
->_skate
;
650 if( s
->state
.activity
!= k_skate_activity_air
)
653 if( s
->state
.activity_prev
!= k_skate_activity_air
)
654 player__approximate_best_trajectory( player
);
656 m3x3_mulv( s
->state
.velocity_bias
, player
->rb
.v
, player
->rb
.v
);
662 float pstep
= VG_TIMESTEP_FIXED
* 1.0f
;
663 float k_bias
= 0.98f
;
666 v3_copy( player
->rb
.co
, pco
);
667 v3_muls( player
->rb
.v
, 1.0f
, pv
);
669 float time_to_impact
= 0.0f
;
670 float limiter
= 1.0f
;
672 struct grind_edge
*best_grind
= NULL
;
673 float closest_grind
= INFINITY
;
675 v3f target_normal
= { 0.0f
, 1.0f
, 0.0f
};
678 for( int i
=0; i
<250; i
++ )
680 v3_copy( pco
, pco1
);
681 m3x3_mulv( s
->state
.velocity_bias
, pv
, pv
);
683 pv
[1] += -k_gravity
* pstep
;
684 v3_muladds( pco
, pv
, pstep
, pco
);
689 v3_sub( pco
, pco1
, vdir
);
690 contact
.dist
= v3_length( vdir
);
691 v3_divs( vdir
, contact
.dist
, vdir
);
694 struct grind_edge
*ge
= skate_collect_grind_edge( pco
, pco1
,
697 if( ge
&& (v3_dot((v3f
){0.0f
,1.0f
,0.0f
},vdir
) < -0.2f
) )
699 vg_line( ge
->p0
, ge
->p1
, 0xff0000ff );
700 vg_line_cross( pco
, 0xff0000ff, 0.25f
);
705 float orig_dist
= contact
.dist
;
706 if( ray_world( pco1
, vdir
, &contact
) )
708 v3_copy( contact
.normal
, target_normal
);
710 time_to_impact
+= (contact
.dist
/orig_dist
)*pstep
;
711 vg_line_cross( contact
.pos
, 0xffff0000, 0.25f
);
714 time_to_impact
+= pstep
;
719 float angle
= v3_dot( player
->rb
.to_world
[1], target_normal
);
721 v3_cross( player
->rb
.to_world
[1], target_normal
, axis
);
723 limiter
= vg_minf( 5.0f
, time_to_impact
)/5.0f
;
724 limiter
= 1.0f
-limiter
;
726 limiter
= 1.0f
-limiter
;
728 if( fabsf(angle
) < 0.9999f
)
731 q_axis_angle( correction
, axis
,
732 acosf(angle
)*(1.0f
-limiter
)*2.0f
*VG_TIMESTEP_FIXED
);
733 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
737 v2f steer
= { player
->input_js1h
->axis
.value
,
738 player
->input_js1v
->axis
.value
};
739 v2_normalize_clamp( steer
);
742 s
->state
.steery
-= steer
[0] * k_steer_air
* VG_TIMESTEP_FIXED
;
743 s
->state
.steerx
+= steer
[1] * s
->state
.reverse
* k_steer_air
744 * limiter
* k_rb_delta
;
746 s
->land_dist
= time_to_impact
;
747 v3_copy( target_normal
, s
->land_normal
);
750 VG_STATIC
void skate_get_board_points( player_instance
*player
,
751 v3f front
, v3f back
)
753 v3f pos_front
= {0.0f
,0.0f
,-k_board_length
},
754 pos_back
= {0.0f
,0.0f
, k_board_length
};
756 m4x3_mulv( player
->rb
.to_world
, pos_front
, front
);
757 m4x3_mulv( player
->rb
.to_world
, pos_back
, back
);
761 * Casts and pushes a sphere-spring model into the world
763 VG_STATIC
int skate_simulate_spring( player_instance
*player
,
766 struct player_skate
*s
= &player
->_skate
;
768 float mod
= 0.7f
* player
->input_grab
->axis
.value
+ 0.3f
,
769 spring_k
= mod
* k_spring_force
,
770 damp_k
= mod
* k_spring_dampener
,
774 v3_copy( pos
, start
);
775 v3_muladds( pos
, player
->rb
.to_world
[1], -disp_k
, end
);
779 int hit_info
= spherecast_world( start
, end
, 0.2f
, &t
, n
);
784 v3_sub( start
, player
->rb
.co
, delta
);
786 float displacement
= vg_clampf( 1.0f
-t
, 0.0f
, 1.0f
),
788 vg_maxf( 0.0f
, v3_dot( player
->rb
.to_world
[1], player
->rb
.v
) );
790 v3_muls( player
->rb
.to_world
[1], displacement
*spring_k
*k_rb_delta
-
791 damp
*damp_k
*k_rb_delta
, F
);
793 v3_muladds( player
->rb
.v
, F
, 1.0f
, player
->rb
.v
);
795 /* Angular velocity */
797 v3_cross( delta
, F
, wa
);
798 v3_muladds( player
->rb
.w
, wa
, k_spring_angular
, player
->rb
.w
);
800 v3_lerp( start
, end
, t
, pos
);
812 * Handles connection between the player and the ground
814 * TODO: Must save original velocity to use here
816 VG_STATIC
void skate_apply_interface_model( player_instance
*player
,
817 rb_ct
*manifold
, int len
)
819 struct player_skate
*s
= &player
->_skate
;
821 if( !((s
->state
.activity
== k_skate_activity_ground
) ||
822 (s
->state
.activity
== k_skate_activity_air
)) )
825 if( s
->state
.activity
== k_skate_activity_air
)
826 s
->debug_normal_pressure
= 0.0f
;
828 s
->debug_normal_pressure
= v3_dot( player
->rb
.to_world
[1], player
->rb
.v
);
831 v3f spring0
, spring1
;
833 skate_get_board_points( player
, spring1
, spring0
);
834 int spring_hit0
= 0, //skate_simulate_spring( player, s, spring0 ),
835 spring_hit1
= 0; //skate_simulate_spring( player, s, spring1 );
837 v3f animavg
, animdelta
;
838 v3_add( spring0
, spring1
, animavg
);
839 v3_muls( animavg
, 0.5f
, animavg
);
841 v3_sub( spring1
, spring0
, animdelta
);
842 v3_normalize( animdelta
);
844 m4x3_mulv( player
->rb
.to_local
, animavg
, s
->board_offset
);
846 float dx
= -v3_dot( animdelta
, player
->rb
.to_world
[2] ),
847 dy
= v3_dot( animdelta
, player
->rb
.to_world
[1] );
849 float angle
= -atan2f( dy
, dx
);
850 q_axis_angle( s
->board_rotation
, (v3f
){1.0f
,0.0f
,0.0f
}, angle
);
852 int lift_frames_limit
= 6;
854 /* Surface connection */
855 if( len
== 0 && !(spring_hit0
&& spring_hit1
) )
857 s
->state
.lift_frames
++;
859 if( s
->state
.lift_frames
>= lift_frames_limit
)
860 s
->state
.activity
= k_skate_activity_air
;
865 v3_zero( surface_avg
);
867 for( int i
=0; i
<len
; i
++ )
868 v3_add( surface_avg
, manifold
[i
].n
, surface_avg
);
869 v3_normalize( surface_avg
);
871 if( v3_dot( player
->rb
.v
, surface_avg
) > 0.7f
)
873 s
->state
.lift_frames
++;
875 if( s
->state
.lift_frames
>= lift_frames_limit
)
876 s
->state
.activity
= k_skate_activity_air
;
880 s
->state
.activity
= k_skate_activity_ground
;
881 s
->state
.lift_frames
= 0;
884 if( s
->state
.activity_prev
== k_skate_activity_air
)
886 player
->cam_land_punch_v
+= v3_dot( player
->rb
.v
, surface_avg
) *
890 float const DOWNFORCE
= -k_downforce
*VG_TIMESTEP_FIXED
;
891 v3_muladds( player
->rb
.v
, player
->rb
.to_world
[1],
892 DOWNFORCE
, player
->rb
.v
);
894 float d
= v3_dot( player
->rb
.to_world
[2], surface_avg
);
895 v3_muladds( surface_avg
, player
->rb
.to_world
[2], -d
, projected
);
896 v3_normalize( projected
);
898 float angle
= v3_dot( player
->rb
.to_world
[1], projected
);
899 v3_cross( player
->rb
.to_world
[1], projected
, axis
);
902 if( fabsf(angle
) < 0.9999f
)
905 q_axis_angle( correction
, axis
,
906 acosf(angle
)*4.0f
*VG_TIMESTEP_FIXED
);
907 q_mul( correction
, player
->rb
.q
, player
->rb
.q
);
914 VG_STATIC
int player_skate_trick_input( player_instance
*player
);
915 VG_STATIC
void skate_apply_trick_model( player_instance
*player
)
917 struct player_skate
*s
= &player
->_skate
;
920 v3f strength
= { 3.7f
, 3.6f
, 8.0f
};
922 v3_muls( s
->board_trick_residualv
, -4.0f
, Fd
);
923 v3_muls( s
->board_trick_residuald
, -10.0f
, Fs
);
925 v3_mul( strength
, F
, F
);
927 v3_muladds( s
->board_trick_residualv
, F
, k_rb_delta
,
928 s
->board_trick_residualv
);
929 v3_muladds( s
->board_trick_residuald
, s
->board_trick_residualv
,
930 k_rb_delta
, s
->board_trick_residuald
);
932 if( s
->state
.activity
== k_skate_activity_air
)
934 if( v3_length2( s
->state
.trick_vel
) < 0.0001f
)
937 int carry_on
= player_skate_trick_input( player
);
939 /* we assume velocities share a common divisor, in which case the
940 * interval is the minimum value (if not zero) */
942 float min_rate
= 99999.0f
;
944 for( int i
=0; i
<3; i
++ )
946 float v
= s
->state
.trick_vel
[i
];
947 if( (v
> 0.0f
) && (v
< min_rate
) )
951 float interval
= 1.0f
/ min_rate
,
952 current
= floorf( s
->state
.trick_time
/ interval
),
953 next_end
= (current
+1.0f
) * interval
;
956 /* integrate trick velocities */
957 v3_muladds( s
->state
.trick_euler
, s
->state
.trick_vel
, k_rb_delta
,
958 s
->state
.trick_euler
);
960 if( !carry_on
&& (s
->state
.trick_time
+ k_rb_delta
>= next_end
) )
962 s
->state
.trick_time
= 0.0f
;
963 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
964 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
965 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
966 v3_copy( s
->state
.trick_vel
, s
->board_trick_residualv
);
967 v3_zero( s
->state
.trick_vel
);
970 s
->state
.trick_time
+= k_rb_delta
;
974 if( (s
->state
.lift_frames
== 0)
975 && (v3_length2(s
->state
.trick_vel
) >= 0.0001f
) &&
976 s
->state
.trick_time
> 0.2f
)
978 player__dead_transition( player
);
981 s
->state
.trick_euler
[0] = roundf( s
->state
.trick_euler
[0] );
982 s
->state
.trick_euler
[1] = roundf( s
->state
.trick_euler
[1] );
983 s
->state
.trick_euler
[2] = roundf( s
->state
.trick_euler
[2] );
984 s
->state
.trick_time
= 0.0f
;
985 v3_zero( s
->state
.trick_vel
);
989 VG_STATIC
void skate_apply_grab_model( player_instance
*player
)
991 struct player_skate
*s
= &player
->_skate
;
993 float grabt
= player
->input_grab
->axis
.value
;
997 v2_muladds( s
->state
.grab_mouse_delta
, vg
.mouse_delta
, 0.02f
,
998 s
->state
.grab_mouse_delta
);
1000 v2_normalize_clamp( s
->state
.grab_mouse_delta
);
1003 v2_zero( s
->state
.grab_mouse_delta
);
1005 s
->state
.grabbing
= vg_lerpf( s
->state
.grabbing
, grabt
, 8.4f
*k_rb_delta
);
1009 * Computes friction and surface interface model
1011 VG_STATIC
void skate_apply_friction_model( player_instance
*player
)
1013 struct player_skate
*s
= &player
->_skate
;
1015 if( s
->state
.activity
!= k_skate_activity_ground
)
1019 * Computing localized friction forces for controlling the character
1020 * Friction across X is significantly more than Z
1024 m3x3_mulv( player
->rb
.to_local
, player
->rb
.v
, vel
);
1027 if( fabsf(vel
[2]) > 0.01f
)
1028 slip
= fabsf(-vel
[0] / vel
[2]) * vg_signf(vel
[0]);
1030 if( fabsf( slip
) > 1.2f
)
1031 slip
= vg_signf( slip
) * 1.2f
;
1033 s
->state
.slip
= slip
;
1034 s
->state
.reverse
= -vg_signf(vel
[2]);
1036 vel
[0] += vg_cfrictf( vel
[0], k_friction_lat
* k_rb_delta
);
1037 vel
[2] += vg_cfrictf( vel
[2], k_friction_resistance
* k_rb_delta
);
1039 /* Pushing additive force */
1041 if( !player
->input_jump
->button
.value
)
1043 if( player
->input_push
->button
.value
)
1045 if( (vg
.time
- s
->state
.cur_push
) > 0.25 )
1046 s
->state
.start_push
= vg
.time
;
1048 s
->state
.cur_push
= vg
.time
;
1050 double push_time
= vg
.time
- s
->state
.start_push
;
1052 float cycle_time
= push_time
*k_push_cycle_rate
,
1053 accel
= k_push_accel
* (sinf(cycle_time
)*0.5f
+0.5f
),
1054 amt
= accel
* VG_TIMESTEP_FIXED
,
1055 current
= v3_length( vel
),
1056 new_vel
= vg_minf( current
+ amt
, k_max_push_speed
),
1057 delta
= new_vel
- vg_minf( current
, k_max_push_speed
);
1059 vel
[2] += delta
* -s
->state
.reverse
;
1063 /* Send back to velocity */
1064 m3x3_mulv( player
->rb
.to_world
, vel
, player
->rb
.v
);
1067 float input
= player
->input_js1h
->axis
.value
,
1068 grab
= player
->input_grab
->axis
.value
,
1069 steer
= input
* (1.0f
-(s
->state
.jump_charge
+grab
)*0.4f
),
1070 steer_scaled
= vg_signf(steer
) * powf(steer
,2.0f
) * k_steer_ground
;
1073 v3_muls( player
->rb
.to_world
[1], -vg_signf( steer_scaled
), steer_axis
);
1075 float current
= v3_dot( player
->rb
.to_world
[1], player
->rb
.w
),
1076 addspeed
= (steer_scaled
* -1.0f
) - current
,
1077 maxaccel
= 26.0f
* k_rb_delta
,
1078 accel
= vg_clampf( addspeed
, -maxaccel
, maxaccel
);
1080 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], accel
, player
->rb
.w
);
1084 player_accelerate( player
->rb
.w
, steer_axis
,
1085 fabsf(steer_scaled
) * 1.0f
, 30.0f
);
1087 //s->state.steery -= steer_scaled * k_rb_delta;
1091 VG_STATIC
void skate_apply_jump_model( player_instance
*player
)
1093 struct player_skate
*s
= &player
->_skate
;
1094 int charging_jump_prev
= s
->state
.charging_jump
;
1095 s
->state
.charging_jump
= player
->input_jump
->button
.value
;
1097 /* Cannot charge this in air */
1098 if( s
->state
.activity
!= k_skate_activity_ground
)
1099 s
->state
.charging_jump
= 0;
1101 if( s
->state
.charging_jump
)
1103 s
->state
.jump_charge
+= k_rb_delta
* k_jump_charge_speed
;
1105 if( !charging_jump_prev
)
1106 s
->state
.jump_dir
= s
->state
.reverse
>0.0f
? 1: 0;
1110 s
->state
.jump_charge
-= k_jump_charge_speed
* VG_TIMESTEP_FIXED
;
1113 s
->state
.jump_charge
= vg_clampf( s
->state
.jump_charge
, 0.0f
, 1.0f
);
1115 if( s
->state
.activity
== k_skate_activity_air
)
1118 /* player let go after charging past 0.2: trigger jump */
1119 if( (!s
->state
.charging_jump
) && (s
->state
.jump_charge
> 0.2f
) )
1123 /* Launch more up if alignment is up else improve velocity */
1124 float aup
= v3_dot( (v3f
){0.0f
,1.0f
,0.0f
}, player
->rb
.to_world
[1] ),
1126 dir
= mod
+ fabsf(aup
)*(1.0f
-mod
);
1128 v3_copy( player
->rb
.v
, jumpdir
);
1129 v3_normalize( jumpdir
);
1130 v3_muls( jumpdir
, 1.0f
-dir
, jumpdir
);
1131 v3_muladds( jumpdir
, player
->rb
.to_world
[1], dir
, jumpdir
);
1132 v3_normalize( jumpdir
);
1134 float force
= k_jump_force
*s
->state
.jump_charge
;
1135 v3_muladds( player
->rb
.v
, jumpdir
, force
, player
->rb
.v
);
1136 s
->state
.jump_charge
= 0.0f
;
1137 s
->state
.jump_time
= vg
.time
;
1139 v2f steer
= { player
->input_js1h
->axis
.value
,
1140 player
->input_js1v
->axis
.value
};
1141 v2_normalize_clamp( steer
);
1144 float maxspin
= k_steer_air
* k_rb_delta
* k_spin_boost
;
1145 s
->state
.steery_s
= -steer
[0] * maxspin
;
1146 s
->state
.steerx
= s
->state
.steerx_s
;
1148 s
->state
.lift_frames
++;
1150 /* FIXME audio events */
1153 audio_player_set_flags( &audio_player_extra
, AUDIO_FLAG_SPACIAL_3D
);
1154 audio_player_set_position( &audio_player_extra
, player
.rb
.co
);
1155 audio_player_set_vol( &audio_player_extra
, 20.0f
);
1156 audio_player_playclip( &audio_player_extra
, &audio_jumps
[rand()%2] );
1162 VG_STATIC
void skate_apply_pump_model( player_instance
*player
)
1164 struct player_skate
*s
= &player
->_skate
;
1166 /* Throw / collect routine
1168 * TODO: Max speed boost
1170 if( player
->input_grab
->axis
.value
> 0.5f
)
1172 if( s
->state
.activity
== k_skate_activity_ground
)
1175 v3_muls( player
->rb
.to_world
[1], k_mmthrow_scale
, s
->state
.throw_v
);
1181 float doty
= v3_dot( player
->rb
.to_world
[1], s
->state
.throw_v
);
1184 v3_muladds( s
->state
.throw_v
, player
->rb
.to_world
[1], -doty
, Fl
);
1186 if( s
->state
.activity
== k_skate_activity_ground
)
1188 v3_muladds( player
->rb
.v
, Fl
, k_mmcollect_lat
, player
->rb
.v
);
1189 v3_muladds( s
->state
.throw_v
, Fl
, -k_mmcollect_lat
, s
->state
.throw_v
);
1192 v3_muls( player
->rb
.to_world
[1], -doty
, Fv
);
1193 v3_muladds( player
->rb
.v
, Fv
, k_mmcollect_vert
, player
->rb
.v
);
1194 v3_muladds( s
->state
.throw_v
, Fv
, k_mmcollect_vert
, s
->state
.throw_v
);
1198 if( v3_length2( s
->state
.throw_v
) > 0.0001f
)
1201 v3_copy( s
->state
.throw_v
, dir
);
1202 v3_normalize( dir
);
1204 float max
= v3_dot( dir
, s
->state
.throw_v
),
1205 amt
= vg_minf( k_mmdecay
* k_rb_delta
, max
);
1206 v3_muladds( s
->state
.throw_v
, dir
, -amt
, s
->state
.throw_v
);
1210 VG_STATIC
void skate_apply_cog_model( player_instance
*player
)
1212 struct player_skate
*s
= &player
->_skate
;
1214 v3f ideal_cog
, ideal_diff
, ideal_dir
;
1215 v3_copy( s
->state
.up_dir
, ideal_dir
);
1216 v3_normalize( ideal_dir
);
1218 v3_muladds( player
->rb
.co
, ideal_dir
,
1219 1.0f
-player
->input_grab
->axis
.value
, ideal_cog
);
1220 v3_sub( ideal_cog
, s
->state
.cog
, ideal_diff
);
1222 /* Apply velocities */
1224 v3_sub( player
->rb
.v
, s
->state
.cog_v
, rv
);
1227 v3_muls( ideal_diff
, -k_cog_spring
* k_rb_rate
, F
);
1228 v3_muladds( F
, rv
, -k_cog_damp
* k_rb_rate
, F
);
1230 float ra
= k_cog_mass_ratio
,
1231 rb
= 1.0f
-k_cog_mass_ratio
;
1233 /* Apply forces & intergrate */
1234 v3_muladds( s
->state
.cog_v
, F
, -rb
, s
->state
.cog_v
);
1235 s
->state
.cog_v
[1] += -9.8f
* k_rb_delta
;
1236 v3_muladds( s
->state
.cog
, s
->state
.cog_v
, k_rb_delta
, s
->state
.cog
);
1239 VG_STATIC
void skate_collision_response( player_instance
*player
,
1240 rb_ct
*manifold
, int len
)
1242 struct player_skate
*s
= &player
->_skate
;
1244 for( int j
=0; j
<10; j
++ )
1246 for( int i
=0; i
<len
; i
++ )
1248 struct contact
*ct
= &manifold
[i
];
1251 v3_sub( ct
->co
, player
->rb
.co
, delta
);
1252 v3_cross( player
->rb
.w
, delta
, rv
);
1253 v3_add( player
->rb
.v
, rv
, rv
);
1256 v3_cross( delta
, ct
->n
, raCn
);
1258 float normal_mass
= 1.0f
/ (1.0f
+ v3_dot(raCn
,raCn
));
1259 float vn
= v3_dot( rv
, ct
->n
);
1260 float lambda
= normal_mass
* ( -vn
+ ct
->bias
);
1262 float temp
= ct
->norm_impulse
;
1263 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
1264 lambda
= ct
->norm_impulse
- temp
;
1267 v3_muls( ct
->n
, lambda
, impulse
);
1269 if( fabsf(v3_dot( impulse
, player
->rb
.to_world
[2] )) > 10.0f
||
1270 fabsf(v3_dot( impulse
, player
->rb
.to_world
[1] )) > 50.0f
)
1272 player__dead_transition( player
);
1276 v3_add( impulse
, player
->rb
.v
, player
->rb
.v
);
1277 v3_cross( delta
, impulse
, impulse
);
1280 * W Impulses are limited to the Y and X axises, we don't really want
1281 * roll angular velocities being included.
1283 * Can also tweak the resistance of each axis here by scaling the wx,wy
1287 float wy
= v3_dot( player
->rb
.to_world
[1], impulse
) * 1.0f
,
1288 wx
= v3_dot( player
->rb
.to_world
[0], impulse
) * 1.0f
,
1289 wz
= v3_dot( player
->rb
.to_world
[2], impulse
) * 1.0f
;
1291 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
1292 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[0], wx
, player
->rb
.w
);
1293 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
1296 v3_cross( player
->rb
.w
, delta
, rv
);
1297 v3_add( player
->rb
.v
, rv
, rv
);
1298 vn
= v3_dot( rv
, ct
->n
);
1303 VG_STATIC
void skate_integrate( player_instance
*player
)
1305 struct player_skate
*s
= &player
->_skate
;
1307 /* integrate rigidbody velocities */
1309 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1310 v3_muladds( player
->rb
.v
, gravity
, k_rb_delta
, player
->rb
.v
);
1311 v3_muladds( player
->rb
.co
, player
->rb
.v
, k_rb_delta
, player
->rb
.co
);
1314 float decay_rate
= 1.0f
- (k_rb_delta
* 3.0f
);
1317 if( s
->state
.activity
== k_skate_activity_air
)
1319 float dist
= 1.0f
-(s
->land_dist
/4.0f
);
1320 decay_rate
= 0.5f
* vg_maxf( dist
*dist
, 0.0f
);
1324 float wx
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[0] ) * decay_rate
,
1325 wy
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[1] ),
1326 wz
= v3_dot( player
->rb
.w
, player
->rb
.to_world
[2] ) * decay_rate
;
1328 v3_muls( player
->rb
.to_world
[0], wx
, player
->rb
.w
);
1329 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[1], wy
, player
->rb
.w
);
1330 v3_muladds( player
->rb
.w
, player
->rb
.to_world
[2], wz
, player
->rb
.w
);
1333 if( v3_length2( player
->rb
.w
) > 0.0f
)
1337 v3_copy( player
->rb
.w
, axis
);
1339 float mag
= v3_length( axis
);
1340 v3_divs( axis
, mag
, axis
);
1341 q_axis_angle( rotation
, axis
, mag
*k_rb_delta
);
1342 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1346 /* integrate steering velocities */
1349 float l
= (s
->state
.activity
== k_skate_activity_air
)? 0.04f
: 0.24f
;
1351 s
->state
.steery_s
= vg_lerpf( s
->state
.steery_s
, s
->state
.steery
, l
);
1352 s
->state
.steerx_s
= vg_lerpf( s
->state
.steerx_s
, s
->state
.steerx
, l
);
1354 q_axis_angle( rotate
, player
->rb
.to_world
[1], s
->state
.steery_s
);
1355 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1357 q_axis_angle( rotate
, player
->rb
.to_world
[0], s
->state
.steerx_s
);
1358 q_mul( rotate
, player
->rb
.q
, player
->rb
.q
);
1360 s
->state
.steerx
= 0.0f
;
1361 s
->state
.steery
= 0.0f
;
1364 s
->state
.flip_time
+= s
->state
.flip_rate
* k_rb_delta
;
1365 rb_update_transform( &player
->rb
);
1372 VG_STATIC
int player_skate_trick_input( player_instance
*player
)
1374 return (player
->input_trick0
->button
.value
) |
1375 (player
->input_trick1
->button
.value
<< 1) |
1376 (player
->input_trick2
->button
.value
<< 1) |
1377 (player
->input_trick2
->button
.value
);
1380 VG_STATIC
void player__skate_pre_update( player_instance
*player
)
1382 struct player_skate
*s
= &player
->_skate
;
1384 if( vg_input_button_down( player
->input_use
) )
1386 player
->subsystem
= k_player_subsystem_walk
;
1389 v3_copy( player
->cam
.angles
, angles
);
1392 player__walk_transition( player
, angles
);
1396 if( vg_input_button_down( player
->input_reset
) )
1398 player
->rb
.co
[1] += 2.0f
;
1399 s
->state
.cog
[1] += 2.0f
;
1400 q_axis_angle( player
->rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, VG_PIf
* 0.25f
);
1401 v3_zero( player
->rb
.w
);
1402 v3_zero( player
->rb
.v
);
1404 rb_update_transform( &player
->rb
);
1408 if( (s
->state
.lift_frames
> 0) &&
1409 (trick_id
= player_skate_trick_input( player
)) )
1411 if( (vg
.time
- s
->state
.jump_time
) < 0.1f
)
1413 v3_zero( s
->state
.trick_vel
);
1414 s
->state
.trick_time
= 0.0f
;
1418 s
->state
.trick_vel
[0] = 3.0f
;
1420 else if( trick_id
== 2 )
1422 s
->state
.trick_vel
[2] = 3.0f
;
1424 else if( trick_id
== 3 )
1426 s
->state
.trick_vel
[0] = 2.0f
;
1427 s
->state
.trick_vel
[2] = 2.0f
;
1433 VG_STATIC
void player__skate_post_update( player_instance
*player
)
1435 struct player_skate
*s
= &player
->_skate
;
1436 for( int i
=0; i
<s
->prediction_count
; i
++ )
1438 struct land_prediction
*p
= &s
->predictions
[i
];
1440 for( int j
=0; j
<p
->log_length
- 1; j
++ )
1441 vg_line( p
->log
[j
], p
->log
[j
+1], p
->colour
);
1443 vg_line_cross( p
->log
[p
->log_length
-1], p
->colour
, 0.25f
);
1446 v3_add( p
->log
[p
->log_length
-1], p
->n
, p1
);
1447 vg_line( p
->log
[p
->log_length
-1], p1
, 0xffffffff );
1449 vg_line_pt3( p
->apex
, 0.02f
, 0xffffffff );
1452 vg_line_pt3( s
->state
.apex
, 0.200f
, 0xff0000ff );
1453 vg_line_pt3( s
->state
.apex
, 0.201f
, 0xff00ffff );
1456 VG_STATIC
void player__skate_update( player_instance
*player
)
1458 struct player_skate
*s
= &player
->_skate
;
1459 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
1460 s
->state
.activity_prev
= s
->state
.activity
;
1462 struct board_collider
1470 enum board_collider_state
1472 k_collider_state_default
,
1473 k_collider_state_disabled
,
1474 k_collider_state_colliding
1481 { 0.0f
, 0.0f
, -k_board_length
},
1487 { 0.0f
, 0.0f
, k_board_length
},
1493 { 0.0f
, 0.2f
, -k_board_length
- k_board_end_radius
},
1494 .radius
= k_board_end_radius
,
1499 { 0.0f
, 0.2f
, k_board_length
+ k_board_end_radius
},
1500 .radius
= k_board_end_radius
,
1506 const int k_wheel_count
= 2;
1508 if( skate_grind_scansq( player
, (v3f
){ 0.0f
, 0.0f
, -k_board_length
} ) )
1511 wheel_states
[0] = 0;
1512 wheel_states
[1] = 0;
1516 if( skate_grind_scansq( player
, (v3f
){ 0.0f
, 0.0f
, k_board_length
} ) )
1519 wheel_states
[2] = 0;
1520 wheel_states
[3] = 0;
1525 s
->substep
= k_rb_delta
;
1526 s
->substep_delta
= s
->substep
;
1527 int substep_count
= 0;
1534 * Phase 2: Truck alignment (spring/dampener model)
1535 * it uses the first two colliders as truck positions
1536 * --------------------------------------------------------------------------
1539 v3f surface_picture
;
1540 v3_zero( surface_picture
);
1542 for( int i
=0; i
<2; i
++ )
1544 if( wheels
[i
].state
== k_collider_state_disabled
)
1547 v3f truck
, left
, right
;
1548 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, truck
);
1549 v3_muladds( truck
, player
->rb
.to_world
[0], -k_board_width
, left
);
1550 v3_muladds( truck
, player
->rb
.to_world
[0], k_board_width
, right
);
1552 vg_line( left
, right
, wheels
[i
].colour
);
1554 v3_muladds( left
, player
->rb
.to_world
[1], 0.1f
, left
);
1555 v3_muladds( right
, player
->rb
.to_world
[1], 0.1f
, right
);
1557 float k_max_truck_flex
= VG_PIf
* 0.25f
;
1559 ray_hit ray_l
, ray_r
;
1564 v3_muls( player
->rb
.to_world
[1], -1.0f
, dir
);
1566 int res_l
= ray_world( left
, dir
, &ray_l
),
1567 res_r
= ray_world( right
, dir
, &ray_r
);
1569 /* ignore bad normals */
1572 if( v3_dot( ray_l
.normal
, player
->rb
.to_world
[1] ) < 0.7071f
)
1575 v3_add( ray_l
.normal
, surface_picture
, surface_picture
);
1580 if( v3_dot( ray_r
.normal
, player
->rb
.to_world
[1] ) < 0.7071f
)
1583 v3_add( ray_r
.normal
, surface_picture
, surface_picture
);
1588 v3_muladds( truck
, player
->rb
.to_world
[1], -wheels
[i
].radius
, midpoint
);
1590 if( res_l
|| res_r
)
1593 v3_copy( midpoint
, p0
);
1594 v3_copy( midpoint
, p1
);
1596 if( res_l
) v3_copy( ray_l
.pos
, p0
);
1597 if( res_r
) v3_copy( ray_r
.pos
, p1
);
1599 v3_sub( p1
, p0
, v0
);
1604 /* fallback: use the closes point to the trucks */
1606 int idx
= bh_closest_point( world
.geo_bh
, midpoint
, closest
, 0.1f
);
1610 u32
*tri
= &world
.scene_geo
->arrindices
[ idx
* 3 ];
1613 for( int j
=0; j
<3; j
++ )
1614 v3_copy( world
.scene_geo
->arrvertices
[ tri
[j
] ].co
, verts
[j
] );
1616 v3f vert0
, vert1
, n
;
1617 v3_sub( verts
[1], verts
[0], vert0
);
1618 v3_sub( verts
[2], verts
[0], vert1
);
1619 v3_cross( vert0
, vert1
, n
);
1622 if( v3_dot( n
, player
->rb
.to_world
[1] ) < 0.3f
)
1625 v3_cross( n
, player
->rb
.to_world
[2], v0
);
1626 v3_muladds( v0
, player
->rb
.to_world
[2],
1627 -v3_dot( player
->rb
.to_world
[2], v0
), v0
);
1634 v3_muladds( truck
, v0
, k_board_width
, right
);
1635 v3_muladds( truck
, v0
, -k_board_width
, left
);
1637 vg_line( left
, right
, VG__WHITE
);
1639 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[0], v0
,
1640 k_board_spring
, k_board_dampener
,
1645 * Phase 2a: Manual alignment (spring/dampener model)
1646 * --------------------------------------------------------------------------
1649 v3f weight
, world_cog
;
1652 int reverse_dir
= v3_dot( player
->rb
.to_world
[2], player
->rb
.v
) < 0.0f
?1:-1;
1654 if( s
->state
.manual_direction
== 0 )
1656 if( (player
->input_js1v
->axis
.value
> 0.7f
) &&
1657 (s
->state
.activity
== k_skate_activity_ground
) &&
1658 (s
->state
.jump_charge
<= 0.01f
) )
1659 s
->state
.manual_direction
= reverse_dir
;
1663 if( player
->input_js1v
->axis
.value
< 0.1f
)
1665 s
->state
.manual_direction
= 0;
1669 if( reverse_dir
!= s
->state
.manual_direction
)
1671 player__dead_transition( player
);
1677 if( s
->state
.manual_direction
)
1679 float amt
= vg_minf( player
->input_js1v
->axis
.value
* 8.0f
, 1.0f
);
1680 weight
[2] = k_board_length
* amt
* (float)s
->state
.manual_direction
;
1683 if( v3_length2( surface_picture
) > 0.001f
)
1685 v3_normalize( surface_picture
);
1688 v3_copy( surface_picture
, target
);
1690 target
[1] += 2.0f
* surface_picture
[1];
1691 v3_normalize( target
);
1693 v3_lerp( s
->state
.up_dir
, target
,
1694 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1698 v3_lerp( s
->state
.up_dir
, player
->rb
.to_world
[1],
1699 8.0f
* s
->substep_delta
, s
->state
.up_dir
);
1703 /* TODO: Fall back on land normal */
1704 /* TODO: Lerp weight distribution */
1705 /* TODO: Can start manual only if not charge jump */
1706 if( v3_length2( surface_picture
) > 0.001f
&&
1707 v3_length2( weight
) > 0.001f
&&
1708 s
->state
.manual_direction
)
1712 m3x3_mulv( player
->rb
.to_world
, weight
, plane_z
);
1713 v3_negate( plane_z
, plane_z
);
1715 v3_muladds( plane_z
, surface_picture
,
1716 -v3_dot( plane_z
, surface_picture
), plane_z
);
1717 v3_normalize( plane_z
);
1719 v3_muladds( plane_z
, surface_picture
, 0.3f
, plane_z
);
1720 v3_normalize( plane_z
);
1723 v3_muladds( player
->rb
.co
, plane_z
, 1.5f
, p1
);
1724 vg_line( player
->rb
.co
, p1
, VG__GREEN
);
1727 v3_muls( player
->rb
.to_world
[2], -(float)s
->state
.manual_direction
,
1730 rb_effect_spring_target_vector( &player
->rb
, refdir
, plane_z
,
1731 k_manul_spring
, k_manul_dampener
,
1746 * Phase 0: Continous collision detection
1747 * --------------------------------------------------------------------------
1750 v3f head_wp0
, head_wp1
, start_co
;
1751 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp0
);
1752 v3_copy( player
->rb
.co
, start_co
);
1754 for( int i
=0; i
<k_wheel_count
; i
++ )
1755 wheels
[i
].state
= k_collider_state_default
;
1757 /* calculate transform one step into future */
1760 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep
, future_co
);
1762 if( v3_length2( player
->rb
.w
) > 0.0f
)
1766 v3_copy( player
->rb
.w
, axis
);
1768 float mag
= v3_length( axis
);
1769 v3_divs( axis
, mag
, axis
);
1770 q_axis_angle( rotation
, axis
, mag
*s
->substep
);
1771 q_mul( rotation
, player
->rb
.q
, future_q
);
1772 q_normalize( future_q
);
1775 /* calculate the minimum time we can move */
1776 float max_time
= s
->substep
;
1778 for( int i
=0; i
<k_wheel_count
; i
++ )
1780 if( wheels
[i
].state
== k_collider_state_disabled
)
1783 v3f current
, future
;
1784 q_mulv( future_q
, wheels
[i
].pos
, future
);
1785 v3_add( future
, future_co
, future
);
1787 q_mulv( player
->rb
.q
, wheels
[i
].pos
, current
);
1788 v3_add( current
, player
->rb
.co
, current
);
1793 float cast_radius
= wheels
[i
].radius
- k_penetration_slop
* 1.2f
;
1794 if( spherecast_world( current
, future
, cast_radius
, &t
, n
) != -1)
1795 max_time
= vg_minf( max_time
, t
* s
->substep
);
1798 /* clamp to a fraction of delta, to prevent locking */
1799 float rate_lock
= substep_count
;
1800 rate_lock
*= k_rb_delta
* 0.1f
;
1801 rate_lock
*= rate_lock
;
1803 max_time
= vg_maxf( max_time
, rate_lock
);
1804 s
->substep_delta
= max_time
;
1807 v3_muladds( player
->rb
.co
, player
->rb
.v
, s
->substep_delta
, player
->rb
.co
);
1808 if( v3_length2( player
->rb
.w
) > 0.0f
)
1812 v3_copy( player
->rb
.w
, axis
);
1814 float mag
= v3_length( axis
);
1815 v3_divs( axis
, mag
, axis
);
1816 q_axis_angle( rotation
, axis
, mag
*s
->substep_delta
);
1817 q_mul( rotation
, player
->rb
.q
, player
->rb
.q
);
1820 rb_update_transform( &player
->rb
);
1822 v3f gravity
= { 0.0f
, -9.6f
, 0.0f
};
1823 v3_muladds( player
->rb
.v
, gravity
, s
->substep_delta
, player
->rb
.v
);
1825 s
->substep
-= s
->substep_delta
;
1828 rb_ct manifold
[128];
1829 int manifold_len
= 0;
1832 * Phase -1: head detection
1833 * --------------------------------------------------------------------------
1835 m4x3_mulv( player
->rb
.to_world
, s
->state
.head_position
, head_wp1
);
1836 vg_line( head_wp0
, head_wp1
, VG__RED
);
1840 if( (v3_dist2( head_wp0
, head_wp1
) > 0.001f
) &&
1841 (spherecast_world( head_wp0
, head_wp1
, 0.2f
, &t
, n
) != -1) )
1843 v3_lerp( start_co
, player
->rb
.co
, t
, player
->rb
.co
);
1844 rb_update_transform( &player
->rb
);
1847 player__dead_transition( player
);
1853 * Phase 2-1+0.5: Grind collision
1854 * --------------------------------------------------------------------------
1857 for( int i
=0; i
<1; i
++ )
1861 * Grind collision detection
1862 * ------------------------------------------------
1864 v3f grind_co
, grind_n
, grind_dir
;
1865 if( skate_grind_scansq( player
, player
->rb
.co
,
1866 grind_co
, grind_dir
, grind_n
) )
1869 rb_ct
*ct
= &manifold
[ manifold_len
++ ];
1871 v3_copy( truck
, ct
->co
);
1872 v3_copy( grind_n
, ct
->n
);
1873 ct
->p
= vg_maxf( 0.0f
, ct
->co
[1] - truck
[1] );
1877 v3_cross( grind_dir
, (v3f
){0.0f
,1.0f
,0.0f
}, target_dir
);
1878 target_dir
[1] = 0.0f
;
1880 if( v3_length2( target_dir
) <= 0.001f
)
1883 if( fabsf(v3_dot( player
->rb
.v
, grind_dir
)) < 0.7071f
)
1886 v3_copy( grind_co
, player
->rb
.co
);
1888 q_axis_angle( player
->rb
.q
, (v3f
){0.0f
,1.0f
,0.0f
},
1889 -atan2f( target_dir
[2], target_dir
[0] ) );
1891 wheels
[0].state
= k_collider_state_disabled
;
1892 wheels
[1].state
= k_collider_state_disabled
;
1893 v3_muls( grind_dir
, v3_dot(player
->rb
.v
,grind_dir
), player
->rb
.v
);
1894 v3_zero( player
->rb
.w
);
1896 rb_update_transform( &player
->rb
);
1900 v3f displacement
, dir
;
1901 v3_sub( truck
, grind_co
, displacement
);
1902 v3_copy( displacement
, dir
);
1903 v3_normalize( dir
);
1906 q_mulv( player
->rb
.q
, wheels
[i
].pos
, raW
);
1908 v3_cross( player
->rb
.w
, raW
, rv
);
1909 v3_add( player
->rb
.v
, rv
, rv
);
1911 v3_muladds( rv
, player
->rb
.to_world
[2],
1912 -v3_dot( rv
, player
->rb
.to_world
[2] ), rv
);
1915 v3_muls( displacement
, -k_grind_spring
, Fs
);
1916 v3_muls( rv
, -k_grind_dampener
, Fd
);
1918 v3_add( Fd
, Fs
, F
);
1919 v3_muls( F
, s
->substep_delta
, F
);
1921 v3_add( player
->rb
.v
, F
, player
->rb
.v
);
1923 v3_cross( raW
, F
, wa
);
1924 v3_add( player
->rb
.w
, wa
, player
->rb
.w
);
1926 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[1],
1928 k_board_spring
, k_board_dampener
,
1932 v3_cross( grind_dir
, (v3f
){0.0f
,1.0f
,0.0f
}, adj
);
1933 rb_effect_spring_target_vector( &player
->rb
, player
->rb
.to_world
[2],
1935 k_grind_spring
, k_grind_dampener
,
1939 s
->state
.activity
= k_skate_activity_grind
;
1942 s
->state
.activity
= k_skate_activity_ground
;
1947 * Phase 1: Regular collision detection
1948 * TODO: Me might want to automatically add contacts from CCD,
1949 * since at high angular velocities, theres a small change
1950 * that discreet detection will miss.
1951 * --------------------------------------------------------------------------
1954 for( int i
=0; i
<k_wheel_count
; i
++ )
1956 if( wheels
[i
].state
== k_collider_state_disabled
)
1960 m3x3_identity( mtx
);
1961 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
1963 rb_sphere collider
= { .radius
= wheels
[i
].radius
};
1965 rb_ct
*man
= &manifold
[ manifold_len
];
1967 int l
= skate_collide_smooth( player
, mtx
, &collider
, man
);
1969 wheels
[i
].state
= k_collider_state_colliding
;
1971 /* for non-angular contacts we just want Y. contact positions are
1972 * snapped to the local xz plane */
1973 if( !wheels
[i
].apply_angular
)
1975 for( int j
=0; j
<l
; j
++ )
1978 v3_sub( man
[j
].co
, player
->rb
.co
, ra
);
1980 float dy
= v3_dot( player
->rb
.to_world
[1], ra
);
1981 v3_muladds( man
[j
].co
, player
->rb
.to_world
[1], -dy
, man
[j
].co
);
1990 * --------------------------------------------------------------------------
1993 for( int i
=0; i
<manifold_len
; i
++ )
1995 rb_prepare_contact( &manifold
[i
], s
->substep_delta
);
1996 rb_debug_contact( &manifold
[i
] );
1999 /* yes, we are currently rebuilding mass matrices every frame. too bad! */
2000 v3f extent
= { k_board_width
, 0.1f
, k_board_length
};
2001 float ex2
= k_board_interia
*extent
[0]*extent
[0],
2002 ey2
= k_board_interia
*extent
[1]*extent
[1],
2003 ez2
= k_board_interia
*extent
[2]*extent
[2];
2005 float mass
= 2.0f
* (extent
[0]*extent
[1]*extent
[2]);
2006 float inv_mass
= 1.0f
/mass
;
2009 I
[0] = ((1.0f
/12.0f
) * mass
* (ey2
+ez2
));
2010 I
[1] = ((1.0f
/12.0f
) * mass
* (ex2
+ez2
));
2011 I
[2] = ((1.0f
/12.0f
) * mass
* (ex2
+ey2
));
2014 m3x3_identity( iI
);
2021 m3x3_mul( iI
, player
->rb
.to_local
, iIw
);
2022 m3x3_mul( player
->rb
.to_world
, iIw
, iIw
);
2024 m4x3_mulv( player
->rb
.to_world
, weight
, world_cog
);
2025 vg_line_pt3( world_cog
, 0.1f
, VG__BLACK
);
2027 for( int j
=0; j
<10; j
++ )
2029 for( int i
=0; i
<manifold_len
; i
++ )
2032 * regular dance; calculate velocity & total mass, apply impulse.
2035 struct contact
*ct
= &manifold
[i
];
2038 v3_sub( ct
->co
, world_cog
, delta
);
2039 v3_cross( player
->rb
.w
, delta
, rv
);
2040 v3_add( player
->rb
.v
, rv
, rv
);
2043 v3_cross( delta
, ct
->n
, raCn
);
2046 m3x3_mulv( iIw
, raCn
, raCnI
);
2048 float normal_mass
= 1.0f
/ (inv_mass
+ v3_dot(raCn
,raCnI
)),
2049 vn
= v3_dot( rv
, ct
->n
),
2050 lambda
= normal_mass
* ( -vn
);
2053 v3_muladds( player
->rb
.co
, ct
->n
, ct
->bias
*0.02f
, player
->rb
.co
);
2055 float temp
= ct
->norm_impulse
;
2056 ct
->norm_impulse
= vg_maxf( temp
+ lambda
, 0.0f
);
2057 lambda
= ct
->norm_impulse
- temp
;
2060 v3_muls( ct
->n
, lambda
, impulse
);
2062 v3_muladds( player
->rb
.v
, impulse
, inv_mass
, player
->rb
.v
);
2063 v3_cross( delta
, impulse
, impulse
);
2064 m3x3_mulv( iIw
, impulse
, impulse
);
2065 v3_add( impulse
, player
->rb
.w
, player
->rb
.w
);
2067 v3_cross( player
->rb
.w
, delta
, rv
);
2068 v3_add( player
->rb
.v
, rv
, rv
);
2069 vn
= v3_dot( rv
, ct
->n
);
2075 if( s
->substep
>= 0.0001f
)
2076 goto begin_collision
; /* again! */
2079 * End of collision and dynamics routine
2080 * --------------------------------------------------------------------------
2083 for( int i
=0; i
<k_wheel_count
; i
++ )
2086 m3x3_copy( player
->rb
.to_world
, mtx
);
2087 m4x3_mulv( player
->rb
.to_world
, wheels
[i
].pos
, mtx
[3] );
2088 debug_sphere( mtx
, wheels
[i
].radius
,
2089 (u32
[]){ VG__WHITE
, VG__BLACK
,
2090 wheels
[i
].colour
}[ wheels
[i
].state
]);
2094 skate_apply_grind_model( player
, &manifold
[manifold_len
], grind_len
);
2097 skate_apply_interface_model( player
, manifold
, manifold_len
);
2099 skate_apply_pump_model( player
);
2100 skate_apply_cog_model( player
);
2102 skate_apply_grab_model( player
);
2103 skate_apply_friction_model( player
);
2104 skate_apply_jump_model( player
);
2105 skate_apply_air_model( player
);
2106 skate_apply_trick_model( player
);
2108 skate_integrate( player
);
2110 vg_line_pt3( s
->state
.cog
, 0.1f
, VG__WHITE
);
2111 vg_line_pt3( s
->state
.cog
, 0.11f
, VG__WHITE
);
2112 vg_line_pt3( s
->state
.cog
, 0.12f
, VG__WHITE
);
2113 vg_line_pt3( s
->state
.cog
, 0.13f
, VG__WHITE
);
2114 vg_line_pt3( s
->state
.cog
, 0.14f
, VG__WHITE
);
2116 vg_line( player
->rb
.co
, s
->state
.cog
, VG__RED
);
2118 teleport_gate
*gate
;
2119 if( (gate
= world_intersect_gates( player
->rb
.co
, s
->state
.prev_pos
)) )
2121 m4x3_mulv( gate
->transport
, player
->rb
.co
, player
->rb
.co
);
2122 m3x3_mulv( gate
->transport
, player
->rb
.v
, player
->rb
.v
);
2123 m4x3_mulv( gate
->transport
, s
->state
.cog
, s
->state
.cog
);
2124 m3x3_mulv( gate
->transport
, s
->state
.cog_v
, s
->state
.cog_v
);
2125 m3x3_mulv( gate
->transport
, s
->state
.throw_v
, s
->state
.throw_v
);
2126 m3x3_mulv( gate
->transport
, s
->state
.head_position
,
2127 s
->state
.head_position
);
2129 v4f transport_rotation
;
2130 m3x3_q( gate
->transport
, transport_rotation
);
2131 q_mul( transport_rotation
, player
->rb
.q
, player
->rb
.q
);
2132 rb_update_transform( &player
->rb
);
2134 s
->state_gate_storage
= s
->state
;
2135 player__pass_gate( player
, gate
);
2139 VG_STATIC
void player__skate_im_gui( player_instance
*player
)
2141 struct player_skate
*s
= &player
->_skate
;
2143 /* FIXME: Compression */
2144 player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player
->rb
.v
[0],
2147 player__debugtext( 1, "CO: %5.2f %5.2f %5.2f",player
->rb
.co
[0],
2150 player__debugtext( 1, "W: %5.2f %5.2f %5.2f",player
->rb
.w
[0],
2154 player__debugtext( 1, "activity: %s",
2155 (const char *[]){ "k_skate_activity_air",
2156 "k_skate_activity_ground",
2157 "k_skate_activity_grind }" }
2158 [s
->state
.activity
] );
2160 player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
2161 s
->state
.steerx_s
, s
->state
.steery_s
,
2162 k_steer_ground
, k_steer_air
);
2164 player__debugtext( 1, "flip: %.4f %.4f", s
->state
.flip_rate
,
2165 s
->state
.flip_time
);
2166 player__debugtext( 1, "trickv: %.2f %.2f %.2f",
2167 s
->state
.trick_vel
[0],
2168 s
->state
.trick_vel
[1],
2169 s
->state
.trick_vel
[2] );
2170 player__debugtext( 1, "tricke: %.2f %.2f %.2f",
2171 s
->state
.trick_euler
[0],
2172 s
->state
.trick_euler
[1],
2173 s
->state
.trick_euler
[2] );
2176 VG_STATIC
void player__skate_animate( player_instance
*player
,
2177 player_animation
*dest
)
2179 struct player_skate
*s
= &player
->_skate
;
2180 struct player_avatar
*av
= player
->playeravatar
;
2181 struct skeleton
*sk
= &av
->sk
;
2184 float kheight
= 2.0f
,
2190 v3f cog_local
, cog_ideal
;
2191 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, cog_local
);
2193 v3_copy( s
->state
.up_dir
, cog_ideal
);
2194 v3_normalize( cog_ideal
);
2195 m3x3_mulv( player
->rb
.to_local
, cog_ideal
, cog_ideal
);
2197 v3_sub( cog_ideal
, cog_local
, offset
);
2200 v3_muls( offset
, 4.0f
, offset
);
2203 float curspeed
= v3_length( player
->rb
.v
),
2204 kickspeed
= vg_clampf( curspeed
*(1.0f
/40.0f
), 0.0f
, 1.0f
),
2205 kicks
= (vg_randf()-0.5f
)*2.0f
*kickspeed
,
2206 sign
= vg_signf( kicks
);
2208 s
->wobble
[0] = vg_lerpf( s
->wobble
[0], kicks
*kicks
*sign
, 6.0f
*vg
.time_delta
);
2209 s
->wobble
[1] = vg_lerpf( s
->wobble
[1], s
->wobble
[0], 2.4f
*vg
.time_delta
);
2212 offset
[0] += s
->wobble
[1]*3.0f
;
2217 offset
[0]=vg_clampf(offset
[0],-0.8f
,0.8f
)*(1.0f
-fabsf(s
->blend_slide
)*0.9f
);
2218 offset
[1]=vg_clampf(offset
[1],-0.5f
,0.0f
);
2221 * Animation blending
2222 * ===========================================
2227 float desired
= vg_clampf( fabsf( s
->state
.slip
), 0.0f
, 1.0f
);
2228 s
->blend_slide
= vg_lerpf( s
->blend_slide
, desired
, 2.4f
*vg
.time_delta
);
2231 /* movement information */
2233 int iair
= (s
->state
.activity
== k_skate_activity_air
) ||
2234 (s
->state
.activity
== k_skate_activity_grind
);
2236 float dirz
= s
->state
.reverse
> 0.0f
? 0.0f
: 1.0f
,
2237 dirx
= s
->state
.slip
< 0.0f
? 0.0f
: 1.0f
,
2238 fly
= iair
? 1.0f
: 0.0f
;
2240 s
->blend_z
= vg_lerpf( s
->blend_z
, dirz
, 2.4f
*vg
.time_delta
);
2241 s
->blend_x
= vg_lerpf( s
->blend_x
, dirx
, 0.6f
*vg
.time_delta
);
2242 s
->blend_fly
= vg_lerpf( s
->blend_fly
, fly
, 2.4f
*vg
.time_delta
);
2245 mdl_keyframe apose
[32], bpose
[32];
2246 mdl_keyframe ground_pose
[32];
2248 /* when the player is moving fast he will crouch down a little bit */
2249 float stand
= 1.0f
- vg_clampf( curspeed
* 0.03f
, 0.0f
, 1.0f
);
2250 s
->blend_stand
= vg_lerpf( s
->blend_stand
, stand
, 6.0f
*vg
.time_delta
);
2253 float dir_frame
= s
->blend_z
* (15.0f
/30.0f
),
2254 stand_blend
= offset
[1]*-2.0f
;
2257 m4x3_mulv( player
->rb
.to_local
, s
->state
.cog
, local_cog
);
2259 stand_blend
= vg_clampf( 1.0f
-local_cog
[1], 0, 1 );
2261 skeleton_sample_anim( sk
, s
->anim_stand
, dir_frame
, apose
);
2262 skeleton_sample_anim( sk
, s
->anim_highg
, dir_frame
, bpose
);
2263 skeleton_lerp_pose( sk
, apose
, bpose
, stand_blend
, apose
);
2266 float slide_frame
= s
->blend_x
* (15.0f
/30.0f
);
2267 skeleton_sample_anim( sk
, s
->anim_slide
, slide_frame
, bpose
);
2268 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_slide
, apose
);
2271 double push_time
= vg
.time
- s
->state
.start_push
;
2272 s
->blend_push
= vg_lerpf( s
->blend_push
,
2273 (vg
.time
- s
->state
.cur_push
) < 0.125,
2274 6.0f
*vg
.time_delta
);
2276 float pt
= push_time
+ vg
.accumulator
;
2277 if( s
->state
.reverse
> 0.0f
)
2278 skeleton_sample_anim( sk
, s
->anim_push
, pt
, bpose
);
2280 skeleton_sample_anim( sk
, s
->anim_push_reverse
, pt
, bpose
);
2282 skeleton_lerp_pose( sk
, apose
, bpose
, s
->blend_push
, apose
);
2285 float jump_start_frame
= 14.0f
/30.0f
;
2287 float charge
= s
->state
.jump_charge
;
2288 s
->blend_jump
= vg_lerpf( s
->blend_jump
, charge
, 8.4f
*vg
.time_delta
);
2290 float setup_frame
= charge
* jump_start_frame
,
2291 setup_blend
= vg_minf( s
->blend_jump
, 1.0f
);
2293 float jump_frame
= (vg
.time
- s
->state
.jump_time
) + jump_start_frame
;
2294 if( jump_frame
>= jump_start_frame
&& jump_frame
<= (40.0f
/30.0f
) )
2295 setup_frame
= jump_frame
;
2297 struct skeleton_anim
*jump_anim
= s
->state
.jump_dir
?
2299 s
->anim_ollie_reverse
;
2301 skeleton_sample_anim_clamped( sk
, jump_anim
, setup_frame
, bpose
);
2302 skeleton_lerp_pose( sk
, apose
, bpose
, setup_blend
, ground_pose
);
2305 mdl_keyframe air_pose
[32];
2307 float target
= -player
->input_js1h
->axis
.value
;
2308 s
->blend_airdir
= vg_lerpf( s
->blend_airdir
, target
, 2.4f
*vg
.time_delta
);
2310 float air_frame
= (s
->blend_airdir
*0.5f
+0.5f
) * (15.0f
/30.0f
);
2311 skeleton_sample_anim( sk
, s
->anim_air
, air_frame
, apose
);
2313 static v2f grab_choice
;
2315 v2f grab_input
= { player
->input_js2h
->axis
.value
,
2316 player
->input_js2v
->axis
.value
};
2317 v2_add( s
->state
.grab_mouse_delta
, grab_input
, grab_input
);
2318 if( v2_length2( grab_input
) <= 0.001f
)
2319 grab_input
[0] = -1.0f
;
2321 v2_normalize_clamp( grab_input
);
2322 v2_lerp( grab_choice
, grab_input
, 2.4f
*vg
.time_delta
, grab_choice
);
2324 float ang
= atan2f( grab_choice
[0], grab_choice
[1] ),
2325 ang_unit
= (ang
+VG_PIf
) * (1.0f
/VG_TAUf
),
2326 grab_frame
= ang_unit
* (15.0f
/30.0f
);
2328 skeleton_sample_anim( sk
, s
->anim_grabs
, grab_frame
, bpose
);
2329 skeleton_lerp_pose( sk
, apose
, bpose
, s
->state
.grabbing
, air_pose
);
2332 skeleton_lerp_pose( sk
, ground_pose
, air_pose
, s
->blend_fly
, dest
->pose
);
2334 float add_grab_mod
= 1.0f
- s
->blend_fly
;
2336 /* additive effects */
2338 u32 apply_to
[] = { av
->id_hip
,
2342 av
->id_ik_elbow_r
};
2344 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2346 dest
->pose
[apply_to
[i
]-1].co
[0] += offset
[0]*add_grab_mod
;
2347 dest
->pose
[apply_to
[i
]-1].co
[2] += offset
[2]*add_grab_mod
;
2353 /* angle correction */
2354 if( v3_length2( s
->state
.up_dir
) > 0.001f
)
2357 m3x3_mulv( player
->rb
.to_local
, s
->state
.up_dir
, ndir
);
2358 v3_normalize( ndir
);
2360 v3f up
= { 0.0f
, 1.0f
, 0.0f
};
2362 float a
= v3_dot( ndir
, up
);
2363 a
= acosf( vg_clampf( a
, -1.0f
, 1.0f
) );
2368 v3_cross( up
, ndir
, axis
);
2369 q_axis_angle( q
, axis
, a
);
2371 mdl_keyframe
*kf_hip
= &dest
->pose
[av
->id_hip
-1];
2373 for( int i
=0; i
<vg_list_size(apply_to
); i
++ )
2375 mdl_keyframe
*kf
= &dest
->pose
[apply_to
[i
]-1];
2378 v3_sub( kf
->co
, kf_hip
->co
, v0
);
2379 q_mulv( q
, v0
, v0
);
2380 v3_add( v0
, kf_hip
->co
, kf
->co
);
2382 q_mul( q
, kf
->q
, kf
->q
);
2383 q_normalize( kf
->q
);
2387 m4x3_mulv( player
->rb
.to_world
, up
, p1
);
2388 m4x3_mulv( player
->rb
.to_world
, ndir
, p2
);
2390 vg_line( player
->rb
.co
, p1
, VG__PINK
);
2391 vg_line( player
->rb
.co
, p2
, VG__CYAN
);
2396 mdl_keyframe
*kf_board
= &dest
->pose
[av
->id_board
-1],
2397 *kf_foot_l
= &dest
->pose
[av
->id_ik_foot_l
-1],
2398 *kf_foot_r
= &dest
->pose
[av
->id_ik_foot_r
-1];
2401 v3_muls( s
->board_offset
, add_grab_mod
, bo
);
2403 v3_add( bo
, kf_board
->co
, kf_board
->co
);
2404 v3_add( bo
, kf_foot_l
->co
, kf_foot_l
->co
);
2405 v3_add( bo
, kf_foot_r
->co
, kf_foot_r
->co
);
2409 q_m3x3( s
->board_rotation
, c
);
2414 v4f qtrickr
, qyawr
, qpitchr
, qrollr
;
2419 v3_muls( s
->board_trick_residuald
, VG_TAUf
, eulerr
);
2421 q_axis_angle( qyawr
, (v3f
){0.0f
,1.0f
,0.0f
}, eulerr
[0] * 0.5f
);
2422 q_axis_angle( qpitchr
, (v3f
){1.0f
,0.0f
,0.0f
}, eulerr
[1] );
2423 q_axis_angle( qrollr
, (v3f
){0.0f
,0.0f
,1.0f
}, eulerr
[2] );
2425 q_mul( qpitchr
, qrollr
, qtrickr
);
2426 q_mul( qyawr
, qtrickr
, qtrickr
);
2427 q_mul( s
->board_rotation
, qtrickr
, qtotal
);
2428 q_normalize( qtotal
);
2430 q_mul( qtotal
, kf_board
->q
, kf_board
->q
);
2434 v3_sub( kf_foot_l
->co
, bo
, d
);
2435 q_mulv( qtotal
, d
, d
);
2436 v3_add( bo
, d
, kf_foot_l
->co
);
2438 v3_sub( kf_foot_r
->co
, bo
, d
);
2439 q_mulv( qtotal
, d
, d
);
2440 v3_add( bo
, d
, kf_foot_r
->co
);
2442 q_mul( s
->board_rotation
, kf_board
->q
, kf_board
->q
);
2443 q_normalize( kf_board
->q
);
2446 /* trick rotation */
2447 v4f qtrick
, qyaw
, qpitch
, qroll
;
2449 v3_muls( s
->state
.trick_euler
, VG_TAUf
, euler
);
2451 q_axis_angle( qyaw
, (v3f
){0.0f
,1.0f
,0.0f
}, euler
[0] * 0.5f
);
2452 q_axis_angle( qpitch
, (v3f
){1.0f
,0.0f
,0.0f
}, euler
[1] );
2453 q_axis_angle( qroll
, (v3f
){0.0f
,0.0f
,1.0f
}, euler
[2] );
2455 q_mul( qpitch
, qroll
, qtrick
);
2456 q_mul( qyaw
, qtrick
, qtrick
);
2457 q_mul( kf_board
->q
, qtrick
, kf_board
->q
);
2458 q_normalize( kf_board
->q
);
2462 rb_extrapolate( &player
->rb
, dest
->root_co
, dest
->root_q
);
2463 v3_muladds( dest
->root_co
, player
->rb
.to_world
[1], -0.1f
, dest
->root_co
);
2465 float substep
= vg_clampf( vg
.accumulator
/ VG_TIMESTEP_FIXED
, 0.0f
, 1.0f
);
2467 v4f qresy
, qresx
, qresidual
;
2469 q_axis_angle( qresy
, player
->rb
.to_world
[1], s
->state
.steery_s
*substep
);
2470 q_axis_angle( qresx
, player
->rb
.to_world
[0], s
->state
.steerx_s
*substep
);
2472 q_mul( qresy
, qresx
, qresidual
);
2473 q_normalize( qresidual
);
2474 q_mul( dest
->root_q
, qresidual
, dest
->root_q
);
2475 q_normalize( dest
->root_q
);
2479 if( (s
->state
.activity
== k_skate_activity_air
) &&
2480 (fabsf(s
->state
.flip_rate
) > 0.01f
) )
2482 float t
= s
->state
.flip_time
+ s
->state
.flip_rate
*substep
*k_rb_delta
,
2483 angle
= vg_clampf( t
, -1.0f
, 1.0f
) * VG_TAUf
,
2484 distm
= s
->land_dist
* fabsf(s
->state
.flip_rate
) * 3.0f
,
2485 blend
= vg_clampf( 1.0f
-distm
, 0.0f
, 1.0f
);
2487 angle
= vg_lerpf( angle
, vg_signf(s
->state
.flip_rate
) * VG_TAUf
, blend
);
2489 q_axis_angle( qflip
, s
->state
.flip_axis
, angle
);
2490 q_mul( qflip
, dest
->root_q
, dest
->root_q
);
2491 q_normalize( dest
->root_q
);
2493 v3f rotation_point
, rco
;
2494 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 0.5f
, rotation_point
);
2495 v3_sub( dest
->root_co
, rotation_point
, rco
);
2497 q_mulv( qflip
, rco
, rco
);
2498 v3_add( rco
, rotation_point
, dest
->root_co
);
2502 VG_STATIC
void player__skate_post_animate( player_instance
*player
)
2504 struct player_skate
*s
= &player
->_skate
;
2505 struct player_avatar
*av
= player
->playeravatar
;
2507 player
->cam_velocity_influence
= 1.0f
;
2509 v3f head
= { 0.0f
, 1.8f
, 0.0f
}; /* FIXME: Viewpoint entity */
2510 m4x3_mulv( av
->sk
.final_mtx
[ av
->id_head
], head
, s
->state
.head_position
);
2511 m4x3_mulv( player
->rb
.to_local
, s
->state
.head_position
,
2512 s
->state
.head_position
);
2515 VG_STATIC
void player__skate_reset_animator( player_instance
*player
)
2517 struct player_skate
*s
= &player
->_skate
;
2519 if( s
->state
.activity
== k_skate_activity_air
)
2520 s
->blend_fly
= 1.0f
;
2522 s
->blend_fly
= 0.0f
;
2524 s
->blend_slide
= 0.0f
;
2527 s
->blend_stand
= 0.0f
;
2528 s
->blend_push
= 0.0f
;
2529 s
->blend_jump
= 0.0f
;
2530 s
->blend_airdir
= 0.0f
;
2533 VG_STATIC
void player__skate_clear_mechanics( player_instance
*player
)
2535 struct player_skate
*s
= &player
->_skate
;
2536 s
->state
.jump_charge
= 0.0f
;
2537 s
->state
.lift_frames
= 0;
2538 s
->state
.flip_rate
= 0.0f
;
2540 s
->state
.steery
= 0.0f
;
2541 s
->state
.steerx
= 0.0f
;
2542 s
->state
.steery_s
= 0.0f
;
2543 s
->state
.steerx_s
= 0.0f
;
2545 s
->state
.reverse
= 0.0f
;
2546 s
->state
.slip
= 0.0f
;
2547 v3_copy( player
->rb
.co
, s
->state
.prev_pos
);
2549 m3x3_identity( s
->state
.velocity_bias
);
2550 m3x3_identity( s
->state
.velocity_bias_pstep
);
2551 v3_zero( s
->state
.throw_v
);
2552 v3_zero( s
->state
.trick_vel
);
2553 v3_zero( s
->state
.trick_euler
);
2556 VG_STATIC
void player__skate_reset( player_instance
*player
,
2557 struct respawn_point
*rp
)
2559 struct player_skate
*s
= &player
->_skate
;
2560 v3_muladds( player
->rb
.co
, player
->rb
.to_world
[1], 1.0f
, s
->state
.cog
);
2561 v3_zero( player
->rb
.v
);
2562 v3_zero( s
->state
.cog_v
);
2563 v4_copy( rp
->q
, player
->rb
.q
);
2565 s
->state
.activity
= k_skate_activity_air
;
2566 s
->state
.activity_prev
= k_skate_activity_air
;
2568 player__skate_clear_mechanics( player
);
2569 player__skate_reset_animator( player
);
2571 v3_zero( s
->state
.head_position
);
2572 s
->state
.head_position
[1] = 1.8f
;
2575 #endif /* PLAYER_SKATE_C */