6 static int spawn_car( int argc
, const char *argv
[] ){
8 v3_copy( skaterift
.cam
.pos
, ra
);
9 v3_muladds( ra
, skaterift
.cam
.transform
[2], -10.0f
, rb
);
12 if( spherecast_world( world_current_instance(),
13 ra
, rb
, 1.0f
, &t
, rx
, 0 ) != -1 )
15 v3_lerp( ra
, rb
, t
, gzoomer
.rb
.co
);
16 gzoomer
.rb
.co
[1] += 4.0f
;
17 q_axis_angle( gzoomer
.rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, 0.001f
);
18 v3_zero( gzoomer
.rb
.v
);
19 v3_zero( gzoomer
.rb
.w
);
21 rb_update_matrices( &gzoomer
.rb
);
24 vg_success( "Spawned car\n" );
27 vg_error( "Can't spawn here\n" );
33 static void vehicle_init(void){
34 q_identity( gzoomer
.rb
.q
);
35 v3_zero( gzoomer
.rb
.w
);
36 v3_zero( gzoomer
.rb
.v
);
37 v3_zero( gzoomer
.rb
.co
);
38 rb_setbody_sphere( &gzoomer
.rb
, 1.0f
, 8.0f
, 1.0f
);
40 VG_VAR_F32( k_car_spring
, flags
=VG_VAR_PERSISTENT
);
41 VG_VAR_F32( k_car_spring_damp
, flags
=VG_VAR_PERSISTENT
);
42 VG_VAR_F32( k_car_spring_length
, flags
=VG_VAR_PERSISTENT
);
43 VG_VAR_F32( k_car_wheel_radius
, flags
=VG_VAR_PERSISTENT
);
44 VG_VAR_F32( k_car_friction_lat
, flags
=VG_VAR_PERSISTENT
);
45 VG_VAR_F32( k_car_friction_roll
, flags
=VG_VAR_PERSISTENT
);
46 VG_VAR_F32( k_car_drive_force
, flags
=VG_VAR_PERSISTENT
);
47 VG_VAR_F32( k_car_air_resistance
,flags
=VG_VAR_PERSISTENT
);
48 VG_VAR_F32( k_car_downforce
, flags
=VG_VAR_PERSISTENT
);
50 VG_VAR_I32( gzoomer
.inside
);
52 vg_console_reg_cmd( "spawn_car", spawn_car
, NULL
);
54 v3_copy((v3f
){ -1.0f
, -0.25f
, -1.5f
}, gzoomer
.wheels_local
[0] );
55 v3_copy((v3f
){ 1.0f
, -0.25f
, -1.5f
}, gzoomer
.wheels_local
[1] );
56 v3_copy((v3f
){ -1.0f
, -0.25f
, 1.5f
}, gzoomer
.wheels_local
[2] );
57 v3_copy((v3f
){ 1.0f
, -0.25f
, 1.5f
}, gzoomer
.wheels_local
[3] );
60 static void vehicle_wheel_force( int index
){
62 m4x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[index
], pa
);
63 v3_muladds( pa
, gzoomer
.rb
.to_world
[1], -k_car_spring_length
, pb
);
68 if( spherecast_world( world_current_instance(), pa
, pb
,
69 k_car_wheel_radius
, &t
, n
, 0 ) == -1 )
76 v3_muls( gzoomer
.rb
.up
, -1.0f
, dir
);
79 hit
.dist
= k_car_spring_length
;
80 ray_world( pa
, dir
, &hit
);
82 float t
= hit
.dist
/ k_car_spring_length
;
87 v3_lerp( pa
, pb
, t
, pc
);
90 m3x3_copy( gzoomer
.rb
.to_world
, mtx
);
91 v3_copy( pc
, mtx
[3] );
92 vg_line_sphere( mtx
, k_car_wheel_radius
, VG__BLACK
);
93 vg_line( pa
, pc
, VG__WHITE
);
94 v3_copy( pc
, gzoomer
.wheels
[index
] );
98 float Fv
= (1.0f
-t
) * k_car_spring
*k_rb_delta
;
101 v3_sub( pa
, gzoomer
.rb
.co
, delta
);
104 v3_cross( gzoomer
.rb
.w
, delta
, rv
);
105 v3_add( gzoomer
.rb
.v
, rv
, rv
);
107 Fv
+= v3_dot(rv
, gzoomer
.rb
.to_world
[1]) * -k_car_spring_damp
*k_rb_delta
;
109 /* scale by normal incident */
110 Fv
*= v3_dot( n
, gzoomer
.rb
.to_world
[1] );
113 v3_muls( gzoomer
.rb
.to_world
[1], Fv
, F
);
114 rb_linear_impulse( &gzoomer
.rb
, delta
, F
);
117 * -------------------------------------------------------------*/
121 v3_cross( gzoomer
.steerv
, n
, tx
);
123 v3_cross( n
, gzoomer
.rb
.to_world
[2], tx
);
124 v3_cross( tx
, n
, ty
);
126 v3_copy( tx
, gzoomer
.tangent_vectors
[ index
][0] );
127 v3_copy( ty
, gzoomer
.tangent_vectors
[ index
][1] );
129 gzoomer
.normal_forces
[ index
] = Fv
;
130 gzoomer
.tangent_forces
[ index
][0] = 0.0f
;
131 gzoomer
.tangent_forces
[ index
][1] = 0.0f
;
133 /* orient inverse inertia tensors */
135 m3x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[index
], raW
);
137 v3f raCtx
, raCtxI
, raCty
, raCtyI
;
138 v3_cross( tx
, raW
, raCtx
);
139 v3_cross( ty
, raW
, raCty
);
140 m3x3_mulv( gzoomer
.rb
.iIw
, raCtx
, raCtxI
);
141 m3x3_mulv( gzoomer
.rb
.iIw
, raCty
, raCtyI
);
143 gzoomer
.tangent_mass
[index
][0] = gzoomer
.rb
.inv_mass
;
144 gzoomer
.tangent_mass
[index
][0] += v3_dot( raCtx
, raCtxI
);
145 gzoomer
.tangent_mass
[index
][0] = 1.0f
/gzoomer
.tangent_mass
[index
][0];
147 gzoomer
.tangent_mass
[index
][1] = gzoomer
.rb
.inv_mass
;
148 gzoomer
.tangent_mass
[index
][1] += v3_dot( raCty
, raCtyI
);
149 gzoomer
.tangent_mass
[index
][1] = 1.0f
/gzoomer
.tangent_mass
[index
][1];
151 /* apply drive force */
153 v3_muls( ty
, -gzoomer
.drive
* k_car_drive_force
* k_rb_delta
, F
);
154 rb_linear_impulse( &gzoomer
.rb
, raW
, F
);
158 gzoomer
.normal_forces
[ index
] = 0.0f
;
159 gzoomer
.tangent_forces
[ index
][0] = 0.0f
;
160 gzoomer
.tangent_forces
[ index
][1] = 0.0f
;
164 static void vehicle_solve_friction(void){
165 rigidbody
*rb
= &gzoomer
.rb
;
166 for( int i
=0; i
<4; i
++ ){
168 m3x3_mulv( rb
->to_world
, gzoomer
.wheels_local
[i
], raW
);
171 v3_cross( rb
->w
, raW
, rv
);
172 v3_add( rb
->v
, rv
, rv
);
174 float fx
= k_car_friction_lat
* gzoomer
.normal_forces
[i
],
175 fy
= k_car_friction_roll
* gzoomer
.normal_forces
[i
],
176 vtx
= v3_dot( rv
, gzoomer
.tangent_vectors
[i
][0] ),
177 vty
= v3_dot( rv
, gzoomer
.tangent_vectors
[i
][1] ),
178 lambdax
= gzoomer
.tangent_mass
[i
][0] * -vtx
,
179 lambday
= gzoomer
.tangent_mass
[i
][1] * -vty
;
181 float tempx
= gzoomer
.tangent_forces
[i
][0],
182 tempy
= gzoomer
.tangent_forces
[i
][1];
183 gzoomer
.tangent_forces
[i
][0] = vg_clampf( tempx
+ lambdax
, -fx
, fx
);
184 gzoomer
.tangent_forces
[i
][1] = vg_clampf( tempy
+ lambday
, -fy
, fy
);
185 lambdax
= gzoomer
.tangent_forces
[i
][0] - tempx
;
186 lambday
= gzoomer
.tangent_forces
[i
][1] - tempy
;
188 v3f impulsex
, impulsey
;
189 v3_muls( gzoomer
.tangent_vectors
[i
][0], lambdax
, impulsex
);
190 v3_muls( gzoomer
.tangent_vectors
[i
][1], lambday
, impulsey
);
191 rb_linear_impulse( rb
, raW
, impulsex
);
192 rb_linear_impulse( rb
, raW
, impulsey
);
196 static void vehicle_update_fixed(void)
201 rigidbody
*rb
= &gzoomer
.rb
;
203 v3_muls( rb
->to_world
[2], -cosf(gzoomer
.steer
), gzoomer
.steerv
);
204 v3_muladds( gzoomer
.steerv
, rb
->to_world
[0],
205 sinf(gzoomer
.steer
), gzoomer
.steerv
);
207 /* apply air resistance */
210 v3_muls( rb
->v
, -k_car_air_resistance
, Fair
);
211 v3_muls( rb
->to_world
[1], -fabsf(v3_dot( rb
->v
, rb
->to_world
[2] )) *
212 k_car_downforce
, Fdown
);
214 v3_muladds( rb
->v
, Fair
, k_rb_delta
, rb
->v
);
215 v3_muladds( rb
->v
, Fdown
, k_rb_delta
, rb
->v
);
217 for( int i
=0; i
<4; i
++ )
218 vehicle_wheel_force( i
);
220 rigidbody _null
= {0};
221 _null
.inv_mass
= 0.0f
;
222 m3x3_zero( _null
.iI
);
225 int len
= rb_sphere__scene( rb
->to_world
, 1.0f
, NULL
,
226 world_current_instance()->geo_bh
,
228 for( int j
=0; j
<len
; j
++ ){
229 manifold
[j
].rba
= rb
;
230 manifold
[j
].rbb
= &_null
;
232 rb_manifold_filter_coplanar( manifold
, len
, 0.05f
);
235 rb_manifold_filter_backface( manifold
, len
);
236 rb_manifold_filter_joint_edges( manifold
, len
, 0.05f
);
237 rb_manifold_filter_pairs( manifold
, len
, 0.05f
);
239 len
= rb_manifold_apply_filtered( manifold
, len
);
241 rb_presolve_contacts( manifold
, len
);
242 for( int i
=0; i
<8; i
++ ){
243 rb_solve_contacts( manifold
, len
);
244 vehicle_solve_friction();
248 rb_update_matrices( rb
);
251 static void vehicle_update_post(void){
255 vg_line_sphere( gzoomer
.rb
.to_world
, 1.0f
, VG__WHITE
);
257 /* draw friction vectors */
260 for( int i
=0; i
<4; i
++ ){
261 v3_copy( gzoomer
.wheels
[i
], p0
);
262 v3_muladds( p0
, gzoomer
.tangent_vectors
[i
][0], 0.5f
, px
);
263 v3_muladds( p0
, gzoomer
.tangent_vectors
[i
][1], 0.5f
, py
);
265 vg_line( p0
, px
, VG__RED
);
266 vg_line( p0
, py
, VG__GREEN
);
270 #endif /* VEHICLE_H */