10 #include "player_physics.h"
12 VG_STATIC
float k_car_spring
= 1.0f
,
13 k_car_spring_damp
= 0.001f
,
14 k_car_spring_length
= 0.5f
,
15 k_car_wheel_radius
= 0.2f
,
16 k_car_friction_lat
= 0.6f
,
17 k_car_friction_roll
= 0.01f
,
18 k_car_drive_force
= 1.0f
,
19 k_car_air_resistance
= 0.1f
,
20 k_car_downforce
= 0.5f
;
22 VG_STATIC
struct gvehicle
29 float tangent_mass
[4][2],
36 v3f tangent_vectors
[4][2];
41 .rb
= { .type
= k_rb_shape_sphere
, .inf
.sphere
.radius
= 1.0f
}
44 VG_STATIC
int spawn_car( int argc
, const char *argv
[] )
47 v3_copy( main_camera
.pos
, ra
);
48 v3_muladds( ra
, main_camera
.transform
[2], -10.0f
, rb
);
51 if( spherecast_world( ra
, rb
, gzoomer
.rb
.inf
.sphere
.radius
, &t
, rx
) != -1 )
53 v3_lerp( ra
, rb
, t
, gzoomer
.rb
.co
);
54 gzoomer
.rb
.co
[1] += 4.0f
;
55 q_axis_angle( gzoomer
.rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, 0.001f
);
56 v3_zero( gzoomer
.rb
.v
);
57 v3_zero( gzoomer
.rb
.w
);
59 rb_update_transform( &gzoomer
.rb
);
62 vg_success( "Spawned car\n" );
66 vg_error( "Can't spawn here\n" );
72 VG_STATIC
void vehicle_init(void)
74 q_identity( gzoomer
.rb
.q
);
75 rb_init( &gzoomer
.rb
);
77 VG_VAR_F32_PERSISTENT( k_car_spring
);
78 VG_VAR_F32_PERSISTENT( k_car_spring_damp
);
79 VG_VAR_F32_PERSISTENT( k_car_spring_length
);
80 VG_VAR_F32_PERSISTENT( k_car_wheel_radius
);
81 VG_VAR_F32_PERSISTENT( k_car_friction_lat
);
82 VG_VAR_F32_PERSISTENT( k_car_friction_roll
);
83 VG_VAR_F32_PERSISTENT( k_car_drive_force
);
84 VG_VAR_F32_PERSISTENT( k_car_air_resistance
);
85 VG_VAR_F32_PERSISTENT( k_car_downforce
);
87 VG_VAR_I32( gzoomer
.inside
);
89 vg_function_push( (struct vg_cmd
){
94 v3_copy((v3f
){ -1.0f
, -0.25f
, -1.5f
}, gzoomer
.wheels_local
[0] );
95 v3_copy((v3f
){ 1.0f
, -0.25f
, -1.5f
}, gzoomer
.wheels_local
[1] );
96 v3_copy((v3f
){ -1.0f
, -0.25f
, 1.5f
}, gzoomer
.wheels_local
[2] );
97 v3_copy((v3f
){ 1.0f
, -0.25f
, 1.5f
}, gzoomer
.wheels_local
[3] );
100 VG_STATIC
void vehicle_wheel_force( int index
)
103 m4x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[index
], pa
);
104 v3_muladds( pa
, gzoomer
.rb
.up
, -k_car_spring_length
, pb
);
109 if( spherecast_world( pa
, pb
, k_car_wheel_radius
, &t
, n
) == -1 )
115 v3_muls( gzoomer
.rb
.up
, -1.0f
, dir
);
118 hit
.dist
= k_car_spring_length
;
119 ray_world( pa
, dir
, &hit
);
121 float t
= hit
.dist
/ k_car_spring_length
;
126 v3_lerp( pa
, pb
, t
, pc
);
129 m3x3_copy( gzoomer
.rb
.to_world
, mtx
);
130 v3_copy( pc
, mtx
[3] );
131 debug_sphere( mtx
, k_car_wheel_radius
, VG__BLACK
);
132 vg_line( pa
, pc
, VG__WHITE
);
133 v3_copy( pc
, gzoomer
.wheels
[index
] );
138 float Fv
= (1.0f
-t
) * k_car_spring
*k_rb_delta
;
141 v3_sub( pa
, gzoomer
.rb
.co
, delta
);
144 v3_cross( gzoomer
.rb
.w
, delta
, rv
);
145 v3_add( gzoomer
.rb
.v
, rv
, rv
);
147 Fv
+= v3_dot( rv
, gzoomer
.rb
.up
) * -k_car_spring_damp
*k_rb_delta
;
149 /* scale by normal incident */
150 Fv
*= v3_dot( n
, gzoomer
.rb
.up
);
153 v3_muls( gzoomer
.rb
.up
, Fv
, F
);
155 rb_linear_impulse( &gzoomer
.rb
, delta
, F
);
158 * -------------------------------------------------------------*/
162 v3_cross( gzoomer
.steerv
, n
, tx
);
164 v3_cross( gzoomer
.rb
.forward
, n
, tx
);
165 v3_cross( tx
, n
, ty
);
167 v3_copy( tx
, gzoomer
.tangent_vectors
[ index
][0] );
168 v3_copy( ty
, gzoomer
.tangent_vectors
[ index
][1] );
170 gzoomer
.normal_forces
[ index
] = Fv
;
171 gzoomer
.tangent_forces
[ index
][0] = 0.0f
;
172 gzoomer
.tangent_forces
[ index
][1] = 0.0f
;
174 /* orient inverse inertia tensors */
176 m3x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[index
], raW
);
178 v3f raCtx
, raCtxI
, raCty
, raCtyI
;
179 v3_cross( tx
, raW
, raCtx
);
180 v3_cross( ty
, raW
, raCty
);
181 m3x3_mulv( gzoomer
.rb
.iIw
, raCtx
, raCtxI
);
182 m3x3_mulv( gzoomer
.rb
.iIw
, raCty
, raCtyI
);
184 gzoomer
.tangent_mass
[index
][0] = gzoomer
.rb
.inv_mass
;
185 gzoomer
.tangent_mass
[index
][0] += v3_dot( raCtx
, raCtxI
);
186 gzoomer
.tangent_mass
[index
][0] = 1.0f
/gzoomer
.tangent_mass
[index
][0];
188 gzoomer
.tangent_mass
[index
][1] = gzoomer
.rb
.inv_mass
;
189 gzoomer
.tangent_mass
[index
][1] += v3_dot( raCty
, raCtyI
);
190 gzoomer
.tangent_mass
[index
][1] = 1.0f
/gzoomer
.tangent_mass
[index
][1];
192 /* apply drive force */
195 v3_muls( ty
, gzoomer
.drive
* k_car_drive_force
* k_rb_delta
, F
);
196 rb_linear_impulse( &gzoomer
.rb
, raW
, F
);
201 gzoomer
.normal_forces
[ index
] = 0.0f
;
202 gzoomer
.tangent_forces
[ index
][0] = 0.0f
;
203 gzoomer
.tangent_forces
[ index
][1] = 0.0f
;
207 VG_STATIC
void vehicle_solve_friction(void)
209 for( int i
=0; i
<4; i
++ )
212 m3x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[i
], raW
);
215 v3_cross( gzoomer
.rb
.w
, raW
, rv
);
216 v3_add( gzoomer
.rb
.v
, rv
, rv
);
218 float fx
= k_car_friction_lat
* gzoomer
.normal_forces
[i
],
219 fy
= k_car_friction_roll
* gzoomer
.normal_forces
[i
],
220 vtx
= v3_dot( rv
, gzoomer
.tangent_vectors
[i
][0] ),
221 vty
= v3_dot( rv
, gzoomer
.tangent_vectors
[i
][1] ),
222 lambdax
= gzoomer
.tangent_mass
[i
][0] * -vtx
,
223 lambday
= gzoomer
.tangent_mass
[i
][1] * -vty
;
225 float tempx
= gzoomer
.tangent_forces
[i
][0],
226 tempy
= gzoomer
.tangent_forces
[i
][1];
227 gzoomer
.tangent_forces
[i
][0] = vg_clampf( tempx
+ lambdax
, -fx
, fx
);
228 gzoomer
.tangent_forces
[i
][1] = vg_clampf( tempy
+ lambday
, -fy
, fy
);
229 lambdax
= gzoomer
.tangent_forces
[i
][0] - tempx
;
230 lambday
= gzoomer
.tangent_forces
[i
][1] - tempy
;
232 v3f impulsex
, impulsey
;
233 v3_muls( gzoomer
.tangent_vectors
[i
][0], lambdax
, impulsex
);
234 v3_muls( gzoomer
.tangent_vectors
[i
][1], lambday
, impulsey
);
235 rb_linear_impulse( &gzoomer
.rb
, raW
, impulsex
);
236 rb_linear_impulse( &gzoomer
.rb
, raW
, impulsey
);
240 VG_STATIC
void vehicle_update_fixed(void)
245 gzoomer
.steer
= vg_lerpf( gzoomer
.steer
,
246 player
.input_walkh
->axis
.value
* 0.4f
,
249 gzoomer
.drive
= player
.input_walkv
->axis
.value
* k_car_drive_force
;
250 v3_muls( gzoomer
.rb
.forward
, cosf(gzoomer
.steer
), gzoomer
.steerv
);
251 v3_muladds( gzoomer
.steerv
, gzoomer
.rb
.right
,
252 sinf(gzoomer
.steer
), gzoomer
.steerv
);
254 /* apply air resistance */
257 v3_muls( gzoomer
.rb
.v
, -k_car_air_resistance
, Fair
);
258 v3_muls( gzoomer
.rb
.up
, -fabsf(v3_dot( gzoomer
.rb
.v
, gzoomer
.rb
.forward
)) *
259 k_car_downforce
, Fdown
);
261 v3_muladds( gzoomer
.rb
.v
, Fair
, k_rb_delta
, gzoomer
.rb
.v
);
262 v3_muladds( gzoomer
.rb
.v
, Fdown
, k_rb_delta
, gzoomer
.rb
.v
);
264 for( int i
=0; i
<4; i
++ )
265 vehicle_wheel_force( i
);
269 int len
= rb_sphere_scene( &gzoomer
.rb
, &world
.rb_geo
, manifold
);
270 rb_manifold_filter_coplanar( manifold
, len
, 0.05f
);
274 rb_manifold_filter_backface( manifold
, len
);
275 rb_manifold_filter_joint_edges( manifold
, len
, 0.05f
);
276 rb_manifold_filter_pairs( manifold
, len
, 0.05f
);
278 len
= rb_manifold_apply_filtered( manifold
, len
);
280 rb_presolve_contacts( manifold
, len
);
281 for( int i
=0; i
<8; i
++ )
283 rb_solve_contacts( manifold
, len
);
284 vehicle_solve_friction();
287 rb_iter( &gzoomer
.rb
);
288 rb_update_transform( &gzoomer
.rb
);
291 VG_STATIC
void vehicle_update_post(void)
296 rb_debug( &gzoomer
.rb
, VG__WHITE
);
297 vg_line( player
.rb
.co
, gzoomer
.rb
.co
, VG__WHITE
);
299 /* draw friction vectors */
302 for( int i
=0; i
<4; i
++ )
304 v3_copy( gzoomer
.wheels
[i
], p0
);
305 v3_muladds( p0
, gzoomer
.tangent_vectors
[i
][0], 0.5f
, px
);
306 v3_muladds( p0
, gzoomer
.tangent_vectors
[i
][1], 0.5f
, py
);
308 vg_line( p0
, px
, VG__RED
);
309 vg_line( p0
, py
, VG__GREEN
);
313 VG_STATIC
void vehicle_camera(void)
315 float yaw
= atan2f( gzoomer
.rb
.forward
[0], -gzoomer
.rb
.forward
[2] ),
318 -gzoomer
.rb
.forward
[1],
321 gzoomer
.rb
.forward
[0]*gzoomer
.rb
.forward
[0] +
322 gzoomer
.rb
.forward
[2]*gzoomer
.rb
.forward
[2]
327 main_camera
.angles
[0] = yaw
;
328 main_camera
.angles
[1] = pitch
;
329 v3_copy( gzoomer
.rb
.co
, main_camera
.pos
);
332 #endif /* VEHICLE_H */