8 #include "player_physics.h"
10 VG_STATIC
float k_car_spring
= 1.0f
,
11 k_car_spring_damp
= 0.001f
,
12 k_car_spring_length
= 0.5f
,
13 k_car_wheel_radius
= 0.2f
,
14 k_car_friction_lat
= 0.6f
,
15 k_car_friction_roll
= 0.01f
,
16 k_car_drive_force
= 1.0f
,
17 k_car_air_resistance
= 0.1f
,
18 k_car_downforce
= 0.5f
;
20 VG_STATIC
struct gvehicle
27 float tangent_mass
[4][2],
34 v3f tangent_vectors
[4][2];
39 .rb
= { .type
= k_rb_shape_sphere
, .inf
.sphere
.radius
= 1.0f
}
42 VG_STATIC
int spawn_car( int argc
, const char *argv
[] )
45 v3_copy( main_camera
.pos
, ra
);
46 v3_muladds( ra
, main_camera
.transform
[2], -10.0f
, rb
);
49 if( spherecast_world( ra
, rb
, gzoomer
.rb
.inf
.sphere
.radius
, &t
, rx
) != -1 )
51 v3_lerp( ra
, rb
, t
, gzoomer
.rb
.co
);
52 gzoomer
.rb
.co
[1] += 4.0f
;
53 q_axis_angle( gzoomer
.rb
.q
, (v3f
){1.0f
,0.0f
,0.0f
}, 0.001f
);
54 v3_zero( gzoomer
.rb
.v
);
55 v3_zero( gzoomer
.rb
.w
);
57 rb_update_transform( &gzoomer
.rb
);
60 vg_success( "Spawned car\n" );
64 vg_error( "Can't spawn here\n" );
70 VG_STATIC
void vehicle_init(void)
72 q_identity( gzoomer
.rb
.q
);
73 rb_init( &gzoomer
.rb
);
75 VG_VAR_F32_PERSISTENT( k_car_spring
);
76 VG_VAR_F32_PERSISTENT( k_car_spring_damp
);
77 VG_VAR_F32_PERSISTENT( k_car_spring_length
);
78 VG_VAR_F32_PERSISTENT( k_car_wheel_radius
);
79 VG_VAR_F32_PERSISTENT( k_car_friction_lat
);
80 VG_VAR_F32_PERSISTENT( k_car_friction_roll
);
81 VG_VAR_F32_PERSISTENT( k_car_drive_force
);
82 VG_VAR_F32_PERSISTENT( k_car_air_resistance
);
83 VG_VAR_F32_PERSISTENT( k_car_downforce
);
85 VG_VAR_I32( gzoomer
.inside
);
87 vg_function_push( (struct vg_cmd
){
92 v3_copy((v3f
){ -1.0f
, -0.25f
, -1.5f
}, gzoomer
.wheels_local
[0] );
93 v3_copy((v3f
){ 1.0f
, -0.25f
, -1.5f
}, gzoomer
.wheels_local
[1] );
94 v3_copy((v3f
){ -1.0f
, -0.25f
, 1.5f
}, gzoomer
.wheels_local
[2] );
95 v3_copy((v3f
){ 1.0f
, -0.25f
, 1.5f
}, gzoomer
.wheels_local
[3] );
98 VG_STATIC
void vehicle_wheel_force( int index
)
101 m4x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[index
], pa
);
102 v3_muladds( pa
, gzoomer
.rb
.up
, -k_car_spring_length
, pb
);
107 if( spherecast_world( pa
, pb
, k_car_wheel_radius
, &t
, n
) == -1 )
113 v3_muls( gzoomer
.rb
.up
, -1.0f
, dir
);
116 hit
.dist
= k_car_spring_length
;
117 ray_world( pa
, dir
, &hit
);
119 float t
= hit
.dist
/ k_car_spring_length
;
124 v3_lerp( pa
, pb
, t
, pc
);
127 m3x3_copy( gzoomer
.rb
.to_world
, mtx
);
128 v3_copy( pc
, mtx
[3] );
129 debug_sphere( mtx
, k_car_wheel_radius
, VG__BLACK
);
130 vg_line( pa
, pc
, VG__WHITE
);
131 v3_copy( pc
, gzoomer
.wheels
[index
] );
136 float Fv
= (1.0f
-t
) * k_car_spring
*k_rb_delta
;
139 v3_sub( pa
, gzoomer
.rb
.co
, delta
);
142 v3_cross( gzoomer
.rb
.w
, delta
, rv
);
143 v3_add( gzoomer
.rb
.v
, rv
, rv
);
145 Fv
+= v3_dot( rv
, gzoomer
.rb
.up
) * -k_car_spring_damp
*k_rb_delta
;
147 /* scale by normal incident */
148 Fv
*= v3_dot( n
, gzoomer
.rb
.up
);
151 v3_muls( gzoomer
.rb
.up
, Fv
, F
);
153 rb_linear_impulse( &gzoomer
.rb
, delta
, F
);
156 * -------------------------------------------------------------*/
160 v3_cross( gzoomer
.steerv
, n
, tx
);
162 v3_cross( gzoomer
.rb
.forward
, n
, tx
);
163 v3_cross( tx
, n
, ty
);
165 v3_copy( tx
, gzoomer
.tangent_vectors
[ index
][0] );
166 v3_copy( ty
, gzoomer
.tangent_vectors
[ index
][1] );
168 gzoomer
.normal_forces
[ index
] = Fv
;
169 gzoomer
.tangent_forces
[ index
][0] = 0.0f
;
170 gzoomer
.tangent_forces
[ index
][1] = 0.0f
;
172 /* orient inverse inertia tensors */
174 m3x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[index
], raW
);
176 v3f raCtx
, raCtxI
, raCty
, raCtyI
;
177 v3_cross( tx
, raW
, raCtx
);
178 v3_cross( ty
, raW
, raCty
);
179 m3x3_mulv( gzoomer
.rb
.iIw
, raCtx
, raCtxI
);
180 m3x3_mulv( gzoomer
.rb
.iIw
, raCty
, raCtyI
);
182 gzoomer
.tangent_mass
[index
][0] = gzoomer
.rb
.inv_mass
;
183 gzoomer
.tangent_mass
[index
][0] += v3_dot( raCtx
, raCtxI
);
184 gzoomer
.tangent_mass
[index
][0] = 1.0f
/gzoomer
.tangent_mass
[index
][0];
186 gzoomer
.tangent_mass
[index
][1] = gzoomer
.rb
.inv_mass
;
187 gzoomer
.tangent_mass
[index
][1] += v3_dot( raCty
, raCtyI
);
188 gzoomer
.tangent_mass
[index
][1] = 1.0f
/gzoomer
.tangent_mass
[index
][1];
190 /* apply drive force */
193 v3_muls( ty
, gzoomer
.drive
* k_car_drive_force
* k_rb_delta
, F
);
194 rb_linear_impulse( &gzoomer
.rb
, raW
, F
);
199 gzoomer
.normal_forces
[ index
] = 0.0f
;
200 gzoomer
.tangent_forces
[ index
][0] = 0.0f
;
201 gzoomer
.tangent_forces
[ index
][1] = 0.0f
;
205 VG_STATIC
void vehicle_solve_friction(void)
207 for( int i
=0; i
<4; i
++ )
210 m3x3_mulv( gzoomer
.rb
.to_world
, gzoomer
.wheels_local
[i
], raW
);
213 v3_cross( gzoomer
.rb
.w
, raW
, rv
);
214 v3_add( gzoomer
.rb
.v
, rv
, rv
);
216 float fx
= k_car_friction_lat
* gzoomer
.normal_forces
[i
],
217 fy
= k_car_friction_roll
* gzoomer
.normal_forces
[i
],
218 vtx
= v3_dot( rv
, gzoomer
.tangent_vectors
[i
][0] ),
219 vty
= v3_dot( rv
, gzoomer
.tangent_vectors
[i
][1] ),
220 lambdax
= gzoomer
.tangent_mass
[i
][0] * -vtx
,
221 lambday
= gzoomer
.tangent_mass
[i
][1] * -vty
;
223 float tempx
= gzoomer
.tangent_forces
[i
][0],
224 tempy
= gzoomer
.tangent_forces
[i
][1];
225 gzoomer
.tangent_forces
[i
][0] = vg_clampf( tempx
+ lambdax
, -fx
, fx
);
226 gzoomer
.tangent_forces
[i
][1] = vg_clampf( tempy
+ lambday
, -fy
, fy
);
227 lambdax
= gzoomer
.tangent_forces
[i
][0] - tempx
;
228 lambday
= gzoomer
.tangent_forces
[i
][1] - tempy
;
230 v3f impulsex
, impulsey
;
231 v3_muls( gzoomer
.tangent_vectors
[i
][0], lambdax
, impulsex
);
232 v3_muls( gzoomer
.tangent_vectors
[i
][1], lambday
, impulsey
);
233 rb_linear_impulse( &gzoomer
.rb
, raW
, impulsex
);
234 rb_linear_impulse( &gzoomer
.rb
, raW
, impulsey
);
238 VG_STATIC
void vehicle_update_fixed(void)
243 gzoomer
.steer
= vg_lerpf( gzoomer
.steer
,
244 player
.input_walkh
->axis
.value
* 0.4f
,
247 gzoomer
.drive
= player
.input_walkv
->axis
.value
* k_car_drive_force
;
248 v3_muls( gzoomer
.rb
.forward
, cosf(gzoomer
.steer
), gzoomer
.steerv
);
249 v3_muladds( gzoomer
.steerv
, gzoomer
.rb
.right
,
250 sinf(gzoomer
.steer
), gzoomer
.steerv
);
252 /* apply air resistance */
255 v3_muls( gzoomer
.rb
.v
, -k_car_air_resistance
, Fair
);
256 v3_muls( gzoomer
.rb
.up
, -fabsf(v3_dot( gzoomer
.rb
.v
, gzoomer
.rb
.forward
)) *
257 k_car_downforce
, Fdown
);
259 v3_muladds( gzoomer
.rb
.v
, Fair
, k_rb_delta
, gzoomer
.rb
.v
);
260 v3_muladds( gzoomer
.rb
.v
, Fdown
, k_rb_delta
, gzoomer
.rb
.v
);
262 for( int i
=0; i
<4; i
++ )
263 vehicle_wheel_force( i
);
267 int len
= rb_sphere_scene( &gzoomer
.rb
, &world
.rb_geo
, manifold
);
268 rb_manifold_filter_coplanar( manifold
, len
, 0.05f
);
272 rb_manifold_filter_backface( manifold
, len
);
273 rb_manifold_filter_joint_edges( manifold
, len
, 0.05f
);
274 rb_manifold_filter_pairs( manifold
, len
, 0.05f
);
276 len
= rb_manifold_apply_filtered( manifold
, len
);
278 rb_presolve_contacts( manifold
, len
);
279 for( int i
=0; i
<8; i
++ )
281 rb_solve_contacts( manifold
, len
);
282 vehicle_solve_friction();
285 rb_iter( &gzoomer
.rb
);
286 rb_update_transform( &gzoomer
.rb
);
289 VG_STATIC
void vehicle_update_post(void)
294 rb_debug( &gzoomer
.rb
, VG__WHITE
);
295 vg_line( player
.phys
.rb
.co
, gzoomer
.rb
.co
, VG__WHITE
);
297 /* draw friction vectors */
300 for( int i
=0; i
<4; i
++ )
302 v3_copy( gzoomer
.wheels
[i
], p0
);
303 v3_muladds( p0
, gzoomer
.tangent_vectors
[i
][0], 0.5f
, px
);
304 v3_muladds( p0
, gzoomer
.tangent_vectors
[i
][1], 0.5f
, py
);
306 vg_line( p0
, px
, VG__RED
);
307 vg_line( p0
, py
, VG__GREEN
);
311 VG_STATIC
void vehicle_camera(void)
313 float yaw
= atan2f( gzoomer
.rb
.forward
[0], -gzoomer
.rb
.forward
[2] ),
316 -gzoomer
.rb
.forward
[1],
319 gzoomer
.rb
.forward
[0]*gzoomer
.rb
.forward
[0] +
320 gzoomer
.rb
.forward
[2]*gzoomer
.rb
.forward
[2]
325 main_camera
.angles
[0] = yaw
;
326 main_camera
.angles
[1] = pitch
;
327 v3_copy( gzoomer
.rb
.co
, main_camera
.pos
);
330 #endif /* VEHICLE_H */