-#include "audio.h"
-#include "common.h"
-#include "world.h"
-#include "character.h"
-#include "bvh.h"
-
-/*
- * Constants
- */
-
-static float
- k_walkspeed = 2.0f,
- k_board_radius = 0.3f,
- k_board_length = 0.45f,
- k_board_allowance = 0.04f,
- k_friction_lat = 8.8f,
- k_friction_resistance = 0.01f,
- k_max_push_speed = 16.0f,
- k_push_accel = 5.0f,
- k_push_cycle_rate = 8.0f,
- k_steer_ground = 2.5f,
- k_steer_air = 3.6f,
- k_steer_air_lerp = 0.3f,
- k_pump_force = 000.0f,
- k_downforce = 5.0f;
-
-static int freecam = 0;
-static int walk_grid_iterations = 1;
-
-static struct gplayer
-{
- /* Physics */
- rigidbody rb, collide_front, collide_back, rb_gate_frame;
-
- v3f a, v_last, m, bob, vl;
-
- /* Utility */
- float vswitch, slip, slip_last,
- reverse;
-
- float iY; /* Yaw inertia */
- int in_air, is_dead, on_board;
-
- v2f board_xy;
- float grab;
- float pitch;
-
- v3f land_target;
- v3f land_target_log[22];
- u32 land_target_colours[22];
- int land_log_count;
- m3x3f vr,vr_pstep;
-
- struct character mdl;
-
- v3f handl_target, handr_target,
- handl, handr;
-
- /* Camera */
- float air_blend;
-
- v3f camera_pos, smooth_localcam;
- v2f angles;
- m4x3f camera, camera_inverse;
-}
-player =
-{
- .on_board = 1,
-
- .collide_front = { .type = k_rb_shape_sphere, .inf.sphere.radius = 0.3f },
- .collide_back = { .type = k_rb_shape_sphere, .inf.sphere.radius = 0.3f }
-};
-
-/*
- * Player API
- */
-
-
-/*
- * Free camera movement
- */
-
-static void player_mouseview(void)
-{
- if( gui_want_mouse() )
- return;
-
- static v2f mouse_last,
- view_vel = { 0.0f, 0.0f };
-
- if( vg_get_button_down( "primary" ) )
- v2_copy( vg_mouse, mouse_last );
-
- else if( vg_get_button( "primary" ) )
- {
- v2f delta;
- v2_sub( vg_mouse, mouse_last, delta );
- v2_copy( vg_mouse, mouse_last );
-
- v2_muladds( view_vel, delta, 0.005f, view_vel );
- }
-
- v2_muladds( view_vel,
- (v2f){ vg_get_axis("h1"), vg_get_axis("v1") },
- 0.05f, view_vel );
- v2_muls( view_vel, 0.7f, view_vel );
- v2_add( view_vel, player.angles, player.angles );
- player.angles[1] = vg_clampf( player.angles[1], -VG_PIf*0.5f, VG_PIf*0.5f );
-}
-
-static void player_freecam(void)
-{
- player_mouseview();
-
- float movespeed = 25.0f;
- v3f lookdir = { 0.0f, 0.0f, -1.0f },
- sidedir = { 1.0f, 0.0f, 0.0f };
-
- m3x3_mulv( player.camera, lookdir, lookdir );
- m3x3_mulv( player.camera, sidedir, sidedir );
-
- static v3f move_vel = { 0.0f, 0.0f, 0.0f };
- if( vg_get_button( "forward" ) )
- v3_muladds( move_vel, lookdir, ktimestep * movespeed, move_vel );
- if( vg_get_button( "back" ) )
- v3_muladds( move_vel, lookdir, ktimestep *-movespeed, move_vel );
- if( vg_get_button( "left" ) )
- v3_muladds( move_vel, sidedir, ktimestep *-movespeed, move_vel );
- if( vg_get_button( "right" ) )
- v3_muladds( move_vel, sidedir, ktimestep * movespeed, move_vel );
-
- v3_muls( move_vel, 0.7f, move_vel );
- v3_add( move_vel, player.camera_pos, player.camera_pos );
-}
-
-/*
- * Player Physics Implementation
- */
-
-static void apply_gravity( v3f vel, float const timestep )
-{
- v3f gravity = { 0.0f, -9.6f, 0.0f };
- v3_muladds( vel, gravity, timestep, vel );
-}
-
-/*
- * TODO: The angle bias should become greater when launching from a steeper
- * angle and skewed towords more 'downwards' angles when launching from
- * shallower trajectories
- *
- * it should also be tweaked by the controller left stick being pushed
- * up or down
- */
-static void player_start_air(void)
-{
- if( player.in_air )
- return;
-
- player.in_air = 1;
-
- float pstep = ktimestep*10.0f;
- float best_velocity_delta = -9999.9f;
- float k_bias = 0.96f;
-
- v3f axis;
- v3_cross( player.rb.up, player.rb.v, axis );
- v3_normalize( axis );
- player.land_log_count = 0;
-
- m3x3_identity( player.vr );
-
- for( int m=-3;m<=12; m++ )
- {
- float vmod = ((float)m / 15.0f)*0.09f;
-
- v3f pco, pco1, pv;
- v3_copy( player.rb.co, pco );
- v3_muls( player.rb.v, k_bias, pv );
-
- /*
- * Try different 'rotations' of the velocity to find the best possible
- * landing normal. This conserves magnitude at the expense of slightly
- * unrealistic results
- */
-
- m3x3f vr;
- v4f vr_q;
-
- q_axis_angle( vr_q, axis, vmod );
- q_m3x3( vr_q, vr );
-
- m3x3_mulv( vr, pv, pv );
- v3_muladds( pco, pv, pstep, pco );
-
- for( int i=0; i<50; i++ )
- {
- v3_copy( pco, pco1 );
- apply_gravity( pv, pstep );
-
- m3x3_mulv( vr, pv, pv );
- v3_muladds( pco, pv, pstep, pco );
-
- ray_hit contact;
- v3f vdir;
-
- v3_sub( pco, pco1, vdir );
- contact.dist = v3_length( vdir );
- v3_divs( vdir, contact.dist, vdir);
-
- if( ray_world( pco1, vdir, &contact ))
- {
- float land_delta = v3_dot( pv, contact.normal );
- u32 scolour = (u8)(vg_minf(-land_delta * 2.0f, 255.0f));
-
- /* Bias prediction towords ramps */
- if( ray_hit_is_ramp( &contact ) )
- {
- land_delta *= 0.1f;
- scolour |= 0x0000a000;
- }
-
- if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
- {
- best_velocity_delta = land_delta;
-
- v3_copy( contact.pos, player.land_target );
-
- m3x3_copy( vr, player.vr_pstep );
- q_axis_angle( vr_q, axis, vmod*0.1f );
- q_m3x3( vr_q, player.vr );
- }
-
- v3_copy( contact.pos,
- player.land_target_log[player.land_log_count] );
- player.land_target_colours[player.land_log_count] =
- 0xff000000 | scolour;
-
- player.land_log_count ++;
-
- break;
- }
- }
- }
-}
-
-static void draw_cross(v3f pos,u32 colour, float scale)
-{
- v3f p0, p1;
- v3_add( (v3f){ scale,0.0f,0.0f}, pos, p0 );
- v3_add( (v3f){-scale,0.0f,0.0f}, pos, p1 );
- vg_line( p0, p1, colour );
- v3_add( (v3f){0.0f, scale,0.0f}, pos, p0 );
- v3_add( (v3f){0.0f,-scale,0.0f}, pos, p1 );
- vg_line( p0, p1, colour );
- v3_add( (v3f){0.0f,0.0f, scale}, pos, p0 );
- v3_add( (v3f){0.0f,0.0f,-scale}, pos, p1 );
- vg_line( p0, p1, colour );
-}
-
-static void player_physics_control(void)
-{
- /*
- * Computing localized friction forces for controlling the character
- * Friction across X is significantly more than Z
- */
-
- v3f vel;
- m3x3_mulv( player.rb.to_local, player.rb.v, vel );
- float slip = 0.0f;
-
- if( fabsf(vel[2]) > 0.01f )
- slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]);
-
- if( fabsf( slip ) > 1.2f )
- slip = vg_signf( slip ) * 1.2f;
- player.slip = slip;
- player.reverse = -vg_signf(vel[2]);
-
- float substep = ktimestep * 0.2f;
- float fwd_resistance = (vg_get_button( "break" )? 5.0f: 0.02f) * -substep;
-
- for( int i=0; i<5; i++ )
- {
- vel[2] = stable_force( vel[2], vg_signf( vel[2] ) * fwd_resistance );
- vel[0] = stable_force( vel[0],
- vg_signf( vel[0] ) * -k_friction_lat*substep );
- }
-
- static double start_push = 0.0;
- if( vg_get_button_down( "push" ) )
- start_push = vg_time;
-
- if( !vg_get_button("break") && vg_get_button( "push" ) )
- {
- float cycle_time = (vg_time-start_push)*k_push_cycle_rate,
- amt = k_push_accel * (sinf(cycle_time)*0.5f+0.5f)*ktimestep,
- current = v3_length( vel ),
- new_vel = vg_minf( current + amt, k_max_push_speed );
- new_vel -= vg_minf(current, k_max_push_speed);
- vel[2] -= new_vel * player.reverse;
- }
-
- /* Pumping */
- static float previous = 0.0f;
- float delta = previous - player.grab,
- pump = delta * k_pump_force*ktimestep;
- previous = player.grab;
-
- v3f p1;
- v3_muladds( player.rb.co, player.rb.up, pump, p1 );
- vg_line( player.rb.co, p1, 0xff0000ff );
-
- vel[1] += pump;
-
-
- m3x3_mulv( player.rb.to_world, vel, player.rb.v );
-
- float steer = vg_get_axis( "horizontal" );
- player.iY -= vg_signf(steer)*powf(steer,2.0f) * k_steer_ground * ktimestep;
-
- v2_lerp( player.board_xy, (v2f){ slip*0.25f, 0.0f },
- ktimestep*5.0f, player.board_xy);
-}
-
-static void player_physics_control_air(void)
-{
- m3x3_mulv( player.vr, player.rb.v, player.rb.v );
- draw_cross( player.land_target, 0xff0000ff, 0.25f );
-
- ray_hit hit;
-
- /*
- * Prediction
- */
- float pstep = ktimestep*10.0f;
-
- v3f pco, pco1, pv;
- v3_copy( player.rb.co, pco );
- v3_copy( player.rb.v, pv );
-
- float time_to_impact = 0.0f;
- float limiter = 1.0f;
-
- for( int i=0; i<50; i++ )
- {
- v3_copy( pco, pco1 );
- m3x3_mulv( player.vr_pstep, pv, pv );
- apply_gravity( pv, pstep );
- v3_muladds( pco, pv, pstep, pco );
-
- //vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
-
- ray_hit contact;
- v3f vdir;
-
- v3_sub( pco, pco1, vdir );
- contact.dist = v3_length( vdir );
- v3_divs( vdir, contact.dist, vdir);
-
- float orig_dist = contact.dist;
- if( ray_world( pco1, vdir, &contact ))
- {
- float angle = v3_dot( player.rb.up, contact.normal );
- v3f axis;
- v3_cross( player.rb.up, contact.normal, axis );
-
- time_to_impact += (contact.dist/orig_dist)*pstep;
- limiter = vg_minf( 5.0f, time_to_impact )/5.0f;
- limiter = 1.0f-limiter;
- limiter *= limiter;
- limiter = 1.0f-limiter;
-
- if( angle < 0.99f )
- {
- v4f correction;
- q_axis_angle( correction, axis, acosf(angle)*0.05f*(1.0f-limiter) );
- q_mul( correction, player.rb.q, player.rb.q );
- }
-
- draw_cross( contact.pos, 0xffff0000, 0.25f );
- break;
- }
- time_to_impact += pstep;
- }
-
- player.iY -= vg_get_axis( "horizontal" ) * k_steer_air * ktimestep;
- {
- float iX = vg_get_axis( "vertical" ) *
- player.reverse * k_steer_air * limiter * ktimestep;
-
- static float siX = 0.0f;
- siX = vg_lerpf( siX, iX, k_steer_air_lerp );
-
- v4f rotate;
- q_axis_angle( rotate, player.rb.right, siX );
- q_mul( rotate, player.rb.q, player.rb.q );
- }
-
- v2f target = {0.0f,0.0f};
- v2_muladds( target, (v2f){ vg_get_axis("h1"), vg_get_axis("v1") },
- player.grab, target );
- v2_lerp( player.board_xy, target, ktimestep*3.0f, player.board_xy );
-}
-
-static void player_init(void)
-{
- rb_init( &player.collide_front );
- rb_init( &player.collide_back );
-}
-
-static void player_physics(void)
-{
- /*
- * Update collision fronts
- */
-
- rigidbody *rbf = &player.collide_front,
- *rbb = &player.collide_back;
-
- m3x3_copy( player.rb.to_world, player.collide_front.to_world );
- m3x3_copy( player.rb.to_world, player.collide_back.to_world );
-
- player.air_blend = vg_lerpf( player.air_blend, player.in_air, 0.1f );
- float h = player.air_blend*0.2f;
-
- m4x3_mulv( player.rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co );
- v3_copy( rbf->co, rbf->to_world[3] );
- m4x3_mulv( player.rb.to_world, (v3f){0.0f,h, k_board_length}, rbb->co );
- v3_copy( rbb->co, rbb->to_world[3] );
-
- m4x3_invert_affine( rbf->to_world, rbf->to_local );
- m4x3_invert_affine( rbb->to_world, rbb->to_local );
-
- rb_update_bounds( rbf );
- rb_update_bounds( rbb );
-
- rb_debug( rbf, 0xff00ffff );
- rb_debug( rbb, 0xffffff00 );
-
- rb_ct manifold[24];
- int len = 0;
-
- len += rb_sphere_vs_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_vs_scene( rbb, &world.rb_geo, manifold+len );
-
- rb_presolve_contacts( manifold, len );
- v3f surface_avg = {0.0f, 0.0f, 0.0f};
-
- if( !len )
- {
- player_start_air();
- }
- else
- {
- for( int i=0; i<len; i++ )
- {
- v3_add( manifold[i].n, surface_avg, surface_avg );
-
-#if 0
- if( manifold[i].element_id <= world.sm_geo_std_oob.vertex_count )
- {
- player.is_dead = 1;
- character_ragdoll_copypose( &player.mdl, player.rb.v );
- return;
- }
-#endif
- }
-
- v3_normalize( surface_avg );
-
- if( v3_dot( player.rb.v, surface_avg ) > 0.5f )
- {
- player_start_air();
- }
- else
- player.in_air = 0;
- }
-
- for( int j=0; j<5; j++ )
- {
- for( int i=0; i<len; i++ )
- {
- struct contact *ct = &manifold[i];
-
- v3f dv, delta;
- v3_sub( ct->co, player.rb.co, delta );
- v3_cross( player.rb.w, delta, dv );
- v3_add( player.rb.v, dv, dv );
-
- float vn = -v3_dot( dv, ct->n );
- vn += ct->bias;
-
- float temp = ct->norm_impulse;
- ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
- vn = ct->norm_impulse - temp;
-
- v3f impulse;
- v3_muls( ct->n, vn, impulse );
-
- if( fabsf(v3_dot( impulse, player.rb.forward )) > 10.0f ||
- fabsf(v3_dot( impulse, player.rb.up )) > 50.0f )
- {
- player.is_dead = 1;
- character_ragdoll_copypose( &player.mdl, player.rb.v );
- return;
- }
-
- v3_add( impulse, player.rb.v, player.rb.v );
- v3_cross( delta, impulse, impulse );
-
- /*
- * W Impulses are limited to the Y and X axises, we don't really want
- * roll angular velocities being included.
- *
- * Can also tweak the resistance of each axis here by scaling the wx,wy
- * components.
- */
-
- float wy = v3_dot( player.rb.up, impulse ),
- wx = v3_dot( player.rb.right, impulse )*1.5f;
-
- v3_muladds( player.rb.w, player.rb.up, wy, player.rb.w );
- v3_muladds( player.rb.w, player.rb.right, wx, player.rb.w );
- }
- }
-
- float grabt = vg_get_axis( "grabr" )*0.5f+0.5f;
- player.grab = vg_lerpf( player.grab, grabt, 0.14f );
-
- if( !player.in_air )
- {
- v3f axis;
- float angle = v3_dot( player.rb.up, surface_avg );
- v3_cross( player.rb.up, surface_avg, axis );
-
- //float cz = v3_dot( player.rb.forward, axis );
- //v3_muls( player.rb.forward, cz, axis );
-
- if( angle < 0.999f )
- {
- v4f correction;
- q_axis_angle( correction, axis, acosf(angle)*0.3f );
- q_mul( correction, player.rb.q, player.rb.q );
- }
-
- v3_muladds( player.rb.v, player.rb.up,
- -k_downforce*ktimestep, player.rb.v );
- player_physics_control();
- }
- else
- {
- player_physics_control_air();
- }
-}
-
-static void player_do_motion(void)
-{
- float horizontal = vg_get_axis("horizontal"),
- vertical = vg_get_axis("vertical");
-
- player_physics();
-
- /* Integrate velocity */
- v3f prevco;
- v3_copy( player.rb.co, prevco );
-
- apply_gravity( player.rb.v, ktimestep );
- v3_muladds( player.rb.co, player.rb.v, ktimestep, player.rb.co );
-
- /* Real angular velocity integration */
- v3_lerp( player.rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, player.rb.w );
- if( v3_length2( player.rb.w ) > 0.0f )
- {
- v4f rotation;
- v3f axis;
- v3_copy( player.rb.w, axis );
-
- float mag = v3_length( axis );
- v3_divs( axis, mag, axis );
- q_axis_angle( rotation, axis, mag*k_rb_delta );
- q_mul( rotation, player.rb.q, player.rb.q );
- }
-
- /* Faux angular velocity */
- v4f rotate;
-
- static float siY = 0.0f;
- float lerpq = player.in_air? 0.04f: 0.3f;
- siY = vg_lerpf( siY, player.iY, lerpq );
-
- q_axis_angle( rotate, player.rb.up, siY );
- q_mul( rotate, player.rb.q, player.rb.q );
- player.iY = 0.0f;
-
- /*
- * Gate intersection, by tracing a line over the gate planes
- */
- for( int i=0; i<world.routes.gate_count; i++ )
- {
- struct route_gate *rg = &world.routes.gates[i];
- teleport_gate *gate = &rg->gate;
-
- if( gate_intersect( gate, player.rb.co, prevco ) )
- {
- m4x3_mulv( gate->transport, player.rb.co, player.rb.co );
- m3x3_mulv( gate->transport, player.rb.v, player.rb.v );
- m3x3_mulv( gate->transport, player.vl, player.vl );
- m3x3_mulv( gate->transport, player.v_last, player.v_last );
- m3x3_mulv( gate->transport, player.m, player.m );
- m3x3_mulv( gate->transport, player.bob, player.bob );
-
- v4f transport_rotation;
- m3x3_q( gate->transport, transport_rotation );
- q_mul( transport_rotation, player.rb.q, player.rb.q );
-
- world_routes_activate_gate( i );
- player.rb_gate_frame = player.rb;
- break;
- }
- }
-
- rb_update_transform( &player.rb );
-}
-
-/*
- * Walkgrid implementation,
- * loosely based of cmuratoris youtube video 'Killing the Walkmonster'
- */
-
-#define WALKGRID_SIZE 16
-struct walkgrid
-{
- struct grid_sample
- {
- enum sample_type
- {
- k_sample_type_air, /* Nothing was hit. */
- k_sample_type_invalid, /* The point is invalid, but there is a sample
- underneath that can be used */
- k_sample_type_valid, /* This point is good */
- }
- type;
-
- v3f clip[2];
- v3f pos;
-
- enum traverse_state
- {
- k_traverse_none = 0x00,
- k_traverse_h = 0x01,
- k_traverse_v = 0x02
- }
- state;
- }
- samples[WALKGRID_SIZE][WALKGRID_SIZE];
-
- boxf region;
-
- float move; /* Current amount of movement we have left to apply */
- v2f dir; /* The movement delta */
- v2i cell_id;/* Current cell */
- v2f pos; /* Local position (in cell) */
- float h;