phys->reverse = -vg_signf(vel[2]);
float substep = VG_TIMESTEP_FIXED * 0.2f;
-
-#if 0
- float fwd_resistance = vg_get_button( "break" )? 5.0f: k_friction_resistance;
-#else
float fwd_resistance = k_friction_resistance;
-#endif
for( int i=0; i<5; i++ )
{
vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep);
}
- if( vg_get_button( "jump" ) )
+ if( player.input_jump->button.value )
{
phys->jump += VG_TIMESTEP_FIXED * k_jump_charge_speed;
}
static int push_thresh_last = 0;
- float push_amt = vg_get_axis( "walk/push" ) * 0.5f + 0.5f;
- int push_thresh = push_amt>0.15f? 1: 0;
+ float push = player.input_push->button.value;
+ int push_thresh = push>0.15f? 1: 0;
if( push_thresh && !push_thresh_last )
player.phys.start_push = vg.time;
push_thresh_last = push_thresh;
- if( !vg_get_button("jump") && push_thresh )
+ if( !player.input_jump->button.value && push_thresh )
{
player.phys.pushing = 1.0f;
player.phys.push_time = vg.time - player.phys.start_push;
vel[2] -= new_vel * phys->reverse;
}
- /* Pumping */
- static float previous = 0.0f;
- float delta = previous - phys->grab,
- pump = delta * k_pump_force * VG_TIMESTEP_FIXED;
- previous = phys->grab;
-
- v3f p1;
- v3_muladds( phys->rb.co, phys->rb.up, pump, p1 );
- vg_line( phys->rb.co, p1, 0xff0000ff );
-
- vel[1] += pump;
-
-
m3x3_mulv( phys->rb.to_world, vel, phys->rb.v );
- float steer = vg_get_axis( "lookh" ),
+ float input = player.input_js1h->axis.value,
+ grab = player.input_grab->axis.value,
+ steer = input * (1.0f-(phys->jump+grab)*0.4f),
steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground;
phys->iY -= steer_scaled * VG_TIMESTEP_FIXED;
time_to_impact += pstep;
}
- phys->iY -= vg_get_axis( "lookh" ) * k_steer_air * VG_TIMESTEP_FIXED;
- {
- float iX = vg_get_axis( "lookv" ) *
- phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED;
+ v2f steer = { player.input_js1h->axis.value,
+ player.input_js1v->axis.value };
- static float siX = 0.0f;
- siX = vg_lerpf( siX, iX, k_steer_air_lerp );
-
- v4f rotate;
- q_axis_angle( rotate, phys->rb.right, siX );
- q_mul( rotate, phys->rb.q, phys->rb.q );
- }
+ float l2 = v2_length2( steer );
+ if( l2 > 1.0f )
+ v2_muls( steer, 1.0f/sqrtf(l2), steer );
+
+ phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED;
+
+ float iX = steer[1] *
+ phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED;
+
+ static float siX = 0.0f;
+ siX = vg_lerpf( siX, iX, k_steer_air_lerp );
+ v4f rotate;
+ q_axis_angle( rotate, phys->rb.right, siX );
+ q_mul( rotate, phys->rb.q, phys->rb.q );
+
+#if 0
v2f target = {0.0f,0.0f};
v2_muladds( target, (v2f){ vg_get_axis("grabh"), vg_get_axis("grabv") },
phys->grab, target );
+#endif
}
-/*
- * Entire Walking physics model
- * TODO: sleep when under certain velotiy
- */
-VG_STATIC void player_walk_physics(void)
+VG_STATIC void player_walk_update_collision(void)
{
struct player_phys *phys = &player.phys;
- rigidbody *rbf = &player.collide_front,
- *rbb = &player.collide_back;
-
- m3x3_copy( phys->rb.to_world, player.collide_front.to_world );
- m3x3_copy( phys->rb.to_world, player.collide_back.to_world );
-
float h0 = 0.3f,
h1 = 0.9f;
- m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h0,0.0f}, rbf->co );
+ rigidbody *rbf = &player.collide_front,
+ *rbb = &player.collide_back;
+
+ v3_add( phys->rb.co, (v3f){0.0f,h0,0.0f}, rbf->co );
+ v3_add( phys->rb.co, (v3f){0.0f,h1,0.0f}, rbb->co );
v3_copy( rbf->co, rbf->to_world[3] );
- m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h1,0.0f}, 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 );
+}
+
+VG_STATIC void player_integrate(void);
+/*
+ * Entire Walking physics model
+ * TODO: sleep when under certain velotiy
+ */
+VG_STATIC void player_walk_physics(void)
+{
+ struct player_phys *phys = &player.phys;
+ rigidbody *rbf = &player.collide_front,
+ *rbb = &player.collide_back;
- rb_debug( rbf, 0xff0000ff );
- rb_debug( rbb, 0xff0000ff );
+ m3x3_identity( player.collide_front.to_world );
+ m3x3_identity( player.collide_back.to_world );
+
+ v3_zero( phys->rb.w );
+ q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] );
rb_ct manifold[64];
- int len = 0;
+ int len;
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+ v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
+ v3f right_dir = { -forward_dir[2], 0.0f, forward_dir[0] };
- rb_presolve_contacts( manifold, len );
+ v2f walk = { player.input_walkh->axis.value,
+ player.input_walkv->axis.value };
+
+ if( v2_length2(walk) > 0.001f )
+ v2_normalize_clamp( walk );
- for( int j=0; j<5; j++ )
+ if( phys->in_air )
{
+ player_walk_update_collision();
+ rb_debug( rbf, 0xff0000ff );
+ rb_debug( rbb, 0xff0000ff );
+
+ /* allow player to accelerate a bit */
+ v3f walk_3d;
+ v3_muls( forward_dir, walk[1], walk_3d );
+ v3_muladds( walk_3d, right_dir, walk[0], walk_3d );
+
+ float current_vel = fabsf(v3_dot( walk_3d, phys->rb.v )),
+ new_vel = current_vel + VG_TIMESTEP_FIXED*k_air_accelerate,
+ clamped_new = vg_clampf( new_vel, 0.0f, k_walkspeed ),
+ vel_diff = vg_maxf( 0.0f, clamped_new - current_vel );
+
+ v3_muladds( phys->rb.v, right_dir, walk[0] * vel_diff, phys->rb.v );
+ v3_muladds( phys->rb.v, forward_dir, walk[1] * vel_diff, phys->rb.v );
+
+
+ len = 0;
+ len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
+ len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+ rb_presolve_contacts( manifold, len );
+
for( int i=0; i<len; i++ )
{
struct contact *ct = &manifold[i];
-
- /*normal */
- float vn = -v3_dot( phys->rb.v, ct->n );
- vn += ct->bias;
+ if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f )
+ phys->in_air = 0;
+ }
- float temp = ct->norm_impulse;
- ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
- vn = ct->norm_impulse - temp;
+ for( int j=0; j<5; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ /*normal */
+ float vn = -v3_dot( phys->rb.v, ct->n );
+ vn += ct->bias;
- v3f impulse;
- v3_muls( ct->n, vn, impulse );
+ float temp = ct->norm_impulse;
+ ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
+ vn = ct->norm_impulse - temp;
- v3_add( impulse, phys->rb.v, phys->rb.v );
+ v3f impulse;
+ v3_muls( ct->n, vn, impulse );
- /* friction */
- for( int j=0; j<2; j++ )
- {
- float f = k_friction * ct->norm_impulse,
- vt = v3_dot( phys->rb.v, ct->t[j] ),
- lambda = -vt;
-
- float temp = ct->tangent_impulse[j];
- ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f );
- lambda = ct->tangent_impulse[j] - temp;
+ v3_add( impulse, phys->rb.v, phys->rb.v );
+
+ /* friction */
+ for( int j=0; j<2; j++ )
+ {
+ float f = k_friction * ct->norm_impulse,
+ vt = v3_dot( phys->rb.v, ct->t[j] ),
+ lambda = -vt;
+
+ float temp = ct->tangent_impulse[j];
+ ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f );
+ lambda = ct->tangent_impulse[j] - temp;
- v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v );
+ v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v );
+ }
}
}
- }
- if( len == 0 )
- phys->in_air = 1;
+ player_integrate();
+ }
else
{
- phys->in_air = 0;
- struct world_material *surface_mat = world_contact_material( manifold );
- player.surface_prop = surface_mat->info.surface_prop;
- }
+ player.walk = v2_length( walk );
- if( !phys->in_air )
- {
- float const DOWNFORCE = -k_walk_downforce*VG_TIMESTEP_FIXED;
- v3_muladds( phys->rb.v, (v3f){0.0f,-1.0f,0.0f}, DOWNFORCE, phys->rb.v );
+ if( player.input_walk->button.value )
+ v2_muls( walk, 0.5f, walk );
+
+ v2_muls( walk, k_walkspeed * VG_TIMESTEP_FIXED, walk );
+
+ v3f walk_apply;
+ v3_zero( walk_apply );
+
+ /* Do XY translation */
+ v3_muladds( walk_apply, right_dir, walk[0], walk_apply );
+ v3_muladds( walk_apply, forward_dir, walk[1], walk_apply );
+ v3_add( walk_apply, phys->rb.co, phys->rb.co );
+ v3_divs( walk_apply, VG_TIMESTEP_FIXED, phys->rb.v );
+
+ /* Directly resolve collisions */
+ player_walk_update_collision();
+ rb_debug( rbf, 0xffffff00 );
+ rb_debug( rbb, 0xffffff00 );
- if( vg_get_button("jump") )
+ len = 0;
+ len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
+ len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+
+ v3f dt;
+ v3_zero( dt );
+ for( int j=0; j<3; j++ )
{
- phys->rb.v[1] = 5.0f;
- }
- }
-
- v3_zero( phys->rb.w );
- q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] );
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
- v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
+ float p = vg_maxf( 0.0f, ct->p - 0.00f ),
+ cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p );
+ v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt );
+ }
+ }
+ v3_add( dt, phys->rb.co, phys->rb.co );
- v3f p1;
- v3_muladds( phys->rb.co, forward_dir, 2.0f, p1 );
- vg_line( phys->rb.co, p1, 0xff0000ff );
+ if( len )
+ {
+ struct world_material *surface_mat = world_contact_material(manifold);
+ player.surface_prop = surface_mat->info.surface_prop;
+ }
- player.walk = powf( vg_get_axis("walk/push")*0.5f + 0.5f, 4.0f );
+ /* jump */
+ if( player.input_jump->button.value )
+ {
+ phys->rb.v[1] = 5.0f;
+ phys->in_air = 1;
+ return;
+ }
+
+ /* if we've put us in the air, step down slowly */
+ phys->in_air = 1;
+ float max_dist = 0.3f,
+ start_y = phys->rb.co[1];
- if( player.walk > 0.025f )
- {
- float
- speed = vg_lerpf( 0.025f*k_runspeed, k_runspeed, player.walk ),
- amt = k_walk_accel * VG_TIMESTEP_FIXED,
- zvel = v3_dot( phys->rb.v, forward_dir ),
- new_vel = vg_minf( zvel + amt, speed ),
- diff = new_vel - vg_minf( zvel, speed );
-
- if( !phys->in_air )
+ for( int j=0; j<8; j++ )
{
- v3_muladds( phys->rb.v, forward_dir, diff, phys->rb.v );
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+ if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f )
+ {
+ phys->in_air = 0;
+ if( j == 0 )
+ return;
+
+ v3f dt;
+ v3_zero( dt );
+ for( int j=0; j<3; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ float p = vg_maxf( 0.0f, ct->p - 0.0025f ),
+ cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p );
+ v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt );
+ }
+ }
+ v3_add( dt, phys->rb.co, phys->rb.co );
+ return;
+ }
+ }
+
+ phys->rb.co[1] -= max_dist * 0.125f;
+
+ player_walk_update_collision();
+ len = 0;
+ len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
+ len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
}
+
+ /* Transitioning into air mode */
+ phys->rb.co[1] = start_y;
}
+}
+
+VG_STATIC void player_grind(void)
+{
+ struct player_phys *phys = &player.phys;
+
+ v3f closest;
+ int idx = bh_closest_point( world.grind_bh, phys->rb.co, closest, INFINITY );
+ if( idx == -1 )
+ return;
+
+ struct grind_edge *edge = &world.grind_edges[ idx ];
+
+ vg_line( phys->rb.co, closest, 0xff000000 );
+ vg_line_cross( closest, 0xff000000, 0.3f );
+ vg_line( edge->p0, edge->p1, 0xff000000 );
+
+ return;
+
+ idx = bh_closest_point( world.geo_bh, phys->rb.co, closest, INFINITY );
+ vg_line( phys->rb.co, closest, 0xff000000 );
+ vg_line_cross( closest, 0xff000000, 0.3f );
- if( !phys->in_air )
+ idx = world.scene_geo->arrindices[ idx * 3 ];
+ struct world_material *mat = world_tri_index_material( idx );
+
+ if( mat->info.flags & k_material_flag_grind_surface )
{
- phys->rb.v[0] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction);
- phys->rb.v[2] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction);
+ v3f grind_delta;
+ v3_sub( closest, phys->rb.co, grind_delta );
+
+ float p = v3_dot( phys->rb.forward, grind_delta );
+ v3_muladds( grind_delta, phys->rb.forward, -p, grind_delta );
+
+ float a = vg_maxf( 0.0f, 4.0f-v3_dist2( closest, phys->rb.co ) );
+ v3_muladds( phys->rb.v, grind_delta, a*0.2f, phys->rb.v );
}
}
rb_debug( rbb, 0xffffff00 );
rb_ct manifold[64];
- int len = 0;
+ int len_f = 0,
+ len_b = 0;
+
+ len_f = rb_sphere_scene( rbf, &world.rb_geo, manifold );
+ rb_manifold_filter_coplanar( manifold, len_f, 0.05f );
+ if( len_f > 1 )
+ {
+ rb_manifold_filter_backface( manifold, len_f );
+ rb_manifold_filter_joint_edges( manifold, len_f, 0.05f );
+ rb_manifold_filter_pairs( manifold, len_f, 0.05f );
+ }
+ len_f = rb_manifold_apply_filtered( manifold, len_f );
+
+ rb_ct *man_b = &manifold[len_f];
+ len_b = rb_sphere_scene( rbb, &world.rb_geo, man_b );
+ rb_manifold_filter_coplanar( man_b, len_b, 0.05f );
+ if( len_b > 1 )
+ {
+ rb_manifold_filter_backface( man_b, len_b );
+ rb_manifold_filter_joint_edges( man_b, len_b, 0.05f );
+ rb_manifold_filter_pairs( man_b, len_b, 0.05f );
+ }
+ len_b = rb_manifold_apply_filtered( man_b, len_b );
+
+ int len = len_f+len_b;
+
+ player_grind();
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+ boxf bax;
+ v3_sub( phys->rb.co, (v3f){2.0f,2.0f,2.0f}, bax[0] );
+ v3_add( phys->rb.co, (v3f){2.0f,2.0f,2.0f}, bax[1] );
+
+ /*
+ * Preprocess collision points, and create a surface picture.
+ * we want contacts that are within our 'capsule's internal line to be
+ * clamped so that they face the line and do not oppose, to stop the
+ * player hanging up on stuff
+ */
+ for( int i=0; i<len; i++ )
+ {
+ v3f dfront, dback;
+ v3_sub( manifold[i].co, rbf->co, dfront );
+ v3_sub( manifold[i].co, rbb->co, dback );
+
+ if( (v3_dot( dfront, phys->rb.forward ) < -0.02f) &&
+ (v3_dot( dback, phys->rb.forward ) > 0.02f))
+ {
+ float p = v3_dot( manifold[i].n, phys->rb.forward );
+ v3_muladds( manifold[i].n, phys->rb.forward, -p, manifold[i].n );
+ v3_normalize( manifold[i].n );
+ }
+ }
rb_presolve_contacts( manifold, len );
v3f surface_avg = {0.0f, 0.0f, 0.0f};
}
}
- float grabt = vg_get_axis( "grab" )*0.5f+0.5f;
+ float grabt = player.input_grab->axis.value;
+
+ if( grabt > 0.5f )
+ {
+ v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f,
+ phys->grab_mouse_delta );
+ v2_normalize_clamp( phys->grab_mouse_delta );
+ }
+ else
+ v2_zero( phys->grab_mouse_delta );
+
phys->grab = vg_lerpf( phys->grab, grabt, 0.14f );
player.phys.pushing = 0.0f;
if( !phys->in_air )
{
-#if 0
- v3f axis;
- float angle = v3_dot( phys->rb.up, surface_avg );
- v3_cross( phys->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)*18.0f*VG_TIMESTEP_FIXED );
- q_mul( correction, phys->rb.q, phys->rb.q );
- }
-#else
-
- /* 20/10/22: make this only go axisways instead, may effect velocities. */
-
v3f projected, axis;
float d = v3_dot( phys->rb.forward, surface_avg );
q_mul( correction, phys->rb.q, phys->rb.q );
}
-
-#endif
-
float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED;
v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
rb_update_transform( &player.phys.rb );
}
-VG_STATIC void player_do_motion(void)
+VG_STATIC void player_integrate(void)
{
struct player_phys *phys = &player.phys;
+ apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
+ v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
+}
- float horizontal = vg_get_axis("horizontal"),
- vertical = vg_get_axis("vertical");
+VG_STATIC void player_do_motion(void)
+{
+ struct player_phys *phys = &player.phys;
if( world.water.enabled )
{
}
}
+
+ v3f prevco;
+ v3_copy( phys->rb.co, prevco );
+
if( phys->on_board )
+ {
player_physics();
+ player_integrate();
+ }
else
player_walk_physics();
- /* Integrate velocity */
- v3f prevco;
- v3_copy( phys->rb.co, prevco );
- apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
- v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
-
/* Real angular velocity integration */
v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, phys->rb.w );
if( v3_length2( phys->rb.w ) > 0.0f )
rb_update_transform( &phys->rb );
}
-/*
- * Free camera movement
- */
-VG_STATIC void player_mouseview(void)
-{
- if( ui_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, 0.06f*vg.time_delta, view_vel );
- }
-
- v2_muls( view_vel, 1.0f-4.2f*vg.time_delta, 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 );
-}
-
VG_STATIC void player_freecam(void)
{
player_mouseview();
m3x3_mulv( camera_mtx, sidedir, sidedir );
static v3f move_vel = { 0.0f, 0.0f, 0.0f };
+
+ /* TODO */
+#if 0
if( vg_get_button( "forward" ) )
v3_muladds( move_vel, lookdir, VG_TIMESTEP_FIXED * movespeed, move_vel );
if( vg_get_button( "back" ) )
v3_muladds( move_vel, sidedir, VG_TIMESTEP_FIXED *-movespeed, move_vel );
if( vg_get_button( "right" ) )
v3_muladds( move_vel, sidedir, VG_TIMESTEP_FIXED * movespeed, move_vel );
+#endif
v3_muls( move_vel, 0.7f, move_vel );
v3_add( move_vel, player.camera_pos, player.camera_pos );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff