return closest_edge;
}
+/*
+ * Cast a sphere from a to b and see what time it hits
+ */
+VG_STATIC int spherecast_world( v3f pa, v3f pb, float r, float *t, v3f n )
+{
+ struct player_phys *phys = &player.phys;
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+
+ boxf region;
+ box_init_inf( region );
+ box_addpt( region, pa );
+ box_addpt( region, pb );
+
+ v3_add( (v3f){ r, r, r}, region[1], region[1] );
+ v3_add( (v3f){-r,-r,-r}, region[0], region[0] );
+
+ v3f dir;
+ v3_sub( pb, pa, dir );
+
+ int hit = -1;
+ float min_t = 1.0f;
+
+ int idx;
+ while( bh_next( world.geo_bh, &it, region, &idx ) )
+ {
+ u32 *ptri = &world.scene_geo->arrindices[ idx*3 ];
+ v3f tri[3];
+
+ boxf box;
+ box_init_inf( box );
+
+ for( int j=0; j<3; j++ )
+ {
+ v3_copy( world.scene_geo->arrvertices[ptri[j]].co, tri[j] );
+ box_addpt( box, tri[j] );
+ }
+
+ v3_add( (v3f){ r, r, r}, box[1], box[1] );
+ v3_add( (v3f){-r,-r,-r}, box[0], box[0] );
+ if( !ray_aabb( box, pa, dir, 1.0f ) )
+ continue;
+
+ float t;
+ v3f n1;
+ if( spherecast_triangle( tri, pa, dir, r, &t, n1 ) )
+ {
+ if( t < min_t )
+ {
+ min_t = t;
+ hit = idx;
+ v3_copy( n1, n );
+ }
+ }
+ }
+
+ *t = min_t;
+ return hit;
+}
+
+/*
+ * Trace a path given a velocity rotation.
+ * Closest to 0 is best.
+ */
+VG_STATIC void player_predict_land( m3x3f vr,
+ struct land_prediction *prediction )
+{
+ struct player_phys *phys = &player.phys;
+
+ float pstep = VG_TIMESTEP_FIXED * 10.0f;
+ float k_bias = 0.96f;
+
+ v3f pco, pco1, pv;
+ v3_copy( phys->rb.co, pco );
+ v3_muls( phys->rb.v, k_bias, pv );
+
+ m3x3_mulv( vr, pv, pv );
+ v3_muladds( pco, pv, pstep, pco );
+
+ struct grind_edge *best_grind = NULL;
+ float closest_grind = INFINITY;
+
+ float grind_score = INFINITY,
+ air_score = INFINITY;
+
+ prediction->log_length = 0;
+
+ for( int i=0; i<vg_list_size(prediction->log); i++ )
+ {
+ v3_copy( pco, pco1 );
+ apply_gravity( pv, pstep );
+
+ m3x3_mulv( vr, pv, pv );
+ v3_muladds( pco, pv, pstep, pco );
+
+ v3f vdir;
+
+ v3_sub( pco, pco1, vdir );
+
+ float l = v3_length( vdir );
+ v3_muls( vdir, 1.0f/l, vdir );
+
+ v3f c0, c1;
+ struct grind_edge *ge = player_grind_collect_edge( pco, pco1,
+ c0, c1, 0.4f );
+
+ if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) )
+ {
+ float d2 = v3_dist2( c0, c1 );
+ if( d2 < closest_grind )
+ {
+ closest_grind = d2;
+ best_grind = ge;
+ grind_score = closest_grind * 0.05f;
+ }
+ }
+
+ v3f n1;
+
+ float t1;
+ int idx = spherecast_world( pco1, pco, 0.4f, &t1, n1 );
+ if( idx != -1 )
+ {
+ v3_copy( n1, prediction->n );
+ air_score = -v3_dot( pv, n1 );
+
+ u32 vert_index = world.scene_geo->arrindices[ idx*3 ];
+ struct world_material *mat = world_tri_index_material( vert_index );
+
+ /* Bias prediction towords ramps */
+ if( mat->info.flags & k_material_flag_skate_surface )
+ air_score *= 0.1f;
+
+ v3_lerp( pco1, pco, t1, prediction->log[ prediction->log_length ++ ] );
+ break;
+ }
+
+ v3_copy( pco, prediction->log[ prediction->log_length ++ ] );
+ }
+
+ if( grind_score < air_score )
+ {
+ prediction->score = grind_score;
+ prediction->type = k_prediction_grind;
+ }
+ else if( air_score < INFINITY )
+ {
+ prediction->score = air_score;
+ prediction->type = k_prediction_land;
+ }
+ else
+ {
+ prediction->score = INFINITY;
+ prediction->type = k_prediction_none;
+ }
+}
+
/*
* Called when launching into the air to predict and adjust trajectories
*/
float pstep = VG_TIMESTEP_FIXED * 10.0f;
float best_velocity_delta = -9999.9f;
- float k_bias = 0.96f;
v3f axis;
v3_cross( phys->rb.up, phys->rb.v, axis );
v3_normalize( axis );
- player.land_log_count = 0;
+ player.prediction_count = 0;
m3x3_identity( phys->vr );
+ float
+ best_vmod = 0.0f,
+ min_score = INFINITY,
+ max_score = -INFINITY;
+
+ /*
+ * Search a broad selection of futures
+ */
for( int m=-3;m<=12; m++ )
{
- struct land_log *log = &player.land_log[ player.land_log_count ++ ];
- log->count = 0;
- log->colour = 0xff000000;
+ struct land_prediction *p =
+ &player.predictions[ player.prediction_count ++ ];
float vmod = ((float)m / 15.0f)*0.09f;
- v3f pco, pco1, pv;
- v3_copy( phys->rb.co, pco );
- v3_muls( phys->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 );
-
- struct grind_edge *best_grind = NULL;
- float closest_grind = INFINITY;
+ player_predict_land( vr, p );
- for( int i=0; i<50; i++ )
+ if( p->type != k_prediction_none )
{
- 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);
-
- v3f c0, c1;
- struct grind_edge *ge = player_grind_collect_edge( pco, pco1,
- c0, c1, 0.4f );
-
- if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) )
+ if( p->score < min_score )
{
- float d2 = v3_dist2( c0, c1 );
- if( d2 < closest_grind )
- {
- closest_grind = d2;
- best_grind = ge;
- }
+ min_score = p->score;
+ best_vmod = vmod;
}
- 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));
+ if( p->score > max_score )
+ max_score = p->score;
+ }
+ }
- /* Bias prediction towords ramps */
- if( ray_hit_material( &contact )->info.flags
- & k_material_flag_skate_surface )
- {
- land_delta *= 0.1f;
- scolour |= 0x0000a000;
- }
+ v4f vr_q;
+ q_axis_angle( vr_q, axis, best_vmod*0.1f );
+ q_m3x3( vr_q, phys->vr );
- if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
- {
- best_velocity_delta = land_delta;
+ q_axis_angle( vr_q, axis, best_vmod );
+ q_m3x3( vr_q, phys->vr_pstep );
- v3_copy( contact.pos, player.land_target );
-
- m3x3_copy( vr, phys->vr_pstep );
- q_axis_angle( vr_q, axis, vmod*0.1f );
- q_m3x3( vr_q, phys->vr );
- }
+ /*
+ * Logging
+ */
+ for( int i=0; i<player.prediction_count; i ++ )
+ {
+ struct land_prediction *p = &player.predictions[i];
- v3_copy( contact.pos, log->positions[ log->count ++ ] );
- log->colour = 0xff000000 | scolour;
- break;
- }
+ float l = p->score;
- v3_copy( pco, log->positions[ log->count ++ ] );
+ if( l < 0.0f )
+ {
+ vg_error( "negative score! (%f)\n", l );
}
- if( best_grind )
- {
- log->colour = 0xff0000ff;
-
- float score = -closest_grind * 0.05f;
+ l -= min_score;
+ l /= (max_score-min_score);
+ l = 1.0f - l;
+ l *= 255.0f;
- if( score > best_velocity_delta )
- {
- best_velocity_delta = score;
-
- m3x3_copy( vr, phys->vr_pstep );
- q_axis_angle( vr_q, axis, vmod*0.1f );
- q_m3x3( vr_q, phys->vr );
- }
- }
+ p->colour = l;
+ p->colour <<= 8;
+ p->colour |= 0xff000000;
}
}
v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f,
phys->grab_mouse_delta );
v2_normalize_clamp( phys->grab_mouse_delta );
+
+ if( freecam )
+ v2_zero( phys->grab_mouse_delta );
}
else
v2_zero( phys->grab_mouse_delta );
struct player_phys *phys = &player.phys;
m3x3_mulv( phys->vr, phys->rb.v, phys->rb.v );
- vg_line_cross( player.land_target, 0xff0000ff, 0.25f );
+ //vg_line_cross( player.land_target, 0xff0000ff, 0.25f );
ray_hit hit;
/*
* Prediction
*/
- float pstep = VG_TIMESTEP_FIXED * 10.0f;
+ float pstep = VG_TIMESTEP_FIXED * 1.0f;
+ float k_bias = 0.98f;
v3f pco, pco1, pv;
v3_copy( phys->rb.co, pco );
- v3_copy( phys->rb.v, pv );
+ v3_muls( phys->rb.v, 1.0f, pv );
float time_to_impact = 0.0f;
float limiter = 1.0f;
- for( int i=0; i<50; i++ )
+ struct grind_edge *best_grind = NULL;
+ float closest_grind = INFINITY;
+
+ v3f target_normal = { 0.0f, 1.0f, 0.0f };
+ int has_target = 0;
+
+ for( int i=0; i<250; i++ )
{
v3_copy( pco, pco1 );
- m3x3_mulv( phys->vr_pstep, pv, pv );
+ m3x3_mulv( phys->vr, pv, pv );
apply_gravity( pv, pstep );
v3_muladds( pco, pv, pstep, pco );
v3_sub( pco, pco1, vdir );
contact.dist = v3_length( vdir );
v3_divs( vdir, contact.dist, vdir);
+
+ v3f c0, c1;
+ struct grind_edge *ge = player_grind_collect_edge( pco, pco1,
+ c0, c1, 0.4f );
+
+ if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) )
+ {
+ vg_line( ge->p0, ge->p1, 0xff0000ff );
+ vg_line_cross( pco, 0xff0000ff, 0.25f );
+ has_target = 1;
+ break;
+ }
float orig_dist = contact.dist;
- if( ray_world( pco1, vdir, &contact ))
+ if( ray_world( pco1, vdir, &contact ) )
{
- float angle = v3_dot( phys->rb.up, contact.normal );
- v3f axis;
- v3_cross( phys->rb.up, contact.normal, axis );
-
+ v3_copy( contact.normal, target_normal );
+ has_target = 1;
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( fabsf(angle) < 0.99f )
- {
- v4f correction;
- q_axis_angle( correction, axis,
- acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED );
- q_mul( correction, phys->rb.q, phys->rb.q );
- }
-
vg_line_cross( contact.pos, 0xffff0000, 0.25f );
break;
}
time_to_impact += pstep;
}
+ if( has_target )
+ {
+ float angle = v3_dot( phys->rb.up, target_normal );
+ v3f axis;
+ v3_cross( phys->rb.up, target_normal, axis );
+
+ limiter = vg_minf( 5.0f, time_to_impact )/5.0f;
+ limiter = 1.0f-limiter;
+ limiter *= limiter;
+ limiter = 1.0f-limiter;
+
+ if( fabsf(angle) < 0.99f )
+ {
+ v4f correction;
+ q_axis_angle( correction, axis,
+ acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED );
+ q_mul( correction, phys->rb.q, phys->rb.q );
+ }
+ }
+
v2f steer = { player.input_js1h->axis.value,
player.input_js1v->axis.value };
}
VG_STATIC void player_integrate(void);
+
+VG_STATIC int player_walk_surface_standable( v3f n )
+{
+ return v3_dot( n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f;
+}
+
+VG_STATIC void player_walk_stepdown(void)
+{
+ struct player_phys *phys = &player.phys;
+ float max_dist = 0.4f;
+
+ v3f pa, pb;
+ v3_copy( phys->rb.co, pa );
+ pa[1] += 0.3f;
+
+ v3_muladds( pa, (v3f){0.01f,1.0f,0.01f}, -max_dist, pb );
+ vg_line( pa, pb, 0xff000000 );
+
+ /* TODO: Make #define */
+ float r = 0.3f,
+ t;
+
+ v3f n;
+ if( spherecast_world( pa, pb, r, &t, n ) != -1 )
+ {
+ if( player_walk_surface_standable( n ) )
+ {
+ phys->in_air = 0;
+ v3_lerp( pa, pb, t+0.001f, phys->rb.co );
+ phys->rb.co[1] -= 0.3f;
+ }
+ }
+}
+
/*
* Entire Walking physics model
* TODO: sleep when under certain velotiy
v2f walk = { player.input_walkh->axis.value,
player.input_walkv->axis.value };
+
+ if( freecam )
+ v2_zero( walk );
if( v2_length2(walk) > 0.001f )
v2_normalize_clamp( walk );
phys->in_air = 1;
return;
}
+
+ /* Check if grounded by current manifold */
+ phys->in_air = 1;
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+ if( player_walk_surface_standable( ct->n ) )
+ phys->in_air = 0;
+ }
+ /* otherwise... */
+ if( phys->in_air )
+ player_walk_stepdown();
+
+#if 0
/* 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];
+ v3f pa, pb;
+ v3_copy( phys->rb.co, pa );
+ v3_muladds( pa, (v3f){0.0f,1.0f,0.0f}, -max_dist, pb );
+
+
for( int j=0; j<8; j++ )
{
for( int i=0; i<len; i++ )
/* Transitioning into air mode */
phys->rb.co[1] = start_y;
+#endif
}
}
v3f p0, p1, c0, c1;
v3_muladds( phys->rb.co, phys->rb.forward, 0.5f, p0 );
v3_muladds( phys->rb.co, phys->rb.forward, -0.5f, p1 );
- v3_muladds( p0, phys->rb.up, 0.125f, p0 );
- v3_muladds( p1, phys->rb.up, 0.125f, p1 );
+ v3_muladds( p0, phys->rb.up, 0.125f-0.15f, p0 );
+ v3_muladds( p1, phys->rb.up, 0.125f-0.15f, p1 );
float const k_r = 0.25f;
struct grind_edge *closest_edge = player_grind_collect_edge( p0, p1,
v3f delta;
v3_sub( c1, c0, delta );
- if( v3_dot( delta, phys->rb.up ) > 0.0f )
+ if( v3_dot( delta, phys->rb.up ) > 0.0001f )
{
- v3_copy( delta, contact->n );
- float l = v3_length( contact->n );
- v3_muls( contact->n, 1.0f/l, contact->n );
- contact->p = l;
+ contact->p = v3_length( delta );
contact->type = k_contact_type_edge;
contact->element_id = 0;
v3_copy( c1, contact->co );
v3_cross( (v3f){0.0f,1.0f,0.0f}, edge_dir, axis_dir );
v3_cross( edge_dir, axis_dir, contact->n );
+#if 0
+ vg_info( "%f %f\n", v3_length( contact->n ), contact->p );
+#endif
+
return 1;
}
else
{
struct player_phys *phys = &player.phys;
+ phys->rise = vg_lerpf( phys->rise, phys->in_air? -0.25f: 0.0f,
+ VG_TIMESTEP_FIXED );
+
rigidbody *rbf = &player.collide_front,
*rbb = &player.collide_back;
m3x3_copy( phys->rb.to_world, player.collide_back.to_world );
player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f );
- float h = player.air_blend*0.2f;
+ float h = player.air_blend*0.0f;
m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co );
v3_copy( rbf->co, rbf->to_world[3] );
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 );
+ int new_len_f = rb_manifold_apply_filtered( manifold, len_f );
+ if( len_f && !new_len_f )
+ len_f = 1;
+ else
+ len_f = new_len_f;
rb_ct *man_b = &manifold[len_f];
len_b = rb_sphere_scene( rbb, &world.rb_geo, man_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 new_len_b = rb_manifold_apply_filtered( man_b, len_b );
+ if( len_b && !new_len_b )
+ len_b = 1;
+ else
+ len_b = new_len_b;
#if 0
/*
* Preprocess collision points, and create a surface picture.
* components.
*/
- float wy = v3_dot( phys->rb.up, impulse ),
- wx = v3_dot( phys->rb.right, impulse )*1.8f;
+ float wy = v3_dot( phys->rb.up, impulse ) * 0.8f,
+ wx = v3_dot( phys->rb.right, impulse )*1.0f;
v3_muladds( phys->rb.w, phys->rb.up, wy, phys->rb.w );
v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w );
phys->grind = 1;
v3f up = { 0.0f, 1.0f, 0.0f };
float angle = v3_dot( phys->rb.up, up );
- v3f axis;
- v3_cross( phys->rb.up, up, axis );
if( fabsf(angle) < 0.99f )
{
+ v3f axis;
+ v3_cross( phys->rb.up, up, axis );
+
v4f correction;
q_axis_angle( correction, axis,
VG_TIMESTEP_FIXED * 10.0f * acosf(angle) );
/* Real angular velocity integration */
- v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, phys->rb.w );
+ v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f*0.5f, phys->rb.w );
if( v3_length2( phys->rb.w ) > 0.0f )
{
v4f rotation;
m3x3_mulv( gate->transport, phys->m, phys->m );
m3x3_mulv( gate->transport, phys->bob, phys->bob );
+ /* Pre-emptively edit the camera matrices so that the motion vectors
+ * are correct */
+ m4x3f transport_i;
+ m4x4f transport_4;
+ m4x3_invert_affine( gate->transport, transport_i );
+ m4x3_expand( transport_i, transport_4 );
+ m4x4_mul( main_camera.mtx.pv, transport_4, main_camera.mtx.pv );
+ m4x4_mul( main_camera.mtx.v, transport_4, main_camera.mtx.v );
+
v4f transport_rotation;
m3x3_q( gate->transport, transport_rotation );
q_mul( transport_rotation, phys->rb.q, phys->rb.q );
{
player_mouseview();
- float movespeed = fc_speed;
+ float movespeed = fc_speed * VG_TIMESTEP_FIXED;
v3f lookdir = { 0.0f, 0.0f, -1.0f },
sidedir = { 1.0f, 0.0f, 0.0f };
- m3x3_mulv( camera_mtx, lookdir, lookdir );
- m3x3_mulv( camera_mtx, sidedir, sidedir );
+ m3x3_mulv( main_camera.transform, lookdir, lookdir );
+ m3x3_mulv( main_camera.transform, 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, lookdir, VG_TIMESTEP_FIXED *-movespeed, move_vel );
- if( vg_get_button( "left" ) )
- 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
+ v2f steer = { player.input_js1h->axis.value,
+ player.input_js1v->axis.value };
+
+ v3_muladds( move_vel, sidedir, movespeed*steer[0], move_vel );
+ v3_muladds( move_vel, lookdir, -movespeed*steer[1], move_vel );
v3_muls( move_vel, 0.7f, move_vel );
v3_add( move_vel, player.camera_pos, player.camera_pos );
}
+VG_STATIC int kill_player( int argc, char const *argv[] )
+{
+ player_kill();
+ return 0;
+}
+
VG_STATIC int reset_player( int argc, char const *argv[] )
{
struct player_phys *phys = &player.phys;
if( !rp )
{
vg_error( "No spawn found\n" );
+ vg_info( "Player position: %f %f %f\n", player.phys.rb.co[0],
+ player.phys.rb.co[1],
+ player.phys.rb.co[2] );
+ vg_info( "Player velocity: %f %f %f\n", player.phys.rb.v[0],
+ player.phys.rb.v[1],
+ player.phys.rb.v[2] );
+
if( !world.spawn_count )
return 0;
v3f delta = {1.0f,0.0f,0.0f};
m3x3_mulv( the_long_way, delta, delta );
-
- player.angles[0] = atan2f( delta[0], -delta[2] );
- player.angles[1] = -asinf( delta[1] );
-
+
+ if( !freecam )
+ {
+ player.angles[0] = atan2f( delta[0], -delta[2] );
+ player.angles[1] = -asinf( delta[1] );
+ }
v4_copy( rp->q, phys->rb.q );
v3_copy( rp->co, phys->rb.co );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff