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;
}
}
phys->slip = slip;
phys->reverse = -vg_signf(vel[2]);
- float substep = VG_TIMESTEP_FIXED * 0.2f;
+ float substep = VG_TIMESTEP_FIXED;
float fwd_resistance = k_friction_resistance;
- for( int i=0; i<5; i++ )
- {
- vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep);
- vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep);
- }
+ vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep);
+ vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep);
if( player.input_jump->button.value )
{
steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground;
phys->iY -= steer_scaled * VG_TIMESTEP_FIXED;
+
+
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+#if 0
+ v3f cog_ideal, diff;
+
+ v3_muladds( phys->rb.co, phys->rb.up, 1.0f-grab, cog_ideal );
+ v3_sub( cog_ideal, phys->cog, diff );
+
+ /* temp */
+ if( v3_length2( diff ) > 20.0f*20.0f )
+ v3_copy( cog_ideal, phys->cog );
+ else
+ {
+ float rate_lat = k_cog_spring_lat * VG_TIMESTEP_FIXED,
+ rate_vert = k_cog_spring_vert * VG_TIMESTEP_FIXED,
+ vert_amt = v3_dot( diff, phys->rb.up );
+
+ /* Split into vert/lat springs */
+ v3f diff_vert, diff_lat;
+ v3_muladds( diff, phys->rb.up, -vert_amt, diff_lat );
+ v3_muls( phys->rb.up, vert_amt, diff_vert );
+
+
+ if( diff[1] > 0.0f )
+ rate_vert *= k_cog_boost_multiplier;
+
+ float ap_a = k_cog_mass_ratio,
+ ap_b = -(1.0f-k_cog_mass_ratio);
+
+ v3_muladds( phys->cog_v, diff_lat, rate_lat * ap_a, phys->cog_v );
+ v3_muladds( phys->cog_v, diff_vert, rate_vert * ap_a, phys->cog_v );
+
+ //v3_muladds( phys->rb.v, diff_lat, rate_lat * ap_b, phys->rb.v );
+ v3_muladds( phys->rb.v, diff_vert, rate_vert * ap_b, phys->rb.v );
+
+ /* dampen */
+ v3_muls( phys->cog_v, 1.0f-(VG_TIMESTEP_FIXED*k_cog_damp), phys->cog_v );
+
+ /* integrate */
+ v3_muladds( phys->cog, phys->cog_v, VG_TIMESTEP_FIXED, phys->cog );
+ }
+
+
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+#endif
+
if( !phys->jump_charge && phys->jump > 0.2f )
{
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;
v3f target_normal = { 0.0f, 1.0f, 0.0f };
int has_target = 0;
- for( int i=0; i<50; i++ )
+ 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 );
#endif
}
-VG_STATIC void player_walk_update_collision(void)
+VG_STATIC void player_walk_collider_configuration(void)
{
struct player_phys *phys = &player.phys;
float h0 = 0.3f,
rb_update_bounds( rbb );
}
+VG_STATIC void player_regular_collider_configuration(void)
+{
+ struct player_phys *phys = &player.phys;
+
+ /* Standard ground configuration */
+ 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 );
+
+ player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f );
+ 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] );
+ m4x3_mulv( phys->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 );
+}
+
VG_STATIC void player_integrate(void);
-/*
- * Entire Walking physics model
- * TODO: sleep when under certain velotiy
- */
+
+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;
+ }
+ }
+}
+
+VG_STATIC int player_update_collision_manifold( rb_ct *manifold );
VG_STATIC void player_walk_physics(void)
{
struct player_phys *phys = &player.phys;
if( phys->in_air )
{
- player_walk_update_collision();
- rb_debug( rbf, 0xff0000ff );
- rb_debug( rbb, 0xff0000ff );
+ player_walk_collider_configuration();
/* allow player to accelerate a bit */
v3f walk_3d;
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 );
+ len = player_update_collision_manifold( manifold );
rb_presolve_contacts( manifold, len );
for( int i=0; i<len; i++ )
v2_muls( walk, k_walkspeed * VG_TIMESTEP_FIXED, walk );
- v3f walk_apply;
- v3_zero( walk_apply );
-
/* Do XY translation */
+ v3f walk_apply, walk_measured;
+ v3_zero( walk_apply );
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 );
-
- len = 0;
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+ player_walk_collider_configuration();
+ len = player_update_collision_manifold( manifold );
v3f dt;
v3_zero( dt );
- for( int j=0; j<3; j++ )
+ for( int j=0; j<8; j++ )
{
for( int i=0; i<len; i++ )
{
struct contact *ct = &manifold[i];
- 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 );
+ float resolved_amt = v3_dot( ct->n, dt ),
+ remaining = (ct->p-k_penetration_slop) - resolved_amt,
+ apply = vg_maxf( remaining, 0.0f ) * 0.3f;
+
+ v3_muladds( dt, ct->n, apply, dt );
}
}
v3_add( dt, phys->rb.co, phys->rb.co );
+ v3_add( dt, walk_apply, walk_measured );
+ v3_divs( walk_measured, VG_TIMESTEP_FIXED, phys->rb.v );
+
if( len )
{
struct world_material *surface_mat = world_contact_material(manifold);
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];
- for( int j=0; j<8; j++ )
+ /* Check if grounded by current manifold */
+ phys->in_air = 1;
+ for( int i=0; i<len; i++ )
{
- 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 );
+ struct contact *ct = &manifold[i];
+ if( player_walk_surface_standable( ct->n ) )
+ phys->in_air = 0;
}
- /* Transitioning into air mode */
- phys->rb.co[1] = start_y;
+ /* otherwise... */
+ if( phys->in_air )
+ player_walk_stepdown();
}
}
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,
c0, c1, k_r );
+#if 0
vg_line( p0, p1, 0xff0000ff );
+#endif
if( closest_edge )
{
+#if 0
vg_line_cross( c0, 0xff000000, 0.1f );
vg_line_cross( c1, 0xff000000, 0.1f );
vg_line( c0, c1, 0xff000000 );
+#endif
v3f delta;
v3_sub( c1, c0, delta );
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;
}
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 );
-
- player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f );
- float h = player.air_blend*0.2f;
-
- m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co );
- v3_copy( rbf->co, rbf->to_world[3] );
- m4x3_mulv( phys->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 );
+
+#if 0
+ phys->rise = vg_lerpf( phys->rise, phys->in_air? -0.25f: 0.0f,
+ VG_TIMESTEP_FIXED );
+#endif
+
int len_f = 0,
len_b = 0;
len_b = 1;
else
len_b = new_len_b;
-#if 0
- /*
- * 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 );
- }
- }
-#endif
return len_f + len_b;
}
v3f surface_avg;
v3_zero( surface_avg );
- if( len == 0 )
+ /*
+ *
+ * EXPERIMENTAL
+ * ================================================================
+ */
+ if( phys->in_air )
+ player.normal_pressure = 0.0f;
+ else
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+
+ v3f p0_0, p0_1,
+ p1_0, p1_1,
+ n0, n1;
+ float t0, t1;
+
+ float mod = 0.7f * player.input_grab->axis.value + 0.3f,
+ spring_k = mod * k_spring_force,
+ damp_K = mod * k_spring_dampener,
+ disp_k = 0.4f;
+
+ v3_copy( player.collide_front.co, p0_0 );
+ v3_copy( player.collide_back.co, p1_0 );
+
+ v3_muladds( p0_0, phys->rb.up, -disp_k, p0_1 );
+ v3_muladds( p1_0, phys->rb.up, -disp_k, p1_1 );
+
+ int cast0 = spherecast_world( p0_0, p0_1, 0.2f, &t0, n0 ),
+ cast1 = spherecast_world( p1_0, p1_1, 0.2f, &t1, n1 );
+
+ v3f animp0, animp1;
+
+ m4x3f temp;
+ m3x3_copy( phys->rb.to_world, temp );
+ if( cast0 != -1 )
+ {
+ v3_lerp( p0_0, p0_1, t0, temp[3] );
+ v3_copy( temp[3], animp0 );
+ debug_sphere( temp, 0.2f, VG__PINK );
+
+ v3f F, delta;
+ v3_sub( p0_0, phys->rb.co, delta );
+
+ float displacement = vg_clampf( 1.0f-t0, 0.0f, 1.0f ),
+ damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) );
+ v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta -
+ damp*damp_K*k_rb_delta, F );
+
+ v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v );
+
+ /* Angular velocity */
+ v3f wa;
+ v3_cross( delta, F, wa );
+ v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w );
+ }
+ else
+ v3_copy( p0_1, animp0 );
+
+ if( cast1 != -1 )
+ {
+ v3_lerp( p1_0, p1_1, t1, temp[3] );
+ v3_copy( temp[3], animp1 );
+ debug_sphere( temp, 0.2f, VG__PINK );
+
+ v3f F, delta;
+ v3_sub( p1_0, phys->rb.co, delta );
+
+ float displacement = vg_clampf( 1.0f-t1, 0.0f, 1.0f ),
+ damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) );
+ v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta -
+ damp*damp_K*k_rb_delta, F );
+
+ v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v );
+
+ /* Angular velocity */
+ v3f wa;
+ v3_cross( delta, F, wa );
+ v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w );
+ }
+ else
+ v3_copy( p1_1, animp1 );
+
+ v3f animavg, animdelta;
+ v3_add( animp0, animp1, animavg );
+ v3_muls( animavg, 0.5f, animavg );
+
+ v3_sub( animp1, animp0, animdelta );
+ v3_normalize( animdelta );
+
+ m4x3_mulv( phys->rb.to_local, animavg, player.board_offset );
+
+ float dx = -v3_dot( animdelta, phys->rb.forward ),
+ dy = v3_dot( animdelta, phys->rb.up );
+
+ float angle = -atan2f( dy, dx );
+ q_axis_angle( player.board_rotation, (v3f){ 1.0f, 0.0f, 0.0f }, angle );
+
+ /*
+ * ================================================================
+ * EXPERIMENTAL
+ */
+
+ if( len == 0 && !((cast0 !=-1)&&(cast1!=-1)) )
{
phys->lift_frames ++;
float angle = v3_dot( phys->rb.up, projected );
v3_cross( phys->rb.up, projected, axis );
+#if 0
v3f p0, p1;
v3_add( phys->rb.co, projected, p0 );
v3_add( phys->rb.co, phys->rb.up, p1 );
vg_line( phys->rb.co, p0, 0xff00ff00 );
vg_line( phys->rb.co, p1, 0xff000fff );
+#endif
if( fabsf(angle) < 0.999f )
{
{
struct player_phys *phys = &player.phys;
- for( int j=0; j<5; j++ )
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+
+#if 0
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+
+ {
+ float ideal = 1.0f-player.input_grab->axis.value,
+ diff = phys->spring - ideal,
+ Fspring = -k_cog_spring_lat * diff,
+ Fdamp = -k_cog_damp * phys->springv,
+ F = (Fspring + Fdamp) * k_rb_delta;
+
+ phys->springv += F;
+ phys->spring += phys->springv * k_rb_delta;
+
+ if( phys->springv > 0.0f )
+ v3_muladds( phys->rb.v, phys->rb.up, F*k_cog_spring_vert, phys->rb.v );
+
+ if( phys->in_air )
+ player.normal_pressure = 0.0f;
+ else
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+ }
+#endif
+
+ if( player.input_grab->axis.value > 0.5f )
+ {
+ if( !phys->in_air )
+ {
+ /* Throw */
+ v3_muls( phys->rb.up, k_mmthrow_scale, phys->throw_v );
+ }
+ }
+ else
+ {
+ /* Collect */
+ float doty = v3_dot( phys->rb.up, phys->throw_v );
+
+ v3f Fl, Fv;
+ v3_muladds( phys->throw_v, phys->rb.up, -doty, Fl );
+
+ if( !phys->in_air )
+ {
+ v3_muladds( phys->rb.v, Fl, k_mmcollect_lat, phys->rb.v );
+ v3_muladds( phys->throw_v, Fl, -k_mmcollect_lat, phys->throw_v );
+ }
+
+ v3_muls( phys->rb.up, -doty, Fv );
+ v3_muladds( phys->rb.v, Fv, k_mmcollect_vert, phys->rb.v );
+ v3_muladds( phys->throw_v, Fv, k_mmcollect_vert, phys->throw_v );
+
+ v3_copy( Fl, player.debug_mmcollect_lat );
+ v3_copy( Fv, player.debug_mmcollect_vert );
+ }
+
+ /* Decay */
+ if( v3_length2( phys->throw_v ) > 0.0001f )
+ {
+ v3f dir;
+ v3_copy( phys->throw_v, dir );
+ v3_normalize( dir );
+
+ float max = v3_dot( dir, phys->throw_v ),
+ amt = vg_minf( k_mmdecay * k_rb_delta, max );
+
+ v3_muladds( phys->throw_v, dir, -amt, phys->throw_v );
+ }
+
+
+ /* TODO: RElocate */
+ {
+
+ v3f ideal_cog, ideal_diff;
+ v3_muladds( phys->rb.co, phys->rb.up,
+ 1.0f-player.input_grab->axis.value, ideal_cog );
+ v3_sub( ideal_cog, phys->cog, ideal_diff );
+
+ /* Apply velocities */
+ v3f rv;
+ v3_sub( phys->rb.v, phys->cog_v, rv );
+
+ v3f F;
+ v3_muls( ideal_diff, -k_cog_spring * k_rb_rate, F );
+ v3_muladds( F, rv, -k_cog_damp * k_rb_rate, F );
+
+ float ra = k_cog_mass_ratio,
+ rb = 1.0f-k_cog_mass_ratio;
+
+ v3_muladds( phys->cog_v, F, -rb, phys->cog_v );
+ }
+
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+
+ for( int j=0; j<10; j++ )
{
for( int i=0; i<len; i++ )
{
v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w );
}
}
+
+ /* early integrate this */
+ phys->cog_v[1] += -9.8f * k_rb_delta;
+ v3_muladds( phys->cog, phys->cog_v, k_rb_delta, phys->cog );
}
VG_STATIC void player_save_frame(void)
VG_STATIC void player_integrate(void)
{
struct player_phys *phys = &player.phys;
+ v3_sub( phys->rb.v, phys->v_last, phys->a );
+ v3_muls( phys->a, 1.0f/VG_TIMESTEP_FIXED, phys->a );
+ v3_copy( phys->rb.v, phys->v_last );
+
apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
}
if( phys->on_board )
{
rb_ct manifold[72];
+
+ player_regular_collider_configuration();
int len = player_update_collision_manifold( manifold );
int grind_col = player_update_grind_collision( &manifold[len] );
if( gate_intersect( gate, phys->rb.co, prevco ) )
{
m4x3_mulv( gate->transport, phys->rb.co, phys->rb.co );
+ m4x3_mulv( gate->transport, phys->cog, phys->cog );
+ m3x3_mulv( gate->transport, phys->cog_v, phys->cog_v );
m3x3_mulv( gate->transport, phys->rb.v, phys->rb.v );
m3x3_mulv( gate->transport, phys->vl, phys->vl );
m3x3_mulv( gate->transport, phys->v_last, phys->v_last );
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;
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 );
player.mdl.shoes[1] = 1;
rb_update_transform( &phys->rb );
+
+ v3_add( phys->rb.up, phys->rb.co, phys->cog );
+ v3_zero( phys->cog_v );
+
player_save_frame();
return 1;
}
+VG_STATIC void reset_player_poll( int argc, char const *argv[] )
+{
+ if( argc == 1 )
+ {
+ for( int i=0; i<world.spawn_count; i++ )
+ {
+ struct respawn_point *r = &world.spawns[i];
+
+ console_suggest_score_text( r->name, argv[argc-1], 0 );
+ }
+ }
+}
+
+VG_STATIC void player_physics_gui(void)
+{
+ return;
+
+ vg_uictx.cursor[0] = 0;
+ vg_uictx.cursor[1] = vg.window_y - 128;
+ vg_uictx.cursor[3] = 14;
+ ui_fill_x();
+
+ char buf[128];
+
+ snprintf( buf, 127, "v: %6.3f %6.3f %6.3f\n", player.phys.rb.v[0],
+ player.phys.rb.v[1],
+ player.phys.rb.v[2] );
+
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+
+ snprintf( buf, 127, "a: %6.3f %6.3f %6.3f (%6.3f)\n", player.phys.a[0],
+ player.phys.a[1],
+ player.phys.a[2],
+ v3_length(player.phys.a));
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+ float normal_acceleration = v3_dot( player.phys.a, player.phys.rb.up );
+ snprintf( buf, 127, "Normal acceleration: %6.3f\n", normal_acceleration );
+
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+ snprintf( buf, 127, "Normal Pressure: %6.3f\n", player.normal_pressure );
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+
+}
+
#endif /* PLAYER_PHYSICS_H */