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 )
{
#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);
VG_STATIC int player_walk_surface_standable( v3f n )
}
}
-/*
- * Entire Walking physics model
- * TODO: sleep when under certain velotiy
- */
+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);
/* 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++ )
- {
- 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;
-#endif
}
}
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 );
{
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_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 );
-
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 */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff