v3_muladds( vel, gravity, timestep, vel );
}
+VG_STATIC struct
+grind_edge *player_grind_collect_edge( v3f p0, v3f p1,
+ v3f c0, v3f c1, float max_dist )
+{
+ struct player_phys *phys = &player.phys;
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+
+ boxf region;
+
+ box_init_inf( region );
+ box_addpt( region, p0 );
+ box_addpt( region, p1 );
+
+ float k_r = max_dist;
+ v3_add( (v3f){ k_r, k_r, k_r}, region[1], region[1] );
+ v3_add( (v3f){-k_r,-k_r,-k_r}, region[0], region[0] );
+
+ float closest = k_r*k_r;
+ struct grind_edge *closest_edge = NULL;
+
+ int idx;
+ while( bh_next( world.grind_bh, &it, region, &idx ) )
+ {
+ struct grind_edge *edge = &world.grind_edges[ idx ];
+
+ float s,t;
+ v3f pa, pb;
+
+ float d2 =
+ closest_segment_segment( p0, p1, edge->p0, edge->p1, &s,&t, pa, pb );
+
+ if( d2 < closest )
+ {
+ closest = d2;
+ closest_edge = edge;
+ v3_copy( pa, c0 );
+ v3_copy( pb, c1 );
+ }
+ }
+
+ return closest_edge;
+}
+
/*
- * Called when launching into the air to predict and adjust trajectories
+ * Cast a sphere from a to b and see what time it hits
*/
-VG_STATIC void player_start_air(void)
+VG_STATIC int spherecast_world( v3f pa, v3f pb, float r, float *t, v3f n )
{
struct player_phys *phys = &player.phys;
- if( phys->in_air )
- return;
+ bh_iter it;
+ bh_iter_init( 0, &it );
- phys->in_air = 1;
+ 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
+ */
+VG_STATIC void player_start_air(void)
+{
+ struct player_phys *phys = &player.phys;
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++ )
{
- 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 );
+ struct land_prediction *p =
+ &player.predictions[ player.prediction_count ++ ];
- /*
- * Try different 'rotations' of the velocity to find the best possible
- * landing normal. This conserves magnitude at the expense of slightly
- * unrealistic results
- */
+ float vmod = ((float)m / 15.0f)*0.09f;
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 );
+ 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 );
+ if( p->score < min_score )
+ {
+ min_score = p->score;
+ best_vmod = vmod;
+ }
- m3x3_mulv( vr, pv, pv );
- v3_muladds( pco, pv, pstep, pco );
-
- ray_hit contact;
- v3f vdir;
+ if( p->score > max_score )
+ max_score = p->score;
+ }
+ }
- v3_sub( pco, pco1, vdir );
- contact.dist = v3_length( vdir );
- v3_divs( vdir, contact.dist, vdir);
+ v4f vr_q;
+ q_axis_angle( vr_q, axis, best_vmod*0.1f );
+ q_m3x3( vr_q, phys->vr );
- 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));
+ q_axis_angle( vr_q, axis, best_vmod );
+ q_m3x3( vr_q, phys->vr_pstep );
- /* Bias prediction towords ramps */
- if( ray_hit_material( &contact )->info.flags
- & k_material_flag_skate_surface )
- {
- land_delta *= 0.1f;
- scolour |= 0x0000a000;
- }
+ /*
+ * Logging
+ */
+ for( int i=0; i<player.prediction_count; i ++ )
+ {
+ struct land_prediction *p = &player.predictions[i];
- if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
- {
- best_velocity_delta = land_delta;
+ float l = p->score;
- 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 );
- }
+ if( l < 0.0f )
+ {
+ vg_error( "negative score! (%f)\n", l );
+ }
+
+ l -= min_score;
+ l /= (max_score-min_score);
+ l = 1.0f - l;
+ l *= 255.0f;
- v3_copy( contact.pos,
- player.land_target_log[player.land_log_count] );
- player.land_target_colours[player.land_log_count] =
- 0xff000000 | scolour;
+ p->colour = l;
+ p->colour <<= 8;
+ p->colour |= 0xff000000;
+ }
+}
- player.land_log_count ++;
- break;
- }
- }
+VG_STATIC void player_physics_control_passive(void)
+{
+ struct player_phys *phys = &player.phys;
+ 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 );
+
+ if( freecam )
+ v2_zero( 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->jump_charge || phys->in_air )
+ {
+ phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED;
+ }
+
+ phys->jump_charge = 0;
+ phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f );
}
/*
phys->slip = slip;
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 substep = VG_TIMESTEP_FIXED;
float fwd_resistance = k_friction_resistance;
-#endif
- 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( 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;
+
+
+ /*
+ * 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 )
+ {
+ v3f jumpdir;
+
+ /* Launch more up if alignment is up else improve velocity */
+ float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )),
+ mod = 0.5f,
+ dir = mod + aup*(1.0f-mod);
+
+ v3_copy( phys->rb.v, jumpdir );
+ v3_normalize( jumpdir );
+ v3_muls( jumpdir, 1.0f-dir, jumpdir );
+ v3_muladds( jumpdir, phys->rb.up, dir, jumpdir );
+ v3_normalize( jumpdir );
+
+ float force = k_jump_force*phys->jump;
+ v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v );
+ phys->jump = 0.0f;
+
+ player.jump_time = vg.time;
+
+ /* TODO: Move to audio file */
+ audio_lock();
+ audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D );
+ audio_player_set_position( &audio_player_extra, phys->rb.co );
+ audio_player_set_vol( &audio_player_extra, 20.0f );
+ audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] );
+ audio_unlock();
+ }
+}
+
+VG_STATIC void player_physics_control_grind(void)
+{
+ struct player_phys *phys = &player.phys;
+ v2f steer = { player.input_js1h->axis.value,
+ player.input_js1v->axis.value };
+
+ 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 * 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 );
+
+ phys->slip = 0.0f;
}
/*
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( 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;
}
- phys->iY -= vg_get_axis( "lookh" ) * k_steer_air * VG_TIMESTEP_FIXED;
+ if( has_target )
{
- float iX = vg_get_axis( "lookv" ) *
- phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED;
+ float angle = v3_dot( phys->rb.up, target_normal );
+ v3f axis;
+ v3_cross( phys->rb.up, target_normal, axis );
- 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 );
+ 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 };
+
+ 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_collider_configuration(void)
{
struct player_phys *phys = &player.phys;
+ float h0 = 0.3f,
+ h1 = 0.9f;
+
+ 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] );
+ 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_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 );
- float h0 = 0.3f,
- h1 = 0.9f;
+ 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,h0,0.0f}, rbf->co );
+ 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,h1,0.0f}, rbb->co );
+ 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 );
rb_update_bounds( rbf );
rb_update_bounds( rbb );
+}
+
+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;
- rb_debug( rbf, 0xff0000ff );
- rb_debug( rbb, 0xff0000ff );
+ 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;
+ rigidbody *rbf = &player.collide_front,
+ *rbb = &player.collide_back;
+
+ 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;
+
+ v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
+ v3f right_dir = { -forward_dir[2], 0.0f, forward_dir[0] };
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+ v2f walk = { player.input_walkh->axis.value,
+ player.input_walkv->axis.value };
- rb_presolve_contacts( manifold, len );
+ if( freecam )
+ v2_zero( walk );
+
+ if( v2_length2(walk) > 0.001f )
+ v2_normalize_clamp( walk );
- for( int j=0; j<5; j++ )
+ if( phys->in_air )
{
+ player_walk_collider_configuration();
+
+ /* 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 = player_update_collision_manifold( manifold );
+ 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 );
+
+ 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 );
+ }
+ }
+ }
+
+ player_integrate();
+ }
+ else
+ {
+ player.walk = v2_length( walk );
+
+ if( player.input_walk->button.value )
+ v2_muls( walk, 0.5f, walk );
+
+ v2_muls( walk, k_walkspeed * VG_TIMESTEP_FIXED, walk );
+
+ /* 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 );
+
+ /* Directly resolve collisions */
+ player_walk_collider_configuration();
+ len = player_update_collision_manifold( manifold );
+
+ v3f dt;
+ v3_zero( dt );
+ for( int j=0; j<8; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ 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);
+ player.surface_prop = surface_mat->info.surface_prop;
+ }
+
+ /* jump */
+ if( player.input_jump->button.value )
+ {
+ phys->rb.v[1] = 5.0f;
+ 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();
+ }
+}
+
+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 );
+
+ 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 );
+}
+
+VG_STATIC int player_update_grind_collision( rb_ct *contact )
+{
+ struct player_phys *phys = &player.phys;
+
+ 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-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 );
+
+ if( v3_dot( delta, phys->rb.up ) > 0.0001f )
+ {
+ contact->p = v3_length( delta );
+ contact->type = k_contact_type_edge;
+ contact->element_id = 0;
+ v3_copy( c1, contact->co );
+ contact->rba = &player.phys.rb;
+ contact->rbb = &world.rb_geo;
+
+ v3f edge_dir, axis_dir;
+ v3_sub( closest_edge->p1, closest_edge->p0, edge_dir );
+ v3_normalize( edge_dir );
+ 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
+ return -1;
+ }
+
+ return 0;
+}
+
+/* Manifold must be able to hold at least 64 elements */
+VG_STATIC int player_update_collision_manifold( rb_ct *manifold )
+{
+ struct player_phys *phys = &player.phys;
+
+ rigidbody *rbf = &player.collide_front,
+ *rbb = &player.collide_back;
+
+ 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_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 );
+ }
+ 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_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 );
+ }
+ 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;
+
+ return len_f + len_b;
+}
+
+VG_STATIC void player_adhere_ground( rb_ct *manifold, int len )
+{
+ struct player_phys *phys = &player.phys;
+ int was_in_air = phys->in_air;
+
+ v3f surface_avg;
+ v3_zero( surface_avg );
+
+ /*
+ *
+ * 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 );
- /* 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;
+ float angle = -atan2f( dy, dx );
+ q_axis_angle( player.board_rotation, (v3f){ 1.0f, 0.0f, 0.0f }, angle );
- v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v );
- }
- }
- }
+ /*
+ * ================================================================
+ * EXPERIMENTAL
+ */
- if( len == 0 )
- phys->in_air = 1;
- else
+ if( len == 0 && !((cast0 !=-1)&&(cast1!=-1)) )
{
- phys->in_air = 0;
- struct world_material *surface_mat = world_contact_material( manifold );
- player.surface_prop = surface_mat->info.surface_prop;
- }
+ phys->lift_frames ++;
- if( !phys->in_air )
+ if( phys->lift_frames >= 8 )
+ phys->in_air = 1;
+ }
+ else
{
- 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( vg_get_button("jump") )
+ for( int i=0; i<len; i++ )
+ v3_add( surface_avg, manifold[i].n, surface_avg );
+ v3_normalize( surface_avg );
+
+ if( v3_dot( phys->rb.v, surface_avg ) > 0.7f )
{
- phys->rb.v[1] = 5.0f;
+ phys->lift_frames ++;
+
+ if( phys->lift_frames >= 8 )
+ phys->in_air = 1;
}
- }
-
- v3_zero( phys->rb.w );
- q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] );
+ else
+ {
+ phys->in_air = 0;
+ phys->lift_frames = 0;
+ v3f projected, axis;
- v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
+ float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED;
+ v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
- v3f p1;
- v3_muladds( phys->rb.co, forward_dir, 2.0f, p1 );
- vg_line( phys->rb.co, p1, 0xff0000ff );
+ float d = v3_dot( phys->rb.forward, surface_avg );
+ v3_muladds( surface_avg, phys->rb.forward, -d, projected );
+ v3_normalize( projected );
- player.walk = powf( vg_get_axis("walk/push")*0.5f + 0.5f, 4.0f );
+ float angle = v3_dot( phys->rb.up, projected );
+ v3_cross( phys->rb.up, projected, axis );
- 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 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( !phys->in_air )
- {
- v3_muladds( phys->rb.v, forward_dir, diff, phys->rb.v );
+ if( fabsf(angle) < 0.999f )
+ {
+ v4f correction;
+ q_axis_angle( correction, axis,
+ acosf(angle)*4.0f*VG_TIMESTEP_FIXED );
+ q_mul( correction, phys->rb.q, phys->rb.q );
+ }
}
}
-
- if( !phys->in_air )
- {
- phys->rb.v[0] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction);
- phys->rb.v[2] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction);
- }
+
+ if( !was_in_air && phys->in_air )
+ player_start_air();
}
-/*
- * Physics collision detection, and control
- */
-VG_STATIC void player_physics(void)
+VG_STATIC void player_collision_response( rb_ct *manifold, int len )
{
struct player_phys *phys = &player.phys;
+
/*
- * Update collision fronts
+ * EXPERIMENTAL
+ * ===============================================
*/
-
- 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 );
+#if 0
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
- rb_debug( rbf, 0xff00ffff );
- rb_debug( rbb, 0xffffff00 );
+ {
+ 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;
- rb_ct manifold[64];
- int len = 0;
+ phys->springv += F;
+ phys->spring += phys->springv * k_rb_delta;
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+ if( phys->springv > 0.0f )
+ v3_muladds( phys->rb.v, phys->rb.up, F*k_cog_spring_vert, phys->rb.v );
- rb_presolve_contacts( manifold, len );
- v3f surface_avg = {0.0f, 0.0f, 0.0f};
+ if( phys->in_air )
+ player.normal_pressure = 0.0f;
+ else
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+ }
+#endif
- if( !len )
+ if( player.input_grab->axis.value > 0.5f )
{
- player_start_air();
+ if( !phys->in_air )
+ {
+ /* Throw */
+ v3_muls( phys->rb.up, k_mmthrow_scale, phys->throw_v );
+ }
}
else
{
- for( int i=0; i<len; i++ )
+ /* 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_add( manifold[i].n, surface_avg, surface_avg );
+ 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_normalize( surface_avg );
+ 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 );
- if( v3_dot( phys->rb.v, surface_avg ) > 0.5f )
- {
- player_start_air();
- }
- else
- {
- phys->in_air = 0;
- }
+ 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 );
}
- for( int j=0; j<5; j++ )
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+
+ for( int j=0; j<10; j++ )
{
for( int i=0; i<len; i++ )
{
* components.
*/
- float wy = v3_dot( phys->rb.up, impulse ),
- wx = v3_dot( phys->rb.right, impulse )*1.5f;
+ 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 );
}
}
-
- float grabt = vg_get_axis( "grab" )*0.5f+0.5f;
- 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 );
- v3_muladds( surface_avg, phys->rb.forward, -d, projected );
- v3_normalize( projected );
-
- float angle = v3_dot( phys->rb.up, projected );
- v3_cross( phys->rb.up, projected, axis );
-
- 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 );
-
- if( fabsf(angle) < 0.999f )
- {
- v4f correction;
- q_axis_angle( correction, axis, acosf(angle)*4.0f*VG_TIMESTEP_FIXED );
- 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 );
-
- player_physics_control();
-
- if( !phys->jump_charge && phys->jump > 0.2f )
- {
- v3f jumpdir;
-
- /* Launch more up if alignment is up else improve velocity */
- float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )),
- mod = 0.5f,
- dir = mod + aup*(1.0f-mod);
-
- v3_copy( phys->rb.v, jumpdir );
- v3_normalize( jumpdir );
- v3_muls( jumpdir, 1.0f-dir, jumpdir );
- v3_muladds( jumpdir, phys->rb.up, dir, jumpdir );
- v3_normalize( jumpdir );
-
- float force = k_jump_force*phys->jump;
- v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v );
- phys->jump = 0.0f;
-
- player.jump_time = vg.time;
-
- /* TODO: Move to audio file */
- audio_lock();
- audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D );
- audio_player_set_position( &audio_player_extra, phys->rb.co );
- audio_player_set_vol( &audio_player_extra, 20.0f );
- audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] );
- audio_unlock();
- }
- }
- else
- {
- player_physics_control_air();
- }
-
- if( !phys->jump_charge )
- {
- phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED;
- }
-
- phys->jump_charge = 0;
- phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f );
+
+ /* 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)
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;
+ 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 );
+}
- 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();
+ {
+ rb_ct manifold[72];
+
+ player_regular_collider_configuration();
+ int len = player_update_collision_manifold( manifold );
+ int grind_col = player_update_grind_collision( &manifold[len] );
+
+ static int _grind_col_pre = 0;
+
+ if( grind_col )
+ {
+ phys->grind = 1;
+ v3f up = { 0.0f, 1.0f, 0.0f };
+ float angle = v3_dot( phys->rb.up, up );
+
+ 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) );
+ q_mul( correction, phys->rb.q, phys->rb.q );
+ }
+
+ float const DOWNFORCE = -k_downforce*1.2f*VG_TIMESTEP_FIXED;
+ v3_muladds( phys->rb.v, manifold[len].n, DOWNFORCE, phys->rb.v );
+ m3x3_identity( phys->vr );
+ m3x3_identity( phys->vr_pstep );
+
+ if( !_grind_col_pre )
+ {
+ audio_lock();
+ audio_player_set_flags( &audio_player_extra,
+ AUDIO_FLAG_SPACIAL_3D );
+ audio_player_set_position( &audio_player_extra, phys->rb.co );
+ audio_player_set_vol( &audio_player_extra, 20.0f );
+ audio_player_playclip( &audio_player_extra, &audio_board[5] );
+ audio_unlock();
+ }
+ }
+ else
+ {
+ phys->grind = 0;
+ player_adhere_ground( manifold, len );
+
+ if( _grind_col_pre )
+ {
+ audio_lock();
+ audio_player_set_flags( &audio_player_extra,
+ AUDIO_FLAG_SPACIAL_3D );
+ audio_player_set_position( &audio_player_extra, phys->rb.co );
+ audio_player_set_vol( &audio_player_extra, 20.0f );
+ audio_player_playclip( &audio_player_extra, &audio_board[6] );
+ audio_unlock();
+ }
+ }
+
+ _grind_col_pre = grind_col;
+
+ rb_presolve_contacts( manifold, len+ VG_MAX(0,grind_col) );
+ player_collision_response( manifold, len+ VG_MAX(0,grind_col) );
+
+ player_physics_control_passive();
+
+ if( grind_col )
+ {
+ phys->in_air = 0;
+ player_physics_control_grind();
+ }
+ else
+ {
+ if( phys->in_air )
+ player_physics_control_air();
+ else
+ player_physics_control();
+ }
+
+ 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 );
+ 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;
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 );
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 );
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();
- 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 };
- 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 );
+
+ 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 );
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