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 )
{
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 );
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( 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 );
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 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