/*
- * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved
*/
-#ifndef PLAYER_PHYSICS_H
-#define PLAYER_PHYSICS_H
-
-#include "player.h"
-#include "camera.h"
-
-VG_STATIC void apply_gravity( v3f vel, float const timestep )
-{
- v3f gravity = { 0.0f, -9.6f, 0.0f };
- 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;
-}
-
-/*
- * 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
- */
-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;
-
- v3f axis;
- v3_cross( phys->rb.up, phys->rb.v, axis );
- v3_normalize( axis );
- 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_prediction *p =
- &player.predictions[ player.prediction_count ++ ];
-
- 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 );
-
- player_predict_land( vr, p );
-
- if( p->type != k_prediction_none )
- {
- if( p->score < min_score )
- {
- min_score = p->score;
- best_vmod = vmod;
- }
-
- if( p->score > max_score )
- max_score = p->score;
- }
- }
-
- v4f vr_q;
- q_axis_angle( vr_q, axis, best_vmod*0.1f );
- q_m3x3( vr_q, phys->vr );
-
- q_axis_angle( vr_q, axis, best_vmod );
- q_m3x3( vr_q, phys->vr_pstep );
-
- /*
- * Logging
- */
- for( int i=0; i<player.prediction_count; i ++ )
- {
- struct land_prediction *p = &player.predictions[i];
-
- float l = p->score;
-
- 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;
-
- p->colour = l;
- p->colour <<= 8;
- p->colour |= 0xff000000;
- }
-}
-
-
-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 );
-}
-
-/*
- * Main friction interface model
- */
-VG_STATIC void player_physics_control(void)
-{
- struct player_phys *phys = &player.phys;
-
- /*
- * Computing localized friction forces for controlling the character
- * Friction across X is significantly more than Z
- */
-
- v3f vel;
- m3x3_mulv( phys->rb.to_local, phys->rb.v, vel );
- float slip = 0.0f;
-
- if( fabsf(vel[2]) > 0.01f )
- slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]);
-
- if( fabsf( slip ) > 1.2f )
- slip = vg_signf( slip ) * 1.2f;
- phys->slip = slip;
- phys->reverse = -vg_signf(vel[2]);
-
- float substep = VG_TIMESTEP_FIXED;
- float fwd_resistance = k_friction_resistance;
-
- 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 )
- {
- phys->jump += VG_TIMESTEP_FIXED * k_jump_charge_speed;
-
- if( !phys->jump_charge )
- phys->jump_dir = phys->reverse > 0.0f? 1: 0;
-
- phys->jump_charge = 1;
- }
-
- static int push_thresh_last = 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( !player.input_jump->button.value && push_thresh )
- {
- player.phys.pushing = 1.0f;
- player.phys.push_time = vg.time - player.phys.start_push;
-
- float cycle_time = player.phys.push_time*k_push_cycle_rate,
- amt = k_push_accel * (sinf(cycle_time)*0.5f+0.5f)*VG_TIMESTEP_FIXED,
- current = v3_length( vel ),
- new_vel = vg_minf( current + amt, k_max_push_speed );
-
- new_vel -= vg_minf(current, k_max_push_speed);
- vel[2] -= new_vel * phys->reverse;
- }
-
- m3x3_mulv( phys->rb.to_world, vel, phys->rb.v );
-
- 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;
-}
-
-/*
- * Air control, no real physics
- */
-VG_STATIC void player_physics_control_air(void)
-{
- 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 );
-
- ray_hit hit;
-
- /*
- * Prediction
- */
- float pstep = VG_TIMESTEP_FIXED * 1.0f;
- float k_bias = 0.98f;
-
- v3f pco, pco1, pv;
- v3_copy( phys->rb.co, pco );
- v3_muls( phys->rb.v, 1.0f, pv );
-
- float time_to_impact = 0.0f;
- float limiter = 1.0f;
-
- 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, pv, pv );
- apply_gravity( pv, pstep );
- 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 ) )
- {
- 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 ) )
- {
- v3_copy( contact.normal, target_normal );
- has_target = 1;
- time_to_impact += (contact.dist/orig_dist)*pstep;
- vg_line_cross( contact.pos, 0xffff0000, 0.25f );
- break;
- }
- time_to_impact += pstep;
- }
-
- if( has_target )
- {
- float angle = v3_dot( phys->rb.up, target_normal );
- v3f axis;
- v3_cross( phys->rb.up, target_normal, axis );
-
- limiter = vg_minf( 5.0f, time_to_impact )/5.0f;
- limiter = 1.0f-limiter;
- limiter *= limiter;
- limiter = 1.0f-limiter;
-
- if( fabsf(angle) < 0.99f )
- {
- v4f correction;
- q_axis_angle( correction, axis,
- acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED );
- q_mul( correction, phys->rb.q, phys->rb.q );
- }
- }
-
- v2f steer = { player.input_js1h->axis.value,
- player.input_js1v->axis.value };
-
- 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
-}
-
-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 );
-
- 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 )
-{
- 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;
- 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;
-
- v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
- v3f right_dir = { -forward_dir[2], 0.0f, forward_dir[0] };
-
- v2f walk = { player.input_walkh->axis.value,
- player.input_walkv->axis.value };
-
- if( freecam )
- v2_zero( walk );
-
- if( v2_length2(walk) > 0.001f )
- v2_normalize_clamp( walk );
-
- 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];
- if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f )
- phys->in_air = 0;
- }
-
- 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;
-
- float temp = ct->norm_impulse;
- ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
- vn = ct->norm_impulse - temp;
-
- 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
+#define PLAYER_PHYSICS_H
+#ifndef PLAYER_PHYSICS_H
+#define PLAYER_PHYSICS_H
- return 1;
- }
- else
- return -1;
- }
+#include "player.h"
+#include "camera.h"
- return 0;
-}
+VG_STATIC void player_integrate(void);
-/* Manifold must be able to hold at least 64 elements */
-VG_STATIC int player_update_collision_manifold( rb_ct *manifold )
+VG_STATIC int player_collide_sphere( rigidbody *rb, 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 );
+ int len = 0;
- 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)) )
+ len = rb_sphere_scene( rb, &world.rb_geo, manifold );
+ rb_manifold_filter_coplanar( manifold, len, 0.05f );
+ if( len > 1 )
{
- phys->lift_frames ++;
-
- if( phys->lift_frames >= 8 )
- phys->in_air = 1;
+ rb_manifold_filter_backface( manifold, len );
+ rb_manifold_filter_joint_edges( manifold, len, 0.05f );
+ rb_manifold_filter_pairs( manifold, len, 0.05f );
}
+ int new_len = rb_manifold_apply_filtered( manifold, len );
+ if( len && !new_len )
+ len = 1;
else
- {
- 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->lift_frames ++;
-
- if( phys->lift_frames >= 8 )
- phys->in_air = 1;
- }
- else
- {
- phys->in_air = 0;
- phys->lift_frames = 0;
- v3f projected, axis;
-
- float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED;
- v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
-
- 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 );
+ len = new_len;
-#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 );
+ return len;
#endif
- 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( !was_in_air && phys->in_air )
- player_start_air();
+ return 0;
}
-VG_STATIC void player_collision_response( rb_ct *manifold, int len )
-{
- struct player_phys *phys = &player.phys;
-
- /*
- * 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++ )
- {
- struct contact *ct = &manifold[i];
-
- v3f dv, delta;
- v3_sub( ct->co, phys->rb.co, delta );
- v3_cross( phys->rb.w, delta, dv );
- v3_add( phys->rb.v, dv, dv );
-
- float vn = -v3_dot( dv, ct->n );
- vn += ct->bias;
-
- float temp = ct->norm_impulse;
- ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
- vn = ct->norm_impulse - temp;
-
- v3f impulse;
- v3_muls( ct->n, vn, impulse );
-
- if( fabsf(v3_dot( impulse, phys->rb.forward )) > 10.0f ||
- fabsf(v3_dot( impulse, phys->rb.up )) > 50.0f )
- {
- player_kill();
- return;
- }
-
- v3_add( impulse, phys->rb.v, phys->rb.v );
- v3_cross( delta, impulse, impulse );
-
- /*
- * W Impulses are limited to the Y and X axises, we don't really want
- * roll angular velocities being included.
- *
- * Can also tweak the resistance of each axis here by scaling the wx,wy
- * components.
- */
-
- 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 );
- }
- }
-
- /* 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)
-{
- player.phys_gate_frame = player.phys;
-}
-
-VG_STATIC void player_restore_frame(void)
+VG_STATIC void apply_gravity( v3f vel, float const timestep )
{
- player.phys = player.phys_gate_frame;
- rb_update_transform( &player.phys.rb );
+ v3f gravity = { 0.0f, -9.6f, 0.0f };
+ v3_muladds( vel, gravity, timestep, vel );
}
VG_STATIC void player_integrate(void)
apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
}
-
-VG_STATIC void player_do_motion(void)
-{
- struct player_phys *phys = &player.phys;
-
- if( world.water.enabled )
- {
- if( (phys->rb.co[1] < 0.0f) && !player.is_dead )
- {
- 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_splash );
- audio_unlock();
-
- player_kill();
- }
- }
-
- v3f prevco;
- v3_copy( phys->rb.co, prevco );
-
- 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] );
-
- 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();
-
-
- /* Real angular velocity integration */
- 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;
- v3f axis;
- v3_copy( phys->rb.w, axis );
-
- float mag = v3_length( axis );
- v3_divs( axis, mag, axis );
- q_axis_angle( rotation, axis, mag*k_rb_delta );
- q_mul( rotation, phys->rb.q, phys->rb.q );
- }
-
- /* Faux angular velocity */
- v4f rotate;
-
- float lerpq = phys->in_air? 0.04f: 0.3f;
- phys->siY = vg_lerpf( phys->siY, phys->iY, lerpq );
-
- q_axis_angle( rotate, phys->rb.up, phys->siY );
- q_mul( rotate, phys->rb.q, phys->rb.q );
- phys->iY = 0.0f;
-
- /*
- * Gate intersection, by tracing a line over the gate planes
- */
- for( int i=0; i<world.gate_count; i++ )
- {
- struct route_gate *rg = &world.gates[i];
- teleport_gate *gate = &rg->gate;
-
- 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 );
-
- world_routes_activate_gate( i );
-
- if( !phys->on_board )
- {
- v3f fwd_dir = {cosf(player.angles[0]),
- 0.0f,
- sinf(player.angles[0])};
- m3x3_mulv( gate->transport, fwd_dir, fwd_dir );
-
- player.angles[0] = atan2f( fwd_dir[2], fwd_dir[0] );
- }
-
- player.rewind_length = 0;
- player.rewind_total_length = 0.0f;
- player.rewind_incrementer = 10000;
- player_save_frame();
-
- audio_lock();
- audio_play_oneshot( &audio_gate_pass, 1.0f );
- audio_unlock();
- break;
- }
- }
-
- rb_update_transform( &phys->rb );
-}
+#endif
VG_STATIC void player_freecam(void)
{
VG_STATIC int reset_player( int argc, char const *argv[] )
{
- struct player_phys *phys = &player.phys;
struct respawn_point *rp = NULL, *r;
if( argc == 1 )
for( int i=0; i<world.spawn_count; i++ )
{
r = &world.spawns[i];
- float d = v3_dist2( r->co, phys->rb.co );
+ float d = v3_dist2( r->co, player.co );
vg_info( "Dist %s : %f\n", r->name, d );
if( d < min_dist )
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] );
+ vg_info( "Player position: %f %f %f\n", player.co[0],
+ player.co[1],
+ player.co[2] );
if( !world.spawn_count )
return 0;
player.angles[1] = -asinf( delta[1] );
}
- v4_copy( rp->q, phys->rb.q );
- v3_copy( rp->co, phys->rb.co );
- v3_zero( phys->rb.v );
-
- phys->vswitch = 1.0f;
- phys->slip_last = 0.0f;
- phys->in_air = 1;
- phys->on_board = 0;
- m3x3_identity( phys->vr );
-
- player.mdl.shoes[0] = 1;
- 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.controller = k_player_controller_walk;
+ /* TODO: trigger controller slurp */
player_save_frame();
return 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