/*
- * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved
*/
+#define PLAYER_PHYSICS_H
#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;
-}
-
-/*
- * 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;
-
- m3x3_identity( phys->vr );
-
- for( int m=-3;m<=12; m++ )
- {
- struct land_log *log = &player.land_log[ player.land_log_count ++ ];
- log->count = 0;
- log->colour = 0xff000000;
-
- float vmod = ((float)m / 15.0f)*0.09f;
-
- v3f pco, pco1, pv;
- v3_copy( phys->rb.co, pco );
- v3_muls( phys->rb.v, k_bias, pv );
-
- /*
- * Try different 'rotations' of the velocity to find the best possible
- * landing normal. This conserves magnitude at the expense of slightly
- * unrealistic results
- */
-
- m3x3f vr;
- v4f vr_q;
-
- q_axis_angle( vr_q, axis, vmod );
- q_m3x3( vr_q, vr );
-
- m3x3_mulv( vr, pv, pv );
- v3_muladds( pco, pv, pstep, pco );
-
- struct grind_edge *best_grind = NULL;
- float closest_grind = INFINITY;
-
- for( int i=0; i<50; i++ )
- {
- v3_copy( pco, pco1 );
- apply_gravity( pv, pstep );
-
- m3x3_mulv( vr, pv, pv );
- v3_muladds( pco, pv, pstep, pco );
-
- ray_hit contact;
- v3f vdir;
-
- v3_sub( pco, pco1, vdir );
- contact.dist = v3_length( vdir );
- v3_divs( vdir, contact.dist, vdir);
-
- v3f c0, c1;
- struct grind_edge *ge = player_grind_collect_edge( pco, pco1,
- c0, c1, 0.4f );
-
- if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) )
- {
- float d2 = v3_dist2( c0, c1 );
- if( d2 < closest_grind )
- {
- closest_grind = d2;
- best_grind = ge;
- }
- }
-
- 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));
-
- /* Bias prediction towords ramps */
- if( ray_hit_material( &contact )->info.flags
- & k_material_flag_skate_surface )
- {
- land_delta *= 0.1f;
- scolour |= 0x0000a000;
- }
-
- if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) )
- {
- best_velocity_delta = land_delta;
-
- 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 );
- }
-
- v3_copy( contact.pos, log->positions[ log->count ++ ] );
- log->colour = 0xff000000 | scolour;
- break;
- }
-
- v3_copy( pco, log->positions[ log->count ++ ] );
- }
-
- if( best_grind )
- {
- log->colour = 0xff0000ff;
-
- float score = -closest_grind * 0.05f;
-
- if( score > best_velocity_delta )
- {
- best_velocity_delta = score;
-
- m3x3_copy( vr, phys->vr_pstep );
- q_axis_angle( vr_q, axis, vmod*0.1f );
- q_m3x3( vr_q, phys->vr );
- }
- }
- }
-}
-
-
-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 );
- }
- 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 * 0.2f;
- 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);
- }
-
- 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;
-
- 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;
-}
+VG_STATIC void player_integrate(void);
-/*
- * Air control, no real physics
- */
-VG_STATIC void player_physics_control_air(void)
+VG_STATIC int player_collide_sphere( rigidbody *rb, rb_ct *manifold )
{
- 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 * 10.0f;
-
- v3f pco, pco1, pv;
- v3_copy( phys->rb.co, pco );
- v3_copy( phys->rb.v, pv );
-
- float time_to_impact = 0.0f;
- float limiter = 1.0f;
-
- for( int i=0; i<50; i++ )
- {
- v3_copy( pco, pco1 );
- m3x3_mulv( phys->vr_pstep, 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);
-
- float orig_dist = contact.dist;
- 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 );
-
- 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( 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 );
- }
-
- vg_line_cross( contact.pos, 0xffff0000, 0.25f );
- break;
- }
- time_to_impact += pstep;
- }
-
- 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_update_collision(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 );
+ int len = 0;
- rb_update_bounds( rbf );
- rb_update_bounds( rbb );
-}
-
-VG_STATIC void player_integrate(void);
-/*
- * Entire Walking physics model
- * TODO: sleep when under certain velotiy
- */
-VG_STATIC 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( v2_length2(walk) > 0.001f )
- v2_normalize_clamp( walk );
-
- if( phys->in_air )
+ len = rb_sphere_scene( rb, &world.rb_geo, manifold );
+ rb_manifold_filter_coplanar( manifold, len, 0.05f );
+ if( len > 1 )
{
- player_walk_update_collision();
- rb_debug( rbf, 0xff0000ff );
- rb_debug( rbb, 0xff0000ff );
-
- /* 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 = 0;
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
- 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();
+ 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
- {
- 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 );
-
- v3f walk_apply;
- v3_zero( walk_apply );
-
- /* Do XY translation */
- v3_muladds( walk_apply, right_dir, walk[0], walk_apply );
- v3_muladds( walk_apply, forward_dir, walk[1], walk_apply );
- v3_add( walk_apply, phys->rb.co, phys->rb.co );
- v3_divs( walk_apply, VG_TIMESTEP_FIXED, phys->rb.v );
-
- /* Directly resolve collisions */
- player_walk_update_collision();
- rb_debug( rbf, 0xffffff00 );
- rb_debug( rbb, 0xffffff00 );
-
- len = 0;
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
-
- v3f dt;
- v3_zero( dt );
- for( int j=0; j<3; j++ )
- {
- for( int i=0; i<len; i++ )
- {
- struct contact *ct = &manifold[i];
-
- float p = vg_maxf( 0.0f, ct->p - 0.00f ),
- cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p );
- v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt );
- }
- }
- v3_add( dt, phys->rb.co, phys->rb.co );
+ len = new_len;
- 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;
- }
-
- /* if we've put us in the air, step down slowly */
- phys->in_air = 1;
- float max_dist = 0.3f,
- start_y = phys->rb.co[1];
-
- for( int j=0; j<8; j++ )
- {
- for( int i=0; i<len; i++ )
- {
- struct contact *ct = &manifold[i];
- if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f )
- {
- phys->in_air = 0;
- if( j == 0 )
- return;
-
- v3f dt;
- v3_zero( dt );
- for( int j=0; j<3; j++ )
- {
- for( int i=0; i<len; i++ )
- {
- struct contact *ct = &manifold[i];
-
- float p = vg_maxf( 0.0f, ct->p - 0.0025f ),
- cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p );
- v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt );
- }
- }
- v3_add( dt, phys->rb.co, phys->rb.co );
- return;
- }
- }
-
- phys->rb.co[1] -= max_dist * 0.125f;
-
- player_walk_update_collision();
- len = 0;
- len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
- len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
- }
-
- /* Transitioning into air mode */
- phys->rb.co[1] = start_y;
- }
-}
-
-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, p0 );
- v3_muladds( p1, phys->rb.up, 0.125f, p1 );
-
- float const k_r = 0.25f;
- struct grind_edge *closest_edge = player_grind_collect_edge( p0, p1,
- c0, c1, k_r );
-
-
- vg_line( p0, p1, 0xff0000ff );
-
- if( closest_edge )
- {
- vg_line_cross( c0, 0xff000000, 0.1f );
- vg_line_cross( c1, 0xff000000, 0.1f );
- vg_line( c0, c1, 0xff000000 );
-
- v3f delta;
- v3_sub( c1, c0, delta );
-
- if( v3_dot( delta, phys->rb.up ) > 0.0f )
- {
- v3_copy( delta, contact->n );
- float l = v3_length( contact->n );
- v3_muls( contact->n, 1.0f/l, contact->n );
- contact->p = l;
- 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 );
-
- return 1;
- }
- else
- return -1;
- }
+ return len;
+#endif
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;
-
- m3x3_copy( phys->rb.to_world, player.collide_front.to_world );
- m3x3_copy( phys->rb.to_world, player.collide_back.to_world );
-
- player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f );
- float h = player.air_blend*0.2f;
-
- m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co );
- v3_copy( rbf->co, rbf->to_world[3] );
- m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h, k_board_length}, rbb->co );
- v3_copy( rbb->co, rbb->to_world[3] );
-
- m4x3_invert_affine( rbf->to_world, rbf->to_local );
- m4x3_invert_affine( rbb->to_world, rbb->to_local );
-
- rb_update_bounds( rbf );
- rb_update_bounds( rbb );
-
- rb_debug( rbf, 0xff00ffff );
- rb_debug( rbb, 0xffffff00 );
-
- 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 );
- }
- len_f = rb_manifold_apply_filtered( manifold, 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 );
- }
- len_b = rb_manifold_apply_filtered( man_b, len_b );
-
#if 0
- /*
- * Preprocess collision points, and create a surface picture.
- * we want contacts that are within our 'capsule's internal line to be
- * clamped so that they face the line and do not oppose, to stop the
- * player hanging up on stuff
- */
- for( int i=0; i<len; i++ )
- {
- v3f dfront, dback;
- v3_sub( manifold[i].co, rbf->co, dfront );
- v3_sub( manifold[i].co, rbb->co, dback );
-
- if( (v3_dot( dfront, phys->rb.forward ) < -0.02f) &&
- (v3_dot( dback, phys->rb.forward ) > 0.02f))
- {
- float p = v3_dot( manifold[i].n, phys->rb.forward );
- v3_muladds( manifold[i].n, phys->rb.forward, -p, manifold[i].n );
- v3_normalize( manifold[i].n );
- }
- }
-#endif
-
- return len_f + len_b;
-}
-
-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 );
-
- if( len == 0 )
- {
- phys->lift_frames ++;
-
- if( phys->lift_frames >= 8 )
- phys->in_air = 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 );
-
- 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 );
- }
- }
- }
-
- if( !was_in_air && phys->in_air )
- player_start_air();
-}
-
-VG_STATIC void player_collision_response( rb_ct *manifold, int len )
-{
- struct player_phys *phys = &player.phys;
-
- for( int j=0; j<5; 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 ),
- wx = v3_dot( phys->rb.right, impulse )*1.8f;
-
- v3_muladds( phys->rb.w, phys->rb.up, wy, phys->rb.w );
- v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w );
- }
- }
-}
-
-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)
{
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 );
}
-
-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];
- 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 );
- v3f axis;
- v3_cross( phys->rb.up, up, axis );
-
- if( fabsf(angle) < 0.99f )
- {
- 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, 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 );
- 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 );
-
- 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)
{
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 };
- /* TODO */
-#if 0
- 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 );
-#endif
+ 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;
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.co[0],
+ player.co[1],
+ player.co[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] );
-
-
- 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 );
+ if( !freecam )
+ {
+ player.angles[0] = atan2f( delta[0], -delta[2] );
+ player.angles[1] = -asinf( delta[1] );
+ }
+
+ player.controller = k_player_controller_walk;
+ /* TODO: trigger controller slurp */
- player.mdl.shoes[0] = 1;
- player.mdl.shoes[1] = 1;
-
- rb_update_transform( &phys->rb );
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 );
+ }
+ }
+}
+
#endif /* PLAYER_PHYSICS_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff