--- /dev/null
+/*
+ * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved
+ */
+
+#define PLAYER_PHYSICS_WALK_H
+#ifndef PLAYER_PHYSICS_WALK_H
+#define PLAYER_PHYSICS_WALK_H
+
+#include "player.h"
+#include "camera.h"
+
+VG_STATIC struct player_walk
+{
+ struct
+ {
+ enum walk_activityaaaaaa
+ {
+ k_walk_activity_airaaaa,
+ k_walk_activity_groundaaaaaa
+ }
+ activity;
+ }
+ state;
+
+ rigidbody capsule; /* TODO: rigidbody::collider_capsule */
+}
+player_walky =
+{
+ .capsule = { .inf.capsule.height = 2.0f, .inf.capsule.radius = 0.3f }
+};
+
+VG_STATIC void player_walk_collider_configuration(void)
+{
+ v3_add( player.rb.co, (v3f){0.0f,1.0f,0.0f}, player_walky.capsule.co );
+ rb_update_transform( &player_walky.capsule );
+
+#if 0
+ 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 );
+#endif
+}
+
+__attribute__ ((deprecated))
+VG_STATIC int player_walk_surface_standable( v3f n )
+{
+ return v3_dot( n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f;
+}
+
+__attribute__ ((deprecated))
+VG_STATIC void player_walk_stepdown( struct player_walk *w )
+{
+ float max_dist = 0.4f;
+
+ v3f pa, pb;
+ v3_copy( player.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 ) )
+ {
+ w->state.activity = k_walk_activity_ground;
+ v3_lerp( pa, pb, t+0.001f, player.rb.co );
+ player.rb.co[1] -= 0.3f;
+ }
+ }
+}
+
+__attribute__ ((deprecated))
+VG_STATIC void player_walk_physics( struct player_walk *w )
+{
+ v3_zero( player.rb.w );
+ q_axis_angle( player.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( w->state.activity == k_walk_activity_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, player.rb.v )),
+ new_vel = current_vel + VG_TIMESTEP_FIXED*999999.0f,
+ clamped_new = vg_clampf( new_vel, 0.0f, k_walkspeed ),
+ vel_diff = vg_maxf( 0.0f, clamped_new - current_vel );
+
+ v3_muladds( player.rb.v, right_dir, walk[0] * vel_diff, player.rb.v );
+ v3_muladds( player.rb.v, forward_dir, walk[1] * vel_diff, player.rb.v );
+
+ len = rb_capsule_scene( &w->capsule, &world.rb_geo, 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 )
+ w->state.activity = k_walk_activity_ground;
+ }
+
+ /*
+ * TODO: Compression
+ */
+ for( int j=0; j<5; j++ )
+ {
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+
+ /*normal */
+ float vn = -v3_dot( player.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, player.rb.v, player.rb.v );
+
+ /* friction */
+ for( int j=0; j<2; j++ )
+ {
+ float f = k_friction * ct->norm_impulse,
+ vt = v3_dot( player.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( player.rb.v, ct->t[j], lambda, player.rb.v );
+ }
+ }
+ }
+
+ player.rb.v[1] += -k_gravity * k_rb_delta;
+ v3_muladds( player.rb.co, player.rb.v, k_rb_delta, player.rb.co );
+ }
+ 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, player.rb.co, player.rb.co );
+
+ /* Directly resolve collisions */
+ player_walk_collider_configuration();
+ len = rb_capsule_scene( &w->capsule, &world.rb_geo, 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, player.rb.co, player.rb.co );
+
+ v3_add( dt, walk_apply, walk_measured );
+ v3_divs( walk_measured, VG_TIMESTEP_FIXED, player.rb.v );
+
+ if( len )
+ {
+ struct world_material *surface_mat = world_contact_material(manifold);
+ player.surface_prop = surface_mat->info.surface_prop;
+ }
+
+ w->state.activity = k_walk_activity_air;
+
+ /* jump */
+ if( player.input_jump->button.value )
+ {
+ player.rb.v[1] = 5.0f;
+ return;
+ }
+
+ /* Check if grounded by current manifold */
+ for( int i=0; i<len; i++ )
+ {
+ struct contact *ct = &manifold[i];
+ if( player_walk_surface_standable( ct->n ) )
+ w->state.activity = k_walk_activity_ground;
+ }
+
+ /* otherwise... */
+ if( w->state.activity == k_walk_activity_air )
+ player_walk_stepdown( w );
+ }
+}
+
+__attribute__ ((deprecated))
+VG_STATIC void player_walk_animate( void *_w,
+ struct skeleton *sk, player_pose pose )
+{
+ struct player_walk *w = _w;
+
+ {
+ float fly = (w->state.activity == k_walk_activity_air)? 1.0f: 0.0f,
+ rate;
+
+ if( w->state.activity == k_walk_activity_air )
+ rate = 2.4f;
+ else
+ rate = 9.0f;
+
+ player.ffly = vg_lerpf( player.ffly, fly, rate*vg.time_delta );
+ player.frun = vg_lerpf( player.frun,
+ player.walk *
+ (1.0f + player.input_walk->button.value*0.5f),
+ 2.0f*vg.time_delta );
+ }
+
+ player_pose apose, bpose;
+
+ if( player.walk > 0.025f )
+ {
+ /* TODO move */
+ float walk_norm = 30.0f/(float)player.mdl.anim_walk->length,
+ run_norm = 30.0f/(float)player.mdl.anim_run->length,
+ walk_adv = vg_lerpf( walk_norm, run_norm, player.walk );
+
+ player.walk_timer += walk_adv * vg.time_delta;
+ }
+ else
+ {
+ player.walk_timer = 0.0f;
+ }
+
+ float walk_norm = (float)player.mdl.anim_walk->length/30.0f,
+ run_norm = (float)player.mdl.anim_run->length/30.0f,
+ t = player.walk_timer,
+ l = vg_clampf( player.frun*15.0f, 0.0f, 1.0f ),
+ idle_walk = vg_clampf( (player.frun-0.1f)/(1.0f-0.1f), 0.0f, 1.0f );
+
+ /* walk/run */
+ skeleton_sample_anim( sk, player.mdl.anim_walk, t*walk_norm, apose );
+ skeleton_sample_anim( sk, player.mdl.anim_run, t*run_norm, bpose );
+
+ skeleton_lerp_pose( sk, apose, bpose, l, apose );
+
+ /* idle */
+ skeleton_sample_anim( sk, player.mdl.anim_idle, vg.time*0.1f, bpose );
+ skeleton_lerp_pose( sk, apose, bpose, 1.0f-idle_walk, apose );
+
+ /* air */
+ skeleton_sample_anim( sk, player.mdl.anim_jump, vg.time*0.6f, bpose );
+ skeleton_lerp_pose( sk, apose, bpose, player.ffly, apose );
+
+ skeleton_apply_pose( &player.mdl.sk, apose, k_anim_apply_defer_ik );
+ skeleton_apply_ik_pass( &player.mdl.sk );
+ skeleton_apply_pose( &player.mdl.sk, apose, k_anim_apply_deffered_only );
+
+ v3_copy( player.mdl.sk.final_mtx[player.mdl.id_head-1][3],
+ player.mdl.cam_pos );
+
+
+
+ skeleton_apply_inverses( &player.mdl.sk );
+
+ m4x3f mtx;
+ v4f rot;
+ q_axis_angle( rot, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] - VG_PIf*0.5f );
+ q_m3x3( rot, mtx );
+ v3_copy( player.visual_transform[3], mtx[3] );
+
+ skeleton_apply_transform( &player.mdl.sk, mtx );
+ skeleton_debug( &player.mdl.sk );
+}
+
+#endif /* PLAYER_PHYSICS_WALK_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff