m4x3f mtx, rb_sphere *sphere,
rb_ct *man )
{
+ world_instance *world = get_active_world();
+
int len = 0;
- len = rb_sphere__scene( mtx, sphere, NULL, &world.rb_geo.inf.scene, man );
+ len = rb_sphere__scene( mtx, sphere, NULL, &world->rb_geo.inf.scene, man );
for( int i=0; i<len; i++ )
{
v3f co, dir, n;
};
-VG_STATIC int skate_grind_scansq( v3f pos, v3f dir, float r,
+VG_STATIC int skate_grind_scansq( player_instance *player,
+ v3f pos, v3f dir, float r,
struct grind_info *inf )
{
+ world_instance *world = get_active_world();
+
v4f plane;
v3_copy( dir, plane );
v3_normalize( plane );
support_max;
v3f support_axis;
- v3_cross( plane, (v3f){0.0f,1.0f,0.0f}, support_axis );
+ v3_cross( plane, player->basis[1], support_axis );
v3_normalize( support_axis );
- while( bh_next( world.geo_bh, &it, box, &idx ) )
+ while( bh_next( world->geo_bh, &it, box, &idx ) )
{
- u32 *ptri = &world.scene_geo->arrindices[ idx*3 ];
+ u32 *ptri = &world->scene_geo->arrindices[ idx*3 ];
v3f tri[3];
+ struct world_material *mat = world_tri_index_material(world,ptri[0]);
+ if( !(mat->info.flags & k_material_flag_skate_surface) )
+ continue;
+
for( int j=0; j<3; j++ )
- v3_copy( world.scene_geo->arrvertices[ptri[j]].co, tri[j] );
+ v3_copy( world->scene_geo->arrvertices[ptri[j]].co, tri[j] );
for( int j=0; j<3; j++ )
{
v3_cross( va, vb, normal );
sample->normal[0] = v3_dot( support_axis, normal );
- sample->normal[1] = normal[1];
+ sample->normal[1] = v3_dot( player->basis[1], normal );
sample->co[0] = v3_dot( support_axis, d );
- sample->co[1] = d[1];
+ sample->co[1] = v3_dot( player->basis[1], d );
v3_copy( normal, sample->normal3 ); /* normalize later
if we want to us it */
v3_muls( dir, vg_signf(v3_dot(dir,plane)), dir );
v3_add( average_direction, dir, average_direction );
- if( si->normal3[1] > sj->normal3[1] )
+ float yi = v3_dot( player->basis[1], si->normal3 ),
+ yj = v3_dot( player->basis[1], sj->normal3 );
+
+ if( yi > yj )
v3_add( si->normal3, average_normal, average_normal );
else
v3_add( sj->normal3, average_normal, average_normal );
v3f v0;
v3_sub( target, player->rb.co, v0 );
+ m3x3_mulv( player->invbasis, v0, v0 );
v3f ax;
v3_copy( v0, ax );
ax[1] = 0.0f;
v3_normalize( ax );
- v2f d = { v3_dot( v0, ax ), v0[1] },
- v = { v3_dot( player->rb.v, ax ), player->rb.v[1] };
+ v3f v_local;
+ m3x3_mulv( player->invbasis, player->rb.v, v_local );
+
+ v2f d = { v3_dot( ax, v0 ), v0[1] },
+ v = { v3_dot( ax, player->rb.v ), v_local[1] };
float a = atan2f( v[1], v[0] ),
m = v2_length( v ),
- root = m*m*m*m - k_gravity*(k_gravity*d[0]*d[0] + 2.0f*d[1]*m*m);
+ root = m*m*m*m - p->gravity*(p->gravity*d[0]*d[0] + 2.0f*d[1]*m*m);
if( root > 0.0f )
{
root = sqrtf( root );
- float a0 = atanf( (m*m + root) / (k_gravity * d[0]) ),
- a1 = atanf( (m*m - root) / (k_gravity * d[0]) );
+ float a0 = atanf( (m*m + root) / (p->gravity * d[0]) ),
+ a1 = atanf( (m*m - root) / (p->gravity * d[0]) );
if( fabsf(a0-a) > fabsf(a1-a) )
a0 = a1;
v3_muls( ax, cosf( a0 ) * m, p->v );
p->v[1] += sinf( a0 ) * m;
+ m3x3_mulv( player->basis, p->v, p->v );
+
p->land_dist = d[0] / (cosf(a0)*m);
/* add a trace */
v3f p0;
v3_muls( p->v, t, p0 );
- p0[1] += -0.5f * k_gravity * t*t;
+ v3_muladds( p0, player->basis[1], -0.5f * p->gravity * t*t, p0 );
v3_add( player->rb.co, p0, p->log[ p->log_length ++ ] );
}
VG_STATIC
void player__approximate_best_trajectory( player_instance *player )
{
+ world_instance *world = get_active_world();
+
struct player_skate *s = &player->_skate;
float k_trace_delta = k_rb_delta * 10.0f;
v3_normalize( axis );
/* at high slopes, Y component is low */
- float angle_begin = -(1.0f-fabsf( player->rb.to_world[1][1] )),
+ float upness = v3_dot( player->rb.to_world[1], player->basis[1] ),
+ angle_begin = -(1.0f-fabsf( upness )),
angle_end = 1.0f;
struct grind_info grind;
int grind_located = 0;
- for( int m=0;m<=15; m++ )
+ for( int m=0;m<=30; m++ )
{
struct land_prediction *p = &s->predictions[ s->prediction_count ++ ];
v3_copy( player->rb.v, launch_v );
v3_copy( launch_co, co0 );
- float vt = (float)m * (1.0f/15.0f),
+ float vt = (float)m * (1.0f/30.0f),
ang = vg_lerpf( angle_begin, angle_end, vt ) * 0.15f;
v4f qbias;
q_axis_angle( qbias, axis, ang );
q_mulv( qbias, launch_v, launch_v );
+
+ float yaw_sketch = 1.0f-fabsf(upness);
+
+ float yaw_bias = ((float)(m%3) - 1.0f) * 0.08f * yaw_sketch;
+ q_axis_angle( qbias, player->rb.to_world[1], yaw_bias );
+ q_mulv( qbias, launch_v, launch_v );
+
+
+ float gravity_bias = vg_lerpf( 0.85f, 1.4f, vt ),
+ gravity = k_gravity * gravity_bias;
+ p->gravity = gravity;
+
v3_copy( launch_v, p->v );
for( int i=1; i<=50; i++ )
float t = (float)i * k_trace_delta;
v3_muls( launch_v, t, co1 );
- co1[1] += -0.5f * k_gravity * t*t;
+ v3_muladds( co1, player->basis[1], -0.5f * gravity * t*t, co1 );
v3_add( launch_co, co1, co1 );
- if( !grind_located && (launch_v[1] - k_gravity*t < 0.0f) )
+ float launch_vy = v3_dot( launch_v,player->basis[1] );
+ if( !grind_located && (launch_vy - gravity*t < 0.0f) )
{
v3f closest;
- if( bh_closest_point( world.geo_bh, co1, closest, 1.0f ) != -1 )
+ if( bh_closest_point( world->geo_bh, co1, closest, 1.0f ) != -1 )
{
v3f ve;
v3_copy( launch_v, ve );
- ve[1] -= k_gravity * t;
+ v3_muladds( ve, player->basis[1], -gravity * t, ve );
- if( skate_grind_scansq( closest, ve, 0.5f, &grind ) )
+ if( skate_grind_scansq( player, closest, ve, 0.5f, &grind ) )
{
- v2f v0 = { ve[0], ve[2] },
- v1 = { grind.dir[0], grind.dir[2] };
+ /* check alignment */
+ v2f v0 = { v3_dot( ve, player->basis[0] ),
+ v3_dot( ve, player->basis[2] ) },
+ v1 = { v3_dot( grind.dir, player->basis[0] ),
+ v3_dot( grind.dir, player->basis[2] ) };
v2_normalize( v0 );
v2_normalize( v1 );
float a = v2_dot( v0, v1 );
- if( a >= cosf( VG_PIf * 0.125f ) )
+ if( a >= cosf( VG_PIf * 0.185f ) )
{
grind_located = 1;
}
float t1;
v3f n;
- int idx = spherecast_world( co0, co1, k_board_radius, &t1, n );
+ int idx = spherecast_world( world, co0, co1, k_board_radius, &t1, n );
if( idx != -1 )
{
v3f co;
v3f ve;
v3_copy( launch_v, ve );
- ve[1] -= k_gravity * t;
+ v3_muladds( ve, player->basis[1], -gravity * t, ve );
struct grind_info replace_grind;
- if( skate_grind_scansq( co, ve, 0.3f, &replace_grind ) )
+ if( skate_grind_scansq( player, co, ve, 0.3f, &replace_grind ) )
{
v3_copy( replace_grind.n, p->n );
p->type = k_prediction_grind;
p->score = -v3_dot( ve, p->n );
p->land_dist = t + k_trace_delta * t1;
- u32 vert_index = world.scene_geo->arrindices[ idx*3 ];
- struct world_material *mat = world_tri_index_material( vert_index );
+ u32 vert_index = world->scene_geo->arrindices[ idx*3 ];
+ struct world_material *mat =
+ world_tri_index_material( world, vert_index );
/* Bias prediction towords ramps */
if( !(mat->info.flags & k_material_flag_skate_surface) )
break;
}
+
+ if( i % 3 == 0 )
+ v3_copy( co1, p->log[ p->log_length ++ ] );
- v3_copy( co1, p->log[ p->log_length ++ ] );
v3_copy( co1, co0 );
}
s->prediction_count --;
}
-
-
if( grind_located )
{
/* calculate the exact solution(s) to jump onto that grind spot */
struct land_prediction *p = &s->predictions[ s->prediction_count ];
+ p->gravity = k_gravity;
if( solve_prediction_for_target( player, grind.co, 0.125f*VG_PIf, p ) )
{
/* determine score */
v3f ve;
v3_copy( p->v, ve );
- ve[1] -= k_gravity * p->land_dist;
+ v3_muladds( ve, player->basis[1], -p->gravity * p->land_dist, ve );
p->score = -v3_dot( ve, grind.n ) * 0.85f;
s->prediction_count ++;
v2f steer = { player->input_js1h->axis.value,
player->input_js1v->axis.value };
v2_normalize_clamp( steer );
+ s->state.gravity_bias = best->gravity;
if( (fabsf(steer[1]) > 0.5f) && (s->land_dist >= 1.5f) )
{
}
else
{
- v3_copy( (v3f){0.0f,1.0f,0.0f}, s->land_normal );
+ v3_copy( player->basis[1], s->land_normal );
}
}
v2f steer = { player->input_js1h->axis.value,
player->input_js1v->axis.value };
v2_normalize_clamp( steer );
- s->land_dist = 1.0f;
}
VG_STATIC int player_skate_trick_input( player_instance *player );
v3f jumpdir;
/* Launch more up if alignment is up else improve velocity */
- float aup = v3_dot( (v3f){0.0f,1.0f,0.0f}, player->rb.to_world[1] ),
+ float aup = v3_dot( player->basis[1], player->rb.to_world[1] ),
mod = 0.5f,
dir = mod + fabsf(aup)*(1.0f-mod);
v2f steer = { player->input_js1h->axis.value,
player->input_js1v->axis.value };
v2_normalize_clamp( steer );
-
+ skate_apply_air_model( player );
#if 0
float maxspin = k_steer_air * k_rb_delta * k_spin_boost;
{
struct player_skate *s = &player->_skate;
+ if( s->state.activity != k_skate_activity_ground )
+ {
+ v3_zero( s->state.throw_v );
+ return;
+ }
+
/* Throw / collect routine
*
* TODO: Max speed boost
/* Apply forces & intergrate */
v3_muladds( s->state.cog_v, F, -rb, s->state.cog_v );
- s->state.cog_v[1] += -9.8f * k_rb_delta;
+ v3_muladds( s->state.cog_v, player->basis[1], -9.8f * k_rb_delta,
+ s->state.cog_v );
+
v3_muladds( s->state.cog, s->state.cog_v, k_rb_delta, s->state.cog );
}
v3f surface_normal, v3f axel_dir )
{
struct player_skate *s = &player->_skate;
+ world_instance *world = get_active_world();
v3f truck, left, right;
m4x3_mulv( player->rb.to_world, ra, truck );
v3_muladds( left, player->rb.to_world[1], k_board_radius, left );
ray_l.dist = 2.1f * k_board_radius;
- res_l = ray_world( left, dir, &ray_l );
+ res_l = ray_world( world, left, dir, &ray_l );
if( res_l )
break;
v3_muladds( right, player->rb.to_world[1], k_board_radius, right );
ray_r.dist = 2.1f * k_board_radius;
- res_r = ray_world( right, dir, &ray_r );
+ res_r = ray_world( world, right, dir, &ray_r );
if( res_r )
break;
{
/* fallback: use the closes point to the trucks */
v3f closest;
- int idx = bh_closest_point( world.geo_bh, midpoint, closest, 0.1f );
+ int idx = bh_closest_point( world->geo_bh, midpoint, closest, 0.1f );
if( idx != -1 )
{
- u32 *tri = &world.scene_geo->arrindices[ idx * 3 ];
+ u32 *tri = &world->scene_geo->arrindices[ idx * 3 ];
v3f verts[3];
for( int j=0; j<3; j++ )
- v3_copy( world.scene_geo->arrvertices[ tri[j] ].co, verts[j] );
+ v3_copy( world->scene_geo->arrvertices[ tri[j] ].co, verts[j] );
v3f vert0, vert1, n;
v3_sub( verts[1], verts[0], vert0 );
{
if( reverse_dir != s->state.manual_direction )
{
-#if 0
- player__dead_transition( player );
-#endif
return;
}
}
/* TODO: Fall back on land normal */
/* TODO: Lerp weight distribution */
- /* TODO: Can start manual only if not charge jump */
if( s->state.manual_direction )
{
v3f plane_z;
}
else
{
- /* FIXME UNDEFINED! */
- vg_warn( "Undefined up target!\n" );
-
- v3_lerp( s->state.up_dir, (v3f){0.0f,1.0f,0.0f},
+ v3_lerp( s->state.up_dir, player->basis[1],
12.0f * s->substep_delta, s->state.up_dir );
}
}
v3_muls( dir, 1.0f/ray.dist, dir );
ray.dist -= 0.025f;
- if( ray_world( origin, dir, &ray ) )
+ if( ray_world( get_active_world(), origin, dir, &ray ) )
return 0;
return 1;
v3_normalize( fwd );
-
-
float way = player->input_js1v->axis.value *
vg_signf( v3_dot( raw_nplane, player->rb.v ) );
v3_muladds( inf_back->co, inf_avg.dir, 0.5f, inf_avg.co );
v3_normalize( inf_avg.dir );
- /* FIXME */
- v3_copy( (v3f){0.0f,1.0f,0.0f}, inf_avg.n );
+ v3f axis_front, axis_back, axis;
+ v3_cross( inf_front->dir, inf_front->n, axis_front );
+ v3_cross( inf_back->dir, inf_back->n, axis_back );
+ v3_add( axis_front, axis_back, axis );
+ v3_normalize( axis );
+
+ v3_cross( axis, inf_avg.dir, inf_avg.n );
skate_grind_decay( player, &inf_avg, 1.0f );
m4x3_mulv( player->rb.to_world, grind_co, grind_co );
/* Exit condition: lost grind tracking */
- if( !skate_grind_scansq( grind_co, player->rb.v, 0.3f, inf ) )
+ if( !skate_grind_scansq( player, grind_co, player->rb.v, 0.3f, inf ) )
return 0;
/* Exit condition: cant see grind target directly */
m3x3_mulv( player->rb.to_world, ra, raw );
v3_add( player->rb.co, raw, wsp );
- if( skate_grind_scansq( wsp, player->rb.v, 0.3, inf ) )
+ if( skate_grind_scansq( player, wsp, player->rb.v, 0.3, inf ) )
{
if( fabsf(v3_dot( player->rb.v, inf->dir )) < k_grind_axel_min_vel )
return 0;
{
struct player_skate *s = &player->_skate;
- if( skate_grind_scansq( player->rb.co,
+ if( skate_grind_scansq( player, player->rb.co,
player->rb.to_world[0], k_board_length,
inf ) )
{
{
struct player_skate *s = &player->_skate;
- if( !skate_grind_scansq( player->rb.co,
+ if( !skate_grind_scansq( player, player->rb.co,
player->rb.to_world[0], k_board_length,
inf ) )
return 0;
VG_STATIC void player__skate_update( player_instance *player )
{
struct player_skate *s = &player->_skate;
+ world_instance *world = get_active_world();
+
v3_copy( player->rb.co, s->state.prev_pos );
s->state.activity_prev = s->state.activity;
for( int i=0; i<2; i++ )
{
v3f normal, axel;
+ v3_copy( player->rb.to_world[0], axel );
+
if( skate_compute_surface_alignment( player, wheels[i].pos,
wheels[i].colour, normal, axel ) )
{
rb_effect_spring_target_vector( &player->rb, player->rb.to_world[0],
axel,
- k_board_spring, k_board_dampener,
+ k_surface_spring, k_surface_dampener,
s->substep_delta );
v3_add( normal, s->surface_picture, s->surface_picture );
contact_count ++;
}
+
+ m3x3_mulv( player->rb.to_local, axel, s->truckv0[i] );
}
if( contact_count )
{
s->state.activity = k_skate_activity_ground;
+ s->state.gravity_bias = k_gravity;
v3_normalize( s->surface_picture );
skate_apply_friction_model( player );
skate_weight_distribute( player );
- skate_apply_pump_model( player );
}
else
{
skate_apply_jump_model( player );
skate_apply_grab_model( player );
skate_apply_trick_model( player );
+ skate_apply_pump_model( player );
begin_collision:;
v3f n;
float cast_radius = wheels[i].radius - k_penetration_slop * 2.0f;
- if( spherecast_world( current, future, cast_radius, &t, n ) != -1)
+ if( spherecast_world( world, current, future, cast_radius, &t, n ) != -1)
max_time = vg_minf( max_time, t * s->substep );
}
}
rb_update_transform( &player->rb );
- player->rb.v[1] += -k_gravity * s->substep_delta;
+ v3_muladds( player->rb.v, player->basis[1],
+ -s->state.gravity_bias * s->substep_delta, player->rb.v );
s->substep -= s->substep_delta;
float t;
v3f n;
if( (v3_dist2( head_wp0, head_wp1 ) > 0.001f) &&
- (spherecast_world( head_wp0, head_wp1, 0.2f, &t, n ) != -1) )
+ (spherecast_world( world, head_wp0, head_wp1, 0.2f, &t, n ) != -1) )
{
v3_lerp( start_co, player->rb.co, t, player->rb.co );
rb_update_transform( &player->rb );
rb_ct *cman = &manifold[manifold_len];
- int l = rb_capsule__scene( mtx, &capsule, NULL, &world.rb_geo.inf.scene,
+ int l = rb_capsule__scene( mtx, &capsule, NULL, &world->rb_geo.inf.scene,
cman );
/* weld joints */
}
skate_integrate( player );
- vg_line_pt3( s->state.cog, 0.02f, VG__WHITE );
+ vg_line_pt3( s->state.cog, 0.02f, VG__WHITE );
- teleport_gate *gate;
- if( (gate = world_intersect_gates( player->rb.co, s->state.prev_pos )) )
+ struct gate_hit hit;
+ if( world_intersect_gates(world, player->rb.co, s->state.prev_pos, &hit) )
{
+ teleport_gate *gate = hit.gate;
m4x3_mulv( gate->transport, player->rb.co, player->rb.co );
m3x3_mulv( gate->transport, player->rb.v, player->rb.v );
m4x3_mulv( gate->transport, s->state.cog, s->state.cog );
m3x3_mulv( gate->transport, s->state.throw_v, s->state.throw_v );
m3x3_mulv( gate->transport, s->state.head_position,
s->state.head_position );
+ m3x3_mulv( gate->transport, s->state.up_dir, s->state.up_dir );
v4f transport_rotation;
m3x3_q( gate->transport, transport_rotation );
rb_update_transform( &player->rb );
s->state_gate_storage = s->state;
- player__pass_gate( player, gate );
+ player__pass_gate( player, &hit );
}
}
VG_STATIC void player__skate_im_gui( player_instance *player )
{
struct player_skate *s = &player->_skate;
-
- /* FIXME: Compression */
player__debugtext( 1, "V: %5.2f %5.2f %5.2f",player->rb.v[0],
player->rb.v[1],
player->rb.v[2] );
}
-
-
/* angle correction */
if( v3_length2( s->state.up_dir ) > 0.001f )
{
- mdl_keyframe *kf_board = &dest->pose[av->id_board-1],
- *kf_foot_l = &dest->pose[av->id_ik_foot_l-1],
- *kf_foot_r = &dest->pose[av->id_ik_foot_r-1];
-
+ mdl_keyframe *kf_board = &dest->pose[av->id_board-1],
+ *kf_foot_l = &dest->pose[av->id_ik_foot_l-1],
+ *kf_foot_r = &dest->pose[av->id_ik_foot_r-1],
+ *kf_wheels[] = { &dest->pose[av->id_wheel_r-1],
+ &dest->pose[av->id_wheel_l-1] };
v4f qtotal;
v4f qtrickr, qyawr, qpitchr, qrollr;
v3f eulerr;
-
v3_muls( s->board_trick_residuald, VG_TAUf, eulerr );
kf_foot_r->co[2] += s->blend_weight * 0.3f;
kf_foot_l->co[2] += s->blend_weight * 0.1f;
}
+
+ /* truck rotation */
+ for( int i=0; i<2; i++ )
+ {
+ float a = vg_minf( s->truckv0[i][0], 1.0f );
+ a = -acosf( a ) * vg_signf( s->truckv0[i][1] );
+
+ v4f q;
+ q_axis_angle( q, (v3f){0.0f,0.0f,1.0f}, a );
+ q_mul( q, kf_wheels[i]->q, kf_wheels[i]->q );
+ q_normalize( kf_wheels[i]->q );
+ }
}
/* transform */
v3_muladds( dest->root_co, player->rb.to_world[1], -0.1f, dest->root_co );
float substep = vg_clampf( vg.accumulator / VG_TIMESTEP_FIXED, 0.0f, 1.0f );
-#if 0
- v4f qresy, qresx, qresidual;
- m3x3f mtx_residual;
- q_axis_angle( qresy, player->rb.to_world[1], s->state.steery_s*substep );
- q_axis_angle( qresx, player->rb.to_world[0], s->state.steerx_s*substep );
-
- q_mul( qresy, qresx, qresidual );
- q_normalize( qresidual );
- q_mul( dest->root_q, qresidual, dest->root_q );
- q_normalize( dest->root_q );
-#endif
v4f qflip;
if( (s->state.activity == k_skate_activity_air) &&
(fabsf(s->state.flip_rate) > 0.01f) )
{
- float t = s->state.flip_time + s->state.flip_rate*substep*k_rb_delta,
- angle = vg_clampf( t, -1.0f, 1.0f ) * VG_TAUf,
+ float t = s->state.flip_time;
+ sign = vg_signf( t );
+
+ t = 1.0f - vg_minf( 1.0f, fabsf( t * 1.1f ) );
+ t = sign * (1.0f-t*t);
+
+ float angle = vg_clampf( t, -1.0f, 1.0f ) * VG_TAUf,
distm = s->land_dist * fabsf(s->state.flip_rate) * 3.0f,
blend = vg_clampf( 1.0f-distm, 0.0f, 1.0f );
player->cam_velocity_influence = 1.0f;
- v3f head = { 0.0f, 1.8f, 0.0f }; /* FIXME: Viewpoint entity */
+ v3f head = { 0.0f, 1.8f, 0.0f };
m4x3_mulv( av->sk.final_mtx[ av->id_head ], head, s->state.head_position );
m4x3_mulv( player->rb.to_local, s->state.head_position,
s->state.head_position );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff