m4x3f mtx, rb_sphere *sphere,
rb_ct *man )
{
- debug_sphere( mtx, sphere->radius, VG__BLACK );
-
int len = 0;
len = rb_sphere__scene( mtx, sphere, NULL, &world.rb_geo.inf.scene, man );
v3f p0, p1, c0, c1;
v3_muladds( player->rb.co, player->rb.to_world[2], 0.5f, p0 );
v3_muladds( player->rb.co, player->rb.to_world[2], -0.5f, p1 );
- v3_muladds( p0, player->rb.to_world[1], 0.125f-0.15f, p0 );
- v3_muladds( p1, player->rb.to_world[1], 0.125f-0.15f, p1 );
+ v3_muladds( p0, player->rb.to_world[1], 0.08f, p0 );
+ v3_muladds( p1, player->rb.to_world[1], 0.08f, p1 );
float const k_r = 0.25f;
struct grind_edge *closest_edge = skate_collect_grind_edge( p0, p1,
return 0;
}
+VG_STATIC int skate_grind_scansq( player_instance *player, v3f ra )
+{
+ v3f pos;
+ m4x3_mulv( player->rb.to_world, ra, pos );
+
+ v4f plane;
+ v3_copy( player->rb.to_world[2], plane );
+ v3_normalize( plane );
+ plane[3] = v3_dot( plane, pos );
+
+ boxf box;
+ float r = 0.3f;
+ v3_add( pos, (v3f){ r, r, r }, box[1] );
+ v3_sub( pos, (v3f){ r, r, r }, box[0] );
+
+#if 0
+ vg_line_boxf( box, VG__BLUE );
+#endif
+
+ m4x3f mtx;
+ m3x3_copy( player->rb.to_world, mtx );
+ v3_copy( pos, mtx[3] );
+
+ debug_sphere( mtx, r, VG__CYAN );
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ struct grind_sample
+ {
+ v2f co;
+ v2f normal;
+ v3f normal3;
+ }
+ samples[48];
+
+ int sample_count = 0;
+
+ v2f support_min,
+ support_max;
+
+ v3f support_axis;
+ v3_cross( plane, (v3f){0.0f,1.0f,0.0f}, support_axis );
+ v3_normalize( support_axis );
+
+ while( bh_next( world.geo_bh, &it, box, &idx ) )
+ {
+ u32 *ptri = &world.scene_geo->arrindices[ idx*3 ];
+ v3f tri[3];
+
+ for( int j=0; j<3; j++ )
+ v3_copy( world.scene_geo->arrvertices[ptri[j]].co, tri[j] );
+
+ for( int j=0; j<3; j++ )
+ {
+ int i0 = j,
+ i1 = (j+1) % 3;
+
+ struct grind_sample *sample = &samples[ sample_count ];
+ v3f co;
+
+ if( plane_segment( plane, tri[i0], tri[i1], co ) )
+ {
+ v3f d;
+ v3_sub( co, pos, d );
+ if( v3_length2( d ) > r*r )
+ continue;
+
+ v3f va, vb, normal;
+ v3_sub( tri[1], tri[0], va );
+ v3_sub( tri[2], tri[0], vb );
+ v3_cross( va, vb, normal );
+
+ sample->normal[0] = v3_dot( support_axis, normal );
+ sample->normal[1] = normal[1];
+ sample->co[0] = v3_dot( support_axis, d );
+ sample->co[1] = d[1];
+
+ v3_copy( normal, sample->normal3 ); /* normalize later
+ if we want to us it */
+
+ v2_normalize( sample->normal );
+ sample_count ++;
+
+ if( sample_count == vg_list_size( samples ) )
+ {
+ break;
+ }
+ }
+ }
+ }
+
+ if( sample_count < 2 )
+ return 0;
+
+ v3f average_position,
+ average_direction;
+
+ v3_zero( average_position );
+ v3_zero( average_direction );
+
+ int passed_samples = 0;
+
+ for( int i=0; i<sample_count-1; i++ )
+ {
+ struct grind_sample *si, *sj;
+
+ si = &samples[i];
+
+ for( int j=i+1; j<sample_count; j++ )
+ {
+ if( i == j )
+ continue;
+
+ sj = &samples[j];
+
+ if( v2_dist2( si->co, sj->co ) <= (0.01f*0.01f) &&
+ v2_dot( si->normal, sj->normal ) < 0.7f )
+ {
+ /* TODO: Filter concave */
+
+ v3f p0;
+ v3_muls( support_axis, sj->co[0], p0 );
+ p0[1] += sj->co[1];
+
+ v3_add( average_position, p0, average_position );
+
+ v3f n0, n1, dir;
+ v3_copy( si->normal3, n0 );
+ v3_copy( sj->normal3, n1 );
+ v3_cross( n0, n1, dir );
+ v3_normalize( dir );
+
+ /* make sure the directions all face a common hemisphere */
+ v3_muls( dir, vg_signf(v3_dot(dir,plane)), dir );
+
+ v3_add( average_direction, dir, average_direction );
+ passed_samples ++;
+ }
+ }
+ }
+
+ if( !passed_samples )
+ return 0;
+
+ float div = 1.0f/(float)passed_samples;
+ v3_muls( average_position, div, average_position );
+ v3_muls( average_direction, div, average_direction ); /* !! not normed */
+
+ v3_add( pos, average_position, average_position );
+ vg_line_pt3( average_position, 0.02f, VG__GREEN );
+
+ v3f p0, p1;
+ v3_muladds( average_position, average_direction, 0.35f, p0 );
+ v3_muladds( average_position, average_direction, -0.35f, p1 );
+ vg_line( p0, p1, VG__PINK );
+
+ if( passed_samples )
+ {
+ v3f displacement, dir;
+ v3_sub( pos, average_position, displacement );
+ v3_copy( displacement, dir );
+ v3_normalize( dir );
+
+ v3f rv, raW;
+ q_mulv( player->rb.q, ra, raW );
+
+ v3_cross( player->rb.w, raW, rv );
+ v3_add( player->rb.v, rv, rv );
+
+ v3_muladds( rv, player->rb.to_world[2],
+ -v3_dot( rv, player->rb.to_world[2] ), rv );
+
+ v3f Fd, Fs, F;
+ v3_muls( displacement, -k_grind_spring, Fs );
+ v3_muls( rv, -k_grind_dampener, Fd );
+
+ v3_add( Fd, Fs, F );
+ v3_muls( F, k_rb_delta, F );
+
+ v3_add( player->rb.v, F, player->rb.v );
+ v3f wa;
+ v3_cross( raW, F, wa );
+ v3_add( player->rb.w, wa, player->rb.w );
+
+ /* Constraint based */
+ }
+}
+
/*
*
* Prediction system
/*
* Handles connection between the player and the ground
+ *
+ * TODO: Must save original velocity to use here
*/
VG_STATIC void skate_apply_interface_model( player_instance *player,
rb_ct *manifold, int len )
float angle = v3_dot( player->rb.to_world[1], projected );
v3_cross( player->rb.to_world[1], projected, axis );
+#if 0
if( fabsf(angle) < 0.9999f )
{
v4f correction;
acosf(angle)*4.0f*VG_TIMESTEP_FIXED );
q_mul( correction, player->rb.q, player->rb.q );
}
+#endif
}
}
}
*/
float wy = v3_dot( player->rb.to_world[1], impulse ) * 0.8f,
- wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f;
+ wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f,
+ wz = v3_dot( player->rb.to_world[2], impulse ) * 2.0f;
v3_muladds( player->rb.w, player->rb.to_world[1], wy, player->rb.w );
v3_muladds( player->rb.w, player->rb.to_world[0], wx, player->rb.w );
+ v3_muladds( player->rb.w, player->rb.to_world[2], wz, player->rb.w );
}
}
}
struct player_skate *s = &player->_skate;
/* integrate rigidbody velocities */
+#ifndef SKATE_CCD
v3f gravity = { 0.0f, -9.6f, 0.0f };
v3_muladds( player->rb.v, gravity, k_rb_delta, player->rb.v );
v3_muladds( player->rb.co, player->rb.v, k_rb_delta, player->rb.co );
+#endif
float decay_rate = 0.5f*0.125f;
v3_lerp( player->rb.w, (v3f){0.0f,0.0f,0.0f}, decay_rate, player->rb.w );
+#ifndef SKATE_CCD
if( v3_length2( player->rb.w ) > 0.0f )
{
v4f rotation;
q_axis_angle( rotation, axis, mag*k_rb_delta );
q_mul( rotation, player->rb.q, player->rb.q );
}
+#endif
/* integrate steering velocities */
v4f rotate;
v3_copy( player->rb.co, s->state.prev_pos );
s->state.activity_prev = s->state.activity;
- /* Setup colliders */
- m4x3f mtx_front, mtx_back;
- m3x3_identity( mtx_front );
- m3x3_identity( mtx_back );
+ float l = k_board_length,
+ w = 0.13f;
+
+ v3f wheel_positions[] =
+ {
+ { -w, 0.0f, -l },
+ { w, 0.0f, -l },
+ { -w, 0.0f, l },
+ { w, 0.0f, l },
+ };
+
+ int wheel_states[] =
+ {
+ 1, 1, 1, 1
+ };
+
+ if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, -l } ) )
+ {
+ wheel_states[0] = 0;
+ wheel_states[1] = 0;
+ }
+
+ if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, l } ) )
+ {
+ wheel_states[2] = 0;
+ wheel_states[3] = 0;
+ }
+
+ rb_sphere collider;
+ collider.radius = 0.07f;
+
+ s->substep = k_rb_delta;
+
+ for( int i=0; i<4; i++ )
+ {
+ m4x3f mtx;
+ m3x3_copy( player->rb.to_world, mtx );
+ m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] );
+ debug_sphere( mtx, collider.radius, wheel_states[i]? VG__WHITE:
+ VG__BLACK );
+ }
+
+
+begin_collision:;
+
+#ifdef SKATE_CCD
- skate_get_board_points( player, mtx_front[3], mtx_back[3] );
+ /* calculate transform one step into future */
+ v3f future_co;
+ v4f future_q;
+ v3_muladds( player->rb.co, player->rb.v, s->substep, future_co );
+
+ if( v3_length2( player->rb.w ) > 0.0f )
+ {
+ v4f rotation;
+ v3f axis;
+ v3_copy( player->rb.w, axis );
+
+ float mag = v3_length( axis );
+ v3_divs( axis, mag, axis );
+ q_axis_angle( rotation, axis, mag*s->substep );
+ q_mul( rotation, player->rb.q, future_q );
+ q_normalize( future_q );
+ }
+
+ /* calculate the minimum time we can move */
+ float max_time = s->substep,
+ cast_radius = collider.radius - 0.05f;
+
+ for( int i=0; i<4; i++ )
+ {
+ if( !wheel_states[i] )
+ continue;
+
+ v3f current, future;
+ q_mulv( future_q, wheel_positions[i], future );
+ v3_add( future, future_co, future );
+
+ q_mulv( player->rb.q, wheel_positions[i], current );
+ v3_add( current, player->rb.co, current );
+
+ float t; /* TODO: ignore lightly grazing normals? */
+ v3f n;
+ if( spherecast_world( current, future, cast_radius, &t, n ) != -1)
+ {
+ max_time = vg_minf( max_time, t * s->substep );
+ }
+ }
+
+ /* clamp to a fraction of delta, to prevent locking */
+ max_time = vg_minf( vg_maxf( max_time, k_rb_delta*0.025f ), s->substep );
+ s->substep_delta = max_time;
+
+ /* integrate */
+ v3_muladds( player->rb.co, player->rb.v, s->substep_delta, player->rb.co );
+ if( v3_length2( player->rb.w ) > 0.0f )
+ {
+ v4f rotation;
+ v3f axis;
+ v3_copy( player->rb.w, axis );
+
+ float mag = v3_length( axis );
+ v3_divs( axis, mag, axis );
+ q_axis_angle( rotation, axis, mag*s->substep_delta );
+ q_mul( rotation, player->rb.q, player->rb.q );
+ }
+
+ rb_update_transform( &player->rb );
+
+ v3f gravity = { 0.0f, -9.6f, 0.0f };
+ v3_muladds( player->rb.v, gravity, s->substep_delta, player->rb.v );
+
+#else
+
+ s->substep_delta = k_rb_delta;
+
+#endif
+
+ s->substep -= s->substep_delta;
- s->sphere_back.radius = 0.3f;
- s->sphere_front.radius = 0.3f;
/* create manifold(s) */
- rb_ct manifold[72],
- *interface_manifold = NULL,
- *grind_manifold = NULL;
+ rb_ct manifold[128];
+
+ int manifold_len = 0,
+ manifold_front = 0,
+ manifold_back = 0,
+ manifold_interface = 0;
+
+ rb_ct *cmanifold = manifold;
+
+ for( int i=0; i<4; i++ )
+ {
+ if( !wheel_states[i] )
+ continue;
+
+ m4x3f mtx;
+ m3x3_identity( mtx );
- int
- len_front = skate_collide_smooth( player, mtx_front,
- &s->sphere_front, manifold ),
- len_back = skate_collide_smooth( player, mtx_back,
- &s->sphere_back, &manifold[len_front] ),
- interface_len = len_front + len_back;
+ m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] );
+
+ int l = skate_collide_smooth( player, mtx, &collider, cmanifold );
+
+ cmanifold += l;
+ manifold_len += l;
+ manifold_interface += l;
+
+ if( i<=1 )
+ manifold_front ++;
+ else
+ manifold_back ++;
+ }
/* try to slap both wheels onto the ground when landing to prevent mega
* angular velocities being added */
- if( (s->state.activity == k_skate_activity_air) && (len_front != len_back) )
+ if( (s->state.activity == k_skate_activity_air) &&
+ (manifold_front != manifold_back ) )
{
v3f trace_from, trace_dir;
v3_muls( player->rb.to_world[1], -1.0f, trace_dir );
- if( len_front )
- v3_copy( mtx_back[3], trace_from );
+ if( manifold_front )
+ v3_copy( (v3f){0.0f,0.0f, k_board_length}, trace_from );
else
- v3_copy( mtx_front[3], trace_from );
+ v3_copy( (v3f){0.0f,0.0f,-k_board_length}, trace_from );
+ m4x3_mulv( player->rb.to_world, trace_from, trace_from );
ray_hit ray;
ray.dist = 0.6f;
if( ray_world( trace_from, trace_dir, &ray ) )
{
- rb_ct *ct = &manifold[ interface_len ];
+ rb_ct *ct = cmanifold;
v3_copy( ray.pos, ct->co );
v3_copy( ray.normal, ct->n );
ct->p = 0.0f;
- interface_len ++;
+ manifold_len ++;
+ manifold_interface ++;
}
}
- interface_manifold = manifold;
- grind_manifold = manifold + interface_len;
+ int grind_len = skate_grind_collide( player, cmanifold );
+ manifold_len += grind_len;
- int grind_len = skate_grind_collide( player, grind_manifold );
-
- for( int i=0; i<interface_len+grind_len; i ++ )
+ for( int i=0; i<manifold_len; i ++ )
{
+#ifdef SKATE_CCD
+ rb_ct *ct = &manifold[i];
+ ct->bias = -0.2f *
+ (s->substep_delta * 3600.0f)
+ * vg_minf( 0.0f, -ct->p+k_penetration_slop );
+ rb_tangent_basis( ct->n, ct->t[0], ct->t[1] );
+ ct->norm_impulse = 0.0f;
+ ct->tangent_impulse[0] = 0.0f;
+ ct->tangent_impulse[1] = 0.0f;
+#else
rb_prepare_contact( &manifold[i] );
- rb_debug_contact( &manifold[i] );
+#endif
}
- skate_apply_grind_model( player, grind_manifold, grind_len );
- skate_apply_interface_model( player, manifold, interface_len );
+ skate_collision_response( player, manifold, manifold_len );
+
+ if( s->substep >= 0.0001f )
+ goto begin_collision;
+
+ skate_apply_grind_model( player, &manifold[manifold_interface], grind_len );
+ skate_apply_interface_model( player, manifold, manifold_interface );
skate_apply_pump_model( player );
skate_apply_cog_model( player );
- skate_collision_response( player, manifold, interface_len + grind_len );
skate_apply_grab_model( player );
skate_apply_friction_model( player );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff