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 );
man[i].rbb = NULL;
}
+ return len;
+
rb_manifold_filter_coplanar( man, len, 0.05f );
if( len > 1 )
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] );
+
+#if 0
+ debug_sphere( mtx, r, VG__CYAN );
+#endif
+
+ bh_iter it;
+ bh_iter_init( 0, &it );
+ int idx;
+
+ struct grind_sample
+ {
+ v2f co;
+ v2f normal;
+ v3f normal3,
+ centroid;
+ }
+ 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 */
+
+ v3_muls( tri[0], 1.0f/3.0f, sample->centroid );
+ v3_muladds( sample->centroid, tri[1], 1.0f/3.0f, sample->centroid );
+ v3_muladds( sample->centroid, tri[2], 1.0f/3.0f, sample->centroid );
+
+ 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];
+
+ /* non overlapping */
+ if( v2_dist2( si->co, sj->co ) >= (0.01f*0.01f) )
+ continue;
+
+ /* not sharp angle */
+ if( v2_dot( si->normal, sj->normal ) >= 0.7f )
+ continue;
+
+ /* not convex */
+ v3f v0;
+ v3_sub( sj->centroid, si->centroid, v0 );
+ if( v3_dot( v0, si->normal3 ) >= 0.0f ||
+ v3_dot( v0, sj->normal3 ) <= 0.0f )
+ continue;
+
+ 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 0
+ 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 */
+ }
+#endif
+
+ return passed_samples;
+}
+
/*
*
* Prediction system
player->input_js1v->axis.value };
v2_normalize_clamp( steer );
+#if 0
s->state.steery -= steer[0] * k_steer_air * k_rb_delta;
s->state.steerx += steer[1] * s->state.reverse * k_steer_air * k_rb_delta;
+#endif
#if 0
v4f rotate;
limiter *= limiter;
limiter = 1.0f-limiter;
- if( fabsf(angle) < 0.99f )
+ if( fabsf(angle) < 0.9999f )
{
v4f correction;
q_axis_angle( correction, axis,
player->input_js1v->axis.value };
v2_normalize_clamp( steer );
+#if 0
s->state.steery -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED;
s->state.steerx += steer[1] * s->state.reverse * k_steer_air
* limiter * k_rb_delta;
+#endif
s->land_dist = time_to_impact;
v3_copy( target_normal, s->land_normal );
}
steer = input * (1.0f-(s->state.jump_charge+grab)*0.4f),
steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground;
- s->state.steery -= steer_scaled * k_rb_delta;
+ v3f steer_axis;
+ v3_muls( player->rb.to_world[1], -vg_signf( steer_scaled ), steer_axis );
+
+ float current = v3_dot( player->rb.to_world[1], player->rb.w ),
+ addspeed = (steer_scaled * -1.0f) - current,
+ maxaccel = 26.0f * k_rb_delta,
+ accel = vg_clampf( addspeed, -maxaccel, maxaccel );
+
+ v3_muladds( player->rb.w, player->rb.to_world[1], accel, player->rb.w );
+
+
+#if 0
+ player_accelerate( player->rb.w, steer_axis,
+ fabsf(steer_scaled) * 1.0f, 30.0f );
+
+ //s->state.steery -= steer_scaled * k_rb_delta;
+#endif
}
VG_STATIC void skate_apply_jump_model( player_instance *player )
player->input_js1v->axis.value };
v2_normalize_clamp( steer );
+#if 0
float maxspin = k_steer_air * k_rb_delta * k_spin_boost;
s->state.steery_s = -steer[0] * maxspin;
s->state.steerx = s->state.steerx_s;
+#endif
s->state.lift_frames ++;
/* FIXME audio events */
{
struct contact *ct = &manifold[i];
- v3f dv, delta;
+ v3f rv, delta;
v3_sub( ct->co, player->rb.co, delta );
- v3_cross( player->rb.w, delta, dv );
- v3_add( player->rb.v, dv, dv );
+ v3_cross( player->rb.w, delta, rv );
+ v3_add( player->rb.v, rv, rv );
- float vn = -v3_dot( dv, ct->n );
- vn += ct->bias;
+ v3f raCn;
+ v3_cross( delta, ct->n, raCn );
+
+ float normal_mass = 1.0f / (1.0f + v3_dot(raCn,raCn));
+ float vn = v3_dot( rv, ct->n );
+ float lambda = normal_mass * ( -vn + ct->bias );
float temp = ct->norm_impulse;
- ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
- vn = ct->norm_impulse - temp;
+ ct->norm_impulse = vg_maxf( temp + lambda, 0.0f );
+ lambda = ct->norm_impulse - temp;
v3f impulse;
- v3_muls( ct->n, vn, impulse );
+ v3_muls( ct->n, lambda, impulse );
if( fabsf(v3_dot( impulse, player->rb.to_world[2] )) > 10.0f ||
fabsf(v3_dot( impulse, player->rb.to_world[1] )) > 50.0f )
* components.
*/
- float wy = v3_dot( player->rb.to_world[1], impulse ) * 0.8f,
+ float wy = v3_dot( player->rb.to_world[1], 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;
+ wz = v3_dot( player->rb.to_world[2], impulse ) * 1.0f;
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 );
+
+
+ v3_cross( player->rb.w, delta, rv );
+ v3_add( player->rb.v, rv, rv );
+ vn = v3_dot( rv, ct->n );
}
}
}
v3_muladds( player->rb.co, player->rb.v, k_rb_delta, player->rb.co );
#endif
- float decay_rate = 0.5f*0.125f;
+ float decay_rate = 1.0f - (k_rb_delta * 3.0f);
+#if 0
if( s->state.activity == k_skate_activity_air )
{
float dist = 1.0f-(s->land_dist/4.0f);
decay_rate = 0.5f * vg_maxf( dist*dist, 0.0f );
}
+#endif
+
+ float wx = v3_dot( player->rb.w, player->rb.to_world[0] ) * decay_rate,
+ wy = v3_dot( player->rb.w, player->rb.to_world[1] ),
+ wz = v3_dot( player->rb.w, player->rb.to_world[2] ) * decay_rate;
- v3_lerp( player->rb.w, (v3f){0.0f,0.0f,0.0f}, decay_rate, player->rb.w );
+ v3_muls( player->rb.to_world[0], wx, player->rb.w );
+ v3_muladds( player->rb.w, player->rb.to_world[1], wy, player->rb.w );
+ v3_muladds( player->rb.w, player->rb.to_world[2], wz, player->rb.w );
#ifndef SKATE_CCD
if( v3_length2( player->rb.w ) > 0.0f )
#endif
/* integrate steering velocities */
+#if 0
v4f rotate;
float l = (s->state.activity == k_skate_activity_air)? 0.04f: 0.24f;
s->state.steerx = 0.0f;
s->state.steery = 0.0f;
+#endif
s->state.flip_time += s->state.flip_rate * k_rb_delta;
rb_update_transform( &player->rb );
return;
}
+ if( vg_input_button_down( player->input_reset ) )
+ {
+ player->rb.co[1] += 2.0f;
+ s->state.cog[1] += 2.0f;
+ q_axis_angle( player->rb.q, (v3f){1.0f,0.0f,0.0f}, VG_PIf * 0.25f );
+ v3_zero( player->rb.w );
+ v3_zero( player->rb.v );
+
+ rb_update_transform( &player->rb );
+ }
+
int trick_id;
if( (s->state.lift_frames > 0) &&
(trick_id = player_skate_trick_input( player )) )
v3_copy( player->rb.co, s->state.prev_pos );
s->state.activity_prev = s->state.activity;
- float l = k_board_length,
- w = 0.13f;
+ struct board_collider
+ {
+ v3f pos;
+ float radius;
+
+ int apply_angular;
+ u32 colour;
- v3f wheel_positions[] =
+ enum board_collider_state
+ {
+ k_collider_state_default,
+ k_collider_state_disabled,
+ k_collider_state_colliding
+ }
+ state;
+ }
+ wheels[] =
{
- { -w, 0.0f, -l },
- { w, 0.0f, -l },
- { -w, 0.0f, l },
- { w, 0.0f, l },
+ {
+ { 0.0f, 0.0f, -k_board_length },
+ .radius = 0.07f,
+ .apply_angular = 1,
+ .colour = VG__RED
+ },
+ {
+ { 0.0f, 0.0f, k_board_length },
+ .radius = 0.07f,
+ .apply_angular = 1,
+ .colour = VG__GREEN
+ },
+ {
+ { 0.0f, k_board_end_radius, -k_board_length - k_board_end_radius },
+ .radius = k_board_end_radius,
+ .apply_angular = 0,
+ .colour = VG__YELOW
+ },
+ {
+ { 0.0f, k_board_end_radius, k_board_length + k_board_end_radius },
+ .radius = k_board_end_radius,
+ .apply_angular = 0,
+ .colour = VG__YELOW
+ },
};
- rb_sphere collider;
- collider.radius = 0.07f;
+ const int k_wheel_count = 4;
+
+ if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, -k_board_length } ) )
+ {
+#if 0
+ wheel_states[0] = 0;
+ wheel_states[1] = 0;
+#endif
+ }
+
+ if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, k_board_length } ) )
+ {
+#if 0
+ wheel_states[2] = 0;
+ wheel_states[3] = 0;
+#endif
+ }
s->substep = k_rb_delta;
+ int substep_count = 0;
+
+ v3f original_velocity;
+ v3_muladds( player->rb.v, (v3f){0.0f,-k_gravity,0.0f},
+ k_rb_delta, original_velocity );
begin_collision:;
-#ifdef SKATE_CCD
+ /*
+ * Phase 0: Continous collision detection
+ * --------------------------------------------------------------------------
+ */
+
+ for( int i=0; i<k_wheel_count; i++ )
+ wheels[i].state = k_collider_state_default;
/* calculate transform one step into future */
v3f future_co;
}
/* calculate the minimum time we can move */
- float max_time = s->substep,
- cast_radius = collider.radius - 0.05f;
+ float max_time = s->substep;
- for( int i=0; i<4; i++ )
+ for( int i=0; i<k_wheel_count; i++ )
{
+ if( wheels[i].state == k_collider_state_disabled )
+ continue;
+
v3f current, future;
- q_mulv( future_q, wheel_positions[i], future );
+ q_mulv( future_q, wheels[i].pos, future );
v3_add( future, future_co, future );
- q_mulv( player->rb.q, wheel_positions[i], current );
+ q_mulv( player->rb.q, wheels[i].pos, current );
v3_add( current, player->rb.co, current );
- float t; /* TODO: ignore lightly grazing normals? */
+ float t;
v3f n;
+
+ float cast_radius = wheels[i].radius - k_penetration_slop * 1.2f;
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 );
+ float rate_lock = substep_count;
+ rate_lock *= k_rb_delta * 0.1f;
+ rate_lock *= rate_lock;
+
+ max_time = vg_maxf( max_time, rate_lock );
s->substep_delta = max_time;
/* integrate */
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;
+ /*
+ * Phase 1: Regular collision detection
+ * TODO: Me might want to automatically add contacts from CCD,
+ * since at high angular velocities, theres a small change
+ * that discreet detection will miss.
+ * --------------------------------------------------------------------------
+ */
- /* create manifold(s) */
rb_ct manifold[128];
+
+ int manifold_len = 0;
- int manifold_len = 0,
- manifold_front = 0,
- manifold_back = 0,
- manifold_interface = 0;
-
- rb_ct *cmanifold = manifold;
-
- for( int i=0; i<4; i++ )
+ for( int i=0; i<k_wheel_count; i++ )
{
+ if( wheels[i].state == k_collider_state_disabled )
+ continue;
+
m4x3f mtx;
m3x3_identity( mtx );
-
- m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] );
+ m4x3_mulv( player->rb.to_world, wheels[i].pos, mtx[3] );
- int l = skate_collide_smooth( player, mtx, &collider, cmanifold );
+ rb_sphere collider = { .radius = wheels[i].radius };
- cmanifold += l;
- manifold_len += l;
- manifold_interface += l;
+ rb_ct *man = &manifold[ manifold_len ];
- if( i<=1 )
- manifold_front ++;
- else
- manifold_back ++;
+ int l = skate_collide_smooth( player, mtx, &collider, man );
+ if( l )
+ wheels[i].state = k_collider_state_colliding;
+
+ /* for non-angular contacts we just want Y. contact positions are
+ * snapped to the local xz plane */
+ if( !wheels[i].apply_angular )
+ {
+ for( int j=0; j<l; j++ )
+ {
+ v3f ra;
+ v3_sub( man[j].co, player->rb.co, ra );
+
+ float dy = v3_dot( player->rb.to_world[1], ra );
+ v3_muladds( man[j].co, player->rb.to_world[1], -dy, man[j].co );
+ }
+ }
+
+ manifold_len += l;
}
- /* 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) &&
- (manifold_front != manifold_back ) )
+ /*
+ * Phase 2: Truck alignment (spring/dampener model)
+ * it uses the first two colliders as truck positions
+ * --------------------------------------------------------------------------
+ */
+
+ v3f surface_picture;
+ v3_zero( surface_picture );
+
+ for( int i=0; i<2; i++ )
{
- v3f trace_from, trace_dir;
- v3_muls( player->rb.to_world[1], -1.0f, trace_dir );
+ v3f truck, left, right;
+ m4x3_mulv( player->rb.to_world, wheels[i].pos, truck );
+ v3_muladds( truck, player->rb.to_world[0], -k_board_width, left );
+ v3_muladds( truck, player->rb.to_world[0], k_board_width, right );
+
+ vg_line( left, right, wheels[i].colour );
- if( manifold_front )
- v3_copy( (v3f){0.0f,0.0f, k_board_length}, trace_from );
- else
- v3_copy( (v3f){0.0f,0.0f,-k_board_length}, trace_from );
- m4x3_mulv( player->rb.to_world, trace_from, trace_from );
+ v3_muladds( left, player->rb.to_world[1], 0.1f, left );
+ v3_muladds( right, player->rb.to_world[1], 0.1f, right );
+
+ float k_max_truck_flex = VG_PIf * 0.25f;
+
+ ray_hit ray_l, ray_r;
+ ray_l.dist = 0.2f;
+ ray_r.dist = 0.2f;
+
+ v3f dir;
+ v3_muls( player->rb.to_world[1], -1.0f, dir );
+
+ int res_l = ray_world( left, dir, &ray_l ),
+ res_r = ray_world( right, dir, &ray_r );
+
+ /* ignore bad normals */
+ if( res_l )
+ {
+ if( v3_dot( ray_l.normal, player->rb.to_world[1] ) < 0.7071f )
+ res_l = 0;
+ else
+ v3_add( ray_l.normal, surface_picture, surface_picture );
+ }
+
+ if( res_r )
+ {
+ if( v3_dot( ray_r.normal, player->rb.to_world[1] ) < 0.7071f )
+ res_r = 0;
+ else
+ v3_add( ray_l.normal, surface_picture, surface_picture );
+ }
+
+ v3f v0;
+ v3f midpoint;
+ v3_muladds( truck, player->rb.to_world[1], -wheels[i].radius, midpoint );
- ray_hit ray;
- ray.dist = 0.6f;
+ if( res_l || res_r )
+ {
+ v3f p0, p1;
+ v3_copy( midpoint, p0 );
+ v3_copy( midpoint, p1 );
+
+ if( res_l ) v3_copy( ray_l.pos, p0 );
+ if( res_r ) v3_copy( ray_r.pos, p1 );
- if( ray_world( trace_from, trace_dir, &ray ) )
+ v3_sub( p1, p0, v0 );
+ v3_normalize( v0 );
+ }
+ else
{
- rb_ct *ct = cmanifold;
+ /* fallback: use the closes point to the trucks */
+ v3f closest;
+ int idx = bh_closest_point( world.geo_bh, midpoint, closest, 0.1f );
- v3_copy( ray.pos, ct->co );
- v3_copy( ray.normal, ct->n );
- ct->p = 0.0f;
+ if( idx != -1 )
+ {
+ u32 *tri = &world.scene_geo->arrindices[ idx * 3 ];
+ v3f verts[3];
- manifold_len ++;
- manifold_interface ++;
+ for( int j=0; j<3; j++ )
+ v3_copy( world.scene_geo->arrvertices[ tri[j] ].co, verts[j] );
+
+ v3f v0, v1, n;
+ v3_sub( verts[1], verts[0], v0 );
+ v3_sub( verts[2], verts[0], v1 );
+ v3_cross( v0, v1, n );
+ v3_normalize( n );
+
+ if( v3_dot( n, player->rb.to_world[1] ) < 0.7071f )
+ continue;
+
+ continue;
+ }
+ else
+ continue;
}
+
+ float a = vg_clampf( v3_dot( v0, player->rb.to_world[0] ), -1.0f, 1.0f );
+ a = acosf( a );
+
+ v3_muladds( truck, v0, k_board_width, right );
+ v3_muladds( truck, v0, -k_board_width, left );
+
+ vg_line( left, right, VG__WHITE );
+
+ v3f axis;
+ v3_cross( v0, player->rb.to_world[0], axis );
+
+ float Fs = -a * k_board_spring,
+ Fd = -v3_dot( player->rb.w, axis ) * k_board_dampener;
+
+ v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta,
+ player->rb.w );
}
- int grind_len = skate_grind_collide( player, cmanifold );
- manifold_len += grind_len;
+ /*
+ * Phase 2a: Manual alignment (spring/dampener model)
+ * --------------------------------------------------------------------------
+ */
+
+ v3f weight, world_cog;
+ v3_zero( weight );
+
+ int reverse_dir = v3_dot( player->rb.to_world[2], player->rb.v ) < 0.0f?1:-1;
+
+ if( s->state.manual_direction == 0 )
+ {
+ if( (player->input_js1v->axis.value > 0.7f) &&
+ s->state.activity == k_skate_activity_ground )
+ s->state.manual_direction = reverse_dir;
+ }
+ else
+ {
+ if( player->input_js1v->axis.value < 0.1f )
+ {
+ s->state.manual_direction = 0;
+ }
+ else
+ {
+ if( reverse_dir != s->state.manual_direction )
+ {
+ player__dead_transition( player );
+ return;
+ }
+ }
+ }
+
+ if( s->state.manual_direction )
+ {
+ float amt = vg_minf( player->input_js1v->axis.value * 8.0f, 1.0f );
+ weight[2] = k_board_length * amt * (float)s->state.manual_direction;
+ }
+
+ m4x3_mulv( player->rb.to_world, weight, world_cog );
+ vg_line_pt3( world_cog, 0.1f, VG__BLACK );
+
+ /* TODO: Fall back on land normal */
+ /* TODO: Lerp weight distribution */
+
+ if( v3_length2( surface_picture ) > 0.001f &&
+ v3_length2( weight ) > 0.001f &&
+ s->state.manual_direction )
+ {
+ v3_normalize( surface_picture );
+ v3f plane_z;
+
+ m3x3_mulv( player->rb.to_world, weight, plane_z );
+ v3_negate( plane_z, plane_z );
+
+ v3_muladds( plane_z, surface_picture,
+ -v3_dot( plane_z, surface_picture ), plane_z );
+ v3_normalize( plane_z );
+
+ v3_muladds( plane_z, surface_picture, 0.3f, plane_z );
+ v3_normalize( plane_z );
+
+ v3f p1;
+ v3_muladds( player->rb.co, plane_z, 1.5f, p1 );
+ vg_line( player->rb.co, p1, VG__GREEN );
+
+ v3f refdir;
+ v3_muls( player->rb.to_world[2], -(float)s->state.manual_direction,
+ refdir );
+
+ float a = v3_dot( plane_z, refdir );
+ a = acosf( vg_clampf( a, -1.0f, 1.0f ) );
+
+ v3f axis;
+ v3_cross( plane_z, refdir, axis );
+
+ float Fs = -a * k_manul_spring,
+ Fd = -v3_dot( player->rb.w, axis ) * k_manul_dampener;
+
+ v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta,
+ player->rb.w );
+ }
+
+ /*
+ * Phase 3: Dynamics
+ * --------------------------------------------------------------------------
+ */
for( int i=0; i<manifold_len; i ++ )
+ rb_prepare_contact( &manifold[i], s->substep_delta );
+
+ /* yes, we are currently rebuilding mass matrices every frame. too bad! */
+ v3f extent = { k_board_width, 0.1f, k_board_length };
+ float ex2 = k_board_interia*extent[0]*extent[0],
+ ey2 = k_board_interia*extent[1]*extent[1],
+ ez2 = k_board_interia*extent[2]*extent[2];
+
+ float mass = 2.0f * (extent[0]*extent[1]*extent[2]);
+ float inv_mass = 1.0f/mass;
+
+ v3f I;
+ I[0] = ((1.0f/12.0f) * mass * (ey2+ez2));
+ I[1] = ((1.0f/12.0f) * mass * (ex2+ez2));
+ I[2] = ((1.0f/12.0f) * mass * (ex2+ey2));
+
+ m3x3f iI;
+ m3x3_identity( iI );
+ iI[0][0] = I[0];
+ iI[1][1] = I[1];
+ iI[2][2] = I[2];
+ m3x3_inv( iI, iI );
+
+ m3x3f iIw;
+ m3x3_mul( iI, player->rb.to_local, iIw );
+ m3x3_mul( player->rb.to_world, iIw, iIw );
+
+ for( int j=0; j<10; j++ )
{
-#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] );
-#endif
- rb_debug_contact( &manifold[i] );
+ for( int i=0; i<manifold_len; i++ )
+ {
+ /*
+ * regular dance; calculate velocity & total mass, apply impulse.
+ */
+
+ struct contact *ct = &manifold[i];
+
+ v3f rv, delta;
+ v3_sub( ct->co, world_cog, delta );
+ v3_cross( player->rb.w, delta, rv );
+ v3_add( player->rb.v, rv, rv );
+
+ v3f raCn;
+ v3_cross( delta, ct->n, raCn );
+
+ v3f raCnI, rbCnI;
+ m3x3_mulv( iIw, raCn, raCnI );
+
+ float normal_mass = 1.0f / (inv_mass + v3_dot(raCn,raCnI)),
+ vn = v3_dot( rv, ct->n ),
+ lambda = normal_mass * ( -vn + ct->bias );
+
+ float temp = ct->norm_impulse;
+ ct->norm_impulse = vg_maxf( temp + lambda, 0.0f );
+ lambda = ct->norm_impulse - temp;
+
+ v3f impulse;
+ v3_muls( ct->n, lambda, impulse );
+
+ v3_muladds( player->rb.v, impulse, inv_mass, player->rb.v );
+ v3_cross( delta, impulse, impulse );
+ m3x3_mulv( iIw, impulse, impulse );
+ v3_add( impulse, player->rb.w, player->rb.w );
+
+ v3_cross( player->rb.w, delta, rv );
+ v3_add( player->rb.v, rv, rv );
+ vn = v3_dot( rv, ct->n );
+ }
}
- skate_collision_response( player, manifold, manifold_len );
+ substep_count ++;
if( s->substep >= 0.0001f )
- goto begin_collision;
+ goto begin_collision; /* again! */
- skate_apply_grind_model( player, &manifold[manifold_interface], grind_len );
- skate_apply_interface_model( player, manifold, manifold_interface );
+ /*
+ * End of collision and dynamics routine
+ * --------------------------------------------------------------------------
+ */
+
+ for( int i=0; i<k_wheel_count; i++ )
+ {
+ m4x3f mtx;
+ m3x3_copy( player->rb.to_world, mtx );
+ m4x3_mulv( player->rb.to_world, wheels[i].pos, mtx[3] );
+ debug_sphere( mtx, wheels[i].radius,
+ (u32[]){ VG__WHITE, VG__BLACK,
+ wheels[i].colour }[ wheels[i].state ]);
+ }
+
+ v3f velocity_change, p1;
+ v3_sub( player->rb.v, original_velocity, velocity_change );
+
+ v3_normalize( velocity_change );
+ v3_muladds( player->rb.co, velocity_change, 2.0f, p1 );
+ vg_line( player->rb.co, p1, VG__PINK );
+
+#if 0
+ skate_apply_grind_model( player, &manifold[manifold_len], grind_len );
+#endif
+
+ skate_apply_interface_model( player, manifold, manifold_len );
skate_apply_pump_model( player );
skate_apply_cog_model( player );
"k_skate_activity_ground",
"k_skate_activity_grind }" }
[s->state.activity] );
+#if 0
player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]",
s->state.steerx_s, s->state.steery_s,
k_steer_ground, k_steer_air );
+#endif
player__debugtext( 1, "flip: %.4f %.4f", s->state.flip_rate,
s->state.flip_time );
player__debugtext( 1, "trickv: %.2f %.2f %.2f",
/* transform */
rb_extrapolate( &player->rb, dest->root_co, dest->root_q );
- v3_muladds( dest->root_co, player->rb.to_world[1], -0.28f, dest->root_co );
+ 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;
- float substep = vg_clampf( vg.accumulator / VG_TIMESTEP_FIXED, 0.0f, 1.0f );
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_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) &&
s->state.jump_charge = 0.0f;
s->state.lift_frames = 0;
s->state.flip_rate = 0.0f;
+#if 0
s->state.steery = 0.0f;
s->state.steerx = 0.0f;
s->state.steery_s = 0.0f;
s->state.steerx_s = 0.0f;
+#endif
s->state.reverse = 0.0f;
s->state.slip = 0.0f;
v3_copy( player->rb.co, s->state.prev_pos );
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff