-#ifndef VEHICLE_C
-#define VEHICLE_C
-
+#include "skaterift.h"
#include "vehicle.h"
+#include "scene_rigidbody.h"
+
+struct drivable_vehicle gzoomer =
+{
+ .rb.co = {-2000,-2000,-2000}
+};
-static int spawn_car( int argc, const char *argv[] ){
+int spawn_car( int argc, const char *argv[] )
+{
v3f ra, rb, rx;
v3_copy( skaterift.cam.pos, ra );
v3_muladds( ra, skaterift.cam.transform[2], -10.0f, rb );
return 0;
}
-static void vehicle_init(void){
+void vehicle_init(void)
+{
q_identity( gzoomer.rb.q );
v3_zero( gzoomer.rb.w );
v3_zero( gzoomer.rb.v );
v3_copy((v3f){ 1.0f, -0.25f, 1.5f }, gzoomer.wheels_local[3] );
}
-static void vehicle_wheel_force( int index ){
+void vehicle_wheel_force( int index )
+{
v3f pa, pb, n;
m4x3_mulv( gzoomer.rb.to_world, gzoomer.wheels_local[index], pa );
v3_muladds( pa, gzoomer.rb.to_world[1], -k_car_spring_length, pb );
if( t < 1.0f ){
/* spring force */
- float Fv = (1.0f-t) * k_car_spring*k_rb_delta;
+ float Fv = (1.0f-t) * k_car_spring*vg.time_fixed_delta;
v3f delta;
v3_sub( pa, gzoomer.rb.co, delta );
v3_cross( gzoomer.rb.w, delta, rv );
v3_add( gzoomer.rb.v, rv, rv );
- Fv += v3_dot(rv, gzoomer.rb.to_world[1]) * -k_car_spring_damp*k_rb_delta;
+ Fv += v3_dot(rv, gzoomer.rb.to_world[1])
+ * -k_car_spring_damp*vg.time_fixed_delta;
/* scale by normal incident */
Fv *= v3_dot( n, gzoomer.rb.to_world[1] );
/* apply drive force */
if( index >= 2 ){
- v3_muls( ty, -gzoomer.drive * k_car_drive_force * k_rb_delta, F );
+ v3_muls( ty, -gzoomer.drive * k_car_drive_force
+ * vg.time_fixed_delta, F );
rb_linear_impulse( &gzoomer.rb, raW, F );
}
}
}
}
-static void vehicle_solve_friction(void){
+void vehicle_solve_friction(void)
+{
rigidbody *rb = &gzoomer.rb;
for( int i=0; i<4; i++ ){
v3f raW;
}
}
-static void vehicle_update_fixed(void)
+void vehicle_update_fixed(void)
{
if( !gzoomer.alive )
return;
v3_muls( rb->to_world[1], -fabsf(v3_dot( rb->v, rb->to_world[2] )) *
k_car_downforce, Fdown );
- v3_muladds( rb->v, Fair, k_rb_delta, rb->v );
- v3_muladds( rb->v, Fdown, k_rb_delta, rb->v );
+ v3_muladds( rb->v, Fair, vg.time_fixed_delta, rb->v );
+ v3_muladds( rb->v, Fdown, vg.time_fixed_delta, rb->v );
for( int i=0; i<4; i++ )
vehicle_wheel_force( i );
}
len = rb_manifold_apply_filtered( manifold, len );
- rb_presolve_contacts( manifold, len );
+ rb_presolve_contacts( manifold, vg.time_fixed_delta, len );
for( int i=0; i<8; i++ ){
rb_solve_contacts( manifold, len );
vehicle_solve_friction();
rb_update_matrices( rb );
}
-static void vehicle_update_post(void){
+void vehicle_update_post(void)
+{
if( !gzoomer.alive )
return;
vg_line( p0, py, VG__GREEN );
}
}
-
-#endif /* VEHICLE_H */