#include "vg/vg.h"
#include "rigidbody.h"
#include "world.h"
-#include "player_physics.h"
+#include "player.h"
VG_STATIC float k_car_spring = 1.0f,
k_car_spring_damp = 0.001f,
k_car_air_resistance = 0.1f,
k_car_downforce = 0.5f;
-VG_STATIC struct gvehicle
+typedef struct drivable_vehicle drivable_vehicle;
+VG_STATIC struct drivable_vehicle
{
int alive, inside;
- rigidbody rb;
+ rb_object obj;
v3f wheels[4];
}
gzoomer =
{
- .rb = { .type = k_rb_shape_sphere, .inf.sphere.radius = 1.0f }
+ .obj = { .type = k_rb_shape_sphere, .inf.sphere.radius = 1.0f }
};
VG_STATIC int spawn_car( int argc, const char *argv[] )
v3_muladds( ra, main_camera.transform[2], -10.0f, rb );
float t;
- if( spherecast_world( ra, rb, gzoomer.rb.inf.sphere.radius, &t, rx ) != -1 )
+ if( spherecast_world( get_active_world(), ra, rb,
+ gzoomer.obj.inf.sphere.radius, &t, rx ) != -1 )
{
- v3_lerp( ra, rb, t, gzoomer.rb.co );
- gzoomer.rb.co[1] += 4.0f;
- q_axis_angle( gzoomer.rb.q, (v3f){1.0f,0.0f,0.0f}, 0.001f );
- v3_zero( gzoomer.rb.v );
- v3_zero( gzoomer.rb.w );
+ v3_lerp( ra, rb, t, gzoomer.obj.rb.co );
+ gzoomer.obj.rb.co[1] += 4.0f;
+ q_axis_angle( gzoomer.obj.rb.q, (v3f){1.0f,0.0f,0.0f}, 0.001f );
+ v3_zero( gzoomer.obj.rb.v );
+ v3_zero( gzoomer.obj.rb.w );
- rb_update_transform( &gzoomer.rb );
+ rb_update_transform( &gzoomer.obj.rb );
gzoomer.alive = 1;
vg_success( "Spawned car\n" );
}
- else
- {
+ else{
vg_error( "Can't spawn here\n" );
}
VG_STATIC void vehicle_init(void)
{
- q_identity( gzoomer.rb.q );
- rb_init( &gzoomer.rb );
-
- VG_VAR_F32_PERSISTENT( k_car_spring );
- VG_VAR_F32_PERSISTENT( k_car_spring_damp );
- VG_VAR_F32_PERSISTENT( k_car_spring_length );
- VG_VAR_F32_PERSISTENT( k_car_wheel_radius );
- VG_VAR_F32_PERSISTENT( k_car_friction_lat );
- VG_VAR_F32_PERSISTENT( k_car_friction_roll );
- VG_VAR_F32_PERSISTENT( k_car_drive_force );
- VG_VAR_F32_PERSISTENT( k_car_air_resistance );
- VG_VAR_F32_PERSISTENT( k_car_downforce );
+ q_identity( gzoomer.obj.rb.q );
+ v3_zero( gzoomer.obj.rb.w );
+ v3_zero( gzoomer.obj.rb.v );
+ v3_zero( gzoomer.obj.rb.co );
+ rb_init_object( &gzoomer.obj );
+
+ VG_VAR_F32( k_car_spring, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_spring_damp, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_spring_length, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_wheel_radius, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_friction_lat, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_friction_roll, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_drive_force, flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_air_resistance,flags=VG_VAR_PERSISTENT );
+ VG_VAR_F32( k_car_downforce, flags=VG_VAR_PERSISTENT );
VG_VAR_I32( gzoomer.inside );
- vg_function_push( (struct vg_cmd){
- .name = "spawn_car",
- .function = spawn_car
- });
+ vg_console_reg_cmd( "spawn_car", spawn_car, NULL );
v3_copy((v3f){ -1.0f, -0.25f, -1.5f }, gzoomer.wheels_local[0] );
v3_copy((v3f){ 1.0f, -0.25f, -1.5f }, gzoomer.wheels_local[1] );
VG_STATIC 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.up, -k_car_spring_length, pb );
+ m4x3_mulv( gzoomer.obj.rb.to_world, gzoomer.wheels_local[index], pa );
+ v3_muladds( pa, gzoomer.obj.rb.to_world[1], -k_car_spring_length, pb );
#if 1
float t;
- if( spherecast_world( pa, pb, k_car_wheel_radius, &t, n ) == -1 )
- t = 1.0f;
+ if( spherecast_world( get_active_world(), pa, pb,
+ k_car_wheel_radius, &t, n ) == -1 )
+ { t = 1.0f;
+ }
#else
v3_lerp( pa, pb, t, pc );
m4x3f mtx;
- m3x3_copy( gzoomer.rb.to_world, mtx );
+ m3x3_copy( gzoomer.obj.rb.to_world, mtx );
v3_copy( pc, mtx[3] );
debug_sphere( mtx, k_car_wheel_radius, VG__BLACK );
vg_line( pa, pc, VG__WHITE );
v3_copy( pc, gzoomer.wheels[index] );
- if( t < 1.0f )
- {
+ if( t < 1.0f ){
/* spring force */
float Fv = (1.0f-t) * k_car_spring*k_rb_delta;
v3f delta;
- v3_sub( pa, gzoomer.rb.co, delta );
+ v3_sub( pa, gzoomer.obj.rb.co, delta );
v3f rv;
- v3_cross( gzoomer.rb.w, delta, rv );
- v3_add( gzoomer.rb.v, rv, rv );
+ v3_cross( gzoomer.obj.rb.w, delta, rv );
+ v3_add( gzoomer.obj.rb.v, rv, rv );
- Fv += v3_dot( rv, gzoomer.rb.up ) * -k_car_spring_damp*k_rb_delta;
+ Fv += v3_dot( rv, gzoomer.obj.rb.to_world[1] )
+ * -k_car_spring_damp*k_rb_delta;
/* scale by normal incident */
- Fv *= v3_dot( n, gzoomer.rb.up );
+ Fv *= v3_dot( n, gzoomer.obj.rb.to_world[1] );
v3f F;
- v3_muls( gzoomer.rb.up, Fv, F );
+ v3_muls( gzoomer.obj.rb.to_world[1], Fv, F );
- rb_linear_impulse( &gzoomer.rb, delta, F );
+ rb_linear_impulse( &gzoomer.obj.rb, delta, F );
/* friction vectors
* -------------------------------------------------------------*/
if( index <= 1 )
v3_cross( gzoomer.steerv, n, tx );
else
- v3_cross( gzoomer.rb.forward, n, tx );
+ v3_cross( n, gzoomer.obj.rb.to_world[2], tx );
v3_cross( tx, n, ty );
v3_copy( tx, gzoomer.tangent_vectors[ index ][0] );
/* orient inverse inertia tensors */
v3f raW;
- m3x3_mulv( gzoomer.rb.to_world, gzoomer.wheels_local[index], raW );
+ m3x3_mulv( gzoomer.obj.rb.to_world, gzoomer.wheels_local[index], raW );
v3f raCtx, raCtxI, raCty, raCtyI;
v3_cross( tx, raW, raCtx );
v3_cross( ty, raW, raCty );
- m3x3_mulv( gzoomer.rb.iIw, raCtx, raCtxI );
- m3x3_mulv( gzoomer.rb.iIw, raCty, raCtyI );
+ m3x3_mulv( gzoomer.obj.rb.iIw, raCtx, raCtxI );
+ m3x3_mulv( gzoomer.obj.rb.iIw, raCty, raCtyI );
- gzoomer.tangent_mass[index][0] = gzoomer.rb.inv_mass;
+ gzoomer.tangent_mass[index][0] = gzoomer.obj.rb.inv_mass;
gzoomer.tangent_mass[index][0] += v3_dot( raCtx, raCtxI );
gzoomer.tangent_mass[index][0] = 1.0f/gzoomer.tangent_mass[index][0];
- gzoomer.tangent_mass[index][1] = gzoomer.rb.inv_mass;
+ gzoomer.tangent_mass[index][1] = gzoomer.obj.rb.inv_mass;
gzoomer.tangent_mass[index][1] += v3_dot( raCty, raCtyI );
gzoomer.tangent_mass[index][1] = 1.0f/gzoomer.tangent_mass[index][1];
/* apply drive force */
- if( index >= 2 )
- {
- v3_muls( ty, gzoomer.drive * k_car_drive_force * k_rb_delta, F );
- rb_linear_impulse( &gzoomer.rb, raW, F );
+ if( index >= 2 ){
+ v3_muls( ty, -gzoomer.drive * k_car_drive_force * k_rb_delta, F );
+ rb_linear_impulse( &gzoomer.obj.rb, raW, F );
}
}
- else
- {
+ else{
gzoomer.normal_forces[ index ] = 0.0f;
gzoomer.tangent_forces[ index ][0] = 0.0f;
gzoomer.tangent_forces[ index ][1] = 0.0f;
VG_STATIC void vehicle_solve_friction(void)
{
- for( int i=0; i<4; i++ )
- {
+ rigidbody *rb = &gzoomer.obj.rb;
+ for( int i=0; i<4; i++ ){
v3f raW;
- m3x3_mulv( gzoomer.rb.to_world, gzoomer.wheels_local[i], raW );
+ m3x3_mulv( rb->to_world, gzoomer.wheels_local[i], raW );
v3f rv;
- v3_cross( gzoomer.rb.w, raW, rv );
- v3_add( gzoomer.rb.v, rv, rv );
+ v3_cross( rb->w, raW, rv );
+ v3_add( rb->v, rv, rv );
float fx = k_car_friction_lat * gzoomer.normal_forces[i],
fy = k_car_friction_roll * gzoomer.normal_forces[i],
v3f impulsex, impulsey;
v3_muls( gzoomer.tangent_vectors[i][0], lambdax, impulsex );
v3_muls( gzoomer.tangent_vectors[i][1], lambday, impulsey );
- rb_linear_impulse( &gzoomer.rb, raW, impulsex );
- rb_linear_impulse( &gzoomer.rb, raW, impulsey );
+ rb_linear_impulse( rb, raW, impulsex );
+ rb_linear_impulse( rb, raW, impulsey );
}
}
if( !gzoomer.alive )
return;
- gzoomer.steer = vg_lerpf( gzoomer.steer,
- player.input_walkh->axis.value * 0.4f,
- k_rb_delta * 8.0f );
+ rigidbody *rb = &gzoomer.obj.rb;
- gzoomer.drive = player.input_walkv->axis.value * k_car_drive_force;
- v3_muls( gzoomer.rb.forward, cosf(gzoomer.steer), gzoomer.steerv );
- v3_muladds( gzoomer.steerv, gzoomer.rb.right,
+ v3_muls( rb->to_world[2], -cosf(gzoomer.steer), gzoomer.steerv );
+ v3_muladds( gzoomer.steerv, rb->to_world[0],
sinf(gzoomer.steer), gzoomer.steerv );
/* apply air resistance */
v3f Fair, Fdown;
- v3_muls( gzoomer.rb.v, -k_car_air_resistance, Fair );
- v3_muls( gzoomer.rb.up, -fabsf(v3_dot( gzoomer.rb.v, gzoomer.rb.forward )) *
+ v3_muls( rb->v, -k_car_air_resistance, Fair );
+ v3_muls( rb->to_world[1], -fabsf(v3_dot( rb->v, rb->to_world[2] )) *
k_car_downforce, Fdown );
- v3_muladds( gzoomer.rb.v, Fair, k_rb_delta, gzoomer.rb.v );
- v3_muladds( gzoomer.rb.v, Fdown, k_rb_delta, gzoomer.rb.v );
+ v3_muladds( rb->v, Fair, k_rb_delta, rb->v );
+ v3_muladds( rb->v, Fdown, k_rb_delta, rb->v );
for( int i=0; i<4; i++ )
vehicle_wheel_force( i );
rb_ct manifold[64];
-
- int len = rb_sphere_scene( &gzoomer.rb, &world.rb_geo, manifold );
+ int len = rb_sphere__scene( rb->to_world, &gzoomer.obj.inf.sphere,
+ NULL, &get_active_world()->rb_geo.inf.scene,
+ manifold );
+ for( int j=0; j<len; j++ ){
+ manifold[j].rba = rb;
+ manifold[j].rbb = &get_active_world()->rb_geo.rb;
+ }
rb_manifold_filter_coplanar( manifold, len, 0.05f );
- if( len > 1 )
- {
+ if( len > 1 ){
rb_manifold_filter_backface( manifold, len );
rb_manifold_filter_joint_edges( manifold, len, 0.05f );
rb_manifold_filter_pairs( manifold, len, 0.05f );
len = rb_manifold_apply_filtered( manifold, len );
rb_presolve_contacts( manifold, len );
- for( int i=0; i<8; i++ )
- {
+ for( int i=0; i<8; i++ ){
rb_solve_contacts( manifold, len );
vehicle_solve_friction();
}
- rb_iter( &gzoomer.rb );
- rb_update_transform( &gzoomer.rb );
+ rb_iter( rb );
+ rb_update_transform( rb );
}
VG_STATIC void vehicle_update_post(void)
if( !gzoomer.alive )
return;
- rb_debug( &gzoomer.rb, VG__WHITE );
- vg_line( player.phys.rb.co, gzoomer.rb.co, VG__WHITE );
+ rb_object_debug( &gzoomer.obj, VG__WHITE );
/* draw friction vectors */
v3f p0, px, py;
- for( int i=0; i<4; i++ )
- {
+ for( int i=0; i<4; i++ ){
v3_copy( gzoomer.wheels[i], p0 );
v3_muladds( p0, gzoomer.tangent_vectors[i][0], 0.5f, px );
v3_muladds( p0, gzoomer.tangent_vectors[i][1], 0.5f, py );
}
}
-VG_STATIC void vehicle_camera(void)
-{
- float yaw = atan2f( gzoomer.rb.forward[0], -gzoomer.rb.forward[2] ),
- pitch = atan2f
- (
- -gzoomer.rb.forward[1],
- sqrtf
- (
- gzoomer.rb.forward[0]*gzoomer.rb.forward[0] +
- gzoomer.rb.forward[2]*gzoomer.rb.forward[2]
- )
- );
-
-
- main_camera.angles[0] = yaw;
- main_camera.angles[1] = pitch;
- v3_copy( gzoomer.rb.co, main_camera.pos );
-}
-
#endif /* VEHICLE_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / blobdiff