X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player.h;h=46c7dd4de0d416836bbe1b05d3b358fe80d71216;hb=d045af680c6b8ca267a7aded69e2e510e659d2ab;hp=790d71c147351f1524dffce51c0aff6b2a904f6f;hpb=e36cb7e44611855d39ba84710a7007ca659e9cd5;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player.h b/player.h index 790d71c..46c7dd4 100644 --- a/player.h +++ b/player.h @@ -1,27 +1,50 @@ #ifndef PLAYER_H #define PLAYER_H +#include "audio.h" #include "common.h" +#include "world.h" #include "character.h" +#include "bvh.h" + +/* + * Constants + */ + +static float + k_walkspeed = 2.0f, + k_board_radius = 0.3f, + k_board_length = 0.45f, + k_board_allowance = 0.04f, + k_friction_lat = 8.8f, + k_friction_resistance = 0.01f, + k_max_push_speed = 16.0f, + k_push_accel = 5.0f, + k_push_cycle_rate = 8.0f, + k_steer_ground = 2.5f, + k_steer_air = 3.6f, + k_steer_air_lerp = 0.3f, + k_pump_force = 000.0f, + k_downforce = 5.0f; static int freecam = 0; -static float k_walkspeed = 2.0f; static int walk_grid_iterations = 1; +static float fc_speed = 10.0f; static struct gplayer { /* Physics */ - v3f co, v, a, v_last, m, bob, vl; - v4f rot; + rigidbody rb, collide_front, collide_back, rb_gate_frame; + + v3f a, v_last, m, bob, vl; + + /* Utility */ float vswitch, slip, slip_last, reverse; float iY; /* Yaw inertia */ int in_air, is_dead, on_board; - /* Input */ - v2f joy_l; - v2f board_xy; float grab; float pitch; @@ -30,9 +53,7 @@ static struct gplayer v3f land_target_log[22]; u32 land_target_colours[22]; int land_log_count; - m3x3f vr; - - m4x3f to_world, to_local; + m3x3f vr,vr_pstep; struct character mdl; @@ -48,70 +69,54 @@ static struct gplayer } player = { - .on_board = 1 -}; - -static void player_transform_update(void) -{ - q_normalize( player.rot ); - q_m3x3( player.rot, player.to_world ); - v3_copy( player.co, player.to_world[3] ); - - m4x3_invert_affine( player.to_world, player.to_local ); -} - -static int reset_player( int argc, char const *argv[] ) -{ - v3_copy( (v3f){ 0.0f, -2.0f, 0.0f }, player.co ); + .on_board = 1, - if( argc == 1 ) - { - if( !strcmp( argv[0], "tutorial" )) - v3_copy( world.tutorial, player.co ); - } + .collide_front = { .type = k_rb_shape_sphere, .inf.sphere.radius = 0.3f }, + .collide_back = { .type = k_rb_shape_sphere, .inf.sphere.radius = 0.3f } +}; - v3_copy( (v3f){ 0.0f, 0.0f, -0.2f }, player.v ); - q_identity( player.rot ); - player.vswitch = 1.0f; - player.slip_last = 0.0f; - player.is_dead = 0; - player.in_air = 1; - m3x3_identity( player.vr ); +/* + * Player API + */ - player.mdl.shoes[0] = 1; - player.mdl.shoes[1] = 1; - player_transform_update(); - return 0; -} +/* + * Free camera movement + */ static void player_mouseview(void) { + if( gui_want_mouse() ) + return; + static v2f mouse_last, view_vel = { 0.0f, 0.0f }; if( vg_get_button_down( "primary" ) ) v2_copy( vg_mouse, mouse_last ); + else if( vg_get_button( "primary" ) ) { v2f delta; v2_sub( vg_mouse, mouse_last, delta ); v2_copy( vg_mouse, mouse_last ); - v2_muladds( view_vel, delta, 0.005f, view_vel ); + v2_muladds( view_vel, delta, 0.001f, view_vel ); } - v2_muls( view_vel, 0.7f, view_vel ); + v2_muladds( view_vel, + (v2f){ vg_get_axis("h1"), vg_get_axis("v1") }, + 0.05f, view_vel ); + v2_muls( view_vel, 0.93f, view_vel ); v2_add( view_vel, player.angles, player.angles ); player.angles[1] = vg_clampf( player.angles[1], -VG_PIf*0.5f, VG_PIf*0.5f ); - } static void player_freecam(void) { player_mouseview(); - float movespeed = 25.0f; + float movespeed = fc_speed; v3f lookdir = { 0.0f, 0.0f, -1.0f }, sidedir = { 1.0f, 0.0f, 0.0f }; @@ -132,6 +137,10 @@ static void player_freecam(void) v3_add( move_vel, player.camera_pos, player.camera_pos ); } +/* + * Player Physics Implementation + */ + static void apply_gravity( v3f vel, float const timestep ) { v3f gravity = { 0.0f, -9.6f, 0.0f }; @@ -142,19 +151,23 @@ static void apply_gravity( v3f vel, float const timestep ) * TODO: The angle bias should become greater when launching from a steeper * angle and skewed towords more 'downwards' angles when launching from * shallower trajectories + * + * it should also be tweaked by the controller left stick being pushed + * up or down */ static void player_start_air(void) { + if( player.in_air ) + return; + player.in_air = 1; float pstep = ktimestep*10.0f; + float best_velocity_delta = -9999.9f; + float k_bias = 0.96f; - float best_velocity_mod = 0.0f, - best_velocity_delta = -9999.9f; - - v3f axis, vup; - m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup ); - v3_cross( vup, player.v, axis ); + v3f axis; + v3_cross( player.rb.up, player.rb.v, axis ); v3_normalize( axis ); player.land_log_count = 0; @@ -165,8 +178,8 @@ static void player_start_air(void) float vmod = ((float)m / 15.0f)*0.09f; v3f pco, pco1, pv; - v3_copy( player.co, pco ); - v3_copy( player.v, pv ); + v3_copy( player.rb.co, pco ); + v3_muls( player.rb.v, k_bias, pv ); /* * Try different 'rotations' of the velocity to find the best possible @@ -181,7 +194,7 @@ static void player_start_air(void) q_m3x3( vr_q, vr ); m3x3_mulv( vr, pv, pv ); - v3_muladds( pco, pv, ktimestep, pco ); + v3_muladds( pco, pv, pstep, pco ); for( int i=0; i<50; i++ ) { @@ -213,10 +226,10 @@ static void player_start_air(void) if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) ) { best_velocity_delta = land_delta; - best_velocity_mod = vmod; v3_copy( contact.pos, player.land_target ); - + + m3x3_copy( vr, player.vr_pstep ); q_axis_angle( vr_q, axis, vmod*0.1f ); q_m3x3( vr_q, player.vr ); } @@ -232,120 +245,32 @@ static void player_start_air(void) } } } - - //v3_rotate( player.v, best_velocity_mod, axis, player.v ); - - return; - v3_muls( player.v, best_velocity_mod, player.v ); } -static int sample_if_resistant( v3f pos ) -{ - v3f ground; - v3_copy( pos, ground ); - ground[1] += 4.0f; - - ray_hit hit; - hit.dist = INFINITY; - - if( ray_world( ground, (v3f){0.0f,-1.0f,0.0f}, &hit )) - { - v3f angle; - v3_copy( player.v, angle ); - v3_normalize( angle ); - float resistance = v3_dot( hit.normal, angle ); - - if( resistance < 0.25f ) - { - v3_copy( hit.pos, pos ); - return 1; - } - } - - return 0; -} - -static float stable_force( float current, float diff ) +static void draw_cross(v3f pos,u32 colour, float scale) { - float new = current + diff; - - if( new * current < 0.0f ) - return 0.0f; - - return new; + v3f p0, p1; + v3_add( (v3f){ scale,0.0f,0.0f}, pos, p0 ); + v3_add( (v3f){-scale,0.0f,0.0f}, pos, p1 ); + vg_line( p0, p1, colour ); + v3_add( (v3f){0.0f, scale,0.0f}, pos, p0 ); + v3_add( (v3f){0.0f,-scale,0.0f}, pos, p1 ); + vg_line( p0, p1, colour ); + v3_add( (v3f){0.0f,0.0f, scale}, pos, p0 ); + v3_add( (v3f){0.0f,0.0f,-scale}, pos, p1 ); + vg_line( p0, p1, colour ); } -static void player_physics_ground(void) +static void player_physics_control(void) { - /* - * Getting surface collision points, - * the contact manifold is a triangle for simplicity. + /* + * Computing localized friction forces for controlling the character + * Friction across X is significantly more than Z */ - v3f contact_front, contact_back, contact_norm, vup, vside, - axis; - - float klength = 0.65f; - m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-klength}, contact_norm ); - m4x3_mulv( player.to_world, (v3f){-0.15f,0.0f,-klength}, contact_front ); - m4x3_mulv( player.to_world, (v3f){ 0.00f,0.0f, klength}, contact_back ); - m3x3_mulv( player.to_world, (v3f){ 0.0f, 1.0f, 0.0f}, vup ); - m3x3_mulv( player.to_world, (v3f){ 1.0f, 0.0f, 0.0f}, vside ); - - v3f cn0, cn1, cn2; - - int contact_count = - sample_if_resistant( contact_front ) + - sample_if_resistant( contact_back ) + - sample_if_resistant( contact_norm ); - - if( contact_count < 3 ) - { - player_start_air(); - return; - } - - v3f norm; - v3f v0, v1; - v3_sub( contact_norm, contact_front, v0 ); - v3_sub( contact_back, contact_front, v1 ); - v3_cross( v1, v0, norm ); - v3_normalize( norm ); - - vg_line( contact_norm, contact_front, 0xff00ff00 ); - vg_line( contact_back, contact_front, 0xff0000ff ); - - /* Surface alignment */ - float angle = v3_dot( vup, norm ); - v3_cross( vup, norm, axis ); - - if( angle < 0.999f ) - { - v4f correction; - q_axis_angle( correction, axis, acosf(angle) ); - q_mul( correction, player.rot, player.rot ); - } - - float resistance = v3_dot( norm, player.v ); - if( resistance >= 0.0f ) - { - player_start_air(); - return; - } - else - { - v3_muladds( player.v, norm, -resistance, player.v ); - } - - /* This is where velocity integration used to be */ - - float slip = 0.0f; - - player.co[1] = (contact_front[1]+contact_back[1])*0.5f; v3f vel; - m3x3_mulv( player.to_local, player.v, vel ); - - /* Calculate local forces */ + m3x3_mulv( player.rb.to_local, player.rb.v, vel ); + float slip = 0.0f; if( fabsf(vel[2]) > 0.01f ) slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]); @@ -361,7 +286,8 @@ static void player_physics_ground(void) for( int i=0; i<5; i++ ) { vel[2] = stable_force( vel[2], vg_signf( vel[2] ) * fwd_resistance ); - vel[0] = stable_force( vel[0], vg_signf( vel[0] ) * -7.0f *substep ); + vel[0] = stable_force( vel[0], + vg_signf( vel[0] ) * -k_friction_lat*substep ); } static double start_push = 0.0; @@ -370,83 +296,51 @@ static void player_physics_ground(void) if( !vg_get_button("break") && vg_get_button( "push" ) ) { - float const k_maxpush = 16.0f, - k_pushaccel = 5.0f; - - float cycle_time = vg_time-start_push, - amt = k_pushaccel * (sinf( cycle_time * 8.0f )*0.5f+0.5f)*ktimestep, + float cycle_time = (vg_time-start_push)*k_push_cycle_rate, + amt = k_push_accel * (sinf(cycle_time)*0.5f+0.5f)*ktimestep, current = v3_length( vel ), - new_vel = vg_minf( current + amt, k_maxpush ); - new_vel -= vg_minf(current, k_maxpush); + new_vel = vg_minf( current + amt, k_max_push_speed ); + new_vel -= vg_minf(current, k_max_push_speed); vel[2] -= new_vel * player.reverse; } - - m3x3_mulv( player.to_world, vel, player.v ); - if( vg_get_button( "yawl" ) ) - player.iY += 3.6f * ktimestep; - if( vg_get_button( "yawr" ) ) - player.iY -= 3.6f * ktimestep; + /* Pumping */ + static float previous = 0.0f; + float delta = previous - player.grab, + pump = delta * k_pump_force*ktimestep; + previous = player.grab; + + v3f p1; + v3_muladds( player.rb.co, player.rb.up, pump, p1 ); + vg_line( player.rb.co, p1, 0xff0000ff ); + + vel[1] += pump; + + + m3x3_mulv( player.rb.to_world, vel, player.rb.v ); float steer = vg_get_axis( "horizontal" ); - player.iY -= vg_signf(steer)*powf(steer,2.0f) * 1.5f * ktimestep; + player.iY -= vg_signf(steer)*powf(steer,2.0f) * k_steer_ground * ktimestep; - /* Too much lean and it starts to look like a snowboard here */ v2_lerp( player.board_xy, (v2f){ slip*0.25f, 0.0f }, ktimestep*5.0f, player.board_xy); } -static void draw_cross(v3f pos,u32 colour, float scale) -{ - v3f p0, p1; - v3_add( (v3f){ scale,0.0f,0.0f}, pos, p0 ); - v3_add( (v3f){-scale,0.0f,0.0f}, pos, p1 ); - vg_line( p0, p1, colour ); - v3_add( (v3f){0.0f, scale,0.0f}, pos, p0 ); - v3_add( (v3f){0.0f,-scale,0.0f}, pos, p1 ); - vg_line( p0, p1, colour ); - v3_add( (v3f){0.0f,0.0f, scale}, pos, p0 ); - v3_add( (v3f){0.0f,0.0f,-scale}, pos, p1 ); - vg_line( p0, p1, colour ); -} - -static void player_physics_air(void) +static void player_physics_control_air(void) { - m3x3_mulv( player.vr, player.v, player.v ); - for( int i=0; i player.co[1] ) - { - player.in_air = 0; - - if( !ray_hit_is_ramp( &hit ) ) - { - player.is_dead = 1; - character_ragdoll_copypose( &player.mdl, player.v ); - } - return; - } - } - - /* Prediction + /* + * Prediction */ float pstep = ktimestep*10.0f; v3f pco, pco1, pv; - v3_copy( player.co, pco ); - v3_copy( player.v, pv ); + v3_copy( player.rb.co, pco ); + v3_copy( player.rb.v, pv ); float time_to_impact = 0.0f; float limiter = 1.0f; @@ -454,6 +348,7 @@ static void player_physics_air(void) for( int i=0; i<50; i++ ) { v3_copy( pco, pco1 ); + m3x3_mulv( player.vr_pstep, pv, pv ); apply_gravity( pv, pstep ); v3_muladds( pco, pv, pstep, pco ); @@ -469,12 +364,9 @@ static void player_physics_air(void) float orig_dist = contact.dist; if( ray_world( pco1, vdir, &contact )) { - v3f localup; - m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup ); - - float angle = v3_dot( localup, contact.normal ); + float angle = v3_dot( player.rb.up, contact.normal ); v3f axis; - v3_cross( localup, contact.normal, axis ); + v3_cross( player.rb.up, contact.normal, axis ); time_to_impact += (contact.dist/orig_dist)*pstep; limiter = vg_minf( 5.0f, time_to_impact )/5.0f; @@ -486,29 +378,26 @@ static void player_physics_air(void) { v4f correction; q_axis_angle( correction, axis, acosf(angle)*0.05f*(1.0f-limiter) ); - q_mul( correction, player.rot, player.rot ); + q_mul( correction, player.rb.q, player.rb.q ); } - draw_cross( contact.pos, 0xffff0000, 1 ); + draw_cross( contact.pos, 0xffff0000, 0.25f ); break; } time_to_impact += pstep; } - player.iY -= vg_get_axis( "horizontal" ) * 3.6f * ktimestep; + player.iY -= vg_get_axis( "horizontal" ) * k_steer_air * ktimestep; { + float iX = vg_get_axis( "vertical" ) * + player.reverse * k_steer_air * limiter * ktimestep; - float iX = vg_get_axis( "vertical" ) * 3.6f * limiter * ktimestep; static float siX = 0.0f; - siX = vg_lerpf( siX, iX, 0.3f ); + siX = vg_lerpf( siX, iX, k_steer_air_lerp ); v4f rotate; - v3f vside; - - m3x3_mulv( player.to_world, (v3f){1.0f,0.0f,0.0f}, vside ); - - q_axis_angle( rotate, vside, siX ); - q_mul( rotate, player.rot, player.rot ); + q_axis_angle( rotate, player.rb.right, siX ); + q_mul( rotate, player.rb.q, player.rb.q ); } v2f target = {0.0f,0.0f}; @@ -517,51 +406,208 @@ static void player_physics_air(void) v2_lerp( player.board_xy, target, ktimestep*3.0f, player.board_xy ); } -static void player_do_motion(void) +static void player_init(void) { - float horizontal = vg_get_axis("horizontal"), - vertical = vg_get_axis("vertical"); + rb_init( &player.collide_front ); + rb_init( &player.collide_back ); +} - player.joy_l[0] = vg_signf(horizontal) * powf( horizontal, 2.0f ); - player.joy_l[1] = vg_signf(vertical) * powf( vertical, 2.0f ); +static void player_physics(void) +{ + /* + * Update collision fronts + */ + + rigidbody *rbf = &player.collide_front, + *rbb = &player.collide_back; - if( player.in_air ) - player_physics_air(); + m3x3_copy( player.rb.to_world, player.collide_front.to_world ); + m3x3_copy( player.rb.to_world, player.collide_back.to_world ); + + player.air_blend = vg_lerpf( player.air_blend, player.in_air, 0.1f ); + float h = player.air_blend*0.2f; + + m4x3_mulv( player.rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co ); + v3_copy( rbf->co, rbf->to_world[3] ); + m4x3_mulv( player.rb.to_world, (v3f){0.0f,h, k_board_length}, rbb->co ); + v3_copy( rbb->co, rbb->to_world[3] ); + + m4x3_invert_affine( rbf->to_world, rbf->to_local ); + m4x3_invert_affine( rbb->to_world, rbb->to_local ); + + rb_update_bounds( rbf ); + rb_update_bounds( rbb ); + + rb_debug( rbf, 0xff00ffff ); + rb_debug( rbb, 0xffffff00 ); + + rb_ct manifold[24]; + int len = 0; + + len += rb_sphere_vs_scene( rbf, &world.rb_geo, manifold+len ); + len += rb_sphere_vs_scene( rbb, &world.rb_geo, manifold+len ); + + rb_presolve_contacts( manifold, len ); + v3f surface_avg = {0.0f, 0.0f, 0.0f}; + + if( !len ) + { + player_start_air(); + } + else + { + for( int i=0; i 0.5f ) + { + player_start_air(); + } + else + player.in_air = 0; + } + + for( int j=0; j<5; j++ ) + { + for( int i=0; ico, player.rb.co, delta ); + v3_cross( player.rb.w, delta, dv ); + v3_add( player.rb.v, dv, dv ); + + float vn = -v3_dot( dv, ct->n ); + vn += ct->bias; + + float temp = ct->norm_impulse; + ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); + vn = ct->norm_impulse - temp; + + v3f impulse; + v3_muls( ct->n, vn, impulse ); + + if( fabsf(v3_dot( impulse, player.rb.forward )) > 10.0f || + fabsf(v3_dot( impulse, player.rb.up )) > 50.0f ) + { + player.is_dead = 1; + character_ragdoll_copypose( &player.mdl, player.rb.v ); + return; + } + + v3_add( impulse, player.rb.v, player.rb.v ); + v3_cross( delta, impulse, impulse ); + + /* + * W Impulses are limited to the Y and X axises, we don't really want + * roll angular velocities being included. + * + * Can also tweak the resistance of each axis here by scaling the wx,wy + * components. + */ + + float wy = v3_dot( player.rb.up, impulse ), + wx = v3_dot( player.rb.right, impulse )*1.5f; + + v3_muladds( player.rb.w, player.rb.up, wy, player.rb.w ); + v3_muladds( player.rb.w, player.rb.right, wx, player.rb.w ); + } + } + + float grabt = vg_get_axis( "grabr" )*0.5f+0.5f; + player.grab = vg_lerpf( player.grab, grabt, 0.14f ); if( !player.in_air ) - player_physics_ground(); + { + v3f axis; + float angle = v3_dot( player.rb.up, surface_avg ); + v3_cross( player.rb.up, surface_avg, axis ); + + //float cz = v3_dot( player.rb.forward, axis ); + //v3_muls( player.rb.forward, cz, axis ); + + if( angle < 0.999f ) + { + v4f correction; + q_axis_angle( correction, axis, acosf(angle)*0.3f ); + q_mul( correction, player.rb.q, player.rb.q ); + } + + v3_muladds( player.rb.v, player.rb.up, + -k_downforce*ktimestep, player.rb.v ); + player_physics_control(); + } + else + { + player_physics_control_air(); + } +} + +static void player_do_motion(void) +{ + float horizontal = vg_get_axis("horizontal"), + vertical = vg_get_axis("vertical"); + + player_physics(); /* Integrate velocity */ v3f prevco; - v3_copy( player.co, prevco ); + v3_copy( player.rb.co, prevco ); - apply_gravity( player.v, ktimestep ); - v3_muladds( player.co, player.v, ktimestep, player.co ); + apply_gravity( player.rb.v, ktimestep ); + v3_muladds( player.rb.co, player.rb.v, ktimestep, player.rb.co ); + + /* Real angular velocity integration */ + v3_lerp( player.rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, player.rb.w ); + 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*k_rb_delta ); + q_mul( rotation, player.rb.q, player.rb.q ); + } - /* Integrate inertia */ - v4f rotate; v3f vup = {0.0f,1.0f,0.0f}; - m3x3_mulv( player.to_world, vup, vup ); + /* Faux angular velocity */ + v4f rotate; static float siY = 0.0f; - float lerpq = player.in_air? 0.04f: 0.3f; siY = vg_lerpf( siY, player.iY, lerpq ); - q_axis_angle( rotate, vup, siY ); - q_mul( rotate, player.rot, player.rot ); - - player.iY = 0.0f; /* temp */ - - /* GATE COLLISION */ + q_axis_angle( rotate, player.rb.up, siY ); + q_mul( rotate, player.rb.q, player.rb.q ); + player.iY = 0.0f; - for( int i=0; igate; - if( gate_intersect( gate, player.co, prevco ) ) + if( gate_intersect( gate, player.rb.co, prevco ) ) { - m4x3_mulv( gate->transport, player.co, player.co ); - m3x3_mulv( gate->transport, player.v, player.v ); + m4x3_mulv( gate->transport, player.rb.co, player.rb.co ); + m3x3_mulv( gate->transport, player.rb.v, player.rb.v ); m3x3_mulv( gate->transport, player.vl, player.vl ); m3x3_mulv( gate->transport, player.v_last, player.v_last ); m3x3_mulv( gate->transport, player.m, player.m ); @@ -569,30 +615,21 @@ static void player_do_motion(void) v4f transport_rotation; m3x3_q( gate->transport, transport_rotation ); - q_mul( transport_rotation, player.rot, player.rot ); - + q_mul( transport_rotation, player.rb.q, player.rb.q ); + + world_routes_activate_gate( i ); + player.rb_gate_frame = player.rb; break; } } - - /* Camera and character */ - player_transform_update(); - v3_lerp( player.vl, player.v, 0.05f, player.vl ); - - player.angles[0] = atan2f( player.vl[0], -player.vl[2] ); - player.angles[1] = atan2f( -player.vl[1], sqrtf(player.vl[0]*player.vl[0]+ - player.vl[2]*player.vl[2]) ) * 0.3f; - - player.air_blend = vg_lerpf( player.air_blend, player.in_air, 0.04f ); - v3_muladds( player.camera_pos, player.v, -0.05f*player.air_blend, - player.camera_pos ); + rb_update_transform( &player.rb ); } -static int player_walkgrid_tri_walkable( u32 tri[3] ) -{ - return tri[0] < world.sm_road.vertex_count; -} +/* + * Walkgrid implementation, + * loosely based of cmuratoris youtube video 'Killing the Walkmonster' + */ #define WALKGRID_SIZE 16 struct walkgrid @@ -621,10 +658,6 @@ struct walkgrid } samples[WALKGRID_SIZE][WALKGRID_SIZE]; -#if 0 - u32 geo[256]; -#endif - boxf region; float move; /* Current amount of movement we have left to apply */ @@ -634,6 +667,11 @@ struct walkgrid float h; }; +static int player_walkgrid_tri_walkable( u32 tri[3] ) +{ + return tri[0] > world.sm_geo_std_oob.vertex_count; +} + /* * Get a sample at this pole location, will return 1 if the sample is valid, * and pos will be updated to be the intersection location. @@ -643,13 +681,9 @@ static void player_walkgrid_samplepole( struct grid_sample *s ) boxf region = {{ s->pos[0] -0.01f, s->pos[1] - 4.0f, s->pos[2] -0.01f}, { s->pos[0] +0.01f, s->pos[1] + 4.0f, s->pos[2] +0.01f}}; -#if 0 - vg_line( region[0],region[1], 0x20ffffff ); -#endif - u32 geo[256]; v3f tri[3]; - int len = bvh_select_triangles( &world.geo, region, geo, 256 ); + int len = bh_select( &world.geo.bhtris, region, geo, 256 ); const float k_minworld_y = -2000.0f; @@ -660,7 +694,7 @@ static void player_walkgrid_samplepole( struct grid_sample *s ) for( int i=0; i block_height ) block_height = p0[1]; -#if 0 - draw_cross( p0, 0xff0000ff, 0.05f ); -#endif } } } @@ -707,39 +734,6 @@ static void player_walkgrid_samplepole( struct grid_sample *s ) s->type = k_sample_type_valid; else s->type = k_sample_type_air; - -#if 0 - if( s->type == k_sample_type_valid ) - { - vg_line_pt3( s->pos, 0.01f, 0xff00ff00 ); - } -#endif - -#if 0 - int count = 0; - - ray_hit hit; - hit.dist = 10.0f; - count = bvh_raycast( &world.geo, sample_pos, vdir, &hit ); - - if( count ) - { - v3_copy( hit.pos, s->pos ); - - if( !player_walkgrid_tri_walkable( hit.tri ) ) - { - draw_cross( pos, 0xff0000ff, 0.05f ); - return 0; - } - else - { - draw_cross( pos, 0xff00ff00, 0.05f ); - return count; - } - } - else - return 0; -#endif } float const k_gridscale = 0.5f; @@ -769,8 +763,7 @@ static void player_walkgrid_clip_blocker( struct grid_sample *sa, u32 geo[256]; v3f tri[3]; - int len = bvh_select_triangles( &world.geo, cell_region, geo, 256 ); - + int len = bh_select( &world.geo.bhtris, cell_region, geo, 256 ); float start_time = v3_length( clipdir ), min_time = start_time; @@ -779,7 +772,7 @@ static void player_walkgrid_clip_blocker( struct grid_sample *sa, for( int i=0; itype, sb->type ), - maxtype = VG_MAX( sa->type, sb->type ); - - if( maxtype == k_sample_type_valid ) - { - if( mintype == k_sample_type_air || mintype == k_sample_type_invalid ) - { - player_walkgrid_clip_edge( sa, sb, sa, dir ); - } - -#if 0 - else if( mintype == k_sample_type_invalid ) - { - player_walkgrid_clip_blocker( sa, sb, dir ); - } -#endif - } -} - static const struct conf { struct confedge @@ -1037,25 +1007,13 @@ static void player_walkgrid_iter(struct walkgrid *wg, int iter) * the intersections with the grid, and any edges that are present */ -#if 0 - if( wg->cell_id[0] < 0 || wg->cell_id[0] >= WALKGRID_SIZE-1 || - wg->cell_id[1] < 0 || wg->cell_id[1] >= WALKGRID_SIZE-1 ) - { - /* - * This condition should never be reached if the grid size is big - * enough - */ - wg->move = -1.0f; - return; - } -#endif - u32 icolours[] = { 0xffff00ff, 0xff00ffff, 0xffffff00 }; v3f pa, pb, pc, pd, pl0, pl1; pa[0] = wg->region[0][0] + (float)wg->cell_id[0] *k_gridscale; pa[1] = (wg->region[0][1] + wg->region[1][1]) * 0.5f + k_gridscale; pa[2] = wg->region[0][2] + (float)wg->cell_id[1] *k_gridscale; +#if 0 pb[0] = pa[0]; pb[1] = pa[1]; pb[2] = pa[2] + k_gridscale; @@ -1065,7 +1023,7 @@ static void player_walkgrid_iter(struct walkgrid *wg, int iter) pd[0] = pa[0] + k_gridscale; pd[1] = pa[1]; pd[2] = pa[2]; -#if 0 + /* if you want to draw the current cell */ vg_line( pa, pb, 0xff00ffff ); vg_line( pb, pc, 0xff00ffff ); vg_line( pc, pd, 0xff00ffff ); @@ -1249,7 +1207,7 @@ static void player_walkgrid_stand_cell(struct walkgrid *wg) v3f world; world[0] = wg->region[0][0]+((float)wg->cell_id[0]+wg->pos[0])*k_gridscale; - world[1] = player.co[1]; + world[1] = player.rb.co[1]; world[2] = wg->region[0][2]+((float)wg->cell_id[1]+wg->pos[1])*k_gridscale; struct grid_sample *corners[4]; @@ -1385,7 +1343,7 @@ static void player_walkgrid_stand_cell(struct walkgrid *wg) } } - v3_copy( world, player.co ); + v3_copy( world, player.rb.co ); } static void player_walkgrid_getsurface(void) @@ -1398,7 +1356,7 @@ static void player_walkgrid_getsurface(void) static struct walkgrid wg; v3f cell; - v3_copy( player.co, cell ); + v3_copy( player.rb.co, cell ); player_walkgrid_floor( cell ); v3_muladds( cell, (v3f){-1.0f,-1.0f,-1.0f}, k_region_size, wg.region[0] ); @@ -1424,6 +1382,11 @@ static void player_walkgrid_getsurface(void) v3_muladds( delta, side, -ktimestep*k_walkspeed, delta ); if( glfwGetKey( vg_window, GLFW_KEY_D ) ) v3_muladds( delta, side, ktimestep*k_walkspeed, delta ); + + v3_muladds( delta, fwd, + vg_get_axis("vertical")*-ktimestep*k_walkspeed, delta ); + v3_muladds( delta, side, + vg_get_axis("horizontal")*ktimestep*k_walkspeed, delta ); } /* @@ -1435,8 +1398,8 @@ static void player_walkgrid_getsurface(void) v2f region_pos = { - (player.co[0] - wg.region[0][0]) * (1.0f/k_gridscale), - (player.co[2] - wg.region[0][2]) * (1.0f/k_gridscale) + (player.rb.co[0] - wg.region[0][0]) * (1.0f/k_gridscale), + (player.rb.co[2] - wg.region[0][2]) * (1.0f/k_gridscale) }; v2f region_cell_pos; v2_floor( region_pos, region_cell_pos ); @@ -1445,73 +1408,6 @@ static void player_walkgrid_getsurface(void) wg.cell_id[0] = region_cell_pos[0]; wg.cell_id[1] = region_cell_pos[1]; - -#if 0 - /* Get surface samples - * - * TODO: Replace this with a spiral starting from the player position - */ - for( int y=0; ypos ); - s->pos[1] = cell[1]; - player_walkgrid_samplepole( s ); - } - } - - /* - * Calculate h+v clipping distances. - * Distances are stored in A always, so you know that if the sample is - * invalid, this signifies the start of the manifold as opposed to the - * extent or bounds of it. - */ - for( int i=0; i<2; i++ ) - { - for( int x=0; xtype == k_sample_type_valid && - sb->type == k_sample_type_valid ) - vg_line( sa->pos, sb->pos, 0xffffffff ); -#if 0 - if( sa->valid != sb->valid ) - { - clipdir[i*2] = (float)(sa->valid - sb->valid) * k_gridscale; - - player_walkgrid_clip( sa->valid? sa->pos: sb->pos, - clipdir, sa->clip[i] ); - } - else - { - if( sa->valid ) - { - vg_line( sa->pos, sb->pos, 0xffffffff ); - } - } -#endif - } - } - } -#endif - for(int y=0; y 0.0f? 1.0f: 0.0f, 0.04f ); - fdirx = vg_lerpf(fdirx, player.slip < 0.0f? 1.0f: 0.0f, 0.04f ); + fdirx = vg_lerpf(fdirx, player.slip < 0.0f? 1.0f: 0.0f, 0.01f ); ffly = vg_lerpf(ffly, player.in_air? 1.0f: 0.0f, 0.04f ); character_pose_reset( &player.mdl ); + /* TODO */ + float fstand1 = 1.0f-(1.0f-fstand)*0.0f; + float amt_air = ffly*ffly, amt_ground = 1.0f-amt_air, amt_std = (1.0f-fslide) * amt_ground, - amt_stand = amt_std * fstand, - amt_aero = amt_std * (1.0f-fstand), + amt_stand = amt_std * fstand1, + amt_aero = amt_std * (1.0f-fstand1), amt_slide = amt_ground * fslide; - character_final_pose( &player.mdl, offset, &pose_stand, amt_stand ); + character_final_pose( &player.mdl, offset, &pose_stand, amt_stand*fdirz ); + character_final_pose( &player.mdl, offset, + &pose_stand_reverse, amt_stand * (1.0f-fdirz) ); + character_final_pose( &player.mdl, offset, &pose_aero, amt_aero*fdirz ); character_final_pose( &player.mdl, offset, &pose_aero_reverse, amt_aero * (1.0f-fdirz) ); + character_final_pose( &player.mdl, offset, &pose_slide, amt_slide*fdirx ); character_final_pose( &player.mdl, offset, &pose_slide1, amt_slide*(1.0f-fdirx) ); - character_final_pose( &player.mdl, (v3f){0.0f,0.0f,0.0f}, + character_final_pose( &player.mdl, (v4f){0.0f,0.0f,0.0f,1.0f}, &pose_fly, amt_air ); - /* Camera position */ - v3_lerp( player.smooth_localcam, player.mdl.cam_pos, 0.08f, - player.smooth_localcam ); - v3_muladds( player.smooth_localcam, offset, 0.7f, player.camera_pos ); - player.camera_pos[1] = vg_clampf( player.camera_pos[1], 0.3f, kheight ); - m4x3_mulv( player.to_world, player.camera_pos, player.camera_pos ); - /* * Additive effects * ========================== @@ -1796,9 +1701,7 @@ static void player_animate(void) *arm_r = &player.mdl.ik_arm_r; v3f localv; - m3x3_mulv( player.to_local, player.v, localv ); - v3_muladds( arm_l->end, localv, -0.01f, arm_l->end ); - v3_muladds( arm_r->end, localv, -0.01f, arm_r->end ); + m3x3_mulv( player.rb.to_local, player.rb.v, localv ); /* New board transformation */ v4f board_rotation; v3f board_location; @@ -1873,8 +1776,8 @@ static void player_animate(void) } } - v3_lerp( player.handl, player.handl_target, 0.1f, player.handl ); - v3_lerp( player.handr, player.handr_target, 0.1f, player.handr ); + v3_lerp( player.handl, player.handl_target, 1.0f, player.handl ); + v3_lerp( player.handr, player.handr_target, 1.0f, player.handr ); v3_copy( player.handl, player.mdl.ik_arm_l.end ); v3_copy( player.handr, player.mdl.ik_arm_r.end ); @@ -1882,294 +1785,278 @@ static void player_animate(void) /* Head rotation */ static float rhead = 0.0f; + static const float klook_max = 0.8f; rhead = vg_lerpf( rhead, - vg_clampf(atan2f( localv[2], -localv[0] ),-1.0f,1.0f), 0.04f ); + vg_clampf( atan2f(localv[2],-localv[0]),-klook_max,klook_max), 0.04f ); player.mdl.rhead = rhead; } -static int giftwrapXZ( v3f *points, int *output, int len ) +static void player_camera_update(void) { - int l, p, q, count; - - if( len < 3 ) - return 0; + /* Update camera matrices */ + m4x3_identity( player.camera ); + m4x3_rotate_y( player.camera, -player.angles[0] ); + m4x3_rotate_x( player.camera, -player.angles[1] ); + v3_copy( player.camera_pos, player.camera[3] ); + m4x3_invert_affine( player.camera, player.camera_inverse ); +} - l = 0; - for( int i=1; i= len ) - { - vg_error ("MANIFOLD ERR (%d)\n", count ); - return 0; - } - output[ count ++ ] = p; + v3_sub( head_pos, player.camera_pos, delta ); + v3_normalize( delta ); - q = (p+1)%len; + v3f follow_pos; + v3_muladds( head_pos, delta, -2.5f, follow_pos ); + v3_lerp( player.camera_pos, follow_pos, 0.1f, player.camera_pos ); - for( int i=0; i 0.0001f ) - { - q = i; - } - } - p = q; - } - while( p != l ); - - return count; -} - -static void player_do_collision( rigidbody *rb ) -{ - /* - * If point is inside box - * find normal (theres 8 simple pyramid regions for this, x>y/dim .. etc) - * find distance (same sorta thing) - * - * apply normal impulse to rotation - * correct position based on new penetration amount if needed - * apply normal impulse to velocity + /* + * Make sure the camera stays above the ground */ + v3f min_height = {0.0f,1.0f,0.0f}; - v3f pfront, pback; - m4x3_mulv( player.to_world, (v3f){ 0.0f,0.0f,-1.0f }, pfront ); - m4x3_mulv( player.to_world, (v3f){ 0.0f,0.0f, 1.0f }, pback ); + v3f sample; + v3_add( player.camera_pos, min_height, sample ); + ray_hit hit; + hit.dist = min_height[1]*2.0f; - float const kheight = 2.0f; - - v3f verts[8]; + if( ray_world( sample, (v3f){0.0f,-1.0f,0.0f}, &hit )) + v3_add( hit.pos, min_height, player.camera_pos ); - v3f a, b; - v3_copy( rb->bbx[0], a ); - v3_copy( rb->bbx[1], b ); + player.camera_pos[1] = + vg_maxf( wrender.height + 2.0f, player.camera_pos[1] ); - m4x3f compound; - m4x3_mul( player.to_local, rb->to_world, compound ); - - m4x3_mulv( compound, (v3f){ a[0], a[1], a[2] }, verts[0] ); - m4x3_mulv( compound, (v3f){ a[0], b[1], a[2] }, verts[1] ); - m4x3_mulv( compound, (v3f){ b[0], b[1], a[2] }, verts[2] ); - m4x3_mulv( compound, (v3f){ b[0], a[1], a[2] }, verts[3] ); - - m4x3_mulv( compound, (v3f){ a[0], a[1], b[2] }, verts[4] ); - m4x3_mulv( compound, (v3f){ a[0], b[1], b[2] }, verts[5] ); - m4x3_mulv( compound, (v3f){ b[0], b[1], b[2] }, verts[6] ); - m4x3_mulv( compound, (v3f){ b[0], a[1], b[2] }, verts[7] ); - - int const indices[12][2] = { - {0,1},{1,2},{2,3},{3,0},{4,5},{5,6},{6,7},{7,4}, - {0,4},{1,5},{2,6},{3,7} - }; + player.angles[0] = atan2f( delta[0], -delta[2] ); + player.angles[1] = -asinf( delta[1] ); +} + +static void player_animate_camera(void) +{ + v3f offs = { -0.29f, 0.08f, 0.0f }; + m3x3_mulv( player.rb.to_world, offs, offs ); + m4x3_mulv( player.rb.to_world, player.mdl.ik_body.end, player.camera_pos ); + v3_add( offs, player.camera_pos, player.camera_pos ); - v3f hull[12*2 + 8]; - int hull_indices[12*2 + 8]; - int hull_len = 0; + /* Look angles */ + v3_lerp( player.vl, player.rb.v, 0.05f, player.vl ); - for( int i=0; i 0.2f && ya < kheight ) + if( player.is_dead ) { - v3_copy( verts[ia], hull[hull_len] ); - hull[hull_len ++][1] = 0.2f; + audio_player0.vol = 0.0f; + audio_player1.vol = 0.0f; + audio_player2.vol = 0.0f; + } + else + { + float slide = vg_clampf( fabsf(player.slip), 0.0f, 1.0f ); + audio_player0.vol = (1.0f-air)*attn*(1.0f-slide); + audio_player1.vol = air *attn; + audio_player2.vol = (1.0f-air)*attn*slide; } } +} - if( hull_len < 3 ) - return; +/* + * Public Endpoints + */ +static float *player_cam_pos(void) +{ + return player.camera_pos; +} - int len = giftwrapXZ( hull, hull_indices, hull_len ); - for( int i=0; iname, argv[0] ) ) + { + rp = r; + break; + } } - if( d < min_dist ) + if( !rp ) + vg_warn( "No spawn named '%s'\n", argv[0] ); + } + + if( !rp ) + { + float min_dist = INFINITY; + + for( int i=0; ico, player.rb.co ); + + vg_info( "Dist %s : %f\n", r->name, d ); + if( d < min_dist ) + { + min_dist = d; + rp = r; + } } } - if( collide ) + if( !rp ) { - v3f p0, p1; - p0[0] = 0.0f; - p0[1] = 0.2f; - p0[2] = -1.0f; - - p1[0] = p0[0] + normal[0]*min_dist; - p1[1] = p0[1]; - p1[2] = p0[2] + normal[1]*min_dist; - - m4x3_mulv( player.to_world, p0, p0 ); - m4x3_mulv( player.to_world, p1, p1 ); + vg_error( "No spawn found\n" ); + if( !world.spawn_count ) + return 0; - vg_line( p0, p1, 0xffffffff ); + rp = &world.spawns[0]; + } - v2f impulse; - v2_muls( normal, min_dist, impulse ); - float rotation = v2_cross( (v2f){0.0f,-1.0f}, impulse )*0.08f; - - v3f vel; - m3x3_mulv( player.to_local, player.v, vel ); - vel[1] = vel[2]; + v4_copy( rp->q, player.rb.q ); + v3_copy( rp->co, player.rb.co ); - float vn = vg_maxf( -v2_dot( vel, normal ), 0.0f ); - vn += -0.2f * (1.0f/k_rb_delta) * vg_minf( 0.0f, -min_dist+0.04f ); + player.vswitch = 1.0f; + player.slip_last = 0.0f; + player.is_dead = 0; + player.in_air = 1; + m3x3_identity( player.vr ); - v2_muls( normal, vn*0.03f, impulse ); - v3f impulse_world = { impulse[0], 0.0f, impulse[1] }; + player.mdl.shoes[0] = 1; + player.mdl.shoes[1] = 1; + + rb_update_transform( &player.rb ); + m3x3_mulv( player.rb.to_world, (v3f){ 0.0f, 0.0f, -1.2f }, player.rb.v ); - m3x3_mulv( player.to_world, impulse_world, impulse_world ); - v3_add( impulse_world, player.v, player.v ); - - v4f rot; - v3f up = {0.0f,1.0f,0.0f}; - m3x3_mulv( player.to_world, up, up ); - q_axis_angle( rot, up, -rotation ); - q_mul( rot, player.rot, player.rot ); - } + player.rb_gate_frame = player.rb; + return 1; } static void player_update(void) { + for( int i=0; i0.0f) - reset_player(0,NULL); + { + player.rb = player.rb_gate_frame; + player.is_dead = 0; + player.in_air = 1; + m3x3_identity( player.vr ); - if( freecam ) + player.mdl.shoes[0] = 1; + player.mdl.shoes[1] = 1; + + world_routes_notify_reset(); + } + + if( vg_get_button_down( "switchmode" ) ) { - player_freecam(); + player.on_board ^= 0x1; + } + + if( player.is_dead ) + { + character_ragdoll_iter( &player.mdl ); + character_debug_ragdoll( &player.mdl ); + + if( !freecam ) + player_animate_death_cam(); } else { - if( player.is_dead ) + if( player.on_board ) { - character_ragdoll_iter( &player.mdl ); - character_debug_ragdoll( &player.mdl ); + player_do_motion(); + player_animate(); + + if( !freecam ) + player_animate_camera(); } else { - if( player.on_board ) - { - for( int i=0; i