X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player.h;h=6c819801b01f664310d73f91144bc1be1911ab92;hb=dfee9022b3513fddec36f7ea70867ee5961a44da;hp=ccc74dc40717c87a41f3a1b8b19236d6b51ec4e0;hpb=4fccea589f00c06c570cc4ea3e7a69d191328ffb;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/player.h b/player.h
index ccc74dc..6c81980 100644
--- a/player.h
+++ b/player.h
@@ -3,14 +3,16 @@
 
 #include "common.h"
 #include "character.h"
+#include "bvh.h"
 
 static int freecam = 0;
 static float k_walkspeed = 2.0f; 
+static int walk_grid_iterations = 1;
 
 static struct gplayer
 {
    /* Physics */
-   v3f co, v, a, v_last, m, bob;
+   v3f co, v, a, v_last, m, bob, vl;
    v4f rot;
    float vswitch, slip, slip_last,
          reverse;
@@ -29,7 +31,7 @@ static struct gplayer
    v3f land_target_log[22];
    u32 land_target_colours[22];
    int land_log_count;
-   m3x3f vr;
+   m3x3f vr,vr_pstep;
 
    m4x3f to_world, to_local;
    
@@ -45,7 +47,10 @@ static struct gplayer
    v2f angles;
    m4x3f camera, camera_inverse;
 }
-player;
+player = 
+{
+   .on_board = 1
+};
 
 static void player_transform_update(void)
 {
@@ -58,7 +63,7 @@ static void player_transform_update(void)
 
 static int reset_player( int argc, char const *argv[] )
 {
-   v3_zero( player.co );
+   v3_copy( (v3f){ 0.0f, -2.0f, 0.0f }, player.co );
 
    if( argc == 1 )
    {
@@ -88,6 +93,7 @@ static void player_mouseview(void)
 
    if( vg_get_button_down( "primary" ) )
       v2_copy( vg_mouse, mouse_last );
+
    else if( vg_get_button( "primary" ) )
    {
       v2f delta;
@@ -97,10 +103,12 @@ static void player_mouseview(void)
       v2_muladds( view_vel, delta, 0.005f, view_vel );
    }
    
+   v2_muladds( view_vel, 
+         (v2f){ vg_get_axis("h1"), vg_get_axis("v1") }, 
+         0.05f, view_vel );
    v2_muls( view_vel, 0.7f, 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)
@@ -134,6 +142,11 @@ static void apply_gravity( v3f vel, float const timestep )
    v3_muladds( vel, gravity, timestep, vel );
 }
 
+/*
+ * TODO: The angle bias should become greater when launching from a steeper 
+ *       angle and skewed towords more 'downwards' angles when launching from
+ *       shallower trajectories
+ */
 static void player_start_air(void)
 {
    player.in_air = 1;
@@ -143,6 +156,8 @@ static void player_start_air(void)
    float best_velocity_mod = 0.0f,
          best_velocity_delta = -9999.9f;
 
+   float k_bias = 0.97f;
+
    v3f axis, vup;
    m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup );
    v3_cross( vup, player.v, axis );
@@ -157,7 +172,7 @@ static void player_start_air(void)
 
       v3f pco, pco1, pv;
       v3_copy( player.co, pco );
-      v3_copy( player.v, pv );
+      v3_muls( player.v, k_bias, pv );
 
       /* 
        * Try different 'rotations' of the velocity to find the best possible
@@ -172,7 +187,7 @@ 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++ )
       {
@@ -207,7 +222,8 @@ static void player_start_air(void)
                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 );
             }
@@ -352,7 +368,9 @@ 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 );
+
+      /* This used to be -7.0 */
+      vel[0] = stable_force( vel[0], vg_signf( vel[0] ) * -10.0f *substep );
    }
    
    static double start_push = 0.0;
@@ -404,9 +422,6 @@ static void draw_cross(v3f pos,u32 colour, float scale)
 static void player_physics_air(void)
 {
    m3x3_mulv( player.vr, player.v, player.v );
-   for( int i=0; i<player.land_log_count; i++ )
-      draw_cross( player.land_target_log[i], player.land_target_colours[i], 1);
-
    draw_cross( player.land_target, 0xff0000ff, 1 );
 
    v3f ground_pos;
@@ -432,8 +447,6 @@ static void player_physics_air(void)
    }
    
    /* Prediction 
-    *
-    * TODO: Find best landing surface and guide player towords it
     */
    float pstep = ktimestep*10.0f;
 
@@ -447,6 +460,7 @@ 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 );
 
@@ -491,7 +505,8 @@ static void player_physics_air(void)
    player.iY -= vg_get_axis( "horizontal" ) * 3.6f * ktimestep;
    {
 
-      float iX = vg_get_axis( "vertical" ) * 3.6f * limiter * ktimestep;
+      float iX = vg_get_axis( "vertical" ) * 
+         player.reverse * 3.6f * limiter * ktimestep;
       static float siX = 0.0f;
       siX = vg_lerpf( siX, iX, 0.3f );
       
@@ -545,97 +560,247 @@ static void player_do_motion(void)
 
    player.iY = 0.0f; /* temp */
 
-#if 0
    /* GATE COLLISION */
-   if( gate_intersect( &gate_a, player.co, prevco ) )
+
+   for( int i=0; i<world.gate_count; i++ )
    {
-      teleport_gate *gate = &gate_a;
-
-      m4x3f transport;
-      m4x3_mul( gate->other->to_world, gate->to_local, transport );
-      m4x3_mulv( transport, player.co, player.co );
-      m3x3_mulv( transport, player.v, player.v );
-      m3x3_mulv( transport, player.v_last, player.v_last );
-      m3x3_mulv( transport, player.m, player.m );
-      m3x3_mulv( transport, player.bob, player.bob );
-
-      v4f transport_rotation;
-      m3x3_q( transport, transport_rotation );
-      q_mul( transport_rotation, player.rot, player.rot );
+      teleport_gate *gate = &world.gates[i];
+
+      if( gate_intersect( gate, player.co, prevco ) )
+      {
+         m4x3_mulv( gate->transport, player.co, player.co );
+         m3x3_mulv( gate->transport, player.v, player.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 );
+         m3x3_mulv( gate->transport, player.bob, player.bob );
+
+         v4f transport_rotation;
+         m3x3_q( gate->transport, transport_rotation );
+         q_mul( transport_rotation, player.rot, player.rot );
+
+         break;
+      }
    }
-#endif
 
    /* Camera and character */
    player_transform_update();
+   
+   v3_lerp( player.vl, player.v, 0.05f, player.vl );
 
-   player.angles[0] = atan2f( player.v[0], -player.v[2] );
-   player.angles[1] = atan2f( -player.v[1], sqrtf(player.v[0]*player.v[0]+
-                                       player.v[2]*player.v[2]) ) * 0.3f;
+   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 );
+static int player_walkgrid_tri_walkable( u32 tri[3] )
+{
+   return tri[0] < world.sm_road.vertex_count;
 }
 
+#define WALKGRID_SIZE 16
+struct walkgrid
+{
+   struct grid_sample
+   {
+      enum sample_type
+      {
+         k_sample_type_air,      /* Nothing was hit. */
+         k_sample_type_invalid,  /* The point is invalid, but there is a sample
+                                    underneath that can be used */
+         k_sample_type_valid,    /* This point is good */
+      }
+      type;
+
+      v3f clip[2];
+      v3f pos;
+
+      enum traverse_state
+      {
+         k_traverse_none = 0x00,
+         k_traverse_h    = 0x01,
+         k_traverse_v    = 0x02
+      }
+      state;
+   }
+   samples[WALKGRID_SIZE][WALKGRID_SIZE];
+
+   boxf region;
+
+   float move; /* Current amount of movement we have left to apply */
+   v2f dir;    /* The movement delta */
+   v2i cell_id;/* Current cell */
+   v2f pos;    /* Local position (in cell) */
+   float h;
+};
+
 /*
  * 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.
  */
-static int player_walkgrid_samplepole( u32 *geo, int len, v3f pos )
+static void player_walkgrid_samplepole( struct grid_sample *s )
 {
-   v3f p1;
-   v3_copy( pos, p1 );
-   p1[1] -= 10.0f;
+   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}};
 
-   vg_line( pos, p1, 0x20ffffff );
+   u32 geo[256];
+   v3f tri[3];
+   int len = bh_select( &world.geo.bhtris, region, geo, 256 );
+   
+   const float k_minworld_y = -2000.0f;
 
-   v3f sample_pos;
-   v3_copy(pos, sample_pos);
+   float walk_height = k_minworld_y,
+         block_height = k_minworld_y;
 
-   v3f vdir = {0.0f,-1.0f,0.0f};
-   int count = 0;
+   s->type = k_sample_type_air;
 
-   ray_hit hit;
-   hit.dist = INFINITY;
    for( int i=0; i<len; i++ )
    {
-      u32 *tri = &world.geo.indices[ geo[i] ];
-      count += bvh_ray_tri( &world.geo, tri, sample_pos, vdir, &hit );
+      u32 *ptri = &world.geo.indices[ geo[i]*3 ];
+
+      for( int j=0; j<3; j++ )
+         v3_copy( world.geo.verts[ptri[j]].co, tri[j] );
+      
+      v3f vdown = {0.0f,-1.0f,0.0f};
+      v3f sample_from;
+      v3_copy( s->pos, sample_from );
+      sample_from[1] = region[1][1];
+      
+      float dist;
+      if( ray_tri( tri, sample_from, vdown, &dist ))
+      {
+         v3f p0;
+         v3_muladds( sample_from, vdown, dist, p0 );
+
+         if( player_walkgrid_tri_walkable(ptri) )
+         {
+            if( p0[1] > walk_height )
+            {
+               walk_height = p0[1];
+            }
+         }
+         else
+         {
+            if( p0[1] > block_height )
+               block_height = p0[1];
+         }
+      }
    }
 
-   if( count )
+   s->pos[1] = walk_height;
+
+   if( walk_height > k_minworld_y )
+      if( block_height > walk_height )
+         s->type = k_sample_type_invalid;
+      else
+         s->type = k_sample_type_valid;
+   else
+      s->type = k_sample_type_air;
+}
+
+float const k_gridscale = 0.5f;
+
+enum eclipdir
+{
+   k_eclipdir_h = 0,
+   k_eclipdir_v = 1
+};
+
+static void player_walkgrid_clip_blocker( struct grid_sample *sa,
+                                          struct grid_sample *sb,
+                                          struct grid_sample *st,
+                                          enum eclipdir dir )
+{
+   v3f clipdir, pos;
+   int valid_a = sa->type == k_sample_type_valid,
+       valid_b = sb->type == k_sample_type_valid;
+   struct grid_sample *target = valid_a? sa: sb,
+                      *other  = valid_a? sb: sa;
+   v3_copy( target->pos, pos );
+   v3_sub( other->pos, target->pos, clipdir );
+
+   boxf cell_region;
+   v3_muladds( pos, (v3f){1.0f,1.0f,1.0f}, -k_gridscale*2.1f, cell_region[0]);
+   v3_muladds( pos, (v3f){1.0f,1.0f,1.0f},  k_gridscale*2.1f, cell_region[1]);
+
+   u32 geo[256];
+   v3f tri[3];
+   int len = bh_select( &world.geo.bhtris, cell_region, geo, 256 );
+   
+   float start_time = v3_length( clipdir ),
+         min_time = start_time;
+   v3_normalize( clipdir );
+   v3_muls( clipdir, 0.0001f, st->clip[dir] );
+
+   for( int i=0; i<len; i++ )
    {
-      v3f v0, v1;
-      float *pa = world.geo.verts[hit.tri[0]].co,
-            *pb = world.geo.verts[hit.tri[1]].co,
-            *pc = world.geo.verts[hit.tri[2]].co;
-
-      v3_sub( pa, pb, v0 );
-      v3_sub( pc, pb, v1 );
-      v3_cross( v1, v0, hit.normal );
-      v3_normalize( hit.normal );
-      v3_muladds( sample_pos, vdir, hit.dist, pos );
-
-      draw_cross( pos, 0xff00ff00, 0.05f );
-      return count;
+      u32 *ptri = &world.geo.indices[ geo[i]*3 ];
+      for( int j=0; j<3; j++ )
+         v3_copy( world.geo.verts[ptri[j]].co, tri[j] );
+
+      if( player_walkgrid_tri_walkable(ptri) )
+         continue;
+
+      float dist;
+      if(ray_tri( tri, pos, clipdir, &dist ))
+      {
+         if( dist > 0.0f && dist < min_time )
+         {
+            min_time = dist;
+            sb->type = k_sample_type_air;
+         }
+      }
    }
-   else
-      return 0;
+
+   if( !(min_time < start_time) )
+      min_time = 0.5f * k_gridscale;
+
+   min_time = vg_clampf( min_time/k_gridscale, 0.01f, 0.99f );
+
+   v3_muls( clipdir, min_time, st->clip[dir] );
+
+   v3f p0;
+   v3_muladds( target->pos, st->clip[dir], k_gridscale, p0 );
 }
 
-static void player_walkgrid_clip(u32 *geo, int len, v3f pos, v3f dir, v3f clip)
+static void player_walkgrid_clip_edge( struct grid_sample *sa,
+                                       struct grid_sample *sb,
+                                       struct grid_sample *st, /* data store */
+                                       enum eclipdir dir )
 {
+   v3f clipdir = { 0.0f, 0.0f, 0.0f }, pos;
+   int valid_a = sa->type == k_sample_type_valid,
+       valid_b = sb->type == k_sample_type_valid;
+
+   struct grid_sample *target = valid_a? sa: sb,
+                      *other  = valid_a? sb: sa;
+   
+   v3_sub( other->pos, target->pos, clipdir );
+   clipdir[1] = 0.0f;
+
+   v3_copy( target->pos, pos );
+
+   boxf cell_region;
+   v3_muladds( pos, (v3f){1.0f,1.0f,1.0f}, -k_gridscale*1.1f, cell_region[0]);
+   v3_muladds( pos, (v3f){1.0f,1.0f,1.0f},  k_gridscale*1.1f, cell_region[1]);
+
+   u32 geo[256];
+   int len = bh_select( &world.geo.bhtris, cell_region, geo, 256 );
+
    float max_dist = 0.0f;
    v3f tri[3];
    v3f perp;
-   v3_cross( dir,(v3f){0.0f,1.0f,0.0f},perp );
-   v3_copy( pos, clip );
+   v3_cross( clipdir,(v3f){0.0f,1.0f,0.0f},perp );
+   v3_muls( clipdir, 0.001f, st->clip[dir] );
 
    for( int i=0; i<len; i++ )
    {
-      u32 *ptri = &world.geo.indices[ geo[i] ];
+      u32 *ptri = &world.geo.indices[ geo[i]*3 ];
       for( int j=0; j<3; j++ )
          v3_copy( world.geo.verts[ptri[j]].co, tri[j] );
+      
+      if( !player_walkgrid_tri_walkable(ptri) )
+         continue;
 
       for( int k=0; k<3; k++ )
       {
@@ -646,8 +811,8 @@ static void player_walkgrid_clip(u32 *geo, int len, v3f pos, v3f dir, v3f clip)
          v3_sub( tri[ia], pos, v0 );
          v3_sub( tri[ib], pos, v1 );
 
-         if( (dir[2]*v0[0] - dir[0]*v0[2]) *
-             (dir[2]*v1[0] - dir[0]*v1[2]) < 0.0f )
+         if( (clipdir[2]*v0[0] - clipdir[0]*v0[2]) *
+             (clipdir[2]*v1[0] - clipdir[0]*v1[2]) < 0.0f )
          {
             float da = v3_dot(v0,perp),
                   db = v3_dot(v1,perp),
@@ -658,40 +823,19 @@ static void player_walkgrid_clip(u32 *geo, int len, v3f pos, v3f dir, v3f clip)
             v3_muls( v1, qa, p0 );
             v3_muladds( p0, v0, 1.0f-qa, p0 );
             
-            float h = v3_dot(p0,dir)/v3_dot(dir,dir);
+            float h = v3_dot(p0,clipdir)/v3_dot(clipdir,clipdir);
 
             if( h >= max_dist && h <= 1.0f )
             {
                max_dist = h;
-               float l = 1.0f/v3_length(dir);
-               v3_muls( p0, l, clip );
+               float l = 1.0f/v3_length(clipdir);
+               v3_muls( p0, l, st->clip[dir] );
             }
          }
       }
    }
 }
 
-#define WALKGRID_SIZE 8
-struct walkgrid
-{
-   struct grid_sample
-   {
-      int valid;
-      v3f clip[2];
-      v3f pos;
-   }
-   samples[WALKGRID_SIZE][WALKGRID_SIZE];
-   u32 geo[256];
-
-   boxf region;
-
-   float move; /* Current amount of movement we have left to apply */
-   v2f dir;    /* The movement delta */
-   v2i cell_id;/* Current cell */
-   v2f pos;    /* Local position (in cell) */
-   float h;
-};
-
 static const struct conf
 {
    struct confedge
@@ -701,8 +845,6 @@ static const struct conf
        * a: axis index
        * o: the 'other' point to do a A/B test with
        *       if its -1, all AB is done.
-       *
-       *       TODO: Check the major edge against point (for the double cases)
        */
       int i0, i1, 
           d0, d1,
@@ -748,14 +890,15 @@ static const struct conf *player_walkgrid_conf( struct walkgrid *wg,
    corners[2] = &wg->samples[cell[1]+1][cell[0]+1];
    corners[3] = &wg->samples[cell[1]  ][cell[0]+1];
 
-   u32 config = (corners[0]->valid<<3) | (corners[1]->valid<<2) | 
-                (corners[2]->valid<<1) | corners[3]->valid;
+   u32 vd0 = corners[0]->type == k_sample_type_valid,
+       vd1 = corners[1]->type == k_sample_type_valid,
+       vd2 = corners[2]->type == k_sample_type_valid,
+       vd3 = corners[3]->type == k_sample_type_valid,
+       config = (vd0<<3) | (vd1<<2) | (vd2<<1) | vd3;
 
    return &k_walkgrid_configs[ config ];
 }
 
-float const k_gridscale = 0.5f;
-
 static void player_walkgrid_floor(v3f pos)
 {
    v3_muls( pos, 1.0f/k_gridscale, pos );
@@ -826,19 +969,6 @@ 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;
@@ -855,6 +985,7 @@ static void player_walkgrid_iter(struct walkgrid *wg, int iter)
    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 );
@@ -1038,6 +1169,7 @@ 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[2] = wg->region[0][2]+((float)wg->cell_id[1]+wg->pos[1])*k_gridscale;
 
    struct grid_sample *corners[4];
@@ -1183,7 +1315,7 @@ static void player_walkgrid_getsurface(void)
    float const k_height = 1.78f;
    float const k_region_size = (float)WALKGRID_SIZE/2.0f * k_gridscale;
 
-   struct walkgrid wg;
+   static struct walkgrid wg;
 
    v3f cell;
    v3_copy( player.co, cell );
@@ -1192,77 +1324,177 @@ static void player_walkgrid_getsurface(void)
    v3_muladds( cell, (v3f){-1.0f,-1.0f,-1.0f}, k_region_size, wg.region[0] );
    v3_muladds( cell, (v3f){ 1.0f, 1.0f, 1.0f}, k_region_size, wg.region[1] );
 
-   int tri_count = bvh_select_triangles( &world.geo, wg.region, wg.geo, 256 );
+   
+   /* 
+    * Create player input vector
+    */
+   v3f delta = {0.0f,0.0f,0.0f};
+   v3f fwd = { -sinf(-player.angles[0]), 0.0f, -cosf(-player.angles[0]) },
+       side = { -fwd[2], 0.0f, fwd[0] };
 
-   v3f tri[3];
-   for( int i=0; i<tri_count; i++ )
+   /* Temp */
+   if( !vg_console_enabled() )
    {
-      for( int j=0; j<3; j++ )
-         v3_copy( world.geo.verts[ world.geo.indices[wg.geo[i]+j]].co, tri[j] );
+      if( glfwGetKey( vg_window, GLFW_KEY_W ) )
+         v3_muladds( delta, fwd,  ktimestep*k_walkspeed, delta );
+      if( glfwGetKey( vg_window, GLFW_KEY_S ) )
+         v3_muladds( delta, fwd, -ktimestep*k_walkspeed, delta );
 
-      vg_line( tri[0], tri[1], 0xffa2ff30 );
-      vg_line( tri[1], tri[2], 0xffa2ff30 );
-      vg_line( tri[2], tri[0], 0xffa2ff30 );
+      if( glfwGetKey( vg_window, GLFW_KEY_A ) )
+         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 );
    }
 
-   /* Get surface samples
-    *
-    * TODO: Replace this with a spiral starting from the player position
+   /* 
+    * Create our move in grid space
     */
-   for( int y=0; y<WALKGRID_SIZE; y++ )
+   wg.dir[0] = delta[0] * (1.0f/k_gridscale);
+   wg.dir[1] = delta[2] * (1.0f/k_gridscale);
+   wg.move = 1.0f;
+
+   v2f region_pos = 
    {
-      for( int x=0; x<WALKGRID_SIZE; x++ )
+      (player.co[0] - wg.region[0][0]) * (1.0f/k_gridscale),
+      (player.co[2] - wg.region[0][2]) * (1.0f/k_gridscale)
+   };
+   v2f region_cell_pos;
+   v2_floor( region_pos, region_cell_pos );
+   v2_sub( region_pos, region_cell_pos, wg.pos );
+
+   wg.cell_id[0] = region_cell_pos[0];
+   wg.cell_id[1] = region_cell_pos[1];
+
+   for(int y=0; y<WALKGRID_SIZE; y++ )
+   {
+      for(int x=0; x<WALKGRID_SIZE; x++ )
       {
          struct grid_sample *s = &wg.samples[y][x];
          v3_muladds( wg.region[0], (v3f){ x, 0, y }, k_gridscale, s->pos );
-         s->pos[1] = player.co[1] + k_height;
-
-         s->valid = player_walkgrid_samplepole( wg.geo,tri_count,s->pos )? 1: 0;
+         s->state = k_traverse_none;
+         s->type = k_sample_type_air;
+         v3_zero( s->clip[0] );
+         v3_zero( s->clip[1] );
       }
    }
+
+   v2i border[WALKGRID_SIZE*WALKGRID_SIZE];
+   v2i *cborder = border;
+   u32 border_length = 1;
+
+   struct grid_sample *base = NULL; 
+
+   v2i starters[] = {{0,0},{1,1},{0,1},{1,0}};
+
+   for( int i=0;i<4;i++ )
+   {
+      v2i test;
+      v2i_add( wg.cell_id, starters[i], test );
+      v2i_copy( test, border[0] );
+      base = &wg.samples[test[1]][test[0]];
+
+      base->pos[1] = cell[1];
+      player_walkgrid_samplepole( base );
+
+      if( base->type == k_sample_type_valid )
+         break;
+      else
+         base->type = k_sample_type_air;
+   }
    
-   /* 
-    * 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++ )
+   vg_line_pt3( base->pos, 0.1f, 0xffffffff );
+
+   int iter = 0;
+
+   while( border_length )
    {
-      for( int x=0; x<WALKGRID_SIZE; x++ )
+      v2i directions[] = {{1,0},{0,1},{-1,0},{0,-1}};
+
+      v2i *old_border = cborder;
+      int  len = border_length;
+
+      border_length = 0;
+      cborder = old_border+len;
+
+      for( int i=0; i<len; i++ )
       {
-         for( int z=0; z<WALKGRID_SIZE-1; z++ )
+         v2i co;
+         v2i_copy( old_border[i], co );
+         struct grid_sample *sa = &wg.samples[co[1]][co[0]];
+
+         for( int j=0; j<4; j++ )
          {
-            v3f clipdir = { 0.0f, 0.0f, 0.0f };
-            
-            struct grid_sample *sa, *sb;
-            if( i == 1 )
-            {
-               sa = &wg.samples[z][x];
-               sb = &wg.samples[z+1][x];
-            }
-            else
-            {
-               sa = &wg.samples[x][z];
-               sb = &wg.samples[x][z+1];
-            }
+            v2i newp;
+            v2i_add( co, directions[j], newp );
 
-            if( sa->valid != sb->valid )
-            {
-               clipdir[i*2] = (float)(sa->valid - sb->valid) * k_gridscale;
-               player_walkgrid_clip( wg.geo, tri_count, 
-                     sa->valid? sa->pos: sb->pos,
-                     clipdir, sa->clip[i] );
-            }
-            else
+            if( newp[0] < 0 || newp[1] < 0 || 
+                newp[0] == WALKGRID_SIZE || newp[1] == WALKGRID_SIZE )
+               continue;
+
+            struct grid_sample *sb = &wg.samples[newp[1]][newp[0]];
+            enum traverse_state thismove = j%2==0? 1: 2;
+
+            if( (sb->state & thismove) == 0x00 || 
+                  sb->type == k_sample_type_air )
             {
-               if( sa->valid )
+               sb->pos[1] = sa->pos[1];
+
+               player_walkgrid_samplepole( sb );
+
+               if( sb->type != k_sample_type_air )
                {
-                  vg_line( sa->pos, sb->pos, 0xffffffff );
+                  /* 
+                   * Need to do a blocker pass
+                   */
+
+                  struct grid_sample *store = (j>>1 == 0)? sa: sb;
+                  player_walkgrid_clip_blocker( sa, sb, store, j%2 );
+                  
+
+                  if( sb->type != k_sample_type_air )
+                  {
+                     vg_line( sa->pos, sb->pos, 0xffffffff );
+                  
+                     if( sb->state == k_traverse_none )
+                        v2i_copy( newp, cborder[ border_length ++ ] );
+                  }
+                  else
+                  {
+                     v3f p1;
+                     v3_muladds( sa->pos, store->clip[j%2], k_gridscale, p1 );
+                     vg_line( sa->pos, p1, 0xffffffff );
+                  }
+               }
+               else
+               {
+                  /* 
+                   * A clipping pass is now done on the edge of the walkable
+                   * surface
+                   */
+                  
+                  struct grid_sample *store = (j>>1 == 0)? sa: sb;
+                  player_walkgrid_clip_edge( sa, sb, store, j%2 );
+
+                  v3f p1;
+                  v3_muladds( sa->pos, store->clip[j%2], k_gridscale, p1 );
+                  vg_line( sa->pos, p1, 0xffffffff );
                }
+
+               sb->state |= thismove;
             }
          }
+
+         sa->state = k_traverse_h|k_traverse_v;
       }
+
+      iter ++;
+      if( iter == walk_grid_iterations )
+         break;
    }
 
    /* Draw connections */
@@ -1283,10 +1515,8 @@ static void player_walkgrid_getsurface(void)
                     corners[edge->d0]->clip[edge->a0], k_gridscale, p0 );
             v3_muladds( corners[edge->i1]->pos, 
                     corners[edge->d1]->clip[edge->a1], k_gridscale, p1 );
-            vg_line( p0, p1, 0xff0000ff );
 
-            vg_line( corners[edge->i0]->pos, p0, 0xffffffff );
-            vg_line( corners[edge->i1]->pos, p1, 0xffffffff );
+            vg_line( p0, p1, 0xff0000ff );
          }
       }
    }
@@ -1295,46 +1525,9 @@ static void player_walkgrid_getsurface(void)
     * Commit player movement into the grid 
     */
    
-   v3f delta = {0.0f,0.0f,0.0f};
-   v3f fwd = { -sinf(-player.angles[0]), 0.0f, -cosf(-player.angles[0]) },
-       side = { -fwd[2], 0.0f, fwd[0] };
-
-   /* Temp */
-   if( !vg_console_enabled() )
-   {
-      if( glfwGetKey( vg_window, GLFW_KEY_W ) )
-         v3_muladds( delta, fwd,  ktimestep*k_walkspeed, delta );
-      if( glfwGetKey( vg_window, GLFW_KEY_S ) )
-         v3_muladds( delta, fwd, -ktimestep*k_walkspeed, delta );
-
-      if( glfwGetKey( vg_window, GLFW_KEY_A ) )
-         v3_muladds( delta, side, -ktimestep*k_walkspeed, delta );
-      if( glfwGetKey( vg_window, GLFW_KEY_D ) )
-         v3_muladds( delta, side,  ktimestep*k_walkspeed, delta );
-   }
-
    if( v3_length2(delta) <= 0.00001f )
       return;
    
-   /* 
-    * Create our move in grid space
-    */
-   wg.dir[0] = delta[0] * (1.0f/k_gridscale);
-   wg.dir[1] = delta[2] * (1.0f/k_gridscale);
-   wg.move = 1.0f;
-
-   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)
-   };
-   v2f region_cell_pos;
-   v2_floor( region_pos, region_cell_pos );
-   v2_sub( region_pos, region_cell_pos, wg.pos );
-
-   wg.cell_id[0] = region_cell_pos[0];
-   wg.cell_id[1] = region_cell_pos[1];
-   
    int i=0;
    for(; i<8 && wg.move > 0.001f; i++ )
       player_walkgrid_iter( &wg, i );
@@ -1390,15 +1583,6 @@ static void player_animate(void)
    v3_muladds( head, offset, 0.7f, head );
    head[1] = vg_clampf( head[1], 0.3f, kheight );
 
-#if 0
-   if( !freecam )
-   {
-      v3_copy( head, player.view );
-      v3f camoffs = {-0.2f,-0.6f,0.00f};
-      v3_add( player.view, camoffs, player.view );
-   }
-#endif
-
    /* 
     * Animation blending
     * ===========================================
@@ -1428,10 +1612,14 @@ static void player_animate(void)
          amt_aero = amt_std * (1.0f-fstand),
          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) );
@@ -1446,6 +1634,10 @@ static void player_animate(void)
    player.camera_pos[1] = vg_clampf( player.camera_pos[1], 0.3f, kheight );
    m4x3_mulv( player.to_world, player.camera_pos, player.camera_pos );
 
+   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 );
+
    /* 
     * Additive effects
     * ==========================
@@ -1545,11 +1737,290 @@ static void player_animate(void)
    player.mdl.rhead = rhead;
 }
 
+static int giftwrapXZ( v3f *points, int *output, int len )
+{
+   int l, p, q, count;
+
+   if( len < 3 )
+      return 0;
+
+   l = 0;
+   for( int i=1; i<len; i++ )
+      if( points[i][0] < points[l][0] )
+         l = i;
+
+   p = l;
+   count = 0;
+   do
+   {
+      if( count >= len )
+      {
+         vg_error ("MANIFOLD ERR (%d)\n", count );
+         return 0;
+      }
+      output[ count ++ ] = p;
+
+      q = (p+1)%len;
+
+      for( int i=0; i<len; i++ )
+      {
+         float orient = 
+             (points[i][2]-points[p][2])*(points[q][0]-points[i][0]) -
+             (points[i][0]-points[p][0])*(points[q][2]-points[i][2]);
+
+         if( orient > 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
+    */
+
+   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 );
+
+   float const kheight = 2.0f;
+   
+   v3f verts[8];
+
+   v3f a, b;
+   v3_copy( rb->bbx[0], a );
+   v3_copy( rb->bbx[1], b );
+
+   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}
+   };
+   
+   v3f hull[12*2 + 8];
+   int hull_indices[12*2 + 8];
+   int hull_len = 0;
+
+   for( int i=0; i<8; i++ )
+   {
+      int ia = indices[i][0];
+      float ya = verts[ia][1];
+
+      if( ya > 0.2f && ya < kheight )
+      {
+         int add_point = 1;
+         for( int j=0; j<hull_len; j++ )
+         {
+            v2f delta = { verts[ia][0]-hull[j][0], verts[ia][2]-hull[j][2] };
+            if( v2_length2( delta ) < 0.0004f )
+            {
+               add_point = 0;
+               break;
+            }
+         }
+
+         if( add_point )
+            v3_copy( verts[ia], hull[hull_len] );
+
+         hull[hull_len ++][1] = 0.2f;
+      }
+   }
+
+   for( int i=0; i<vg_list_size(indices); i++ )
+   {
+      int ia = indices[i][0],
+          ib = indices[i][1];
+
+      v3f p0, p1;
+
+      float ya = verts[ia][1],
+            yb = verts[ib][1],
+            d = 1.0f/(yb-ya),
+            qa;
+
+      float planes[] = { 0.2f, kheight };
+      
+      for( int k=0; k<vg_list_size(planes); k++ )
+      {
+         float clip = planes[k];
+
+         if( (ya-clip) * (yb-clip) < 0.0f )
+         {
+            v3_muls( verts[ia], (yb-clip)*d, p0 );
+            v3_muladds( p0, verts[ib], -(ya-clip)*d, p0 );
+            
+            int add_point = 1;
+            for( int j=0; j<hull_len; j++ )
+            {
+               v2f delta = { p0[0]-hull[j][0], p0[2]-hull[j][2] };
+               if( v2_length2( delta ) < 0.0004f )
+               {
+                  add_point = 0;
+                  break;
+               }
+            }
+
+            if( add_point )
+               v3_copy( p0, hull[hull_len ++] );
+
+            m4x3_mulv( player.to_world, p0, p0 );
+            vg_line_pt3( p0, 0.1f, 0xffffff00 );
+         }
+      }
+   }
+
+   if( hull_len < 3 ) 
+      return;
+
+   int len = giftwrapXZ( hull, hull_indices, hull_len );
+   for( int i=0; i<len; i++ )
+   {
+      v3f p0, p1, p2, p3;
+      v3_copy( hull[hull_indices[i]], p0 );
+      v3_copy( hull[hull_indices[(i+1)%len]], p1 );
+      p0[1] = 0.2f;
+      p1[1] = 0.2f;
+      v3_add( p0, (v3f){0,kheight-0.2f,0}, p2 );
+      v3_add( p1, (v3f){0,kheight-0.2f,0}, p3 );
+         
+      m4x3_mulv( player.to_world, p0, p0 );
+      m4x3_mulv( player.to_world, p1, p1 );
+      m4x3_mulv( player.to_world, p2, p2 );
+      m4x3_mulv( player.to_world, p3, p3 );
+
+      vg_line2( p0, p1, 0xff00ffff, 0xff000000 );
+      vg_line( p2, p3, 0xff00ffff );
+      vg_line( p0, p2, 0xff00ffa0 );
+   }
+
+   v2f endpoints[] = {{ 0.0f, -1.0f },{ 0.0f, 1.0f }};
+   
+   for( int j=0; j<vg_list_size(endpoints); j++ )
+   {
+      v2f point;
+      v2_copy( endpoints[j], point );
+
+      int collide = 1;
+      float min_dist = 99999.9f;
+      v2f normal = {0.0f,0.0f};
+      for( int i=0; i<len; i++ )
+      {
+         v2f p0, p1;
+         p0[0] = hull[hull_indices[i]][0];
+         p0[1] = hull[hull_indices[i]][2];
+         p1[0] = hull[hull_indices[(i+1)%len]][0];
+         p1[1] = hull[hull_indices[(i+1)%len]][2];
+         
+         v2f t,n, rel;
+         v2_sub( p1, p0, t );
+         n[0] = -t[1];
+         n[1] =  t[0];
+         v2_normalize(n);
+         
+         v2_sub( point, p0, rel );
+         float d = -v2_dot( n, rel ) + 0.5f;
+
+         if( d < 0.0f )
+         {
+            collide = 0;
+            break;
+         }
+
+         if( d < min_dist )
+         {
+            min_dist = d;
+            v2_copy( n, normal );
+         }
+      }
+
+      if( collide )
+      {
+         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_line( p0, p1, 0xffffffff );
+         
+         v3f vel;
+         m3x3_mulv( player.to_local, player.v, vel );
+         vel[1] = vel[2];
+
+         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 );
+         
+         v2f impulse;
+         if( vn > 14.0f )
+         {
+            player.is_dead = 1;
+            character_ragdoll_copypose( &player.mdl, player.v );
+            return;
+         }
+
+         if( vn > 0.0f )
+         {
+            v2_muls( normal, min_dist, impulse );
+            float rotation = v2_cross( point, impulse )*0.08f;
+            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 );
+         }
+
+         v2_muls( normal, vn*0.03f, impulse );
+         v3f impulse_world = { impulse[0], 0.0f, impulse[1] };
+
+         m3x3_mulv( player.to_world, impulse_world, impulse_world );
+         v3_add( impulse_world, player.v, player.v );
+      }
+   }
+}
+
 static void player_update(void)
 {
+   for( int i=0; i<player.land_log_count; i++ )
+      draw_cross( player.land_target_log[i], player.land_target_colours[i], 1);
+
    if( vg_get_axis("grabl")>0.0f)
       reset_player(0,NULL);
 
+   if( vg_get_button_down( "switchmode" ) )
+   {
+      player.on_board ^= 0x1;
+   }
+
    if( freecam )
    {
       player_freecam();
@@ -1558,13 +2029,58 @@ static void player_update(void)
    {
       if( player.is_dead )
       {
+         /* 
+          * Follow camera
+          */
          character_ragdoll_iter( &player.mdl );
          character_debug_ragdoll( &player.mdl );
+
+         v3f delta;
+         v3f head_pos;
+         v3_copy( player.mdl.ragdoll[k_chpart_head].co, head_pos );
+
+         v3_sub( head_pos, player.camera_pos, delta );
+         v3_normalize( delta );
+
+         v3f follow_pos;
+         v3_muladds( head_pos, delta, -2.5f, follow_pos );
+         v3_lerp( player.camera_pos, follow_pos, 0.1f, player.camera_pos );
+
+         /* 
+          * Make sure the camera stays above the ground
+          */
+         v3f min_height = {0.0f,1.0f,0.0f};
+
+         v3f sample;
+         v3_add( player.camera_pos, min_height, sample );
+         ray_hit hit;
+         hit.dist = min_height[1]*2.0f;
+
+         if( ray_world( sample, (v3f){0.0f,-1.0f,0.0f}, &hit ))
+            v3_add( hit.pos, min_height, player.camera_pos );
+
+         player.camera_pos[1] = 
+            vg_maxf( wrender.height + 2.0f, player.camera_pos[1] );
+
+         player.angles[0] = atan2f( delta[0], -delta[2] ); 
+         player.angles[1] = -asinf( delta[1] );
       }
       else
       {
          if( player.on_board )
          {
+            bh_debug_node(&world.bhcubes, 0, 
+                  player.camera_pos, 0xff80ff00 );
+
+            u32 colliders[16];
+            boxf wbox = {{ -2.0f, -2.0f, -2.0f },
+                         {  2.0f,  2.0f,  2.0f }};
+            m4x3_transform_aabb( player.to_world, wbox );
+            int len = bh_select( &world.bhcubes, wbox, colliders, 32 );
+
+            for( int i=0; i<len; i++ )
+               player_do_collision( &world.temp_rbs[colliders[i]] );
+
             player_do_motion();
             player_animate();
          }