X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_physics.h;h=52e4c3080f82aa4dcae6a9e5e4d6a182942d2c86;hb=ec0918b2ef17a71418a57417689fd3042915aeeb;hp=0213fc7b65a18deb66d756b3d20f4b18e64ce8fb;hpb=045332768cda11d98bcd74a1d803f823d095b94b;p=carveJwlIkooP6JGAAIwe30JlM.git

diff --git a/player_physics.h b/player_physics.h
index 0213fc7..52e4c30 100644
--- a/player_physics.h
+++ b/player_physics.h
@@ -195,10 +195,11 @@ VG_STATIC void player_physics_control(void)
 
    vel[1] += pump;
 
-   
    m3x3_mulv( phys->rb.to_world, vel, phys->rb.v );
    
-   float steer = player.input_js1h->axis.value,
+   float input = player.input_js1h->axis.value,
+         grab  = player.input_grab->axis.value,
+         steer = input * (1.0f-(phys->jump+grab)*0.4f),
          steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground;
 
    phys->iY -= steer_scaled * VG_TIMESTEP_FIXED;
@@ -269,22 +270,24 @@ VG_STATIC void player_physics_control_air(void)
       time_to_impact += pstep;
    }
 
-   float steerh = player.input_js1h->axis.value,
-         steerv = player.input_js1v->axis.value;
+   v2f steer = { player.input_js1h->axis.value,
+                 player.input_js1v->axis.value };
 
-   phys->iY -= steerh * k_steer_air * VG_TIMESTEP_FIXED;
+   float l2 = v2_length2( steer );
+   if( l2 > 1.0f )
+      v2_muls( steer, 1.0f/sqrtf(l2), steer );
 
-   {
-      float iX = steerv * 
-                 phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED;
+   phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED;
 
-      static float siX = 0.0f;
-      siX = vg_lerpf( siX, iX, k_steer_air_lerp );
-      
-      v4f rotate;
-      q_axis_angle( rotate, phys->rb.right, siX );
-      q_mul( rotate, phys->rb.q, phys->rb.q );
-   }
+   float iX = steer[1] * 
+              phys->reverse * k_steer_air * limiter * VG_TIMESTEP_FIXED;
+
+   static float siX = 0.0f;
+   siX = vg_lerpf( siX, iX, k_steer_air_lerp );
+   
+   v4f rotate;
+   q_axis_angle( rotate, phys->rb.right, siX );
+   q_mul( rotate, phys->rb.q, phys->rb.q );
    
 #if 0
    v2f target = {0.0f,0.0f};
@@ -293,130 +296,201 @@ VG_STATIC void player_physics_control_air(void)
 #endif
 }
 
-/*
- * Entire Walking physics model
- * TODO: sleep when under certain velotiy
- */
-VG_STATIC void player_walk_physics(void)
+VG_STATIC void player_walk_update_collision(void)
 {
    struct player_phys *phys = &player.phys;
-   rigidbody *rbf = &player.collide_front,
-             *rbb = &player.collide_back;
-
-   m3x3_copy( phys->rb.to_world, player.collide_front.to_world );
-   m3x3_copy( phys->rb.to_world, player.collide_back.to_world );
-   
    float h0 = 0.3f,
          h1 = 0.9f;
 
-   m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h0,0.0f}, rbf->co );
+   rigidbody *rbf = &player.collide_front,
+             *rbb = &player.collide_back;
+
+   v3_add( phys->rb.co, (v3f){0.0f,h0,0.0f}, rbf->co );
+   v3_add( phys->rb.co, (v3f){0.0f,h1,0.0f}, rbb->co );
    v3_copy( rbf->co, rbf->to_world[3] );
-   m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h1,0.0f}, 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, 0xff0000ff );
-   rb_debug( rbb, 0xff0000ff );
+VG_STATIC void player_integrate(void);
+/*
+ * Entire Walking physics model
+ * TODO: sleep when under certain velotiy
+ */
+VG_STATIC void player_walk_physics(void)
+{
+   struct player_phys *phys = &player.phys;
+   rigidbody *rbf = &player.collide_front,
+             *rbb = &player.collide_back;
 
-   rb_ct manifold[64];
-   int len = 0;
+   m3x3_identity( player.collide_front.to_world );
+   m3x3_identity( player.collide_back.to_world );
 
-   len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
-   len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+   v3_zero( phys->rb.w );
+   q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] );
 
-   rb_presolve_contacts( manifold, len );
+   rb_ct manifold[64];
+   int len;
 
-   for( int j=0; j<5; j++ )
+   v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
+   v3f right_dir = { -forward_dir[2], 0.0f, forward_dir[0] };
+
+   if( phys->in_air )
    {
+      player_walk_update_collision();
+      rb_debug( rbf, 0xff0000ff );
+      rb_debug( rbb, 0xff0000ff );
+
+      len = 0;
+      len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
+      len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+      rb_presolve_contacts( manifold, len );
+
       for( int i=0; i<len; i++ )
       {
          struct contact *ct = &manifold[i];
-         
-         /*normal */
-         float vn = -v3_dot( phys->rb.v, ct->n );
-         vn += ct->bias;
+         if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f )
+            phys->in_air = 0;
+      }
 
-         float temp = ct->norm_impulse;
-         ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
-         vn = ct->norm_impulse - temp;
+      for( int j=0; j<5; j++ )
+      {
+         for( int i=0; i<len; i++ )
+         {
+            struct contact *ct = &manifold[i];
+            
+            /*normal */
+            float vn = -v3_dot( phys->rb.v, ct->n );
+            vn += ct->bias;
 
-         v3f impulse;
-         v3_muls( ct->n, vn, impulse );
+            float temp = ct->norm_impulse;
+            ct->norm_impulse = vg_maxf( temp + vn, 0.0f );
+            vn = ct->norm_impulse - temp;
 
-         v3_add( impulse, phys->rb.v, phys->rb.v );
+            v3f impulse;
+            v3_muls( ct->n, vn, impulse );
 
-         /* friction */
-         for( int j=0; j<2; j++ )
-         {
-            float     f = k_friction * ct->norm_impulse,
-                     vt = v3_dot( phys->rb.v, ct->t[j] ),
-                 lambda = -vt;
-            
-            float temp = ct->tangent_impulse[j];
-            ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f );
-            lambda = ct->tangent_impulse[j] - temp;
+            v3_add( impulse, phys->rb.v, phys->rb.v );
+
+            /* friction */
+            for( int j=0; j<2; j++ )
+            {
+               float     f = k_friction * ct->norm_impulse,
+                        vt = v3_dot( phys->rb.v, ct->t[j] ),
+                    lambda = -vt;
+               
+               float temp = ct->tangent_impulse[j];
+               ct->tangent_impulse[j] = vg_clampf( temp + lambda, -f, f );
+               lambda = ct->tangent_impulse[j] - temp;
 
-            v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v );
+               v3_muladds( phys->rb.v, ct->t[j], lambda, phys->rb.v );
+            }
          }
       }
-   }
 
-   if( len == 0 )
-      phys->in_air = 1;
+      player_integrate();
+   }
    else
    {
-      phys->in_air = 0;
-      struct world_material *surface_mat = world_contact_material( manifold );
-      player.surface_prop = surface_mat->info.surface_prop;
-   }
+      /* translate player */
+      v2f walk = { player.input_walkh->axis.value,
+                   player.input_walkv->axis.value };
+      
+      if( v2_length2(walk) > 0.001f )
+         v2_normalize( walk );
 
-   if( !phys->in_air )
-   {
-      float const DOWNFORCE = -k_walk_downforce*VG_TIMESTEP_FIXED;
-      v3_muladds( phys->rb.v, (v3f){0.0f,-1.0f,0.0f}, DOWNFORCE, phys->rb.v );
+      v2_muls( walk, vg_maxf( player.input_push->axis.value, 0.5f ) *
+                        k_walkspeed * VG_TIMESTEP_FIXED, walk );
+
+      v3f walk_apply;
+      v3_zero( walk_apply );
+
+      /* Do XY translation */
+      v3_muladds( walk_apply, right_dir,   walk[0], walk_apply );
+      v3_muladds( walk_apply, forward_dir, walk[1], walk_apply );
+      v3_add( walk_apply, phys->rb.co, phys->rb.co );
+      v3_divs( walk_apply, VG_TIMESTEP_FIXED, phys->rb.v );
+
+      /* Directly resolve collisions */
+      player_walk_update_collision();
+      rb_debug( rbf, 0xffffff00 );
+      rb_debug( rbb, 0xffffff00 );
+
+      len = 0;
+      len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
+      len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
+
+      v3f dt;
+      v3_zero( dt );
+      for( int j=0; j<3; j++ )
+      {
+         for( int i=0; i<len; i++ )
+         {
+            struct contact *ct = &manifold[i];
+
+            float p   = vg_maxf( 0.0f, ct->p - 0.00f ),
+                  cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p );
+            v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt );
+         }
+      }
+      v3_add( dt, phys->rb.co, phys->rb.co );
 
+      /* jump */
       if( player.input_jump->button.value )
       {
          phys->rb.v[1] = 5.0f;
+         phys->in_air = 1;
+         return;
       }
-   }
-   
-   v3_zero( phys->rb.w );
-   q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] );
-
-   v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) };
+      
+      /* if we've put us in the air, step down slowly */
+      phys->in_air = 1;
+      float max_dist = 0.3f,
+            start_y = phys->rb.co[1];
 
-   v3f p1;
-   v3_muladds( phys->rb.co, forward_dir, 2.0f, p1 );
-   vg_line( phys->rb.co, p1, 0xff0000ff );
+      for( int j=0; j<8; j++ )
+      {
+         for( int i=0; i<len; i++ )
+         {
+            struct contact *ct = &manifold[i];
+            if( v3_dot( ct->n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f )
+            {
+               phys->in_air = 0;
+               if( j == 0 )
+                  return;
+
+               v3f dt;
+               v3_zero( dt );
+               for( int j=0; j<3; j++ )
+               {
+                  for( int i=0; i<len; i++ )
+                  {
+                     struct contact *ct = &manifold[i];
+
+                     float p   = vg_maxf( 0.0f, ct->p - 0.0025f ),
+                           cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p );
+                     v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt );
+                  }
+               }
+               v3_add( dt, phys->rb.co, phys->rb.co );
+               return;
+            }
+         }
 
-   float walk = player.input_walk->axis.value;
-   player.walk = powf( walk, 4.0f );
+         phys->rb.co[1] -= max_dist * 0.125f;
 
-   if( player.walk > 0.025f )
-   {
-      float 
-            speed     = vg_lerpf( 0.025f*k_runspeed, k_runspeed, player.walk ),
-            amt       = k_walk_accel * VG_TIMESTEP_FIXED,
-            zvel      = v3_dot( phys->rb.v, forward_dir ),
-            new_vel   = vg_minf( zvel + amt, speed ),
-            diff      = new_vel - vg_minf( zvel, speed );
-
-      if( !phys->in_air )
-      {
-         v3_muladds( phys->rb.v, forward_dir, diff, phys->rb.v );
+         player_walk_update_collision();
+         len = 0;
+         len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len );
+         len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len );
       }
-   }
-   
-   if( !phys->in_air )
-   {
-      phys->rb.v[0] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction);
-      phys->rb.v[2] *= 1.0f - (VG_TIMESTEP_FIXED * k_walk_friction);
+      
+      /* Transitioning into air mode */
+      phys->rb.co[1] = start_y;
    }
 }
 
@@ -532,32 +606,22 @@ VG_STATIC void player_physics(void)
       }
    }
 
-   float grabt = vg_maxf( player.input_grab->axis.value,
-                     vg_maxf( fabsf( player.input_emjs2h->axis.value ),
-                              fabsf( player.input_emjs2v->axis.value ) )
-                  );
+   float grabt = player.input_grab->axis.value;
+
+   if( grabt > 0.5f )
+   {
+      v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f, 
+                  phys->grab_mouse_delta );
+      v2_normalize_clamp( phys->grab_mouse_delta );
+   }
+   else
+      v2_zero( phys->grab_mouse_delta );
 
    phys->grab = vg_lerpf( phys->grab, grabt, 0.14f );
    player.phys.pushing = 0.0f;
 
    if( !phys->in_air )
    {
-#if 0
-      v3f axis;
-      float angle = v3_dot( phys->rb.up, surface_avg );
-      v3_cross( phys->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)*18.0f*VG_TIMESTEP_FIXED );
-         q_mul( correction, phys->rb.q, phys->rb.q );
-      }
-#else
-      
       /* 20/10/22: make this only go axisways instead, may effect velocities. */
 
       v3f projected, axis;
@@ -582,9 +646,6 @@ VG_STATIC void player_physics(void)
          q_mul( correction, phys->rb.q, phys->rb.q );
       }
 
-
-#endif
-
       float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED;
       v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
 
@@ -645,6 +706,13 @@ VG_STATIC void player_restore_frame(void)
    rb_update_transform( &player.phys.rb );
 }
 
+VG_STATIC void player_integrate(void)
+{
+   struct player_phys *phys = &player.phys;
+   apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
+   v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
+}
+
 VG_STATIC void player_do_motion(void)
 {
    struct player_phys *phys = &player.phys;
@@ -664,18 +732,19 @@ VG_STATIC void player_do_motion(void)
       }
    }
 
+
+   v3f prevco;
+   v3_copy( phys->rb.co, prevco );
+
    if( phys->on_board )
+   {
       player_physics();
+      player_integrate();
+   }
    else
       player_walk_physics();
    
-   /* Integrate velocity */
-   v3f prevco;
-   v3_copy( phys->rb.co, prevco );
    
-   apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
-   v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
-
    /* Real angular velocity integration */
    v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, phys->rb.w );
    if( v3_length2( phys->rb.w ) > 0.0f )
@@ -748,36 +817,6 @@ VG_STATIC void player_do_motion(void)
    rb_update_transform( &phys->rb );
 }
 
-/*
- * Free camera movement
- */
-VG_STATIC void player_mouseview(void)
-{
-   if( ui_want_mouse() )
-      return;
-
-   static v2f mouse_last,
-              view_vel = { 0.0f, 0.0f };
-
-#if 0
-   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, 0.06f*vg.time_delta, view_vel );
-   }
-#endif
-   
-   v2_muls( view_vel, 1.0f-4.2f*vg.time_delta, 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 );
-}
-
 VG_STATIC void player_freecam(void)
 {
    player_mouseview();