X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_physics.h;h=6afc1b2c43b0f3e1cf560e83ca1baceb9836a05b;hb=0124cd309a7db70cdd74b5661f2df8b862ca2f2f;hp=f395953932e19003e93cac528d76c538cb99531e;hpb=f7db507815e2822d971031c30f25e02b45e9c914;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player_physics.h b/player_physics.h index f395953..6afc1b2 100644 --- a/player_physics.h +++ b/player_physics.h @@ -59,6 +59,164 @@ grind_edge *player_grind_collect_edge( v3f p0, v3f p1, return closest_edge; } +/* + * Cast a sphere from a to b and see what time it hits + */ +VG_STATIC int spherecast_world( v3f pa, v3f pb, float r, float *t, v3f n ) +{ + struct player_phys *phys = &player.phys; + + bh_iter it; + bh_iter_init( 0, &it ); + + boxf region; + box_init_inf( region ); + box_addpt( region, pa ); + box_addpt( region, pb ); + + v3_add( (v3f){ r, r, r}, region[1], region[1] ); + v3_add( (v3f){-r,-r,-r}, region[0], region[0] ); + + v3f dir; + v3_sub( pb, pa, dir ); + + int hit = -1; + float min_t = 1.0f; + + int idx; + while( bh_next( world.geo_bh, &it, region, &idx ) ) + { + u32 *ptri = &world.scene_geo->arrindices[ idx*3 ]; + v3f tri[3]; + + boxf box; + box_init_inf( box ); + + for( int j=0; j<3; j++ ) + { + v3_copy( world.scene_geo->arrvertices[ptri[j]].co, tri[j] ); + box_addpt( box, tri[j] ); + } + + v3_add( (v3f){ r, r, r}, box[1], box[1] ); + v3_add( (v3f){-r,-r,-r}, box[0], box[0] ); + if( !ray_aabb( box, pa, dir, 1.0f ) ) + continue; + + float t; + v3f n1; + if( spherecast_triangle( tri, pa, dir, r, &t, n1 ) ) + { + if( t < min_t ) + { + min_t = t; + hit = idx; + v3_copy( n1, n ); + } + } + } + + *t = min_t; + return hit; +} + +/* + * Trace a path given a velocity rotation. + * Closest to 0 is best. + */ +VG_STATIC void player_predict_land( m3x3f vr, + struct land_prediction *prediction ) +{ + struct player_phys *phys = &player.phys; + + float pstep = VG_TIMESTEP_FIXED * 10.0f; + float k_bias = 0.96f; + + v3f pco, pco1, pv; + v3_copy( phys->rb.co, pco ); + v3_muls( phys->rb.v, k_bias, pv ); + + m3x3_mulv( vr, pv, pv ); + v3_muladds( pco, pv, pstep, pco ); + + struct grind_edge *best_grind = NULL; + float closest_grind = INFINITY; + + float grind_score = INFINITY, + air_score = INFINITY; + + prediction->log_length = 0; + + for( int i=0; ilog); i++ ) + { + v3_copy( pco, pco1 ); + apply_gravity( pv, pstep ); + + m3x3_mulv( vr, pv, pv ); + v3_muladds( pco, pv, pstep, pco ); + + v3f vdir; + + v3_sub( pco, pco1, vdir ); + + float l = v3_length( vdir ); + v3_muls( vdir, 1.0f/l, vdir ); + + v3f c0, c1; + struct grind_edge *ge = player_grind_collect_edge( pco, pco1, + c0, c1, 0.4f ); + + if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) ) + { + float d2 = v3_dist2( c0, c1 ); + if( d2 < closest_grind ) + { + closest_grind = d2; + best_grind = ge; + grind_score = closest_grind * 0.05f; + } + } + + v3f n1; + + float t1; + int idx = spherecast_world( pco1, pco, 0.4f, &t1, n1 ); + if( idx != -1 ) + { + v3_copy( n1, prediction->n ); + air_score = -v3_dot( pv, n1 ); + + u32 vert_index = world.scene_geo->arrindices[ idx*3 ]; + struct world_material *mat = world_tri_index_material( vert_index ); + + /* Bias prediction towords ramps */ + if( mat->info.flags & k_material_flag_skate_surface ) + air_score *= 0.1f; + + v3_lerp( pco1, pco, t1, prediction->log[ prediction->log_length ++ ] ); + break; + } + + v3_copy( pco, prediction->log[ prediction->log_length ++ ] ); + } + + if( grind_score < air_score ) + { + prediction->score = grind_score; + prediction->type = k_prediction_grind; + } + else if( air_score < INFINITY ) + { + prediction->score = air_score; + prediction->type = k_prediction_land; + } + else + { + prediction->score = INFINITY; + prediction->type = k_prediction_none; + } +} + /* * Called when launching into the air to predict and adjust trajectories */ @@ -68,121 +226,79 @@ VG_STATIC void player_start_air(void) float pstep = VG_TIMESTEP_FIXED * 10.0f; float best_velocity_delta = -9999.9f; - float k_bias = 0.96f; v3f axis; v3_cross( phys->rb.up, phys->rb.v, axis ); v3_normalize( axis ); - player.land_log_count = 0; + player.prediction_count = 0; m3x3_identity( phys->vr ); + float + best_vmod = 0.0f, + min_score = INFINITY, + max_score = -INFINITY; + + /* + * Search a broad selection of futures + */ for( int m=-3;m<=12; m++ ) { - struct land_log *log = &player.land_log[ player.land_log_count ++ ]; - log->count = 0; - log->colour = 0xff000000; + struct land_prediction *p = + &player.predictions[ player.prediction_count ++ ]; float vmod = ((float)m / 15.0f)*0.09f; - v3f pco, pco1, pv; - v3_copy( phys->rb.co, pco ); - v3_muls( phys->rb.v, k_bias, pv ); - - /* - * Try different 'rotations' of the velocity to find the best possible - * landing normal. This conserves magnitude at the expense of slightly - * unrealistic results - */ - m3x3f vr; v4f vr_q; q_axis_angle( vr_q, axis, vmod ); q_m3x3( vr_q, vr ); - m3x3_mulv( vr, pv, pv ); - v3_muladds( pco, pv, pstep, pco ); - - struct grind_edge *best_grind = NULL; - float closest_grind = INFINITY; + player_predict_land( vr, p ); - for( int i=0; i<50; i++ ) + if( p->type != k_prediction_none ) { - v3_copy( pco, pco1 ); - apply_gravity( pv, pstep ); - - m3x3_mulv( vr, pv, pv ); - v3_muladds( pco, pv, pstep, pco ); - - ray_hit contact; - v3f vdir; - - v3_sub( pco, pco1, vdir ); - contact.dist = v3_length( vdir ); - v3_divs( vdir, contact.dist, vdir); - - v3f c0, c1; - struct grind_edge *ge = player_grind_collect_edge( pco, pco1, - c0, c1, 0.4f ); - - if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) ) + if( p->score < min_score ) { - float d2 = v3_dist2( c0, c1 ); - if( d2 < closest_grind ) - { - closest_grind = d2; - best_grind = ge; - } + min_score = p->score; + best_vmod = vmod; } - if( ray_world( pco1, vdir, &contact )) - { - float land_delta = v3_dot( pv, contact.normal ); - u32 scolour = (u8)(vg_minf(-land_delta * 2.0f, 255.0f)); + if( p->score > max_score ) + max_score = p->score; + } + } - /* Bias prediction towords ramps */ - if( ray_hit_material( &contact )->info.flags - & k_material_flag_skate_surface ) - { - land_delta *= 0.1f; - scolour |= 0x0000a000; - } + v4f vr_q; + q_axis_angle( vr_q, axis, best_vmod*0.1f ); + q_m3x3( vr_q, phys->vr ); - if( (land_delta < 0.0f) && (land_delta > best_velocity_delta) ) - { - best_velocity_delta = land_delta; + q_axis_angle( vr_q, axis, best_vmod ); + q_m3x3( vr_q, phys->vr_pstep ); - v3_copy( contact.pos, player.land_target ); - - m3x3_copy( vr, phys->vr_pstep ); - q_axis_angle( vr_q, axis, vmod*0.1f ); - q_m3x3( vr_q, phys->vr ); - } + /* + * Logging + */ + for( int i=0; ipositions[ log->count ++ ] ); - log->colour = 0xff000000 | scolour; - break; - } + float l = p->score; - v3_copy( pco, log->positions[ log->count ++ ] ); + if( l < 0.0f ) + { + vg_error( "negative score! (%f)\n", l ); } - if( best_grind ) - { - log->colour = 0xff0000ff; - - float score = -closest_grind * 0.05f; + l -= min_score; + l /= (max_score-min_score); + l = 1.0f - l; + l *= 255.0f; - if( score > best_velocity_delta ) - { - best_velocity_delta = score; - - m3x3_copy( vr, phys->vr_pstep ); - q_axis_angle( vr_q, axis, vmod*0.1f ); - q_m3x3( vr_q, phys->vr ); - } - } + p->colour = l; + p->colour <<= 8; + p->colour |= 0xff000000; } } @@ -197,6 +313,9 @@ VG_STATIC void player_physics_control_passive(void) v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f, phys->grab_mouse_delta ); v2_normalize_clamp( phys->grab_mouse_delta ); + + if( freecam ) + v2_zero( phys->grab_mouse_delta ); } else v2_zero( phys->grab_mouse_delta ); @@ -237,14 +356,11 @@ VG_STATIC void player_physics_control(void) phys->slip = slip; phys->reverse = -vg_signf(vel[2]); - float substep = VG_TIMESTEP_FIXED * 0.2f; + float substep = VG_TIMESTEP_FIXED; float fwd_resistance = k_friction_resistance; - for( int i=0; i<5; i++ ) - { - vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep); - vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep); - } + vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep); + vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep); if( player.input_jump->button.value ) { @@ -287,6 +403,59 @@ VG_STATIC void player_physics_control(void) steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground; phys->iY -= steer_scaled * VG_TIMESTEP_FIXED; + + + /* + * EXPERIMENTAL + * =============================================== + */ +#if 0 + v3f cog_ideal, diff; + + v3_muladds( phys->rb.co, phys->rb.up, 1.0f-grab, cog_ideal ); + v3_sub( cog_ideal, phys->cog, diff ); + + /* temp */ + if( v3_length2( diff ) > 20.0f*20.0f ) + v3_copy( cog_ideal, phys->cog ); + else + { + float rate_lat = k_cog_spring_lat * VG_TIMESTEP_FIXED, + rate_vert = k_cog_spring_vert * VG_TIMESTEP_FIXED, + vert_amt = v3_dot( diff, phys->rb.up ); + + /* Split into vert/lat springs */ + v3f diff_vert, diff_lat; + v3_muladds( diff, phys->rb.up, -vert_amt, diff_lat ); + v3_muls( phys->rb.up, vert_amt, diff_vert ); + + + if( diff[1] > 0.0f ) + rate_vert *= k_cog_boost_multiplier; + + float ap_a = k_cog_mass_ratio, + ap_b = -(1.0f-k_cog_mass_ratio); + + v3_muladds( phys->cog_v, diff_lat, rate_lat * ap_a, phys->cog_v ); + v3_muladds( phys->cog_v, diff_vert, rate_vert * ap_a, phys->cog_v ); + + //v3_muladds( phys->rb.v, diff_lat, rate_lat * ap_b, phys->rb.v ); + v3_muladds( phys->rb.v, diff_vert, rate_vert * ap_b, phys->rb.v ); + + /* dampen */ + v3_muls( phys->cog_v, 1.0f-(VG_TIMESTEP_FIXED*k_cog_damp), phys->cog_v ); + + /* integrate */ + v3_muladds( phys->cog, phys->cog_v, VG_TIMESTEP_FIXED, phys->cog ); + } + + + /* + * EXPERIMENTAL + * =============================================== + */ +#endif + if( !phys->jump_charge && phys->jump > 0.2f ) { @@ -351,26 +520,33 @@ VG_STATIC void player_physics_control_air(void) struct player_phys *phys = &player.phys; m3x3_mulv( phys->vr, phys->rb.v, phys->rb.v ); - vg_line_cross( player.land_target, 0xff0000ff, 0.25f ); + //vg_line_cross( player.land_target, 0xff0000ff, 0.25f ); ray_hit hit; /* * Prediction */ - float pstep = VG_TIMESTEP_FIXED * 10.0f; + float pstep = VG_TIMESTEP_FIXED * 1.0f; + float k_bias = 0.98f; v3f pco, pco1, pv; v3_copy( phys->rb.co, pco ); - v3_copy( phys->rb.v, pv ); + v3_muls( phys->rb.v, 1.0f, pv ); float time_to_impact = 0.0f; float limiter = 1.0f; - for( int i=0; i<50; i++ ) + struct grind_edge *best_grind = NULL; + float closest_grind = INFINITY; + + v3f target_normal = { 0.0f, 1.0f, 0.0f }; + int has_target = 0; + + for( int i=0; i<250; i++ ) { v3_copy( pco, pco1 ); - m3x3_mulv( phys->vr_pstep, pv, pv ); + m3x3_mulv( phys->vr, pv, pv ); apply_gravity( pv, pstep ); v3_muladds( pco, pv, pstep, pco ); @@ -380,34 +556,51 @@ VG_STATIC void player_physics_control_air(void) v3_sub( pco, pco1, vdir ); contact.dist = v3_length( vdir ); v3_divs( vdir, contact.dist, vdir); + + v3f c0, c1; + struct grind_edge *ge = player_grind_collect_edge( pco, pco1, + c0, c1, 0.4f ); + + if( ge && (v3_dot((v3f){0.0f,1.0f,0.0f},vdir) < -0.2f ) ) + { + vg_line( ge->p0, ge->p1, 0xff0000ff ); + vg_line_cross( pco, 0xff0000ff, 0.25f ); + has_target = 1; + break; + } float orig_dist = contact.dist; - if( ray_world( pco1, vdir, &contact )) + if( ray_world( pco1, vdir, &contact ) ) { - float angle = v3_dot( phys->rb.up, contact.normal ); - v3f axis; - v3_cross( phys->rb.up, contact.normal, axis ); - + v3_copy( contact.normal, target_normal ); + has_target = 1; time_to_impact += (contact.dist/orig_dist)*pstep; - limiter = vg_minf( 5.0f, time_to_impact )/5.0f; - limiter = 1.0f-limiter; - limiter *= limiter; - limiter = 1.0f-limiter; - - if( fabsf(angle) < 0.99f ) - { - v4f correction; - q_axis_angle( correction, axis, - acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, phys->rb.q, phys->rb.q ); - } - vg_line_cross( contact.pos, 0xffff0000, 0.25f ); break; } time_to_impact += pstep; } + if( has_target ) + { + float angle = v3_dot( phys->rb.up, target_normal ); + v3f axis; + v3_cross( phys->rb.up, target_normal, axis ); + + limiter = vg_minf( 5.0f, time_to_impact )/5.0f; + limiter = 1.0f-limiter; + limiter *= limiter; + limiter = 1.0f-limiter; + + if( fabsf(angle) < 0.99f ) + { + v4f correction; + q_axis_angle( correction, axis, + acosf(angle)*(1.0f-limiter)*3.0f*VG_TIMESTEP_FIXED ); + q_mul( correction, phys->rb.q, phys->rb.q ); + } + } + v2f steer = { player.input_js1h->axis.value, player.input_js1v->axis.value }; @@ -434,7 +627,7 @@ VG_STATIC void player_physics_control_air(void) #endif } -VG_STATIC void player_walk_update_collision(void) +VG_STATIC void player_walk_collider_configuration(void) { struct player_phys *phys = &player.phys; float h0 = 0.3f, @@ -454,11 +647,68 @@ VG_STATIC void player_walk_update_collision(void) rb_update_bounds( rbb ); } +VG_STATIC void player_regular_collider_configuration(void) +{ + struct player_phys *phys = &player.phys; + + /* Standard ground configuration */ + 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 ); + + player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f ); + float h = player.air_blend*0.0f; + + m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co ); + v3_copy( rbf->co, rbf->to_world[3] ); + m4x3_mulv( phys->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 ); +} + VG_STATIC void player_integrate(void); -/* - * Entire Walking physics model - * TODO: sleep when under certain velotiy - */ + +VG_STATIC int player_walk_surface_standable( v3f n ) +{ + return v3_dot( n, (v3f){0.0f,1.0f,0.0f} ) > 0.5f; +} + +VG_STATIC void player_walk_stepdown(void) +{ + struct player_phys *phys = &player.phys; + float max_dist = 0.4f; + + v3f pa, pb; + v3_copy( phys->rb.co, pa ); + pa[1] += 0.3f; + + v3_muladds( pa, (v3f){0.01f,1.0f,0.01f}, -max_dist, pb ); + vg_line( pa, pb, 0xff000000 ); + + /* TODO: Make #define */ + float r = 0.3f, + t; + + v3f n; + if( spherecast_world( pa, pb, r, &t, n ) != -1 ) + { + if( player_walk_surface_standable( n ) ) + { + phys->in_air = 0; + v3_lerp( pa, pb, t+0.001f, phys->rb.co ); + phys->rb.co[1] -= 0.3f; + } + } +} + +VG_STATIC int player_update_collision_manifold( rb_ct *manifold ); VG_STATIC void player_walk_physics(void) { struct player_phys *phys = &player.phys; @@ -479,15 +729,16 @@ VG_STATIC void player_walk_physics(void) v2f walk = { player.input_walkh->axis.value, player.input_walkv->axis.value }; + + if( freecam ) + v2_zero( walk ); if( v2_length2(walk) > 0.001f ) v2_normalize_clamp( walk ); if( phys->in_air ) { - player_walk_update_collision(); - rb_debug( rbf, 0xff0000ff ); - rb_debug( rbb, 0xff0000ff ); + player_walk_collider_configuration(); /* allow player to accelerate a bit */ v3f walk_3d; @@ -503,9 +754,7 @@ VG_STATIC void player_walk_physics(void) v3_muladds( phys->rb.v, forward_dir, walk[1] * vel_diff, phys->rb.v ); - len = 0; - len += rb_sphere_scene( rbf, &world.rb_geo, manifold+len ); - len += rb_sphere_scene( rbb, &world.rb_geo, manifold+len ); + len = player_update_collision_manifold( manifold ); rb_presolve_contacts( manifold, len ); for( int i=0; irb.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 ); + player_walk_collider_configuration(); + len = player_update_collision_manifold( manifold ); v3f dt; v3_zero( dt ); - for( int j=0; j<3; j++ ) + for( int j=0; j<8; j++ ) { for( int i=0; ip - 0.00f ), - cur = vg_clampf( v3_dot( ct->n, dt ), 0.0f, p ); - v3_muladds( dt, ct->n, (p - cur) * 0.333333333f, dt ); + float resolved_amt = v3_dot( ct->n, dt ), + remaining = (ct->p-k_penetration_slop) - resolved_amt, + apply = vg_maxf( remaining, 0.0f ) * 0.3f; + + v3_muladds( dt, ct->n, apply, dt ); } } v3_add( dt, phys->rb.co, phys->rb.co ); + v3_add( dt, walk_apply, walk_measured ); + v3_divs( walk_measured, VG_TIMESTEP_FIXED, phys->rb.v ); + if( len ) { struct world_material *surface_mat = world_contact_material(manifold); @@ -607,51 +854,19 @@ VG_STATIC void player_walk_physics(void) phys->in_air = 1; return; } - - /* 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]; - for( int j=0; j<8; j++ ) + /* Check if grounded by current manifold */ + phys->in_air = 1; + for( int i=0; in, (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; ip - 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; - } - } - - phys->rb.co[1] -= max_dist * 0.125f; - - 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 ); + struct contact *ct = &manifold[i]; + if( player_walk_surface_standable( ct->n ) ) + phys->in_air = 0; } - /* Transitioning into air mode */ - phys->rb.co[1] = start_y; + /* otherwise... */ + if( phys->in_air ) + player_walk_stepdown(); } } @@ -687,31 +902,32 @@ VG_STATIC int player_update_grind_collision( rb_ct *contact ) v3f p0, p1, c0, c1; v3_muladds( phys->rb.co, phys->rb.forward, 0.5f, p0 ); v3_muladds( phys->rb.co, phys->rb.forward, -0.5f, p1 ); - v3_muladds( p0, phys->rb.up, 0.125f, p0 ); - v3_muladds( p1, phys->rb.up, 0.125f, p1 ); + v3_muladds( p0, phys->rb.up, 0.125f-0.15f, p0 ); + v3_muladds( p1, phys->rb.up, 0.125f-0.15f, p1 ); float const k_r = 0.25f; struct grind_edge *closest_edge = player_grind_collect_edge( p0, p1, c0, c1, k_r ); +#if 0 vg_line( p0, p1, 0xff0000ff ); +#endif if( closest_edge ) { +#if 0 vg_line_cross( c0, 0xff000000, 0.1f ); vg_line_cross( c1, 0xff000000, 0.1f ); vg_line( c0, c1, 0xff000000 ); +#endif v3f delta; v3_sub( c1, c0, delta ); - if( v3_dot( delta, phys->rb.up ) > 0.0f ) + if( v3_dot( delta, phys->rb.up ) > 0.0001f ) { - v3_copy( delta, contact->n ); - float l = v3_length( contact->n ); - v3_muls( contact->n, 1.0f/l, contact->n ); - contact->p = l; + contact->p = v3_length( delta ); contact->type = k_contact_type_edge; contact->element_id = 0; v3_copy( c1, contact->co ); @@ -724,6 +940,10 @@ VG_STATIC int player_update_grind_collision( rb_ct *contact ) v3_cross( (v3f){0.0f,1.0f,0.0f}, edge_dir, axis_dir ); v3_cross( edge_dir, axis_dir, contact->n ); +#if 0 + vg_info( "%f %f\n", v3_length( contact->n ), contact->p ); +#endif + return 1; } else @@ -741,26 +961,15 @@ VG_STATIC int player_update_collision_manifold( rb_ct *manifold ) 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 ); - - player.air_blend = vg_lerpf( player.air_blend, phys->in_air, 0.1f ); - float h = player.air_blend*0.2f; - - m4x3_mulv( phys->rb.to_world, (v3f){0.0f,h,-k_board_length}, rbf->co ); - v3_copy( rbf->co, rbf->to_world[3] ); - m4x3_mulv( phys->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 ); + +#if 0 + phys->rise = vg_lerpf( phys->rise, phys->in_air? -0.25f: 0.0f, + VG_TIMESTEP_FIXED ); +#endif + int len_f = 0, len_b = 0; @@ -772,7 +981,11 @@ VG_STATIC int player_update_collision_manifold( rb_ct *manifold ) rb_manifold_filter_joint_edges( manifold, len_f, 0.05f ); rb_manifold_filter_pairs( manifold, len_f, 0.05f ); } - len_f = rb_manifold_apply_filtered( manifold, len_f ); + int new_len_f = rb_manifold_apply_filtered( manifold, len_f ); + if( len_f && !new_len_f ) + len_f = 1; + else + len_f = new_len_f; rb_ct *man_b = &manifold[len_f]; len_b = rb_sphere_scene( rbb, &world.rb_geo, man_b ); @@ -783,30 +996,11 @@ VG_STATIC int player_update_collision_manifold( rb_ct *manifold ) rb_manifold_filter_joint_edges( man_b, len_b, 0.05f ); rb_manifold_filter_pairs( man_b, len_b, 0.05f ); } - len_b = rb_manifold_apply_filtered( man_b, len_b ); - -#if 0 - /* - * Preprocess collision points, and create a surface picture. - * we want contacts that are within our 'capsule's internal line to be - * clamped so that they face the line and do not oppose, to stop the - * player hanging up on stuff - */ - for( int i=0; ico, dfront ); - v3_sub( manifold[i].co, rbb->co, dback ); - - if( (v3_dot( dfront, phys->rb.forward ) < -0.02f) && - (v3_dot( dback, phys->rb.forward ) > 0.02f)) - { - float p = v3_dot( manifold[i].n, phys->rb.forward ); - v3_muladds( manifold[i].n, phys->rb.forward, -p, manifold[i].n ); - v3_normalize( manifold[i].n ); - } - } -#endif + int new_len_b = rb_manifold_apply_filtered( man_b, len_b ); + if( len_b && !new_len_b ) + len_b = 1; + else + len_b = new_len_b; return len_f + len_b; } @@ -819,7 +1013,108 @@ VG_STATIC void player_adhere_ground( rb_ct *manifold, int len ) v3f surface_avg; v3_zero( surface_avg ); - if( len == 0 ) + /* + * + * EXPERIMENTAL + * ================================================================ + */ + if( phys->in_air ) + player.normal_pressure = 0.0f; + else + player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v ); + + v3f p0_0, p0_1, + p1_0, p1_1, + n0, n1; + float t0, t1; + + float mod = 0.7f * player.input_grab->axis.value + 0.3f, + spring_k = mod * k_spring_force, + damp_K = mod * k_spring_dampener, + disp_k = 0.4f; + + v3_copy( player.collide_front.co, p0_0 ); + v3_copy( player.collide_back.co, p1_0 ); + + v3_muladds( p0_0, phys->rb.up, -disp_k, p0_1 ); + v3_muladds( p1_0, phys->rb.up, -disp_k, p1_1 ); + + int cast0 = spherecast_world( p0_0, p0_1, 0.2f, &t0, n0 ), + cast1 = spherecast_world( p1_0, p1_1, 0.2f, &t1, n1 ); + + v3f animp0, animp1; + + m4x3f temp; + m3x3_copy( phys->rb.to_world, temp ); + if( cast0 != -1 ) + { + v3_lerp( p0_0, p0_1, t0, temp[3] ); + v3_copy( temp[3], animp0 ); + debug_sphere( temp, 0.2f, VG__PINK ); + + v3f F, delta; + v3_sub( p0_0, phys->rb.co, delta ); + + float displacement = vg_clampf( 1.0f-t0, 0.0f, 1.0f ), + damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) ); + v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta - + damp*damp_K*k_rb_delta, F ); + + v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v ); + + /* Angular velocity */ + v3f wa; + v3_cross( delta, F, wa ); + v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w ); + } + else + v3_copy( p0_1, animp0 ); + + if( cast1 != -1 ) + { + v3_lerp( p1_0, p1_1, t1, temp[3] ); + v3_copy( temp[3], animp1 ); + debug_sphere( temp, 0.2f, VG__PINK ); + + v3f F, delta; + v3_sub( p1_0, phys->rb.co, delta ); + + float displacement = vg_clampf( 1.0f-t1, 0.0f, 1.0f ), + damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) ); + v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta - + damp*damp_K*k_rb_delta, F ); + + v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v ); + + /* Angular velocity */ + v3f wa; + v3_cross( delta, F, wa ); + v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w ); + } + else + v3_copy( p1_1, animp1 ); + + v3f animavg, animdelta; + v3_add( animp0, animp1, animavg ); + v3_muls( animavg, 0.5f, animavg ); + + v3_sub( animp1, animp0, animdelta ); + v3_normalize( animdelta ); + + m4x3_mulv( phys->rb.to_local, animavg, player.board_offset ); + + float dx = -v3_dot( animdelta, phys->rb.forward ), + dy = v3_dot( animdelta, phys->rb.up ); + + float angle = -atan2f( dy, dx ); + q_axis_angle( player.board_rotation, (v3f){ 1.0f, 0.0f, 0.0f }, angle ); + + /* + * ================================================================ + * EXPERIMENTAL + */ + + if( len == 0 && !((cast0 !=-1)&&(cast1!=-1)) ) { phys->lift_frames ++; @@ -855,11 +1150,13 @@ VG_STATIC void player_adhere_ground( rb_ct *manifold, int len ) float angle = v3_dot( phys->rb.up, projected ); v3_cross( phys->rb.up, projected, axis ); +#if 0 v3f p0, p1; v3_add( phys->rb.co, projected, p0 ); v3_add( phys->rb.co, phys->rb.up, p1 ); vg_line( phys->rb.co, p0, 0xff00ff00 ); vg_line( phys->rb.co, p1, 0xff000fff ); +#endif if( fabsf(angle) < 0.999f ) { @@ -879,7 +1176,106 @@ VG_STATIC void player_collision_response( rb_ct *manifold, int len ) { struct player_phys *phys = &player.phys; - for( int j=0; j<5; j++ ) + /* + * EXPERIMENTAL + * =============================================== + */ + +#if 0 + player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v ); + + { + float ideal = 1.0f-player.input_grab->axis.value, + diff = phys->spring - ideal, + Fspring = -k_cog_spring_lat * diff, + Fdamp = -k_cog_damp * phys->springv, + F = (Fspring + Fdamp) * k_rb_delta; + + phys->springv += F; + phys->spring += phys->springv * k_rb_delta; + + if( phys->springv > 0.0f ) + v3_muladds( phys->rb.v, phys->rb.up, F*k_cog_spring_vert, phys->rb.v ); + + if( phys->in_air ) + player.normal_pressure = 0.0f; + else + player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v ); + } +#endif + + if( player.input_grab->axis.value > 0.5f ) + { + if( !phys->in_air ) + { + /* Throw */ + v3_muls( phys->rb.up, k_mmthrow_scale, phys->throw_v ); + } + } + else + { + /* Collect */ + float doty = v3_dot( phys->rb.up, phys->throw_v ); + + v3f Fl, Fv; + v3_muladds( phys->throw_v, phys->rb.up, -doty, Fl ); + + if( !phys->in_air ) + { + v3_muladds( phys->rb.v, Fl, k_mmcollect_lat, phys->rb.v ); + v3_muladds( phys->throw_v, Fl, -k_mmcollect_lat, phys->throw_v ); + } + + v3_muls( phys->rb.up, -doty, Fv ); + v3_muladds( phys->rb.v, Fv, k_mmcollect_vert, phys->rb.v ); + v3_muladds( phys->throw_v, Fv, k_mmcollect_vert, phys->throw_v ); + + v3_copy( Fl, player.debug_mmcollect_lat ); + v3_copy( Fv, player.debug_mmcollect_vert ); + } + + /* Decay */ + if( v3_length2( phys->throw_v ) > 0.0001f ) + { + v3f dir; + v3_copy( phys->throw_v, dir ); + v3_normalize( dir ); + + float max = v3_dot( dir, phys->throw_v ), + amt = vg_minf( k_mmdecay * k_rb_delta, max ); + + v3_muladds( phys->throw_v, dir, -amt, phys->throw_v ); + } + + + /* TODO: RElocate */ + { + + v3f ideal_cog, ideal_diff; + v3_muladds( phys->rb.co, phys->rb.up, + 1.0f-player.input_grab->axis.value, ideal_cog ); + v3_sub( ideal_cog, phys->cog, ideal_diff ); + + /* Apply velocities */ + v3f rv; + v3_sub( phys->rb.v, phys->cog_v, rv ); + + v3f F; + v3_muls( ideal_diff, -k_cog_spring * k_rb_rate, F ); + v3_muladds( F, rv, -k_cog_damp * k_rb_rate, F ); + + float ra = k_cog_mass_ratio, + rb = 1.0f-k_cog_mass_ratio; + + v3_muladds( phys->cog_v, F, -rb, phys->cog_v ); + } + + /* + * EXPERIMENTAL + * =============================================== + */ + + for( int j=0; j<10; j++ ) { for( int i=0; irb.up, impulse ), - wx = v3_dot( phys->rb.right, impulse )*1.8f; + float wy = v3_dot( phys->rb.up, impulse ) * 0.8f, + wx = v3_dot( phys->rb.right, impulse )*1.0f; v3_muladds( phys->rb.w, phys->rb.up, wy, phys->rb.w ); v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w ); } } + + /* early integrate this */ + phys->cog_v[1] += -9.8f * k_rb_delta; + v3_muladds( phys->cog, phys->cog_v, k_rb_delta, phys->cog ); } VG_STATIC void player_save_frame(void) @@ -941,6 +1341,10 @@ VG_STATIC void player_restore_frame(void) VG_STATIC void player_integrate(void) { struct player_phys *phys = &player.phys; + v3_sub( phys->rb.v, phys->v_last, phys->a ); + v3_muls( phys->a, 1.0f/VG_TIMESTEP_FIXED, phys->a ); + v3_copy( phys->rb.v, phys->v_last ); + apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED ); v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co ); } @@ -970,6 +1374,8 @@ VG_STATIC void player_do_motion(void) if( phys->on_board ) { rb_ct manifold[72]; + + player_regular_collider_configuration(); int len = player_update_collision_manifold( manifold ); int grind_col = player_update_grind_collision( &manifold[len] ); @@ -1052,7 +1458,7 @@ VG_STATIC void player_do_motion(void) /* Real angular velocity integration */ - v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f, phys->rb.w ); + v3_lerp( phys->rb.w, (v3f){0.0f,0.0f,0.0f}, 0.125f*0.5f, phys->rb.w ); if( v3_length2( phys->rb.w ) > 0.0f ) { v4f rotation; @@ -1086,12 +1492,23 @@ VG_STATIC void player_do_motion(void) if( gate_intersect( gate, phys->rb.co, prevco ) ) { m4x3_mulv( gate->transport, phys->rb.co, phys->rb.co ); + m4x3_mulv( gate->transport, phys->cog, phys->cog ); + m3x3_mulv( gate->transport, phys->cog_v, phys->cog_v ); m3x3_mulv( gate->transport, phys->rb.v, phys->rb.v ); m3x3_mulv( gate->transport, phys->vl, phys->vl ); m3x3_mulv( gate->transport, phys->v_last, phys->v_last ); m3x3_mulv( gate->transport, phys->m, phys->m ); m3x3_mulv( gate->transport, phys->bob, phys->bob ); + /* Pre-emptively edit the camera matrices so that the motion vectors + * are correct */ + m4x3f transport_i; + m4x4f transport_4; + m4x3_invert_affine( gate->transport, transport_i ); + m4x3_expand( transport_i, transport_4 ); + m4x4_mul( main_camera.mtx.pv, transport_4, main_camera.mtx.pv ); + m4x4_mul( main_camera.mtx.v, transport_4, main_camera.mtx.v ); + v4f transport_rotation; m3x3_q( gate->transport, transport_rotation ); q_mul( transport_rotation, phys->rb.q, phys->rb.q ); @@ -1127,7 +1544,7 @@ VG_STATIC void player_freecam(void) { player_mouseview(); - float movespeed = fc_speed; + float movespeed = fc_speed * VG_TIMESTEP_FIXED; v3f lookdir = { 0.0f, 0.0f, -1.0f }, sidedir = { 1.0f, 0.0f, 0.0f }; @@ -1136,22 +1553,22 @@ VG_STATIC void player_freecam(void) static v3f move_vel = { 0.0f, 0.0f, 0.0f }; - /* TODO */ -#if 0 - if( vg_get_button( "forward" ) ) - v3_muladds( move_vel, lookdir, VG_TIMESTEP_FIXED * movespeed, move_vel ); - if( vg_get_button( "back" ) ) - v3_muladds( move_vel, lookdir, VG_TIMESTEP_FIXED *-movespeed, move_vel ); - if( vg_get_button( "left" ) ) - v3_muladds( move_vel, sidedir, VG_TIMESTEP_FIXED *-movespeed, move_vel ); - if( vg_get_button( "right" ) ) - v3_muladds( move_vel, sidedir, VG_TIMESTEP_FIXED * movespeed, move_vel ); -#endif + v2f steer = { player.input_js1h->axis.value, + player.input_js1v->axis.value }; + + v3_muladds( move_vel, sidedir, movespeed*steer[0], move_vel ); + v3_muladds( move_vel, lookdir, -movespeed*steer[1], move_vel ); v3_muls( move_vel, 0.7f, move_vel ); v3_add( move_vel, player.camera_pos, player.camera_pos ); } +VG_STATIC int kill_player( int argc, char const *argv[] ) +{ + player_kill(); + return 0; +} + VG_STATIC int reset_player( int argc, char const *argv[] ) { struct player_phys *phys = &player.phys; @@ -1214,10 +1631,12 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) v3f delta = {1.0f,0.0f,0.0f}; m3x3_mulv( the_long_way, delta, delta ); - - player.angles[0] = atan2f( delta[0], -delta[2] ); - player.angles[1] = -asinf( delta[1] ); - + + if( !freecam ) + { + player.angles[0] = atan2f( delta[0], -delta[2] ); + player.angles[1] = -asinf( delta[1] ); + } v4_copy( rp->q, phys->rb.q ); v3_copy( rp->co, phys->rb.co ); @@ -1233,8 +1652,64 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) player.mdl.shoes[1] = 1; rb_update_transform( &phys->rb ); + + v3_add( phys->rb.up, phys->rb.co, phys->cog ); + v3_zero( phys->cog_v ); + player_save_frame(); return 1; } +VG_STATIC void reset_player_poll( int argc, char const *argv[] ) +{ + if( argc == 1 ) + { + for( int i=0; iname, argv[argc-1], 0 ); + } + } +} + +VG_STATIC void player_physics_gui(void) +{ + return; + + vg_uictx.cursor[0] = 0; + vg_uictx.cursor[1] = vg.window_y - 128; + vg_uictx.cursor[3] = 14; + ui_fill_x(); + + char buf[128]; + + snprintf( buf, 127, "v: %6.3f %6.3f %6.3f\n", player.phys.rb.v[0], + player.phys.rb.v[1], + player.phys.rb.v[2] ); + + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + + snprintf( buf, 127, "a: %6.3f %6.3f %6.3f (%6.3f)\n", player.phys.a[0], + player.phys.a[1], + player.phys.a[2], + v3_length(player.phys.a)); + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + float normal_acceleration = v3_dot( player.phys.a, player.phys.rb.up ); + snprintf( buf, 127, "Normal acceleration: %6.3f\n", normal_acceleration ); + + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + snprintf( buf, 127, "Normal Pressure: %6.3f\n", player.normal_pressure ); + ui_text( vg_uictx.cursor, buf, 1, 0 ); + vg_uictx.cursor[1] += 14; + + +} + #endif /* PLAYER_PHYSICS_H */