X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_physics.h;h=73bad63d3c1c5a45d2040938a4c22115b8970035;hb=5430d708f058626a6c8fed7dd2aa8ba5f0a06c84;hp=e08f6112281b5f0394ca10a2060da9d3b0a6095d;hpb=c52e639cdcf6d21f69caa9625238afded7513ca4;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player_physics.h b/player_physics.h index e08f611..73bad63 100644 --- a/player_physics.h +++ b/player_physics.h @@ -1,1347 +1,59 @@ /* - * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved + * Copyright (C) 2021-2023 Mt.ZERO Software, Harry Godden - All Rights Reserved */ +#define PLAYER_PHYSICS_H #ifndef PLAYER_PHYSICS_H #define PLAYER_PHYSICS_H #include "player.h" #include "camera.h" -VG_STATIC void apply_gravity( v3f vel, float const timestep ) -{ - v3f gravity = { 0.0f, -9.6f, 0.0f }; - v3_muladds( vel, gravity, timestep, vel ); -} - -VG_STATIC struct -grind_edge *player_grind_collect_edge( v3f p0, v3f p1, - v3f c0, v3f c1, float max_dist ) -{ - struct player_phys *phys = &player.phys; - - bh_iter it; - bh_iter_init( 0, &it ); - - boxf region; - - box_init_inf( region ); - box_addpt( region, p0 ); - box_addpt( region, p1 ); - - float k_r = max_dist; - v3_add( (v3f){ k_r, k_r, k_r}, region[1], region[1] ); - v3_add( (v3f){-k_r,-k_r,-k_r}, region[0], region[0] ); - - float closest = k_r*k_r; - struct grind_edge *closest_edge = NULL; - - int idx; - while( bh_next( world.grind_bh, &it, region, &idx ) ) - { - struct grind_edge *edge = &world.grind_edges[ idx ]; - - float s,t; - v3f pa, pb; - - float d2 = - closest_segment_segment( p0, p1, edge->p0, edge->p1, &s,&t, pa, pb ); - - if( d2 < closest ) - { - closest = d2; - closest_edge = edge; - v3_copy( pa, c0 ); - v3_copy( pb, c1 ); - } - } - - 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 - */ -VG_STATIC void player_start_air(void) -{ - struct player_phys *phys = &player.phys; - - float pstep = VG_TIMESTEP_FIXED * 10.0f; - float best_velocity_delta = -9999.9f; - - v3f axis; - v3_cross( phys->rb.up, phys->rb.v, axis ); - v3_normalize( axis ); - 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_prediction *p = - &player.predictions[ player.prediction_count ++ ]; - - float vmod = ((float)m / 15.0f)*0.09f; - - m3x3f vr; - v4f vr_q; - - q_axis_angle( vr_q, axis, vmod ); - q_m3x3( vr_q, vr ); - - player_predict_land( vr, p ); - - if( p->type != k_prediction_none ) - { - if( p->score < min_score ) - { - min_score = p->score; - best_vmod = vmod; - } - - if( p->score > max_score ) - max_score = p->score; - } - } - - v4f vr_q; - q_axis_angle( vr_q, axis, best_vmod*0.1f ); - q_m3x3( vr_q, phys->vr ); - - q_axis_angle( vr_q, axis, best_vmod ); - q_m3x3( vr_q, phys->vr_pstep ); - - /* - * Logging - */ - for( int i=0; iscore; - - if( l < 0.0f ) - { - vg_error( "negative score! (%f)\n", l ); - } - - l -= min_score; - l /= (max_score-min_score); - l = 1.0f - l; - l *= 255.0f; - - p->colour = l; - p->colour <<= 8; - p->colour |= 0xff000000; - } -} - - -VG_STATIC void player_physics_control_passive(void) -{ - struct player_phys *phys = &player.phys; - 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 ); - - if( freecam ) - v2_zero( 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->jump_charge || phys->in_air ) - { - phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED; - } - - phys->jump_charge = 0; - phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f ); -} - -/* - * Main friction interface model - */ -VG_STATIC void player_physics_control(void) -{ - struct player_phys *phys = &player.phys; - - /* - * Computing localized friction forces for controlling the character - * Friction across X is significantly more than Z - */ - - v3f vel; - m3x3_mulv( phys->rb.to_local, phys->rb.v, vel ); - float slip = 0.0f; - - if( fabsf(vel[2]) > 0.01f ) - slip = fabsf(-vel[0] / vel[2]) * vg_signf(vel[0]); - - if( fabsf( slip ) > 1.2f ) - slip = vg_signf( slip ) * 1.2f; - phys->slip = slip; - phys->reverse = -vg_signf(vel[2]); - - float substep = VG_TIMESTEP_FIXED * 0.2f; - 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); - } - - if( player.input_jump->button.value ) - { - phys->jump += VG_TIMESTEP_FIXED * k_jump_charge_speed; - - if( !phys->jump_charge ) - phys->jump_dir = phys->reverse > 0.0f? 1: 0; - - phys->jump_charge = 1; - } - - static int push_thresh_last = 0; - float push = player.input_push->button.value; - int push_thresh = push>0.15f? 1: 0; - - if( push_thresh && !push_thresh_last ) - player.phys.start_push = vg.time; - - push_thresh_last = push_thresh; - - if( !player.input_jump->button.value && push_thresh ) - { - player.phys.pushing = 1.0f; - player.phys.push_time = vg.time - player.phys.start_push; - - float cycle_time = player.phys.push_time*k_push_cycle_rate, - amt = k_push_accel * (sinf(cycle_time)*0.5f+0.5f)*VG_TIMESTEP_FIXED, - current = v3_length( vel ), - new_vel = vg_minf( current + amt, k_max_push_speed ); - - new_vel -= vg_minf(current, k_max_push_speed); - vel[2] -= new_vel * phys->reverse; - } - - m3x3_mulv( phys->rb.to_world, vel, phys->rb.v ); - - 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; - - if( !phys->jump_charge && phys->jump > 0.2f ) - { - v3f jumpdir; - - /* Launch more up if alignment is up else improve velocity */ - float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )), - mod = 0.5f, - dir = mod + aup*(1.0f-mod); - - v3_copy( phys->rb.v, jumpdir ); - v3_normalize( jumpdir ); - v3_muls( jumpdir, 1.0f-dir, jumpdir ); - v3_muladds( jumpdir, phys->rb.up, dir, jumpdir ); - v3_normalize( jumpdir ); - - float force = k_jump_force*phys->jump; - v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v ); - phys->jump = 0.0f; - - player.jump_time = vg.time; - - /* TODO: Move to audio file */ - audio_lock(); - audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, phys->rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] ); - audio_unlock(); - } -} - -VG_STATIC void player_physics_control_grind(void) -{ - struct player_phys *phys = &player.phys; - v2f steer = { player.input_js1h->axis.value, - player.input_js1v->axis.value }; - - float l2 = v2_length2( steer ); - if( l2 > 1.0f ) - v2_muls( steer, 1.0f/sqrtf(l2), steer ); - - phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED; - - float iX = steer[1] * phys->reverse * 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 ); - - phys->slip = 0.0f; -} - -/* - * Air control, no real physics - */ -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 ); - - ray_hit hit; - - /* - * Prediction - */ - float pstep = VG_TIMESTEP_FIXED * 1.0f; - float k_bias = 0.98f; - - v3f pco, pco1, pv; - v3_copy( phys->rb.co, pco ); - v3_muls( phys->rb.v, 1.0f, pv ); - - float time_to_impact = 0.0f; - float limiter = 1.0f; - - 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, pv, pv ); - apply_gravity( pv, pstep ); - 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 ) ) - { - 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 ) ) - { - v3_copy( contact.normal, target_normal ); - has_target = 1; - time_to_impact += (contact.dist/orig_dist)*pstep; - 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 }; - - float l2 = v2_length2( steer ); - if( l2 > 1.0f ) - v2_muls( steer, 1.0f/sqrtf(l2), steer ); - - phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED; - - 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}; - v2_muladds( target, (v2f){ vg_get_axis("grabh"), vg_get_axis("grabv") }, - phys->grab, target ); -#endif -} - -VG_STATIC void player_walk_update_collision(void) -{ - struct player_phys *phys = &player.phys; - float h0 = 0.3f, - h1 = 0.9f; - - 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] ); - 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); -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; - } - } -} - -/* - * Entire Walking physics model - * TODO: sleep when under certain velotiy - */ -VG_STATIC void player_walk_physics(void) +VG_STATIC int player_collide_sphere( rigidbody *rb, rb_ct *manifold ) { - struct player_phys *phys = &player.phys; - rigidbody *rbf = &player.collide_front, - *rbb = &player.collide_back; - - m3x3_identity( player.collide_front.to_world ); - m3x3_identity( player.collide_back.to_world ); - - v3_zero( phys->rb.w ); - q_axis_angle( phys->rb.q, (v3f){0.0f,1.0f,0.0f}, -player.angles[0] ); - - rb_ct manifold[64]; - int len; - - v3f forward_dir = { sinf(player.angles[0]),0.0f,-cosf(player.angles[0]) }; - v3f right_dir = { -forward_dir[2], 0.0f, forward_dir[0] }; - - 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 0 + int len = 0; - if( phys->in_air ) + len = rb_sphere_scene( rb, &world.rb_geo, manifold ); + rb_manifold_filter_coplanar( manifold, len, 0.05f ); + if( len > 1 ) { - player_walk_update_collision(); - rb_debug( rbf, 0xff0000ff ); - rb_debug( rbb, 0xff0000ff ); - - /* allow player to accelerate a bit */ - v3f walk_3d; - v3_muls( forward_dir, walk[1], walk_3d ); - v3_muladds( walk_3d, right_dir, walk[0], walk_3d ); - - float current_vel = fabsf(v3_dot( walk_3d, phys->rb.v )), - new_vel = current_vel + VG_TIMESTEP_FIXED*k_air_accelerate, - clamped_new = vg_clampf( new_vel, 0.0f, k_walkspeed ), - vel_diff = vg_maxf( 0.0f, clamped_new - current_vel ); - - v3_muladds( phys->rb.v, right_dir, walk[0] * vel_diff, phys->rb.v ); - 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 ); - rb_presolve_contacts( manifold, len ); - - for( int i=0; in, (v3f){0.0f,1.0f,0.0f} ) > 0.5f ) - phys->in_air = 0; - } - - for( int j=0; j<5; j++ ) - { - for( int i=0; irb.v, 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 ); - - 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 ); - } - } - } - - player_integrate(); + rb_manifold_filter_backface( manifold, len ); + rb_manifold_filter_joint_edges( manifold, len, 0.05f ); + rb_manifold_filter_pairs( manifold, len, 0.05f ); } + int new_len = rb_manifold_apply_filtered( manifold, len ); + if( len && !new_len ) + len = 1; else - { - player.walk = v2_length( walk ); - - if( player.input_walk->button.value ) - v2_muls( walk, 0.5f, walk ); - - v2_muls( walk, 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 ); + len = new_len; - v3f dt; - v3_zero( dt ); - for( int j=0; j<3; 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 ); - } - } - v3_add( dt, phys->rb.co, phys->rb.co ); - - if( len ) - { - struct world_material *surface_mat = world_contact_material(manifold); - player.surface_prop = surface_mat->info.surface_prop; - } - - /* jump */ - if( player.input_jump->button.value ) - { - phys->rb.v[1] = 5.0f; - phys->in_air = 1; - return; - } - - /* Check if grounded by current manifold */ - phys->in_air = 1; - for( int i=0; in ) ) - phys->in_air = 0; - } - - /* otherwise... */ - if( phys->in_air ) - player_walk_stepdown(); - -#if 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 pa, pb; - v3_copy( phys->rb.co, pa ); - v3_muladds( pa, (v3f){0.0f,1.0f,0.0f}, -max_dist, pb ); - - - for( int j=0; j<8; j++ ) - { - 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 ); - } - - /* Transitioning into air mode */ - phys->rb.co[1] = start_y; -#endif - } -} - -VG_STATIC void player_grind(void) -{ - struct player_phys *phys = &player.phys; - - v3f closest; - int idx = bh_closest_point( world.grind_bh, phys->rb.co, closest, INFINITY ); - if( idx == -1 ) - return; - - struct grind_edge *edge = &world.grind_edges[ idx ]; - - vg_line( phys->rb.co, closest, 0xff000000 ); - vg_line_cross( closest, 0xff000000, 0.3f ); - vg_line( edge->p0, edge->p1, 0xff000000 ); - - v3f grind_delta; - v3_sub( closest, phys->rb.co, grind_delta ); - - float p = v3_dot( phys->rb.forward, grind_delta ); - v3_muladds( grind_delta, phys->rb.forward, -p, grind_delta ); - - float a = vg_maxf( 0.0f, 4.0f-v3_dist2( closest, phys->rb.co ) ); - v3_muladds( phys->rb.v, grind_delta, a*0.2f, phys->rb.v ); -} - -VG_STATIC int player_update_grind_collision( rb_ct *contact ) -{ - struct player_phys *phys = &player.phys; - - 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-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 ); - - - vg_line( p0, p1, 0xff0000ff ); - - if( closest_edge ) - { - vg_line_cross( c0, 0xff000000, 0.1f ); - vg_line_cross( c1, 0xff000000, 0.1f ); - vg_line( c0, c1, 0xff000000 ); - - v3f delta; - v3_sub( c1, c0, delta ); - - if( v3_dot( delta, phys->rb.up ) > 0.0001f ) - { - contact->p = v3_length( delta ); - contact->type = k_contact_type_edge; - contact->element_id = 0; - v3_copy( c1, contact->co ); - contact->rba = &player.phys.rb; - contact->rbb = &world.rb_geo; - - v3f edge_dir, axis_dir; - v3_sub( closest_edge->p1, closest_edge->p0, edge_dir ); - v3_normalize( edge_dir ); - 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 ); + return len; #endif - return 1; - } - else - return -1; - } - return 0; } -/* Manifold must be able to hold at least 64 elements */ -VG_STATIC int player_update_collision_manifold( rb_ct *manifold ) -{ - struct player_phys *phys = &player.phys; - - phys->rise = vg_lerpf( phys->rise, phys->in_air? -0.25f: 0.0f, - VG_TIMESTEP_FIXED ); - - 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 ); - - rb_debug( rbf, 0xff00ffff ); - rb_debug( rbb, 0xffffff00 ); - - int len_f = 0, - len_b = 0; - - len_f = rb_sphere_scene( rbf, &world.rb_geo, manifold ); - rb_manifold_filter_coplanar( manifold, len_f, 0.05f ); - if( len_f > 1 ) - { - rb_manifold_filter_backface( manifold, len_f ); - rb_manifold_filter_joint_edges( manifold, len_f, 0.05f ); - rb_manifold_filter_pairs( manifold, len_f, 0.05f ); - } - 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 ); - rb_manifold_filter_coplanar( man_b, len_b, 0.05f ); - if( len_b > 1 ) - { - rb_manifold_filter_backface( man_b, len_b ); - rb_manifold_filter_joint_edges( man_b, len_b, 0.05f ); - rb_manifold_filter_pairs( man_b, len_b, 0.05f ); - } - 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; #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 - - return len_f + len_b; -} - -VG_STATIC void player_adhere_ground( rb_ct *manifold, int len ) -{ - struct player_phys *phys = &player.phys; - int was_in_air = phys->in_air; - - v3f surface_avg; - v3_zero( surface_avg ); - - if( len == 0 ) - { - phys->lift_frames ++; - - if( phys->lift_frames >= 8 ) - phys->in_air = 1; - } - else - { - for( int i=0; irb.v, surface_avg ) > 0.7f ) - { - phys->lift_frames ++; - - if( phys->lift_frames >= 8 ) - phys->in_air = 1; - } - else - { - phys->in_air = 0; - phys->lift_frames = 0; - v3f projected, axis; - - float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED; - v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v ); - - float d = v3_dot( phys->rb.forward, surface_avg ); - v3_muladds( surface_avg, phys->rb.forward, -d, projected ); - v3_normalize( projected ); - - float angle = v3_dot( phys->rb.up, projected ); - v3_cross( phys->rb.up, projected, axis ); - - 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 ); - - if( fabsf(angle) < 0.999f ) - { - v4f correction; - q_axis_angle( correction, axis, - acosf(angle)*4.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, phys->rb.q, phys->rb.q ); - } - } - } - - if( !was_in_air && phys->in_air ) - player_start_air(); -} - -VG_STATIC void player_collision_response( rb_ct *manifold, int len ) -{ - struct player_phys *phys = &player.phys; - - for( int j=0; j<5; j++ ) - { - for( int i=0; ico, phys->rb.co, delta ); - v3_cross( phys->rb.w, delta, dv ); - v3_add( phys->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, phys->rb.forward )) > 10.0f || - fabsf(v3_dot( impulse, phys->rb.up )) > 50.0f ) - { - player_kill(); - return; - } - - v3_add( impulse, phys->rb.v, phys->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( 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 ); - } - } -} - -VG_STATIC void player_save_frame(void) -{ - player.phys_gate_frame = player.phys; -} - -VG_STATIC void player_restore_frame(void) +VG_STATIC void apply_gravity( v3f vel, float const timestep ) { - player.phys = player.phys_gate_frame; - rb_update_transform( &player.phys.rb ); + v3f gravity = { 0.0f, -9.6f, 0.0f }; + v3_muladds( vel, gravity, timestep, vel ); } 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 ); } - -VG_STATIC void player_do_motion(void) -{ - struct player_phys *phys = &player.phys; - - if( world.water.enabled ) - { - if( (phys->rb.co[1] < 0.0f) && !player.is_dead ) - { - audio_lock(); - audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, phys->rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_splash ); - audio_unlock(); - - player_kill(); - } - } - - v3f prevco; - v3_copy( phys->rb.co, prevco ); - - if( phys->on_board ) - { - rb_ct manifold[72]; - int len = player_update_collision_manifold( manifold ); - int grind_col = player_update_grind_collision( &manifold[len] ); - - static int _grind_col_pre = 0; - - if( grind_col ) - { - phys->grind = 1; - v3f up = { 0.0f, 1.0f, 0.0f }; - float angle = v3_dot( phys->rb.up, up ); - - if( fabsf(angle) < 0.99f ) - { - v3f axis; - v3_cross( phys->rb.up, up, axis ); - - v4f correction; - q_axis_angle( correction, axis, - VG_TIMESTEP_FIXED * 10.0f * acosf(angle) ); - q_mul( correction, phys->rb.q, phys->rb.q ); - } - - float const DOWNFORCE = -k_downforce*1.2f*VG_TIMESTEP_FIXED; - v3_muladds( phys->rb.v, manifold[len].n, DOWNFORCE, phys->rb.v ); - m3x3_identity( phys->vr ); - m3x3_identity( phys->vr_pstep ); - - if( !_grind_col_pre ) - { - audio_lock(); - audio_player_set_flags( &audio_player_extra, - AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, phys->rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_board[5] ); - audio_unlock(); - } - } - else - { - phys->grind = 0; - player_adhere_ground( manifold, len ); - - if( _grind_col_pre ) - { - audio_lock(); - audio_player_set_flags( &audio_player_extra, - AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, phys->rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_board[6] ); - audio_unlock(); - } - } - - _grind_col_pre = grind_col; - - rb_presolve_contacts( manifold, len+ VG_MAX(0,grind_col) ); - player_collision_response( manifold, len+ VG_MAX(0,grind_col) ); - - player_physics_control_passive(); - - if( grind_col ) - { - phys->in_air = 0; - player_physics_control_grind(); - } - else - { - if( phys->in_air ) - player_physics_control_air(); - else - player_physics_control(); - } - - player_integrate(); - } - else - player_walk_physics(); - - - /* Real angular velocity integration */ - 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; - v3f axis; - v3_copy( phys->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, phys->rb.q, phys->rb.q ); - } - - /* Faux angular velocity */ - v4f rotate; - - float lerpq = phys->in_air? 0.04f: 0.3f; - phys->siY = vg_lerpf( phys->siY, phys->iY, lerpq ); - - q_axis_angle( rotate, phys->rb.up, phys->siY ); - q_mul( rotate, phys->rb.q, phys->rb.q ); - phys->iY = 0.0f; - - /* - * Gate intersection, by tracing a line over the gate planes - */ - for( int i=0; igate; - - if( gate_intersect( gate, phys->rb.co, prevco ) ) - { - m4x3_mulv( gate->transport, phys->rb.co, phys->rb.co ); - 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 ); - - world_routes_activate_gate( i ); - - if( !phys->on_board ) - { - v3f fwd_dir = {cosf(player.angles[0]), - 0.0f, - sinf(player.angles[0])}; - m3x3_mulv( gate->transport, fwd_dir, fwd_dir ); - - player.angles[0] = atan2f( fwd_dir[2], fwd_dir[0] ); - } - - player.rewind_length = 0; - player.rewind_total_length = 0.0f; - player.rewind_incrementer = 10000; - player_save_frame(); - - audio_lock(); - audio_play_oneshot( &audio_gate_pass, 1.0f ); - audio_unlock(); - break; - } - } - - rb_update_transform( &phys->rb ); -} +#endif VG_STATIC void player_freecam(void) { @@ -1374,7 +86,6 @@ VG_STATIC int kill_player( int argc, char const *argv[] ) VG_STATIC int reset_player( int argc, char const *argv[] ) { - struct player_phys *phys = &player.phys; struct respawn_point *rp = NULL, *r; if( argc == 1 ) @@ -1400,7 +111,7 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) for( int i=0; ico, phys->rb.co ); + float d = v3_dist2( r->co, player.co ); vg_info( "Dist %s : %f\n", r->name, d ); if( d < min_dist ) @@ -1414,12 +125,9 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) if( !rp ) { vg_error( "No spawn found\n" ); - vg_info( "Player position: %f %f %f\n", player.phys.rb.co[0], - player.phys.rb.co[1], - player.phys.rb.co[2] ); - vg_info( "Player velocity: %f %f %f\n", player.phys.rb.v[0], - player.phys.rb.v[1], - player.phys.rb.v[2] ); + vg_info( "Player position: %f %f %f\n", player.co[0], + player.co[1], + player.co[2] ); if( !world.spawn_count ) return 0; @@ -1441,20 +149,9 @@ VG_STATIC int reset_player( int argc, char const *argv[] ) player.angles[1] = -asinf( delta[1] ); } - v4_copy( rp->q, phys->rb.q ); - v3_copy( rp->co, phys->rb.co ); - v3_zero( phys->rb.v ); - - phys->vswitch = 1.0f; - phys->slip_last = 0.0f; - phys->in_air = 1; - phys->on_board = 0; - m3x3_identity( phys->vr ); + player.controller = k_player_controller_walk; + /* TODO: trigger controller slurp */ - player.mdl.shoes[0] = 1; - player.mdl.shoes[1] = 1; - - rb_update_transform( &phys->rb ); player_save_frame(); return 1; } @@ -1466,7 +163,6 @@ VG_STATIC void reset_player_poll( int argc, char const *argv[] ) for( int i=0; iname, argv[argc-1], 0 ); } }