X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_skate.c;h=7088cf1377a24f29453a49839bc43d1540bf7469;hb=b1557496a922904b7abcd47d5a59a6da44d70fe8;hp=4e354e5e8ed009f448a71754a89bcdc958548d97;hpb=33de52d9660ab86caafdd0ae4abb496dbc072778;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player_skate.c b/player_skate.c index 4e354e5..7088cf1 100644 --- a/player_skate.c +++ b/player_skate.c @@ -35,8 +35,6 @@ VG_STATIC int skate_collide_smooth( player_instance *player, m4x3f mtx, rb_sphere *sphere, rb_ct *man ) { - debug_sphere( mtx, sphere->radius, VG__BLACK ); - int len = 0; len = rb_sphere__scene( mtx, sphere, NULL, &world.rb_geo.inf.scene, man ); @@ -46,6 +44,8 @@ VG_STATIC int skate_collide_smooth( player_instance *player, man[i].rbb = NULL; } + return len; + rb_manifold_filter_coplanar( man, len, 0.05f ); if( len > 1 ) @@ -113,8 +113,8 @@ VG_STATIC int skate_grind_collide( player_instance *player, rb_ct *contact ) v3f p0, p1, c0, c1; v3_muladds( player->rb.co, player->rb.to_world[2], 0.5f, p0 ); v3_muladds( player->rb.co, player->rb.to_world[2], -0.5f, p1 ); - v3_muladds( p0, player->rb.to_world[1], 0.125f-0.15f, p0 ); - v3_muladds( p1, player->rb.to_world[1], 0.125f-0.15f, p1 ); + v3_muladds( p0, player->rb.to_world[1], 0.08f, p0 ); + v3_muladds( p1, player->rb.to_world[1], 0.08f, p1 ); float const k_r = 0.25f; struct grind_edge *closest_edge = skate_collect_grind_edge( p0, p1, @@ -149,6 +149,197 @@ VG_STATIC int skate_grind_collide( player_instance *player, rb_ct *contact ) return 0; } +VG_STATIC int skate_grind_scansq( player_instance *player, v3f pos, + v3f result_co, v3f result_dir, v3f result_n ) +{ + v4f plane; + v3_copy( player->rb.v, plane ); + v3_normalize( plane ); + plane[3] = v3_dot( plane, pos ); + + boxf box; + float r = 0.3f; + v3_add( pos, (v3f){ r, r, r }, box[1] ); + v3_sub( pos, (v3f){ r, r, r }, box[0] ); + +#if 0 + vg_line_boxf( box, VG__BLUE ); +#endif + + m4x3f mtx; + m3x3_copy( player->rb.to_world, mtx ); + v3_copy( pos, mtx[3] ); + +#if 0 + debug_sphere( mtx, r, VG__CYAN ); +#endif + + bh_iter it; + bh_iter_init( 0, &it ); + int idx; + + struct grind_sample + { + v2f co; + v2f normal; + v3f normal3, + centroid; + } + samples[48]; + + int sample_count = 0; + + v2f support_min, + support_max; + + v3f support_axis; + v3_cross( plane, (v3f){0.0f,1.0f,0.0f}, support_axis ); + v3_normalize( support_axis ); + + while( bh_next( world.geo_bh, &it, box, &idx ) ) + { + u32 *ptri = &world.scene_geo->arrindices[ idx*3 ]; + v3f tri[3]; + + for( int j=0; j<3; j++ ) + v3_copy( world.scene_geo->arrvertices[ptri[j]].co, tri[j] ); + + for( int j=0; j<3; j++ ) + { + int i0 = j, + i1 = (j+1) % 3; + + struct grind_sample *sample = &samples[ sample_count ]; + v3f co; + + if( plane_segment( plane, tri[i0], tri[i1], co ) ) + { + v3f d; + v3_sub( co, pos, d ); + if( v3_length2( d ) > r*r ) + continue; + + v3f va, vb, normal; + v3_sub( tri[1], tri[0], va ); + v3_sub( tri[2], tri[0], vb ); + v3_cross( va, vb, normal ); + + sample->normal[0] = v3_dot( support_axis, normal ); + sample->normal[1] = normal[1]; + sample->co[0] = v3_dot( support_axis, d ); + sample->co[1] = d[1]; + + v3_copy( normal, sample->normal3 ); /* normalize later + if we want to us it */ + + v3_muls( tri[0], 1.0f/3.0f, sample->centroid ); + v3_muladds( sample->centroid, tri[1], 1.0f/3.0f, sample->centroid ); + v3_muladds( sample->centroid, tri[2], 1.0f/3.0f, sample->centroid ); + + v2_normalize( sample->normal ); + sample_count ++; + + if( sample_count == vg_list_size( samples ) ) + { + break; + } + } + } + } + + if( sample_count < 2 ) + return 0; + + v3f average_position, + average_direction, + average_normal; + + v3_zero( average_position ); + v3_zero( average_direction ); + v3_zero( average_normal ); + + int passed_samples = 0; + + for( int i=0; ico, sj->co ) >= (0.01f*0.01f) ) + continue; + + /* not sharp angle */ + if( v2_dot( si->normal, sj->normal ) >= 0.7f ) + continue; + + /* not convex */ + v3f v0; + v3_sub( sj->centroid, si->centroid, v0 ); + if( v3_dot( v0, si->normal3 ) >= 0.0f || + v3_dot( v0, sj->normal3 ) <= 0.0f ) + continue; + + v3f p0; + v3_muls( support_axis, sj->co[0], p0 ); + p0[1] += sj->co[1]; + + v3_add( average_position, p0, average_position ); + + v3f n0, n1, dir; + v3_copy( si->normal3, n0 ); + v3_copy( sj->normal3, n1 ); + v3_cross( n0, n1, dir ); + v3_normalize( dir ); + + /* make sure the directions all face a common hemisphere */ + v3_muls( dir, vg_signf(v3_dot(dir,plane)), dir ); + v3_add( average_direction, dir, average_direction ); + + if( si->normal3[1] > sj->normal3[1] ) + v3_add( si->normal3, average_normal, average_normal ); + else + v3_add( sj->normal3, average_normal, average_normal ); + + passed_samples ++; + } + } + + if( !passed_samples ) + return 0; + + if( (v3_length2( average_direction ) <= 0.001f) || + (v3_length2( average_normal ) <= 0.001f ) ) + return 0; + + float div = 1.0f/(float)passed_samples; + v3_muls( average_position, div, average_position ); + v3_normalize( average_direction ); + v3_normalize( average_normal ); + + v3_add( pos, average_position, average_position ); + vg_line_pt3( average_position, 0.02f, VG__GREEN ); + + v3f p0, p1; + v3_muladds( average_position, average_direction, 0.35f, p0 ); + v3_muladds( average_position, average_direction, -0.35f, p1 ); + vg_line( p0, p1, VG__PINK ); + + v3_copy( average_position, result_co ); + v3_copy( average_normal, result_n ); + v3_copy( average_direction, result_dir ); + + return passed_samples; +} + /* * * Prediction system @@ -263,7 +454,7 @@ VG_STATIC void skate_score_biased_path( v3f co, v3f v, m3x3f vr, } VG_STATIC -void player_approximate_best_trajectory( player_instance *player ) +void player__approximate_best_trajectory( player_instance *player ) { struct player_skate *s = &player->_skate; @@ -401,8 +592,10 @@ VG_STATIC void skate_apply_grind_model( player_instance *player, player->input_js1v->axis.value }; v2_normalize_clamp( steer ); +#if 0 s->state.steery -= steer[0] * k_steer_air * k_rb_delta; s->state.steerx += steer[1] * s->state.reverse * k_steer_air * k_rb_delta; +#endif #if 0 v4f rotate; @@ -458,7 +651,7 @@ VG_STATIC void skate_apply_air_model( player_instance *player ) return; if( s->state.activity_prev != k_skate_activity_air ) - player_approximate_best_trajectory( player ); + player__approximate_best_trajectory( player ); m3x3_mulv( s->state.velocity_bias, player->rb.v, player->rb.v ); ray_hit hit; @@ -532,7 +725,7 @@ VG_STATIC void skate_apply_air_model( player_instance *player ) limiter *= limiter; limiter = 1.0f-limiter; - if( fabsf(angle) < 0.99f ) + if( fabsf(angle) < 0.9999f ) { v4f correction; q_axis_angle( correction, axis, @@ -545,9 +738,11 @@ VG_STATIC void skate_apply_air_model( player_instance *player ) player->input_js1v->axis.value }; v2_normalize_clamp( steer ); +#if 0 s->state.steery -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED; s->state.steerx += steer[1] * s->state.reverse * k_steer_air * limiter * k_rb_delta; +#endif s->land_dist = time_to_impact; v3_copy( target_normal, s->land_normal ); } @@ -615,6 +810,8 @@ VG_STATIC int skate_simulate_spring( player_instance *player, /* * Handles connection between the player and the ground + * + * TODO: Must save original velocity to use here */ VG_STATIC void skate_apply_interface_model( player_instance *player, rb_ct *manifold, int len ) @@ -684,6 +881,12 @@ VG_STATIC void skate_apply_interface_model( player_instance *player, s->state.lift_frames = 0; v3f projected, axis; + if( s->state.activity_prev == k_skate_activity_air ) + { + player->cam_land_punch_v += v3_dot( player->rb.v, surface_avg ) * + k_cam_punch; + } + float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED; v3_muladds( player->rb.v, player->rb.to_world[1], DOWNFORCE, player->rb.v ); @@ -695,6 +898,7 @@ VG_STATIC void skate_apply_interface_model( player_instance *player, float angle = v3_dot( player->rb.to_world[1], projected ); v3_cross( player->rb.to_world[1], projected, axis ); +#if 0 if( fabsf(angle) < 0.9999f ) { v4f correction; @@ -702,10 +906,86 @@ VG_STATIC void skate_apply_interface_model( player_instance *player, acosf(angle)*4.0f*VG_TIMESTEP_FIXED ); q_mul( correction, player->rb.q, player->rb.q ); } +#endif } } } +VG_STATIC int player_skate_trick_input( player_instance *player ); +VG_STATIC void skate_apply_trick_model( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + + v3f Fd, Fs, F; + v3f strength = { 3.7f, 3.6f, 8.0f }; + + v3_muls( s->board_trick_residualv, -4.0f , Fd ); + v3_muls( s->board_trick_residuald, -10.0f, Fs ); + v3_add( Fd, Fs, F ); + v3_mul( strength, F, F ); + + v3_muladds( s->board_trick_residualv, F, k_rb_delta, + s->board_trick_residualv ); + v3_muladds( s->board_trick_residuald, s->board_trick_residualv, + k_rb_delta, s->board_trick_residuald ); + + if( s->state.activity == k_skate_activity_air ) + { + if( v3_length2( s->state.trick_vel ) < 0.0001f ) + return; + + int carry_on = player_skate_trick_input( player ); + + /* we assume velocities share a common divisor, in which case the + * interval is the minimum value (if not zero) */ + + float min_rate = 99999.0f; + + for( int i=0; i<3; i++ ) + { + float v = s->state.trick_vel[i]; + if( (v > 0.0f) && (v < min_rate) ) + min_rate = v; + } + + float interval = 1.0f / min_rate, + current = floorf( s->state.trick_time / interval ), + next_end = (current+1.0f) * interval; + + + /* integrate trick velocities */ + v3_muladds( s->state.trick_euler, s->state.trick_vel, k_rb_delta, + s->state.trick_euler ); + + if( !carry_on && (s->state.trick_time + k_rb_delta >= next_end) ) + { + s->state.trick_time = 0.0f; + s->state.trick_euler[0] = roundf( s->state.trick_euler[0] ); + s->state.trick_euler[1] = roundf( s->state.trick_euler[1] ); + s->state.trick_euler[2] = roundf( s->state.trick_euler[2] ); + v3_copy( s->state.trick_vel, s->board_trick_residualv ); + v3_zero( s->state.trick_vel ); + } + + s->state.trick_time += k_rb_delta; + } + else + { + if( (s->state.lift_frames == 0) + && (v3_length2(s->state.trick_vel) >= 0.0001f ) && + s->state.trick_time > 0.2f) + { + player__dead_transition( player ); + } + + s->state.trick_euler[0] = roundf( s->state.trick_euler[0] ); + s->state.trick_euler[1] = roundf( s->state.trick_euler[1] ); + s->state.trick_euler[2] = roundf( s->state.trick_euler[2] ); + s->state.trick_time = 0.0f; + v3_zero( s->state.trick_vel ); + } +} + VG_STATIC void skate_apply_grab_model( player_instance *player ) { struct player_skate *s = &player->_skate; @@ -789,7 +1069,23 @@ VG_STATIC void skate_apply_friction_model( player_instance *player ) steer = input * (1.0f-(s->state.jump_charge+grab)*0.4f), steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground; - s->state.steery -= steer_scaled * k_rb_delta; + v3f steer_axis; + v3_muls( player->rb.to_world[1], -vg_signf( steer_scaled ), steer_axis ); + + float current = v3_dot( player->rb.to_world[1], player->rb.w ), + addspeed = (steer_scaled * -1.0f) - current, + maxaccel = 26.0f * k_rb_delta, + accel = vg_clampf( addspeed, -maxaccel, maxaccel ); + + v3_muladds( player->rb.w, player->rb.to_world[1], accel, player->rb.w ); + + +#if 0 + player_accelerate( player->rb.w, steer_axis, + fabsf(steer_scaled) * 1.0f, 30.0f ); + + //s->state.steery -= steer_scaled * k_rb_delta; +#endif } VG_STATIC void skate_apply_jump_model( player_instance *player ) @@ -838,16 +1134,18 @@ VG_STATIC void skate_apply_jump_model( player_instance *player ) float force = k_jump_force*s->state.jump_charge; v3_muladds( player->rb.v, jumpdir, force, player->rb.v ); s->state.jump_charge = 0.0f; - s->state.jump_time = vg.time; v2f steer = { player->input_js1h->axis.value, player->input_js1v->axis.value }; v2_normalize_clamp( steer ); +#if 0 float maxspin = k_steer_air * k_rb_delta * k_spin_boost; s->state.steery_s = -steer[0] * maxspin; s->state.steerx = s->state.steerx_s; +#endif + s->state.lift_frames ++; /* FIXME audio events */ #if 0 @@ -913,8 +1211,11 @@ VG_STATIC void skate_apply_cog_model( player_instance *player ) { struct player_skate *s = &player->_skate; - v3f ideal_cog, ideal_diff; - v3_muladds( player->rb.co, player->rb.to_world[1], + v3f ideal_cog, ideal_diff, ideal_dir; + v3_copy( s->state.up_dir, ideal_dir ); + v3_normalize( ideal_dir ); + + v3_muladds( player->rb.co, ideal_dir, 1.0f-player->input_grab->axis.value, ideal_cog ); v3_sub( ideal_cog, s->state.cog, ideal_diff ); @@ -946,29 +1247,30 @@ VG_STATIC void skate_collision_response( player_instance *player, { struct contact *ct = &manifold[i]; - v3f dv, delta; + v3f rv, delta; v3_sub( ct->co, player->rb.co, delta ); - v3_cross( player->rb.w, delta, dv ); - v3_add( player->rb.v, dv, dv ); + v3_cross( player->rb.w, delta, rv ); + v3_add( player->rb.v, rv, rv ); + + v3f raCn; + v3_cross( delta, ct->n, raCn ); - float vn = -v3_dot( dv, ct->n ); - vn += ct->bias; + float normal_mass = 1.0f / (1.0f + v3_dot(raCn,raCn)); + float vn = v3_dot( rv, ct->n ); + float lambda = normal_mass * ( -vn + ct->bias ); float temp = ct->norm_impulse; - ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); - vn = ct->norm_impulse - temp; + ct->norm_impulse = vg_maxf( temp + lambda, 0.0f ); + lambda = ct->norm_impulse - temp; v3f impulse; - v3_muls( ct->n, vn, impulse ); + v3_muls( ct->n, lambda, impulse ); if( fabsf(v3_dot( impulse, player->rb.to_world[2] )) > 10.0f || fabsf(v3_dot( impulse, player->rb.to_world[1] )) > 50.0f ) { - /* FIXME */ -#if 0 - player_kill(); + player__dead_transition( player ); return; -#endif } v3_add( impulse, player->rb.v, player->rb.v ); @@ -982,11 +1284,18 @@ VG_STATIC void skate_collision_response( player_instance *player, * components. */ - float wy = v3_dot( player->rb.to_world[1], impulse ) * 0.8f, - wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f; + float wy = v3_dot( player->rb.to_world[1], impulse ) * 1.0f, + wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f, + wz = v3_dot( player->rb.to_world[2], impulse ) * 1.0f; v3_muladds( player->rb.w, player->rb.to_world[1], wy, player->rb.w ); v3_muladds( player->rb.w, player->rb.to_world[0], wx, player->rb.w ); + v3_muladds( player->rb.w, player->rb.to_world[2], wz, player->rb.w ); + + + v3_cross( player->rb.w, delta, rv ); + v3_add( player->rb.v, rv, rv ); + vn = v3_dot( rv, ct->n ); } } } @@ -996,20 +1305,31 @@ VG_STATIC void skate_integrate( player_instance *player ) struct player_skate *s = &player->_skate; /* integrate rigidbody velocities */ +#ifndef SKATE_CCD v3f gravity = { 0.0f, -9.6f, 0.0f }; v3_muladds( player->rb.v, gravity, k_rb_delta, player->rb.v ); v3_muladds( player->rb.co, player->rb.v, k_rb_delta, player->rb.co ); +#endif - float decay_rate = 0.5f*0.125f; + float decay_rate = 1.0f - (k_rb_delta * 3.0f); +#if 0 if( s->state.activity == k_skate_activity_air ) { float dist = 1.0f-(s->land_dist/4.0f); decay_rate = 0.5f * vg_maxf( dist*dist, 0.0f ); } +#endif + + float wx = v3_dot( player->rb.w, player->rb.to_world[0] ) * decay_rate, + wy = v3_dot( player->rb.w, player->rb.to_world[1] ), + wz = v3_dot( player->rb.w, player->rb.to_world[2] ) * decay_rate; - v3_lerp( player->rb.w, (v3f){0.0f,0.0f,0.0f}, decay_rate, player->rb.w ); + v3_muls( player->rb.to_world[0], wx, player->rb.w ); + v3_muladds( player->rb.w, player->rb.to_world[1], wy, player->rb.w ); + v3_muladds( player->rb.w, player->rb.to_world[2], wz, player->rb.w ); +#ifndef SKATE_CCD if( v3_length2( player->rb.w ) > 0.0f ) { v4f rotation; @@ -1021,8 +1341,10 @@ VG_STATIC void skate_integrate( player_instance *player ) q_axis_angle( rotation, axis, mag*k_rb_delta ); q_mul( rotation, player->rb.q, player->rb.q ); } +#endif /* integrate steering velocities */ +#if 0 v4f rotate; float l = (s->state.activity == k_skate_activity_air)? 0.04f: 0.24f; @@ -1037,13 +1359,28 @@ VG_STATIC void skate_integrate( player_instance *player ) s->state.steerx = 0.0f; s->state.steery = 0.0f; +#endif s->state.flip_time += s->state.flip_rate * k_rb_delta; rb_update_transform( &player->rb ); } +/* + * 1 2 or 3 + */ + +VG_STATIC int player_skate_trick_input( player_instance *player ) +{ + return (player->input_trick0->button.value) | + (player->input_trick1->button.value << 1) | + (player->input_trick2->button.value << 1) | + (player->input_trick2->button.value); +} + VG_STATIC void player__skate_pre_update( player_instance *player ) { + struct player_skate *s = &player->_skate; + if( vg_input_button_down( player->input_use ) ) { player->subsystem = k_player_subsystem_walk; @@ -1055,6 +1392,42 @@ VG_STATIC void player__skate_pre_update( player_instance *player ) player__walk_transition( player, angles ); return; } + + if( vg_input_button_down( player->input_reset ) ) + { + player->rb.co[1] += 2.0f; + s->state.cog[1] += 2.0f; + q_axis_angle( player->rb.q, (v3f){1.0f,0.0f,0.0f}, VG_PIf * 0.25f ); + v3_zero( player->rb.w ); + v3_zero( player->rb.v ); + + rb_update_transform( &player->rb ); + } + + int trick_id; + if( (s->state.lift_frames > 0) && + (trick_id = player_skate_trick_input( player )) ) + { + if( (vg.time - s->state.jump_time) < 0.1f ) + { + v3_zero( s->state.trick_vel ); + s->state.trick_time = 0.0f; + + if( trick_id == 1 ) + { + s->state.trick_vel[0] = 3.0f; + } + else if( trick_id == 2 ) + { + s->state.trick_vel[2] = 3.0f; + } + else if( trick_id == 3 ) + { + s->state.trick_vel[0] = 2.0f; + s->state.trick_vel[2] = 2.0f; + } + } + } } VG_STATIC void player__skate_post_update( player_instance *player ) @@ -1086,77 +1459,651 @@ VG_STATIC void player__skate_update( player_instance *player ) v3_copy( player->rb.co, s->state.prev_pos ); s->state.activity_prev = s->state.activity; - /* Setup colliders */ - m4x3f mtx_front, mtx_back; - m3x3_identity( mtx_front ); - m3x3_identity( mtx_back ); + struct board_collider + { + v3f pos; + float radius; - skate_get_board_points( player, mtx_front[3], mtx_back[3] ); + int apply_angular; + u32 colour; - s->sphere_back.radius = 0.3f; - s->sphere_front.radius = 0.3f; + enum board_collider_state + { + k_collider_state_default, + k_collider_state_disabled, + k_collider_state_colliding + } + state; + } + wheels[] = + { + { + { 0.0f, 0.0f, -k_board_length }, + .radius = 0.07f, + .apply_angular = 1, + .colour = VG__RED + }, + { + { 0.0f, 0.0f, k_board_length }, + .radius = 0.07f, + .apply_angular = 1, + .colour = VG__GREEN + }, + { + { 0.0f, 0.2f, -k_board_length - k_board_end_radius }, + .radius = k_board_end_radius, + .apply_angular = 0, + .colour = VG__YELOW + }, + { + { 0.0f, 0.2f, k_board_length + k_board_end_radius }, + .radius = k_board_end_radius, + .apply_angular = 0, + .colour = VG__YELOW + }, + }; + + const int k_wheel_count = 2; +#if 0 + if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, -k_board_length } ) ) + { +#if 0 + wheel_states[0] = 0; + wheel_states[1] = 0; +#endif + } + + if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, k_board_length } ) ) + { +#if 0 + wheel_states[2] = 0; + wheel_states[3] = 0; +#endif + } +#endif - /* create manifold(s) */ - rb_ct manifold[72], - *interface_manifold = NULL, - *grind_manifold = NULL; + s->substep = k_rb_delta; + s->substep_delta = s->substep; + int substep_count = 0; - int - len_front = skate_collide_smooth( player, mtx_front, - &s->sphere_front, manifold ), - len_back = skate_collide_smooth( player, mtx_back, - &s->sphere_back, &manifold[len_front] ), - interface_len = len_front + len_back; - /* try to slap both wheels onto the ground when landing to prevent mega - * angular velocities being added */ - if( (s->state.activity == k_skate_activity_air) && (len_front != len_back) ) + + + + /* + * Phase 2: Truck alignment (spring/dampener model) + * it uses the first two colliders as truck positions + * -------------------------------------------------------------------------- + */ + + v3f surface_picture; + v3_zero( surface_picture ); + + for( int i=0; i<2; i++ ) { - v3f trace_from, trace_dir; - v3_muls( player->rb.to_world[1], -1.0f, trace_dir ); + if( wheels[i].state == k_collider_state_disabled ) + continue; + + v3f truck, left, right; + m4x3_mulv( player->rb.to_world, wheels[i].pos, truck ); + v3_muladds( truck, player->rb.to_world[0], -k_board_width, left ); + v3_muladds( truck, player->rb.to_world[0], k_board_width, right ); + + vg_line( left, right, wheels[i].colour ); + + v3_muladds( left, player->rb.to_world[1], 0.1f, left ); + v3_muladds( right, player->rb.to_world[1], 0.1f, right ); + + float k_max_truck_flex = VG_PIf * 0.25f; + + ray_hit ray_l, ray_r; + ray_l.dist = 0.2f; + ray_r.dist = 0.2f; + + v3f dir; + v3_muls( player->rb.to_world[1], -1.0f, dir ); + + int res_l = ray_world( left, dir, &ray_l ), + res_r = ray_world( right, dir, &ray_r ); + + /* ignore bad normals */ + if( res_l ) + { + if( v3_dot( ray_l.normal, player->rb.to_world[1] ) < 0.7071f ) + res_l = 0; + else + v3_add( ray_l.normal, surface_picture, surface_picture ); + } + + if( res_r ) + { + if( v3_dot( ray_r.normal, player->rb.to_world[1] ) < 0.7071f ) + res_r = 0; + else + v3_add( ray_r.normal, surface_picture, surface_picture ); + } + + v3f v0; + v3f midpoint; + v3_muladds( truck, player->rb.to_world[1], -wheels[i].radius, midpoint ); + + if( res_l || res_r ) + { + v3f p0, p1; + v3_copy( midpoint, p0 ); + v3_copy( midpoint, p1 ); + + if( res_l ) v3_copy( ray_l.pos, p0 ); + if( res_r ) v3_copy( ray_r.pos, p1 ); - if( len_front ) - v3_copy( mtx_back[3], trace_from ); + v3_sub( p1, p0, v0 ); + v3_normalize( v0 ); + } else - v3_copy( mtx_front[3], trace_from ); + { + /* fallback: use the closes point to the trucks */ + v3f closest; + int idx = bh_closest_point( world.geo_bh, midpoint, closest, 0.1f ); + + if( idx != -1 ) + { + u32 *tri = &world.scene_geo->arrindices[ idx * 3 ]; + v3f verts[3]; + + for( int j=0; j<3; j++ ) + v3_copy( world.scene_geo->arrvertices[ tri[j] ].co, verts[j] ); + + v3f vert0, vert1, n; + v3_sub( verts[1], verts[0], vert0 ); + v3_sub( verts[2], verts[0], vert1 ); + v3_cross( vert0, vert1, n ); + v3_normalize( n ); + + if( v3_dot( n, player->rb.to_world[1] ) < 0.3f ) + continue; + + v3_cross( n, player->rb.to_world[2], v0 ); + v3_muladds( v0, player->rb.to_world[2], + -v3_dot( player->rb.to_world[2], v0 ), v0 ); + v3_normalize( v0 ); + } + else + continue; + } + + v3_muladds( truck, v0, k_board_width, right ); + v3_muladds( truck, v0, -k_board_width, left ); + + vg_line( left, right, VG__WHITE ); + + rb_effect_spring_target_vector( &player->rb, player->rb.to_world[0], v0, + k_board_spring, k_board_dampener, + s->substep_delta ); + } + + /* + * Phase 2a: Manual alignment (spring/dampener model) + * -------------------------------------------------------------------------- + */ + + v3f weight, world_cog; + v3_zero( weight ); + + int reverse_dir = v3_dot( player->rb.to_world[2], player->rb.v ) < 0.0f?1:-1; + + if( s->state.manual_direction == 0 ) + { + if( (player->input_js1v->axis.value > 0.7f) && + (s->state.activity == k_skate_activity_ground) && + (s->state.jump_charge <= 0.01f) ) + s->state.manual_direction = reverse_dir; + } + else + { + if( player->input_js1v->axis.value < 0.1f ) + { + s->state.manual_direction = 0; + } + else + { + if( reverse_dir != s->state.manual_direction ) + { + player__dead_transition( player ); + return; + } + } + } + + if( s->state.manual_direction ) + { + float amt = vg_minf( player->input_js1v->axis.value * 8.0f, 1.0f ); + weight[2] = k_board_length * amt * (float)s->state.manual_direction; + } + + if( v3_length2( surface_picture ) > 0.001f ) + { + v3_normalize( surface_picture ); + + v3f target; + v3_copy( surface_picture, target ); + + target[1] += 2.0f * surface_picture[1]; + v3_normalize( target ); + + v3_lerp( s->state.up_dir, target, + 8.0f * s->substep_delta, s->state.up_dir ); + } + else + { + v3_lerp( s->state.up_dir, player->rb.to_world[1], + 8.0f * s->substep_delta, s->state.up_dir ); + } + + + /* TODO: Fall back on land normal */ + /* TODO: Lerp weight distribution */ + /* TODO: Can start manual only if not charge jump */ + if( v3_length2( surface_picture ) > 0.001f && + v3_length2( weight ) > 0.001f && + s->state.manual_direction ) + { + v3f plane_z; + + m3x3_mulv( player->rb.to_world, weight, plane_z ); + v3_negate( plane_z, plane_z ); + + v3_muladds( plane_z, surface_picture, + -v3_dot( plane_z, surface_picture ), plane_z ); + v3_normalize( plane_z ); + + v3_muladds( plane_z, surface_picture, 0.3f, plane_z ); + v3_normalize( plane_z ); + + v3f p1; + v3_muladds( player->rb.co, plane_z, 1.5f, p1 ); + vg_line( player->rb.co, p1, VG__GREEN ); + + v3f refdir; + v3_muls( player->rb.to_world[2], -(float)s->state.manual_direction, + refdir ); + + rb_effect_spring_target_vector( &player->rb, refdir, plane_z, + k_manul_spring, k_manul_dampener, + s->substep_delta ); + } + - ray_hit ray; - ray.dist = 0.6f; - if( ray_world( trace_from, trace_dir, &ray ) ) + + + + + + +begin_collision:; + + /* + * Phase 0: Continous collision detection + * -------------------------------------------------------------------------- + */ + + v3f head_wp0, head_wp1, start_co; + m4x3_mulv( player->rb.to_world, s->state.head_position, head_wp0 ); + v3_copy( player->rb.co, start_co ); + + for( int i=0; irb.co, player->rb.v, s->substep, future_co ); + + if( v3_length2( player->rb.w ) > 0.0f ) + { + v4f rotation; + v3f axis; + v3_copy( player->rb.w, axis ); + + float mag = v3_length( axis ); + v3_divs( axis, mag, axis ); + q_axis_angle( rotation, axis, mag*s->substep ); + q_mul( rotation, player->rb.q, future_q ); + q_normalize( future_q ); + } + + /* calculate the minimum time we can move */ + float max_time = s->substep; + + for( int i=0; irb.q, wheels[i].pos, current ); + v3_add( current, player->rb.co, current ); + + float t; + v3f n; + + float cast_radius = wheels[i].radius - k_penetration_slop * 1.2f; + if( spherecast_world( current, future, cast_radius, &t, n ) != -1) + max_time = vg_minf( max_time, t * s->substep ); + } + + /* clamp to a fraction of delta, to prevent locking */ + float rate_lock = substep_count; + rate_lock *= k_rb_delta * 0.1f; + rate_lock *= rate_lock; + + max_time = vg_maxf( max_time, rate_lock ); + s->substep_delta = max_time; + + /* integrate */ + v3_muladds( player->rb.co, player->rb.v, s->substep_delta, player->rb.co ); + if( v3_length2( player->rb.w ) > 0.0f ) + { + v4f rotation; + v3f axis; + v3_copy( player->rb.w, axis ); + + float mag = v3_length( axis ); + v3_divs( axis, mag, axis ); + q_axis_angle( rotation, axis, mag*s->substep_delta ); + q_mul( rotation, player->rb.q, player->rb.q ); + } + + rb_update_transform( &player->rb ); + + v3f gravity = { 0.0f, -9.6f, 0.0f }; + v3_muladds( player->rb.v, gravity, s->substep_delta, player->rb.v ); + + s->substep -= s->substep_delta; + + + rb_ct manifold[128]; + int manifold_len = 0; + + /* + * Phase -1: head detection + * -------------------------------------------------------------------------- + */ + m4x3_mulv( player->rb.to_world, s->state.head_position, head_wp1 ); + vg_line( head_wp0, head_wp1, VG__RED ); + + float t; + v3f n; + if( (v3_dist2( head_wp0, head_wp1 ) > 0.001f) && + (spherecast_world( head_wp0, head_wp1, 0.2f, &t, n ) != -1) ) + { + v3_lerp( start_co, player->rb.co, t, player->rb.co ); + rb_update_transform( &player->rb ); + +#if 0 + player__dead_transition( player ); +#endif + return; + } + + /* + * Phase 2-1+0.5: Grind collision + * -------------------------------------------------------------------------- + */ + + for( int i=0; i<1; i++ ) + { + + /* + * Grind collision detection + * ------------------------------------------------ + */ + v3f grind_co, grind_n, grind_dir; + if( skate_grind_scansq( player, player->rb.co, + grind_co, grind_dir, grind_n ) ) { - rb_ct *ct = &manifold[ interface_len ]; +#if 0 + rb_ct *ct = &manifold[ manifold_len ++ ]; + + v3_copy( truck, ct->co ); + v3_copy( grind_n, ct->n ); + ct->p = vg_maxf( 0.0f, ct->co[1] - truck[1] ); +#endif + + v3f target_dir; + v3_cross( grind_dir, (v3f){0.0f,1.0f,0.0f}, target_dir ); + target_dir[1] = 0.0f; + + if( v3_length2( target_dir ) <= 0.001f ) + continue; + + if( fabsf(v3_dot( player->rb.v, grind_dir )) < 0.7071f ) + continue; + + v3_copy( grind_co, player->rb.co ); + + q_axis_angle( player->rb.q, (v3f){0.0f,1.0f,0.0f}, + -atan2f( target_dir[2], target_dir[0] ) ); + + wheels[0].state = k_collider_state_disabled; + wheels[1].state = k_collider_state_disabled; + v3_muls( grind_dir, v3_dot(player->rb.v,grind_dir), player->rb.v ); + v3_zero( player->rb.w ); + + rb_update_transform( &player->rb ); + - v3_copy( ray.pos, ct->co ); - v3_copy( ray.normal, ct->n ); - ct->p = 0.0f; +#if 0 + v3f displacement, dir; + v3_sub( truck, grind_co, displacement ); + v3_copy( displacement, dir ); + v3_normalize( dir ); + + v3f rv, raW; + q_mulv( player->rb.q, wheels[i].pos, raW ); + + v3_cross( player->rb.w, raW, rv ); + v3_add( player->rb.v, rv, rv ); + + v3_muladds( rv, player->rb.to_world[2], + -v3_dot( rv, player->rb.to_world[2] ), rv ); + + v3f Fd, Fs, F; + v3_muls( displacement, -k_grind_spring, Fs ); + v3_muls( rv, -k_grind_dampener, Fd ); + + v3_add( Fd, Fs, F ); + v3_muls( F, s->substep_delta, F ); + + v3_add( player->rb.v, F, player->rb.v ); + v3f wa; + v3_cross( raW, F, wa ); + v3_add( player->rb.w, wa, player->rb.w ); + + rb_effect_spring_target_vector( &player->rb, player->rb.to_world[1], + grind_n, + k_board_spring, k_board_dampener, + s->substep_delta ); + + v3f adj; + v3_cross( grind_dir, (v3f){0.0f,1.0f,0.0f}, adj ); + rb_effect_spring_target_vector( &player->rb, player->rb.to_world[2], + adj, + k_grind_spring, k_grind_dampener, + s->substep_delta ); +#endif - interface_len ++; + s->state.activity = k_skate_activity_grind; } + else + s->state.activity = k_skate_activity_ground; } - interface_manifold = manifold; - grind_manifold = manifold + interface_len; - int grind_len = skate_grind_collide( player, grind_manifold ); + /* + * Phase 1: Regular collision detection + * TODO: Me might want to automatically add contacts from CCD, + * since at high angular velocities, theres a small change + * that discreet detection will miss. + * -------------------------------------------------------------------------- + */ - for( int i=0; irb.to_world, wheels[i].pos, mtx[3] ); + + rb_sphere collider = { .radius = wheels[i].radius }; + + rb_ct *man = &manifold[ manifold_len ]; + + int l = skate_collide_smooth( player, mtx, &collider, man ); + if( l ) + wheels[i].state = k_collider_state_colliding; + + /* for non-angular contacts we just want Y. contact positions are + * snapped to the local xz plane */ + if( !wheels[i].apply_angular ) + { + for( int j=0; jrb.co, ra ); + + float dy = v3_dot( player->rb.to_world[1], ra ); + v3_muladds( man[j].co, player->rb.to_world[1], -dy, man[j].co ); + } + } + + manifold_len += l; + } + + /* + * Phase 3: Dynamics + * -------------------------------------------------------------------------- + */ + + for( int i=0; isubstep_delta ); rb_debug_contact( &manifold[i] ); } - skate_apply_grind_model( player, grind_manifold, grind_len ); - skate_apply_interface_model( player, manifold, interface_len ); + /* yes, we are currently rebuilding mass matrices every frame. too bad! */ + v3f extent = { k_board_width, 0.1f, k_board_length }; + float ex2 = k_board_interia*extent[0]*extent[0], + ey2 = k_board_interia*extent[1]*extent[1], + ez2 = k_board_interia*extent[2]*extent[2]; + + float mass = 2.0f * (extent[0]*extent[1]*extent[2]); + float inv_mass = 1.0f/mass; + + v3f I; + I[0] = ((1.0f/12.0f) * mass * (ey2+ez2)); + I[1] = ((1.0f/12.0f) * mass * (ex2+ez2)); + I[2] = ((1.0f/12.0f) * mass * (ex2+ey2)); + + m3x3f iI; + m3x3_identity( iI ); + iI[0][0] = I[0]; + iI[1][1] = I[1]; + iI[2][2] = I[2]; + m3x3_inv( iI, iI ); + + m3x3f iIw; + m3x3_mul( iI, player->rb.to_local, iIw ); + m3x3_mul( player->rb.to_world, iIw, iIw ); + + m4x3_mulv( player->rb.to_world, weight, world_cog ); + vg_line_pt3( world_cog, 0.1f, VG__BLACK ); + + for( int j=0; j<10; j++ ) + { + for( int i=0; ico, world_cog, delta ); + v3_cross( player->rb.w, delta, rv ); + v3_add( player->rb.v, rv, rv ); + + v3f raCn; + v3_cross( delta, ct->n, raCn ); + + v3f raCnI, rbCnI; + m3x3_mulv( iIw, raCn, raCnI ); + + float normal_mass = 1.0f / (inv_mass + v3_dot(raCn,raCnI)), + vn = v3_dot( rv, ct->n ), + lambda = normal_mass * ( -vn ); + + /* FIXME! */ + v3_muladds( player->rb.co, ct->n, ct->bias*0.02f, player->rb.co ); + + float temp = ct->norm_impulse; + ct->norm_impulse = vg_maxf( temp + lambda, 0.0f ); + lambda = ct->norm_impulse - temp; + + v3f impulse; + v3_muls( ct->n, lambda, impulse ); + + v3_muladds( player->rb.v, impulse, inv_mass, player->rb.v ); + v3_cross( delta, impulse, impulse ); + m3x3_mulv( iIw, impulse, impulse ); + v3_add( impulse, player->rb.w, player->rb.w ); + + v3_cross( player->rb.w, delta, rv ); + v3_add( player->rb.v, rv, rv ); + vn = v3_dot( rv, ct->n ); + } + } + + substep_count ++; + + if( s->substep >= 0.0001f ) + goto begin_collision; /* again! */ + + /* + * End of collision and dynamics routine + * -------------------------------------------------------------------------- + */ + + for( int i=0; irb.to_world, mtx ); + m4x3_mulv( player->rb.to_world, wheels[i].pos, mtx[3] ); + debug_sphere( mtx, wheels[i].radius, + (u32[]){ VG__WHITE, VG__BLACK, + wheels[i].colour }[ wheels[i].state ]); + } + +#if 0 + skate_apply_grind_model( player, &manifold[manifold_len], grind_len ); +#endif + + skate_apply_interface_model( player, manifold, manifold_len ); skate_apply_pump_model( player ); skate_apply_cog_model( player ); - skate_collision_response( player, manifold, interface_len + grind_len ); skate_apply_grab_model( player ); skate_apply_friction_model( player ); skate_apply_jump_model( player ); skate_apply_air_model( player ); + skate_apply_trick_model( player ); skate_integrate( player ); @@ -1168,7 +2115,6 @@ VG_STATIC void player__skate_update( player_instance *player ) vg_line( player->rb.co, s->state.cog, VG__RED ); - teleport_gate *gate; if( (gate = world_intersect_gates( player->rb.co, s->state.prev_pos )) ) { @@ -1177,13 +2123,8 @@ VG_STATIC void player__skate_update( player_instance *player ) m4x3_mulv( gate->transport, s->state.cog, s->state.cog ); m3x3_mulv( gate->transport, s->state.cog_v, s->state.cog_v ); m3x3_mulv( gate->transport, s->state.throw_v, s->state.throw_v ); - - /*camera */ - m3x3_mulv( gate->transport, s->state.vl, s->state.vl ); - -#if 0 - mixedcam_transport( &s->state.cam, gate ); -#endif + m3x3_mulv( gate->transport, s->state.head_position, + s->state.head_position ); v4f transport_rotation; m3x3_q( gate->transport, transport_rotation ); @@ -1210,16 +2151,26 @@ VG_STATIC void player__skate_im_gui( player_instance *player ) player->rb.w[1], player->rb.w[2] ); - player__debugtext( 1, "activity: %s\n", + player__debugtext( 1, "activity: %s", (const char *[]){ "k_skate_activity_air", "k_skate_activity_ground", "k_skate_activity_grind }" } [s->state.activity] ); - player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]\n", +#if 0 + player__debugtext( 1, "steer_s: %5.2f %5.2f [%.2f %.2f]", s->state.steerx_s, s->state.steery_s, k_steer_ground, k_steer_air ); - player__debugtext( 1, "flip: %.4f %.4f\n", s->state.flip_rate, +#endif + player__debugtext( 1, "flip: %.4f %.4f", s->state.flip_rate, s->state.flip_time ); + player__debugtext( 1, "trickv: %.2f %.2f %.2f", + s->state.trick_vel[0], + s->state.trick_vel[1], + s->state.trick_vel[2] ); + player__debugtext( 1, "tricke: %.2f %.2f %.2f", + s->state.trick_euler[0], + s->state.trick_euler[1], + s->state.trick_euler[2] ); } VG_STATIC void player__skate_animate( player_instance *player, @@ -1236,10 +2187,18 @@ VG_STATIC void player__skate_animate( player_instance *player, v3f offset; v3_zero( offset ); - m4x3_mulv( player->rb.to_local, s->state.cog, offset ); - v3_muls( offset, -4.0f, offset ); + v3f cog_local, cog_ideal; + m4x3_mulv( player->rb.to_local, s->state.cog, cog_local ); + + v3_copy( s->state.up_dir, cog_ideal ); + v3_normalize( cog_ideal ); + m3x3_mulv( player->rb.to_local, cog_ideal, cog_ideal ); - static float speed_wobble = 0.0f, speed_wobble_2 = 0.0f; + v3_sub( cog_ideal, cog_local, offset ); + + + v3_muls( offset, 4.0f, offset ); + offset[1] *= -1.0f; float curspeed = v3_length( player->rb.v ), kickspeed = vg_clampf( curspeed*(1.0f/40.0f), 0.0f, 1.0f ), @@ -1247,10 +2206,10 @@ VG_STATIC void player__skate_animate( player_instance *player, sign = vg_signf( kicks ); s->wobble[0] = vg_lerpf( s->wobble[0], kicks*kicks*sign, 6.0f*vg.time_delta); - s->wobble[1] = vg_lerpf( s->wobble[1], speed_wobble, 2.4f*vg.time_delta); + s->wobble[1] = vg_lerpf( s->wobble[1], s->wobble[0], 2.4f*vg.time_delta); offset[0] *= 0.26f; - offset[0] += speed_wobble_2*3.0f; + offset[0] += s->wobble[1]*3.0f; offset[1] *= -0.3f; offset[2] *= 0.01f; @@ -1388,6 +2347,52 @@ VG_STATIC void player__skate_animate( player_instance *player, dest->pose[apply_to[i]-1].co[2] += offset[2]*add_grab_mod; } + + + + /* angle correction */ + if( v3_length2( s->state.up_dir ) > 0.001f ) + { + v3f ndir; + m3x3_mulv( player->rb.to_local, s->state.up_dir, ndir ); + v3_normalize( ndir ); + + v3f up = { 0.0f, 1.0f, 0.0f }; + + float a = v3_dot( ndir, up ); + a = acosf( vg_clampf( a, -1.0f, 1.0f ) ); + + v3f axis; + v4f q; + + v3_cross( up, ndir, axis ); + q_axis_angle( q, axis, a ); + + mdl_keyframe *kf_hip = &dest->pose[av->id_hip-1]; + + for( int i=0; ipose[apply_to[i]-1]; + + v3f v0; + v3_sub( kf->co, kf_hip->co, v0 ); + q_mulv( q, v0, v0 ); + v3_add( v0, kf_hip->co, kf->co ); + + q_mul( q, kf->q, kf->q ); + q_normalize( kf->q ); + } + + v3f p1, p2; + m4x3_mulv( player->rb.to_world, up, p1 ); + m4x3_mulv( player->rb.to_world, ndir, p2 ); + + vg_line( player->rb.co, p1, VG__PINK ); + vg_line( player->rb.co, p2, VG__CYAN ); + } + + + mdl_keyframe *kf_board = &dest->pose[av->id_board-1], *kf_foot_l = &dest->pose[av->id_ik_foot_l-1], *kf_foot_r = &dest->pose[av->id_ik_foot_r-1]; @@ -1399,29 +2404,68 @@ VG_STATIC void player__skate_animate( player_instance *player, v3_add( bo, kf_foot_l->co, kf_foot_l->co ); v3_add( bo, kf_foot_r->co, kf_foot_r->co ); +#if 0 m3x3f c; q_m3x3( s->board_rotation, c ); +#endif + + v4f qtotal; + + v4f qtrickr, qyawr, qpitchr, qrollr; + v3f eulerr; + + + + v3_muls( s->board_trick_residuald, VG_TAUf, eulerr ); + + q_axis_angle( qyawr, (v3f){0.0f,1.0f,0.0f}, eulerr[0] * 0.5f ); + q_axis_angle( qpitchr, (v3f){1.0f,0.0f,0.0f}, eulerr[1] ); + q_axis_angle( qrollr, (v3f){0.0f,0.0f,1.0f}, eulerr[2] ); + + q_mul( qpitchr, qrollr, qtrickr ); + q_mul( qyawr, qtrickr, qtrickr ); + q_mul( s->board_rotation, qtrickr, qtotal ); + q_normalize( qtotal ); + + q_mul( qtotal, kf_board->q, kf_board->q ); + v3f d; v3_sub( kf_foot_l->co, bo, d ); - m3x3_mulv( c, d, d ); + q_mulv( qtotal, d, d ); v3_add( bo, d, kf_foot_l->co ); v3_sub( kf_foot_r->co, bo, d ); - m3x3_mulv( c, d, d ); + q_mulv( qtotal, d, d ); v3_add( bo, d, kf_foot_r->co ); q_mul( s->board_rotation, kf_board->q, kf_board->q ); q_normalize( kf_board->q ); + + + /* trick rotation */ + v4f qtrick, qyaw, qpitch, qroll; + v3f euler; + v3_muls( s->state.trick_euler, VG_TAUf, euler ); + + q_axis_angle( qyaw, (v3f){0.0f,1.0f,0.0f}, euler[0] * 0.5f ); + q_axis_angle( qpitch, (v3f){1.0f,0.0f,0.0f}, euler[1] ); + q_axis_angle( qroll, (v3f){0.0f,0.0f,1.0f}, euler[2] ); + + q_mul( qpitch, qroll, qtrick ); + q_mul( qyaw, qtrick, qtrick ); + q_mul( kf_board->q, qtrick, kf_board->q ); + q_normalize( kf_board->q ); } /* transform */ rb_extrapolate( &player->rb, dest->root_co, dest->root_q ); - v3_muladds( dest->root_co, player->rb.to_world[1], -0.28f, dest->root_co ); + v3_muladds( dest->root_co, player->rb.to_world[1], -0.1f, dest->root_co ); + float substep = vg_clampf( vg.accumulator / VG_TIMESTEP_FIXED, 0.0f, 1.0f ); +#if 0 v4f qresy, qresx, qresidual; m3x3f mtx_residual; - float substep = vg_clampf( vg.accumulator / VG_TIMESTEP_FIXED, 0.0f, 1.0f ); q_axis_angle( qresy, player->rb.to_world[1], s->state.steery_s*substep ); q_axis_angle( qresx, player->rb.to_world[0], s->state.steerx_s*substep ); @@ -1429,6 +2473,7 @@ VG_STATIC void player__skate_animate( player_instance *player, q_normalize( qresidual ); q_mul( dest->root_q, qresidual, dest->root_q ); q_normalize( dest->root_q ); +#endif v4f qflip; if( (s->state.activity == k_skate_activity_air) && @@ -1449,133 +2494,82 @@ VG_STATIC void player__skate_animate( player_instance *player, v3_muladds( player->rb.co, player->rb.to_world[1], 0.5f, rotation_point ); v3_sub( dest->root_co, rotation_point, rco ); - /* FIXME: q_mul v3 */ - m3x3f TEMP; - q_m3x3( qflip, TEMP ); - m3x3_mulv( TEMP, rco, rco ); + q_mulv( qflip, rco, rco ); v3_add( rco, rotation_point, dest->root_co ); } } -VG_STATIC void skate_camera_firstperson( player_instance *player ) +VG_STATIC void player__skate_post_animate( player_instance *player ) { struct player_skate *s = &player->_skate; struct player_avatar *av = player->playeravatar; - /* FIXME: viewpoint entity */ - v3f vp = {-0.1f,1.8f,0.0f}; - m4x3_mulv( av->sk.final_mtx[ av->id_head-1 ], vp, player->fpv_pos ); - v3_zero( player->fpv_angles ); - - v3f flat_dir, - vel_dir, - look_dir; - - v3_copy( player->rb.v, vel_dir ); - //v3_normalize( vel_dir ); - - float tti = s->land_dist; - v3f norm; - v3_copy( s->land_normal, norm ); - - if( s->state.activity == k_skate_activity_ground ) - { - tti = 0.0f; - v3_copy( player->rb.to_world[1], norm ); - } - - v3_muladds( vel_dir, norm, -v3_dot(vel_dir,norm), flat_dir ); - //v3_normalize( flat_dir ); - - v3_lerp( flat_dir, vel_dir, vg_clampf( tti / 2.0f, 0.4f, 1.0f ), look_dir ); - v3_lerp( s->state.vl, look_dir, 4.0f*vg.time_delta, s->state.vl ); - player_vector_angles( player->fpv_angles, s->state.vl, 1.0f, 0.25f ); -} - -VG_STATIC void skate_camera_thirdperson( player_instance *player ) -{ - struct player_skate *s = &player->_skate; - struct player_avatar *av = player->playeravatar; + player->cam_velocity_influence = 1.0f; - v3f origin, dir, target; - v3_copy( player->rb.co, origin ); - v3_add( origin, (v3f){0.0f,1.35f,0.0f}, origin ); - player_set_follower_subject( player, origin ); + v3f head = { 0.0f, 1.8f, 0.0f }; /* FIXME: Viewpoint entity */ + m4x3_mulv( av->sk.final_mtx[ av->id_head ], head, s->state.head_position ); + m4x3_mulv( player->rb.to_local, s->state.head_position, + s->state.head_position ); } -VG_STATIC void player__skate_post_animate( player_instance *player ) +VG_STATIC void player__skate_reset_animator( player_instance *player ) { struct player_skate *s = &player->_skate; - struct player_avatar *av = player->playeravatar; - - skate_camera_thirdperson( player ); - skate_camera_firstperson( player ); - player->cam_angles_override_strength = 0.0f; - player->cam_position_override_strength = 0.0f; + if( s->state.activity == k_skate_activity_air ) + s->blend_fly = 1.0f; + else + s->blend_fly = 0.0f; - - - /* FIXME: Organize this. Its int wrong fucking place */ - v3f vp0 = {0.0f,0.1f, 0.6f}, - vp1 = {0.0f,0.1f,-0.6f}; - - m4x3_mulv( av->sk.final_mtx[ av->id_board ], vp0, TEMP_BOARD_0 ); - m4x3_mulv( av->sk.final_mtx[ av->id_board ], vp1, TEMP_BOARD_1 ); + s->blend_slide = 0.0f; + s->blend_z = 0.0f; + s->blend_x = 0.0f; + s->blend_stand = 0.0f; + s->blend_push = 0.0f; + s->blend_jump = 0.0f; + s->blend_airdir = 0.0f; } -VG_STATIC void player__skate_reset( player_instance *player, - struct respawn_point *rp ) +VG_STATIC void player__skate_clear_mechanics( player_instance *player ) { struct player_skate *s = &player->_skate; - v3_muladds( player->rb.co, player->rb.to_world[1], 1.0f, s->state.cog ); - + s->state.jump_charge = 0.0f; + s->state.lift_frames = 0; + s->state.flip_rate = 0.0f; #if 0 - mixedcam_reset( player, &s->state.cam ); + s->state.steery = 0.0f; + s->state.steerx = 0.0f; + s->state.steery_s = 0.0f; + s->state.steerx_s = 0.0f; #endif + s->state.reverse = 0.0f; + s->state.slip = 0.0f; + v3_copy( player->rb.co, s->state.prev_pos ); + + m3x3_identity( s->state.velocity_bias ); + m3x3_identity( s->state.velocity_bias_pstep ); + v3_zero( s->state.throw_v ); + v3_zero( s->state.trick_vel ); + v3_zero( s->state.trick_euler ); } -VG_STATIC void player__skate_transition( player_instance *player, - v3f init_velocity, - enum skate_activity init_acitivity ) +VG_STATIC void player__skate_reset( player_instance *player, + struct respawn_point *rp ) { struct player_skate *s = &player->_skate; - s->state.activity_prev = k_skate_activity_ground; - s->state.activity = init_acitivity; - - v3f dir; - v3_copy( init_velocity, dir ); - v3_normalize( dir ); - - vg_info( "init velocity: %f %f %f\n", init_velocity[0], - init_velocity[1], - init_velocity[2] ); - - q_axis_angle( player->rb.q, (v3f){0.0f,1.0f,0.0f}, - atan2f( -dir[0], -dir[2] ) ); - v3_muladds( player->rb.co, player->rb.to_world[1], 1.0f, s->state.cog ); - v3_copy( init_velocity, s->state.cog_v ); - v3_copy( init_velocity, s->state.vl ); - v3_copy( init_velocity, player->rb.v ); + v3_zero( player->rb.v ); + v3_zero( s->state.cog_v ); + v4_copy( rp->q, player->rb.q ); - rb_update_transform( &player->rb ); + s->state.activity = k_skate_activity_air; + s->state.activity_prev = k_skate_activity_air; - if( init_acitivity == k_skate_activity_air ) - { - player_approximate_best_trajectory( player ); - s->blend_fly = 1.0f; - } - else - s->blend_fly = 0.0f; + player__skate_clear_mechanics( player ); + player__skate_reset_animator( player ); - s->blend_slide = 0.0f; - s->blend_z = 0.0f; - s->blend_x = 0.0f; - s->blend_stand = 0.0f; - s->blend_push = 0.0f; - s->blend_jump = 0.0f; - s->blend_airdir = 0.0f; + v3_zero( s->state.head_position ); + s->state.head_position[1] = 1.8f; } #endif /* PLAYER_SKATE_C */