X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_skate.c;h=9609b7fa0fb9b7601740f9c474fcb78c381eef92;hb=fc1d543772607ab0643e54ebd2db9ec9dce614d1;hp=4e354e5e8ed009f448a71754a89bcdc958548d97;hpb=33de52d9660ab86caafdd0ae4abb496dbc072778;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player_skate.c b/player_skate.c index 4e354e5..9609b7f 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 ); @@ -46,13 +44,13 @@ VG_STATIC int skate_collide_smooth( player_instance *player, man[i].rbb = NULL; } - rb_manifold_filter_coplanar( man, len, 0.05f ); + rb_manifold_filter_coplanar( man, len, 0.03f ); if( len > 1 ) { rb_manifold_filter_backface( man, len ); - rb_manifold_filter_joint_edges( man, len, 0.05f ); - rb_manifold_filter_pairs( man, len, 0.05f ); + rb_manifold_filter_joint_edges( man, len, 0.03f ); + rb_manifold_filter_pairs( man, len, 0.03f ); } int new_len = rb_manifold_apply_filtered( man, len ); if( len && !new_len ) @@ -113,8 +111,8 @@ 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 +147,455 @@ VG_STATIC int skate_grind_collide( player_instance *player, rb_ct *contact ) return 0; } +struct grind_info +{ + v3f co, dir, n; +}; + +VG_STATIC int skate_grind_scansq( v3f pos, v3f dir, float r, + struct grind_info *inf ) +{ + v4f plane; + v3_copy( dir, plane ); + v3_normalize( plane ); + plane[3] = v3_dot( plane, pos ); + + boxf box; + v3_add( pos, (v3f){ r, r, r }, box[1] ); + v3_sub( pos, (v3f){ r, r, r }, box[0] ); + + 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 ) ) + goto too_many_samples; + } + } + } + +too_many_samples: + + if( sample_count < 2 ) + return 0; + + v3f + average_direction, + average_normal; + + v2f min_co, max_co; + v2_fill( min_co, INFINITY ); + v2_fill( max_co, -INFINITY ); + + 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; + + v2_minv( sj->co, min_co, min_co ); + v2_maxv( sj->co, max_co, max_co ); + + 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_normalize( average_direction ); + v3_normalize( average_normal ); + + v2f average_coord; + v2_add( min_co, max_co, average_coord ); + v2_muls( average_coord, 0.5f, average_coord ); + + v3_muls( support_axis, average_coord[0], inf->co ); + inf->co[1] += average_coord[1]; + v3_add( pos, inf->co, inf->co ); + v3_copy( average_normal, inf->n ); + v3_copy( average_direction, inf->dir ); + + vg_line_pt3( inf->co, 0.02f, VG__GREEN ); + vg_line_arrow( inf->co, average_direction, 0.3f, VG__GREEN ); + vg_line_arrow( inf->co, inf->n, 0.2f, VG__CYAN ); + + return passed_samples; +} + +#if 0 +static inline void skate_grind_coordv2i( v2f co, v2i d ) +{ + const float k_inv_res = 1.0f/0.01f; + d[0] = floorf( co[0] * k_inv_res ); + d[1] = floorf( co[1] * k_inv_res ); +} + +static inline u32 skate_grind_hashv2i( v2i d ) +{ + return (d[0] * 92837111) ^ (d[1] * 689287499); +} + +static inline u32 skate_grind_hashv2f( v2f co ) +{ + v2i d; + skate_grind_coordv2i( co, d ); + return skate_grind_hashv2i( d ); +} + +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 = k_board_length; + v3_add( pos, (v3f){ r, r, r }, box[1] ); + v3_sub( pos, (v3f){ r, r, r }, box[0] ); + + vg_line_boxf( box, VG__BLACK ); + + m4x3f mtx; + m3x3_copy( player->rb.to_world, mtx ); + v3_copy( pos, mtx[3] ); + + 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; + + + + /* spacial hashing */ + + const int k_hashmap_size = 128; + u32 hashmap[k_hashmap_size+1]; + u32 entries[48]; + + for( int i=0; ico, start ); + + v2i offsets[] = { {-1,-1},{ 0,-1},{ 1,-1}, + {-1, 0},{ 0, 0},{ 1, 0}, + {-1, 1},{ 0, 1},{ 1, 1} }; + + for( int j=0; jco, 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; + + v2_minv( sj->co, min_co, min_co ); + v2_maxv( sj->co, max_co, max_co ); + + 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_normalize( average_direction ); + v3_normalize( average_normal ); + + v2f average_coord; + v2_add( min_co, max_co, average_coord ); + v2_muls( average_coord, 0.5f, average_coord ); + + + v3_muls( support_axis, average_coord[0], result_co ); + result_co[1] += average_coord[1]; + v3_add( pos, result_co, result_co ); + +#if 0 + vg_line_pt3( result_co, 0.02f, VG__GREEN ); + + v3f p0, p1; + v3_muladds( result_co, average_direction, 0.35f, p0 ); + v3_muladds( result_co, average_direction, -0.35f, p1 ); + vg_line( p0, p1, VG__PINK ); +#endif + + v3_copy( average_normal, result_n ); + v3_copy( average_direction, result_dir ); + + return passed_samples; +} + +#endif + /* * * Prediction system @@ -181,6 +628,12 @@ VG_STATIC void skate_score_biased_path( v3f co, v3f v, m3x3f vr, air_score = INFINITY, time_to_impact = 0.0f; + v3f ground_normal, + grind_normal; + + v3_copy( (v3f){0.0f,1.0f,0.0f}, ground_normal ); + v3_copy( (v3f){0.0f,1.0f,0.0f}, grind_normal ); + prediction->log_length = 0; v3_copy( pco, prediction->apex ); @@ -203,6 +656,7 @@ VG_STATIC void skate_score_biased_path( v3f co, v3f v, m3x3f vr, float l = v3_length( vdir ); v3_muls( vdir, 1.0f/l, vdir ); +#if 0 v3f c0, c1; struct grind_edge *ge = skate_collect_grind_edge( pco, pco1, c0, c1, 0.4f ); @@ -217,6 +671,26 @@ VG_STATIC void skate_score_biased_path( v3f co, v3f v, m3x3f vr, grind_score = closest_grind * 0.05f; } } +#endif + + /* TODO: binary search grind once we find it, do not need to + * recompute scansq, or collision. only distance + */ + + v3f closest; + if( bh_closest_point( world.geo_bh, pco, closest, k_board_length ) != -1 ) + { + struct grind_info inf; + if( skate_grind_scansq( closest, vdir, 0.5f, &inf ) ) + { + float score = -v3_dot( pv, inf.n ) * 0.06f; + + if( (score > 0.0f) && (score < grind_score) ) + { + grind_score = score; + } + } + } v3f n1; @@ -224,7 +698,7 @@ VG_STATIC void skate_score_biased_path( v3f co, v3f v, m3x3f vr, int idx = spherecast_world( pco1, pco, 0.4f, &t1, n1 ); if( idx != -1 ) { - v3_copy( n1, prediction->n ); + v3_copy( n1, ground_normal ); air_score = -v3_dot( pv, n1 ); u32 vert_index = world.scene_geo->arrindices[ idx*3 ]; @@ -247,11 +721,13 @@ VG_STATIC void skate_score_biased_path( v3f co, v3f v, m3x3f vr, { prediction->score = grind_score; prediction->type = k_prediction_grind; + v3_copy( grind_normal, prediction->n ); } else if( air_score < INFINITY ) { prediction->score = air_score; prediction->type = k_prediction_land; + v3_copy( ground_normal, prediction->n ); } else { @@ -263,7 +739,7 @@ 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; @@ -282,6 +758,9 @@ void player_approximate_best_trajectory( player_instance *player ) max_score = -INFINITY; v3_zero( s->state.apex ); + v3_copy( (v3f){0.0f,1.0f,0.0f}, s->land_normal ); + /* TODO: Make part of state */ + s->land_dist = 0.0f; /* @@ -309,6 +788,9 @@ void player_approximate_best_trajectory( player_instance *player ) best_vmod = vmod; s->land_dist = p->land_dist; v3_copy( p->apex, s->state.apex ); + v3_copy( p->n, s->land_normal ); + + /* TODO: Store this as pointer? */ } if( p->score > max_score ) @@ -340,10 +822,13 @@ void player_approximate_best_trajectory( player_instance *player ) l -= min_score; l /= (max_score-min_score); l = 1.0f - l; - l *= 255.0f; - p->colour = l; - p->colour <<= 8; + p->score = l; + p->colour = l * 255.0f; + + if( p->type == k_prediction_land ) + p->colour <<= 8; + p->colour |= 0xff000000; } @@ -372,81 +857,6 @@ void player_approximate_best_trajectory( player_instance *player ) * ------------------------------------------------ */ -VG_STATIC void skate_apply_grind_model( player_instance *player, - rb_ct *manifold, int len ) -{ - struct player_skate *s = &player->_skate; - - /* FIXME: Queue audio events instead */ - if( len == 0 ) - { - if( s->state.activity == k_skate_activity_grind ) - { -#if 0 - audio_lock(); - audio_player_set_flags( &audio_player_extra, - AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, player.rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_board[6] ); - audio_unlock(); -#endif - - s->state.activity = k_skate_activity_air; - } - return; - } - - v2f steer = { player->input_js1h->axis.value, - player->input_js1v->axis.value }; - v2_normalize_clamp( steer ); - - 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; - -#if 0 - v4f rotate; - q_axis_angle( rotate, player->rb.to_world[0], siX ); - q_mul( rotate, player.rb.q, player.rb.q ); -#endif - - s->state.slip = 0.0f; - s->state.activity = k_skate_activity_grind; - - /* TODO: Compression */ - v3f up = { 0.0f, 1.0f, 0.0f }; - float angle = v3_dot( player->rb.to_world[1], up ); - - if( fabsf(angle) < 0.99f ) - { - v3f axis; - v3_cross( player->rb.to_world[1], up, axis ); - - v4f correction; - q_axis_angle( correction, axis, k_rb_delta * 10.0f * acosf(angle) ); - q_mul( correction, player->rb.q, player->rb.q ); - } - - float const DOWNFORCE = -k_downforce*1.2f*VG_TIMESTEP_FIXED; - v3_muladds( player->rb.v, manifold->n, DOWNFORCE, player->rb.v ); - m3x3_identity( s->state.velocity_bias ); - m3x3_identity( s->state.velocity_bias_pstep ); - - if( s->state.activity_prev != k_skate_activity_grind ) - { - /* FIXME: Queue audio events instead */ -#if 0 - audio_lock(); - audio_player_set_flags( &audio_player_extra, - AUDIO_FLAG_SPACIAL_3D ); - audio_player_set_position( &audio_player_extra, player.rb.co ); - audio_player_set_vol( &audio_player_extra, 20.0f ); - audio_player_playclip( &audio_player_extra, &audio_board[5] ); - audio_unlock(); -#endif - } -} - /* * Air control, no real physics */ @@ -454,15 +864,13 @@ VG_STATIC void skate_apply_air_model( player_instance *player ) { struct player_skate *s = &player->_skate; - if( s->state.activity != k_skate_activity_air ) - 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; +#if 0 + ray_hit hit; /* * Prediction */ @@ -520,209 +928,168 @@ VG_STATIC void skate_apply_air_model( player_instance *player ) } time_to_impact += pstep; } +#endif - if( has_target ) - { - float angle = v3_dot( player->rb.to_world[1], target_normal ); - v3f axis; - v3_cross( player->rb.to_world[1], target_normal, axis ); - - limiter = vg_minf( 5.0f, time_to_impact )/5.0f; - limiter = 1.0f-limiter; - limiter *= limiter; - limiter = 1.0f-limiter; + float angle = v3_dot( player->rb.to_world[1], s->land_normal ); + angle = vg_clampf( angle, -1.0f, 1.0f ); + v3f axis; + v3_cross( player->rb.to_world[1], s->land_normal, axis ); - if( fabsf(angle) < 0.99f ) - { - v4f correction; - q_axis_angle( correction, axis, - acosf(angle)*(1.0f-limiter)*2.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, player->rb.q, player->rb.q ); - } - } + v4f correction; + q_axis_angle( correction, axis, + acosf(angle)*2.0f*VG_TIMESTEP_FIXED ); + q_mul( correction, player->rb.q, player->rb.q ); v2f steer = { player->input_js1h->axis.value, player->input_js1v->axis.value }; v2_normalize_clamp( steer ); - 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; - s->land_dist = time_to_impact; - v3_copy( target_normal, s->land_normal ); -} - -VG_STATIC void skate_get_board_points( player_instance *player, - v3f front, v3f back ) -{ - v3f pos_front = {0.0f,0.0f,-k_board_length}, - pos_back = {0.0f,0.0f, k_board_length}; - - m4x3_mulv( player->rb.to_world, pos_front, front ); - m4x3_mulv( player->rb.to_world, pos_back, back ); + //s->land_dist = time_to_impact; + s->land_dist = 1.0f; } -/* - * Casts and pushes a sphere-spring model into the world - */ -VG_STATIC int skate_simulate_spring( player_instance *player, - v3f pos ) +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; - 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; + v3f Fd, Fs, F; + v3f strength = { 3.7f, 3.6f, 8.0f }; - v3f start, end; - v3_copy( pos, start ); - v3_muladds( pos, player->rb.to_world[1], -disp_k, end ); + 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 ); - float t; - v3f n; - int hit_info = spherecast_world( start, end, 0.2f, &t, n ); + 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( hit_info != -1 ) + if( s->state.activity == k_skate_activity_air ) { - v3f F, delta; - v3_sub( start, player->rb.co, delta ); - - float displacement = vg_clampf( 1.0f-t, 0.0f, 1.0f ), - damp = - vg_maxf( 0.0f, v3_dot( player->rb.to_world[1], player->rb.v ) ); + if( v3_length2( s->state.trick_vel ) < 0.0001f ) + return; - v3_muls( player->rb.to_world[1], displacement*spring_k*k_rb_delta - - damp*damp_k*k_rb_delta, F ); + int carry_on = player_skate_trick_input( player ); - v3_muladds( player->rb.v, F, 1.0f, player->rb.v ); - - /* Angular velocity */ - v3f wa; - v3_cross( delta, F, wa ); - v3_muladds( player->rb.w, wa, k_spring_angular, player->rb.w ); + /* 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 ); - v3_lerp( start, end, t, pos ); - return 1; + 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 { - v3_copy( end, pos ); - return 0; + if( (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 ); } } - -/* - * Handles connection between the player and the ground - */ -VG_STATIC void skate_apply_interface_model( player_instance *player, - rb_ct *manifold, int len ) +VG_STATIC void skate_apply_grab_model( player_instance *player ) { struct player_skate *s = &player->_skate; - if( !((s->state.activity == k_skate_activity_ground) || - (s->state.activity == k_skate_activity_air )) ) - return; + float grabt = player->input_grab->axis.value; - if( s->state.activity == k_skate_activity_air ) - s->debug_normal_pressure = 0.0f; + if( grabt > 0.5f ) + { + v2_muladds( s->state.grab_mouse_delta, vg.mouse_delta, 0.02f, + s->state.grab_mouse_delta ); + + v2_normalize_clamp( s->state.grab_mouse_delta ); + } else - s->debug_normal_pressure = v3_dot( player->rb.to_world[1], player->rb.v ); + v2_zero( s->state.grab_mouse_delta ); - /* springs */ - v3f spring0, spring1; + s->state.grabbing = vg_lerpf( s->state.grabbing, grabt, 8.4f*k_rb_delta ); +} - skate_get_board_points( player, spring1, spring0 ); - int spring_hit0 = 0, //skate_simulate_spring( player, s, spring0 ), - spring_hit1 = 0; //skate_simulate_spring( player, s, spring1 ); - - v3f animavg, animdelta; - v3_add( spring0, spring1, animavg ); - v3_muls( animavg, 0.5f, animavg ); - - v3_sub( spring1, spring0, animdelta ); - v3_normalize( animdelta ); - - m4x3_mulv( player->rb.to_local, animavg, s->board_offset ); +VG_STATIC void skate_apply_steering_model( player_instance *player ) +{ + struct player_skate *s = &player->_skate; - float dx = -v3_dot( animdelta, player->rb.to_world[2] ), - dy = v3_dot( animdelta, player->rb.to_world[1] ); + /* Steering */ + float input = player->input_js1h->axis.value, + grab = player->input_grab->axis.value, + steer = input * (1.0f-(s->state.jump_charge+grab)*0.4f), + steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground; - float angle = -atan2f( dy, dx ); - q_axis_angle( s->board_rotation, (v3f){1.0f,0.0f,0.0f}, angle ); + v3f steer_axis; + v3_muls( player->rb.to_world[1], -vg_signf( steer_scaled ), steer_axis ); - int lift_frames_limit = 6; + float rate = 26.0f, + top = 1.0f; - /* Surface connection */ - if( len == 0 && !(spring_hit0 && spring_hit1) ) + if( s->state.activity == k_skate_activity_air ) { - s->state.lift_frames ++; - - if( s->state.lift_frames >= lift_frames_limit ) - s->state.activity = k_skate_activity_air; + rate = 6.0f * fabsf(steer_scaled); + top = 1.5f; } - else - { - v3f surface_avg; - v3_zero( surface_avg ); - for( int i=0; irb.v, surface_avg ) > 0.7f ) - { - s->state.lift_frames ++; + else if( s->state.activity >= k_skate_activity_grind_any ) + { + rate *= fabsf(steer_scaled); - if( s->state.lift_frames >= lift_frames_limit ) - s->state.activity = k_skate_activity_air; - } - else - { - s->state.activity = k_skate_activity_ground; - s->state.lift_frames = 0; - v3f projected, axis; + float a = 0.8f * -steer_scaled * k_rb_delta; - float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED; - v3_muladds( player->rb.v, player->rb.to_world[1], - DOWNFORCE, player->rb.v ); + v4f q; + q_axis_angle( q, player->rb.to_world[1], a ); + q_mulv( q, s->grind_vec, s->grind_vec ); - float d = v3_dot( player->rb.to_world[2], surface_avg ); - v3_muladds( surface_avg, player->rb.to_world[2], -d, projected ); - v3_normalize( projected ); +#if 0 + float tilt = player->input_js1v->axis.value; + tilt *= tilt * 0.8f * k_rb_delta; - float angle = v3_dot( player->rb.to_world[1], projected ); - v3_cross( player->rb.to_world[1], projected, axis ); + q_axis_angle( q, player->rb.to_world[0], tilt ); + q_mulv( q, s->grind_vec, s->grind_vec ); +#endif - if( fabsf(angle) < 0.9999f ) - { - v4f correction; - q_axis_angle( correction, axis, - acosf(angle)*4.0f*VG_TIMESTEP_FIXED ); - q_mul( correction, player->rb.q, player->rb.q ); - } - } + v3_normalize( s->grind_vec ); } -} - -VG_STATIC void skate_apply_grab_model( player_instance *player ) -{ - struct player_skate *s = &player->_skate; - - float grabt = player->input_grab->axis.value; - - if( grabt > 0.5f ) - { - v2_muladds( s->state.grab_mouse_delta, vg.mouse_delta, 0.02f, - s->state.grab_mouse_delta ); - v2_normalize_clamp( s->state.grab_mouse_delta ); - } - else - v2_zero( s->state.grab_mouse_delta ); + float current = v3_dot( player->rb.to_world[1], player->rb.w ), + addspeed = (steer_scaled * -top) - current, + maxaccel = rate * k_rb_delta, + accel = vg_clampf( addspeed, -maxaccel, maxaccel ); - s->state.grabbing = vg_lerpf( s->state.grabbing, grabt, 8.4f*k_rb_delta ); + v3_muladds( player->rb.w, player->rb.to_world[1], accel, player->rb.w ); } /* @@ -732,9 +1099,6 @@ VG_STATIC void skate_apply_friction_model( player_instance *player ) { struct player_skate *s = &player->_skate; - if( s->state.activity != k_skate_activity_ground ) - return; - /* * Computing localized friction forces for controlling the character * Friction across X is significantly more than Z @@ -782,14 +1146,6 @@ VG_STATIC void skate_apply_friction_model( player_instance *player ) /* Send back to velocity */ m3x3_mulv( player->rb.to_world, vel, player->rb.v ); - - /* Steering */ - float input = player->input_js1h->axis.value, - grab = player->input_grab->axis.value, - 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; } VG_STATIC void skate_apply_jump_model( player_instance *player ) @@ -799,8 +1155,11 @@ VG_STATIC void skate_apply_jump_model( player_instance *player ) s->state.charging_jump = player->input_jump->button.value; /* Cannot charge this in air */ - if( s->state.activity != k_skate_activity_ground ) + if( s->state.activity == k_skate_activity_air ) + { s->state.charging_jump = 0; + return; + } if( s->state.charging_jump ) { @@ -811,14 +1170,11 @@ VG_STATIC void skate_apply_jump_model( player_instance *player ) } else { - s->state.jump_charge -= k_jump_charge_speed * VG_TIMESTEP_FIXED; + s->state.jump_charge -= k_jump_charge_speed * k_rb_delta; } s->state.jump_charge = vg_clampf( s->state.jump_charge, 0.0f, 1.0f ); - if( s->state.activity == k_skate_activity_air ) - return; - /* player let go after charging past 0.2: trigger jump */ if( (!s->state.charging_jump) && (s->state.jump_charge > 0.2f) ) { @@ -838,16 +1194,20 @@ 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; + s->state.activity = k_skate_activity_air; 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; + s->state.lift_frames ++; +#endif /* FIXME audio events */ #if 0 @@ -913,8 +1273,11 @@ 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 ); @@ -935,81 +1298,938 @@ VG_STATIC void skate_apply_cog_model( player_instance *player ) v3_muladds( s->state.cog, s->state.cog_v, k_rb_delta, s->state.cog ); } -VG_STATIC void skate_collision_response( player_instance *player, - rb_ct *manifold, int len ) + +VG_STATIC void skate_integrate( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + + float decay_rate = 1.0f - (k_rb_delta * 3.0f), + decay_rate_y = 1.0f; + + if( s->state.activity >= k_skate_activity_grind_any ) + { + decay_rate = 1.0f-vg_lerpf( 3.0f, 20.0f, s->grind_strength ) * k_rb_delta; + decay_rate_y = decay_rate; + } + + 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] ) * decay_rate_y, + wz = v3_dot( player->rb.w, player->rb.to_world[2] ) * decay_rate; + + 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 ); + + 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; + + v3f angles; + v3_copy( player->cam.angles, angles ); + angles[2] = 0.0f; + + 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.activity == k_skate_activity_air) && + (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 ) +{ + struct player_skate *s = &player->_skate; + + for( int i=0; iprediction_count; i++ ) + { + struct land_prediction *p = &s->predictions[i]; + + for( int j=0; jlog_length - 1; j ++ ) + { + float brightness = p->score*p->score*p->score; + v3f p1; + v3_lerp( p->log[j], p->log[j+1], brightness, p1 ); + vg_line( p->log[j], p1, p->colour ); + } + + vg_line_cross( p->log[p->log_length-1], p->colour, 0.25f ); + + v3f p1; + v3_add( p->log[p->log_length-1], p->n, p1 ); + vg_line( p->log[p->log_length-1], p1, 0xffffffff ); + + vg_line_pt3( p->apex, 0.02f, 0xffffffff ); + } + + vg_line_pt3( s->state.apex, 0.030f, 0xff0000ff ); +} + +/* + * truck alignment model at ra(local) + * returns 1 if valid surface: + * surface_normal will be filled out with an averaged normal vector + * axel_dir will be the direction from left to right wheels + * + * returns 0 if no good surface found + */ +VG_STATIC +int skate_compute_surface_alignment( player_instance *player, + v3f ra, u32 colour, + v3f surface_normal, v3f axel_dir ) +{ + struct player_skate *s = &player->_skate; + + v3f truck, left, right; + m4x3_mulv( player->rb.to_world, ra, 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, 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; + + if( res_r ) + if( v3_dot( ray_r.normal, player->rb.to_world[1] ) < 0.7071f ) + res_r = 0; + + v3f v0; + v3f midpoint; + v3f tangent_average; + v3_muladds( truck, player->rb.to_world[1], -k_board_radius, midpoint ); + v3_zero( tangent_average ); + + if( res_l || res_r ) + { + v3f p0, p1, t; + v3_copy( midpoint, p0 ); + v3_copy( midpoint, p1 ); + + if( res_l ) + { + v3_copy( ray_l.pos, p0 ); + v3_cross( ray_l.normal, player->rb.to_world[0], t ); + v3_add( t, tangent_average, tangent_average ); + } + if( res_r ) + { + v3_copy( ray_r.pos, p1 ); + v3_cross( ray_r.normal, player->rb.to_world[0], t ); + v3_add( t, tangent_average, tangent_average ); + } + + v3_sub( p1, p0, v0 ); + v3_normalize( v0 ); + } + else + { + /* 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 ) + return 0; + + 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 ); + + v3f t; + v3_cross( n, player->rb.to_world[0], t ); + v3_add( t, tangent_average, tangent_average ); + } + else + return 0; + } + + v3_muladds( truck, v0, k_board_width, right ); + v3_muladds( truck, v0, -k_board_width, left ); + + vg_line( left, right, VG__WHITE ); + + v3_normalize( tangent_average ); + v3_cross( v0, tangent_average, surface_normal ); + v3_copy( v0, axel_dir ); + + return 1; +} + +VG_STATIC void skate_weight_distribute( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + v3_zero( s->weight_distribution ); + + 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 ) + { +#if 0 + player__dead_transition( player ); +#endif + return; + } + } + } + + if( s->state.manual_direction ) + { + float amt = vg_minf( player->input_js1v->axis.value * 8.0f, 1.0f ); + s->weight_distribution[2] = k_board_length * amt * + (float)s->state.manual_direction; + } + + /* TODO: Fall back on land normal */ + /* TODO: Lerp weight distribution */ + /* TODO: Can start manual only if not charge jump */ + if( s->state.manual_direction ) + { + v3f plane_z; + + m3x3_mulv( player->rb.to_world, s->weight_distribution, plane_z ); + v3_negate( plane_z, plane_z ); + + v3_muladds( plane_z, s->surface_picture, + -v3_dot( plane_z, s->surface_picture ), plane_z ); + v3_normalize( plane_z ); + + v3_muladds( plane_z, s->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 ); + } +} + +VG_STATIC void skate_adjust_up_direction( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + + if( s->state.activity == k_skate_activity_ground ) + { + v3f target; + v3_copy( s->surface_picture, target ); + + target[1] += 2.0f * s->surface_picture[1]; + v3_normalize( target ); + + v3_lerp( s->state.up_dir, target, + 8.0f * s->substep_delta, s->state.up_dir ); + } + else if( s->state.activity == k_skate_activity_air ) + { + v3_lerp( s->state.up_dir, player->rb.to_world[1], + 8.0f * s->substep_delta, s->state.up_dir ); + } + else + { + /* FIXME UNDEFINED! */ + vg_warn( "Undefined up target!\n" ); + + v3_lerp( s->state.up_dir, (v3f){0.0f,1.0f,0.0f}, + 12.0f * s->substep_delta, s->state.up_dir ); + } +} + +VG_STATIC int skate_point_visible( v3f origin, v3f target ) +{ + v3f dir; + v3_sub( target, origin, dir ); + + ray_hit ray; + ray.dist = v3_length( dir ); + v3_muls( dir, 1.0f/ray.dist, dir ); + ray.dist -= 0.025f; + + if( ray_world( origin, dir, &ray ) ) + return 0; + + return 1; +} + +VG_STATIC void skate_grind_orient( struct grind_info *inf, m3x3f mtx ) +{ + /* TODO: Is N and Dir really orthogonal? */ + v3_copy( inf->dir, mtx[0] ); + v3_copy( inf->n, mtx[1] ); + v3_cross( mtx[0], mtx[1], mtx[2] ); +} + +VG_STATIC void skate_grind_friction( player_instance *player, + struct grind_info *inf, float strength ) +{ + v3f v2; + v3_muladds( player->rb.to_world[2], inf->n, + -v3_dot( player->rb.to_world[2], inf->n ), v2 ); + + float a = 1.0f-fabsf( v3_dot( v2, inf->dir ) ), + dir = vg_signf( v3_dot( player->rb.v, inf->dir ) ), + F = a * -dir * k_grind_max_friction; + + v3_muladds( player->rb.v, inf->dir, F*k_rb_delta*strength, player->rb.v ); +} + +VG_STATIC void skate_grind_decay( player_instance *player, + struct grind_info *inf, float strength ) +{ + m3x3f mtx, mtx_inv; + skate_grind_orient( inf, mtx ); + m3x3_transpose( mtx, mtx_inv ); + + v3f v_grind; + m3x3_mulv( mtx_inv, player->rb.v, v_grind ); + + float decay = 1.0f - ( k_rb_delta * k_grind_decayxy * strength ); + v3_mul( v_grind, (v3f){ 1.0f, decay, decay }, v_grind ); + m3x3_mulv( mtx, v_grind, player->rb.v ); +} + +VG_STATIC void skate_grind_truck_apply( player_instance *player, + v3f grind_co, struct grind_info *inf, + float strength ) +{ + struct player_skate *s = &player->_skate; + + v3f delta; + v3_sub( inf->co, grind_co, delta ); + + /* spring force */ + v3_muladds( player->rb.v, delta, k_spring_force*strength*k_rb_delta, + player->rb.v ); + + skate_grind_decay( player, inf, strength ); + skate_grind_friction( player, inf, strength ); + + /* yeah yeah yeah yeah */ + v3f raw, axis; + v3_sub( grind_co, player->rb.co, raw ); + v3_muladds( raw, inf->n, -v3_dot( inf->n, raw ), raw ); + v3_cross( raw, inf->n, axis ); + v3_normalize( axis ); + + /* orientation */ + m3x3f mtx; + skate_grind_orient( inf, mtx ); + v3f target_fwd, fwd, up, target_up; + m3x3_mulv( mtx, s->grind_vec, target_fwd ); + v3_copy( raw, fwd ); + v3_copy( player->rb.to_world[1], up ); + v3_copy( inf->n, target_up ); + + v3_muladds( target_fwd, inf->n, -v3_dot(inf->n,target_fwd), target_fwd ); + v3_muladds( fwd, inf->n, -v3_dot(inf->n,fwd), fwd ); + + v3_normalize( target_fwd ); + v3_normalize( fwd ); + + float way = player->input_js1v->axis.value * + vg_signf( v3_dot( raw, player->rb.v ) ); + + v4f q; + q_axis_angle( q, axis, VG_PIf*0.125f * way ); + q_mulv( q, target_up, target_up ); + q_mulv( q, target_fwd, target_fwd ); + + rb_effect_spring_target_vector( &player->rb, up, target_up, + k_grind_spring, + k_grind_dampener, + k_rb_delta ); + + rb_effect_spring_target_vector( &player->rb, fwd, target_fwd, + k_grind_spring*strength, + k_grind_dampener*strength, + k_rb_delta ); + + vg_line_arrow( player->rb.co, target_up, 1.0f, VG__GREEN ); + vg_line_arrow( player->rb.co, fwd, 0.8f, VG__RED ); + vg_line_arrow( player->rb.co, target_fwd, 1.0f, VG__YELOW ); + + s->grind_strength = strength; + + /* Fake contact */ + struct grind_limit *limit = &s->limits[ s->limit_count ++ ]; + m4x3_mulv( player->rb.to_local, grind_co, limit->ra ); + m3x3_mulv( player->rb.to_local, inf->n, limit->n ); + limit->p = 0.0f; +} + +VG_STATIC int skate_grind_truck_singular( player_instance *player, float sign ) +{ + struct player_skate *s = &player->_skate; + struct grind_info inf; + + v3f wheel_co = { 0.0f, 0.0f, sign * k_board_length }, + grind_co = { 0.0f, -k_board_radius, sign * k_board_length }; + + m4x3_mulv( player->rb.to_world, wheel_co, wheel_co ); + m4x3_mulv( player->rb.to_world, grind_co, grind_co ); + + /* Exit condition: lost grind tracking */ + if( !skate_grind_scansq( grind_co, player->rb.v, 0.3f, &inf ) ) + return 0; + + /* Exit condition: cant see grind target directly */ + if( !skate_point_visible( wheel_co, inf.co ) ) + return 0; + + /* Exit condition: minimum velocity not reached, but allow a bit of error */ + float dv = fabsf(v3_dot( player->rb.v, inf.dir )), + minv = k_grind_axel_min_vel*0.8f; + + if( dv < minv ) + return 0; + + if( fabsf(v3_dot( inf.dir, s->grind_dir )) < k_grind_max_edge_angle ) + return 0; + + v3_copy( inf.dir, s->grind_dir ); + + float t = vg_clampf( (dv-minv)/(k_grind_axel_min_vel-minv), 0.0f, 1.0f ); + skate_grind_truck_apply( player, grind_co, &inf, t ); + return 1; +} + +VG_STATIC int skate_truck_entry_condition( player_instance *player, float sign ) +{ + struct player_skate *s = &player->_skate; + struct grind_info inf; + + /* TODO: Trash compactor this */ + v3f ra = { 0.0f, -k_board_radius, sign * k_board_length }; + + v3f raw, wsp; + m3x3_mulv( player->rb.to_world, ra, raw ); + v3_add( player->rb.co, raw, wsp ); + + if( skate_grind_scansq( wsp, player->rb.v, 0.3, &inf ) ) + { + if( fabsf(v3_dot( player->rb.v, inf.dir )) < k_grind_axel_min_vel ) + return 0; + + /* velocity should be at least 60% aligned */ + v3f pv, axis; + v3_cross( inf.n, inf.dir, axis ); + v3_muladds( player->rb.v, inf.n, -v3_dot( player->rb.v, inf.n ), pv ); + + if( v3_length2( pv ) < 0.0001f ) + return 0; + v3_normalize( pv ); + + if( fabsf(v3_dot( pv, inf.dir )) < k_grind_axel_max_angle ) + return 0; + + /* check for vertical alignment */ + if( v3_dot( player->rb.to_world[1], inf.n ) < k_grind_axel_max_vangle ) + return 0; + + /* TODO: new condition, opposite wheel MUST be in-air or close to it */ + + v3f local_co, local_dir, local_n; + m4x3_mulv( player->rb.to_local, inf.co, local_co ); + m3x3_mulv( player->rb.to_local, inf.dir, local_dir ); + m3x3_mulv( player->rb.to_local, inf.n, local_n ); + + v2f delta = { local_co[0], local_co[2] - k_board_length*sign }; + + float truck_height = -(k_board_radius+0.03f); + + v3f rv; + v3_cross( player->rb.w, raw, rv ); + v3_add( player->rb.v, rv, rv ); + + if( (local_co[1] >= truck_height) && + (v2_length2( delta ) <= k_board_radius*k_board_radius) && + (v3_dot( rv, inf.n ) < 0.1f) ) + { + m3x3f mtx; + skate_grind_orient( &inf, mtx ); + m3x3_transpose( mtx, mtx ); + m3x3_mulv( mtx, raw, s->grind_vec ); + v3_normalize( s->grind_vec ); + v3_copy( inf.dir, s->grind_dir ); + + skate_grind_truck_apply( player, wsp, &inf, 1.0f ); + return 1; + } + } + + return 0; +} + +VG_STATIC void skate_boardslide_apply( player_instance *player, + struct grind_info *inf ) +{ + struct player_skate *s = &player->_skate; + + v3f local_co, local_dir, local_n; + m4x3_mulv( player->rb.to_local, inf->co, local_co ); + m3x3_mulv( player->rb.to_local, inf->dir, local_dir ); + m3x3_mulv( player->rb.to_local, inf->n, local_n ); + + v3f intersection; + v3_muladds( local_co, local_dir, local_co[0]/-local_dir[0], + intersection ); + v3_copy( intersection, s->weight_distribution ); + + skate_grind_decay( player, inf, 0.1f ); + skate_grind_friction( player, inf, 0.25f ); + + /* direction alignment */ + v3f dir, perp; + v3_cross( local_dir, local_n, perp ); + v3_muls( local_dir, vg_signf(local_dir[0]), dir ); + v3_muls( perp, vg_signf(perp[2]), perp ); + + m3x3_mulv( player->rb.to_world, dir, dir ); + m3x3_mulv( player->rb.to_world, perp, perp ); + + rb_effect_spring_target_vector( &player->rb, player->rb.to_world[0], + dir, + k_grind_spring, k_grind_dampener, + k_rb_delta ); + + rb_effect_spring_target_vector( &player->rb, player->rb.to_world[2], + perp, + k_grind_spring, k_grind_dampener, + k_rb_delta ); + + vg_line_arrow( player->rb.co, dir, 0.5f, VG__GREEN ); + vg_line_arrow( player->rb.co, perp, 0.5f, VG__BLUE ); +} + +VG_STATIC int skate_boardslide_entry_condition( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + + struct grind_info inf; + if( skate_grind_scansq( player->rb.co, + player->rb.to_world[0], k_board_length, + &inf ) ) + { + v3f local_co, local_dir; + m4x3_mulv( player->rb.to_local, inf.co, local_co ); + m3x3_mulv( player->rb.to_local, inf.dir, local_dir ); + + if( (fabsf(local_co[2]) <= k_board_length) && /* within wood area */ + (local_co[1] >= 0.0f) && /* at deck level */ + (fabsf(local_dir[0]) >= 0.5f) ) /* perpendicular to us */ + { + if( fabsf(v3_dot( player->rb.v, inf.dir )) < k_grind_axel_min_vel ) + return 0; + + v3_copy( inf.dir, s->grind_dir ); + + skate_boardslide_apply( player, &inf ); + return 1; + } + } + + return 0; +} + +VG_STATIC int skate_boardslide_singular( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + + struct grind_info inf; + if( !skate_grind_scansq( player->rb.co, + player->rb.to_world[0], k_board_length, + &inf ) ) + return 0; + + /* Exit condition: cant see grind target directly */ + v3f vis; + v3_muladds( player->rb.co, player->rb.to_world[1], 0.2f, vis ); + if( !skate_point_visible( vis, inf.co ) ) + return 0; + + /* Exit condition: minimum velocity not reached, but allow a bit of error + * TODO: trash compactor */ + float dv = fabsf(v3_dot( player->rb.v, inf.dir )), + minv = k_grind_axel_min_vel*0.8f; + + if( dv < minv ) + return 0; + + if( fabsf(v3_dot( inf.dir, s->grind_dir )) < k_grind_max_edge_angle ) + return 0; + v3_copy( inf.dir, s->grind_dir ); + + float t = vg_clampf( (dv-minv)/(k_grind_axel_min_vel-minv), 0.0f, 1.0f ); + + skate_boardslide_apply( player, &inf ); + return 1; +} + +VG_STATIC enum skate_activity skate_availible_grind( player_instance *player ) +{ + struct player_skate *s = &player->_skate; + + if( s->state.activity == k_skate_activity_grind_boardslide ) + { + int result = skate_boardslide_singular( player ); + + const enum skate_activity table[] = + { + k_skate_activity_undefined, + k_skate_activity_grind_boardslide + }; + + return table[ result ]; + } + if( s->state.activity == k_skate_activity_grind_back50 ) + { + int result = skate_grind_truck_singular( player, 1.0f ), + front = 0;//skate_truck_entry_condition( player, -1.0f ); + + const enum skate_activity table[] = + { /* result | front */ + k_skate_activity_undefined, /* 0 0 */ + k_skate_activity_grind_front50, /* 0 1 */ + k_skate_activity_grind_back50, /* 1 0 */ + k_skate_activity_grind_5050 /* 1 1 */ + }; + + return table[ result<<1 | front ]; + } + else if( s->state.activity == k_skate_activity_grind_front50 ) + { + int result = skate_grind_truck_singular( player, -1.0f ), + back = 0;//skate_truck_entry_condition( player, 1.0f ); + + const enum skate_activity table[] = + { /* result | back */ + k_skate_activity_undefined, /* 0 0 */ + k_skate_activity_grind_back50, /* 0 1 */ + k_skate_activity_grind_front50, /* 1 0 */ + k_skate_activity_grind_5050 /* 1 1 */ + }; + + return table[ result<<1 | back ]; + } + else if( s->state.activity == k_skate_activity_grind_5050 ) + { + /* FIXME */ + return k_skate_activity_grind_back50; + } + else + { + int slide = skate_boardslide_entry_condition( player ); + + if( slide ) + return k_skate_activity_grind_boardslide; + + int front = skate_truck_entry_condition( player, -1.0f ), + back = skate_truck_entry_condition( player, 1.0f ); + + const enum skate_activity table[] = + { /* front | back */ + k_skate_activity_undefined, /* 0 0 */ + k_skate_activity_grind_back50, /* 0 1 */ + k_skate_activity_grind_front50, /* 1 0 */ + k_skate_activity_grind_5050 /* 1 1 */ + }; + + return table[ front<<1 | back ]; + } + + return 0; +} + +VG_STATIC void player__skate_update( player_instance *player ) { struct player_skate *s = &player->_skate; + v3_copy( player->rb.co, s->state.prev_pos ); + s->state.activity_prev = s->state.activity; - for( int j=0; j<10; j++ ) + struct board_collider { - for( int i=0; ico, player->rb.co, delta ); - v3_cross( player->rb.w, delta, dv ); - v3_add( player->rb.v, dv, dv ); + v3f pos; + float radius; - float vn = -v3_dot( dv, ct->n ); - vn += ct->bias; + int apply_angular; + u32 colour; - float temp = ct->norm_impulse; - ct->norm_impulse = vg_maxf( temp + vn, 0.0f ); - vn = ct->norm_impulse - temp; + 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 = k_board_radius, + .apply_angular = 1, + .colour = VG__RED + }, + { + { 0.0f, 0.0f, k_board_length }, + .radius = k_board_radius, + .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; + + s->substep = k_rb_delta; + s->substep_delta = s->substep; + s->limit_count = 0; + + int substep_count = 0; + + v3_zero( s->surface_picture ); + + for( int i=0; istate.activity = grindable_activity; + goto grinding; + } - v3f impulse; - v3_muls( ct->n, vn, impulse ); + int contact_count = 0; + for( int i=0; i<2; i++ ) + { + v3f normal, axel; + if( skate_compute_surface_alignment( player, wheels[i].pos, + wheels[i].colour, normal, axel ) ) + { + rb_effect_spring_target_vector( &player->rb, player->rb.to_world[0], + axel, + k_board_spring, k_board_dampener, + s->substep_delta ); - 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(); - return; -#endif - } + v3_add( normal, s->surface_picture, s->surface_picture ); + contact_count ++; + } + } - v3_add( impulse, player->rb.v, player->rb.v ); - v3_cross( delta, impulse, impulse ); + if( contact_count ) + { + s->state.activity = k_skate_activity_ground; + v3_normalize( s->surface_picture ); - /* - * 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( player->rb.to_world[1], impulse ) * 0.8f, - wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f; + skate_apply_friction_model( player ); + skate_weight_distribute( player ); + skate_apply_pump_model( player ); + } + else + { + s->state.activity = k_skate_activity_air; + skate_apply_air_model( player ); + } - 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 ); - } +grinding:; + + if( s->state.activity == k_skate_activity_grind_back50 ) + wheels[1].state = k_collider_state_disabled; + if( s->state.activity == k_skate_activity_grind_front50 ) + wheels[0].state = k_collider_state_disabled; + if( s->state.activity == k_skate_activity_grind_5050 ) + { + wheels[0].state = k_collider_state_disabled; + wheels[1].state = k_collider_state_disabled; } -} -VG_STATIC void skate_integrate( player_instance *player ) -{ - struct player_skate *s = &player->_skate; + /* all activities */ + skate_apply_steering_model( player ); + skate_adjust_up_direction( player ); + skate_apply_cog_model( player ); + skate_apply_jump_model( player ); + skate_apply_grab_model( player ); + skate_apply_trick_model( player ); - /* integrate rigidbody velocities */ - 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 ); - float decay_rate = 0.5f*0.125f; +begin_collision:; - if( s->state.activity == k_skate_activity_air ) + /* + * 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 ); + + /* calculate transform one step into future */ + v3f future_co; + v4f future_q; + v3_muladds( player->rb.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; iland_dist/4.0f); - decay_rate = 0.5f * vg_maxf( dist*dist, 0.0f ); + if( wheels[i].state == k_collider_state_disabled ) + continue; + + v3f current, future; + q_mulv( future_q, wheels[i].pos, future ); + v3_add( future, future_co, future ); + + q_mulv( player->rb.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 * 2.0f; + if( spherecast_world( current, future, cast_radius, &t, n ) != -1) + max_time = vg_minf( max_time, t * s->substep ); } - v3_lerp( player->rb.w, (v3f){0.0f,0.0f,0.0f}, decay_rate, player->rb.w ); + /* 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; @@ -1018,156 +2238,229 @@ VG_STATIC void skate_integrate( player_instance *player ) float mag = v3_length( axis ); v3_divs( axis, mag, axis ); - q_axis_angle( rotation, axis, mag*k_rb_delta ); + q_axis_angle( rotation, axis, mag*s->substep_delta ); q_mul( rotation, player->rb.q, player->rb.q ); } - /* integrate steering velocities */ - v4f rotate; - float l = (s->state.activity == k_skate_activity_air)? 0.04f: 0.24f; + rb_update_transform( &player->rb ); - s->state.steery_s = vg_lerpf( s->state.steery_s, s->state.steery, l ); - s->state.steerx_s = vg_lerpf( s->state.steerx_s, s->state.steerx, l ); + v3f gravity = { 0.0f, -9.6f, 0.0f }; + v3_muladds( player->rb.v, gravity, s->substep_delta, player->rb.v ); - q_axis_angle( rotate, player->rb.to_world[1], s->state.steery_s ); - q_mul( rotate, player->rb.q, player->rb.q ); + s->substep -= s->substep_delta; - q_axis_angle( rotate, player->rb.to_world[0], s->state.steerx_s ); - q_mul( rotate, player->rb.q, player->rb.q ); - s->state.steerx = 0.0f; - s->state.steery = 0.0f; + rb_ct manifold[128]; + int manifold_len = 0; - s->state.flip_time += s->state.flip_rate * k_rb_delta; - rb_update_transform( &player->rb ); -} + /* + * Phase -1: head detection + * -------------------------------------------------------------------------- + */ + m4x3_mulv( player->rb.to_world, s->state.head_position, head_wp1 ); -VG_STATIC void player__skate_pre_update( player_instance *player ) -{ - if( vg_input_button_down( player->input_use ) ) +#if 0 + float t; + v3f n; + if( (v3_dist2( head_wp0, head_wp1 ) > 0.001f) && + (spherecast_world( head_wp0, head_wp1, 0.2f, &t, n ) != -1) ) { - player->subsystem = k_player_subsystem_walk; - - v3f angles; - v3_copy( player->cam.angles, angles ); - angles[2] = 0.0f; + v3_lerp( start_co, player->rb.co, t, player->rb.co ); + rb_update_transform( &player->rb ); - player__walk_transition( player, angles ); + player__dead_transition( player ); return; } -} +#endif -VG_STATIC void player__skate_post_update( player_instance *player ) -{ - struct player_skate *s = &player->_skate; - for( int i=0; iprediction_count; i++ ) + /* + * 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; ipredictions[i]; + if( wheels[i].state == k_collider_state_disabled ) + continue; + + m4x3f mtx; + m3x3_identity( mtx ); + m4x3_mulv( player->rb.to_world, wheels[i].pos, mtx[3] ); - for( int j=0; jlog_length - 1; j ++ ) - vg_line( p->log[j], p->log[j+1], p->colour ); + rb_sphere collider = { .radius = wheels[i].radius }; - vg_line_cross( p->log[p->log_length-1], p->colour, 0.25f ); + rb_ct *man = &manifold[ manifold_len ]; - v3f p1; - v3_add( p->log[p->log_length-1], p->n, p1 ); - vg_line( p->log[p->log_length-1], p1, 0xffffffff ); + int l = skate_collide_smooth( player, mtx, &collider, man ); + if( l ) + wheels[i].state = k_collider_state_colliding; - vg_line_pt3( p->apex, 0.02f, 0xffffffff ); + /* 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; } - vg_line_pt3( s->state.apex, 0.200f, 0xff0000ff ); - vg_line_pt3( s->state.apex, 0.201f, 0xff00ffff ); -} + float grind_radius = k_board_radius * 0.75f; + rb_capsule capsule = { .height = (k_board_length+0.2f)*2.0f, + .radius=grind_radius }; + m4x3f mtx; + v3_muls( player->rb.to_world[0], 1.0f, mtx[0] ); + v3_muls( player->rb.to_world[2], -1.0f, mtx[1] ); + v3_muls( player->rb.to_world[1], 1.0f, mtx[2] ); + v3_muladds( player->rb.to_world[3], player->rb.to_world[1], + grind_radius + k_board_radius*0.25f, mtx[3] ); -VG_STATIC void player__skate_update( player_instance *player ) -{ - struct player_skate *s = &player->_skate; - v3_copy( player->rb.co, s->state.prev_pos ); - s->state.activity_prev = s->state.activity; + rb_ct *cman = &manifold[manifold_len]; - /* Setup colliders */ - m4x3f mtx_front, mtx_back; - m3x3_identity( mtx_front ); - m3x3_identity( mtx_back ); + int l = rb_capsule__scene( mtx, &capsule, NULL, &world.rb_geo.inf.scene, + cman ); - skate_get_board_points( player, mtx_front[3], mtx_back[3] ); + /* weld joints */ + for( int i=0; isphere_back.radius = 0.3f; - s->sphere_front.radius = 0.3f; + manifold_len += l; - /* create manifold(s) */ - rb_ct manifold[72], - *interface_manifold = NULL, - *grind_manifold = NULL; + debug_capsule( mtx, capsule.radius, capsule.height, VG__WHITE ); + + /* add limits */ + for( int i=0; ilimit_count; i++ ) + { + struct grind_limit *limit = &s->limits[i]; + rb_ct *ct = &manifold[ manifold_len ++ ]; + m4x3_mulv( player->rb.to_world, limit->ra, ct->co ); + m3x3_mulv( player->rb.to_world, limit->n, ct->n ); + ct->p = limit->p; + ct->type = k_contact_type_default; + } - 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; + /* + * Phase 3: Dynamics + * -------------------------------------------------------------------------- + */ - /* 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) ) + for( int i=0; irb.to_world[1], -1.0f, trace_dir ); + rb_prepare_contact( &manifold[i], s->substep_delta ); + rb_debug_contact( &manifold[i] ); + } - if( len_front ) - v3_copy( mtx_back[3], trace_from ); - else - v3_copy( mtx_front[3], trace_from ); + /* 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)); - ray_hit ray; - ray.dist = 0.6f; + m3x3f iI; + m3x3_identity( iI ); + iI[0][0] = I[0]; + iI[1][1] = I[1]; + iI[2][2] = I[2]; + m3x3_inv( iI, iI ); - if( ray_world( trace_from, trace_dir, &ray ) ) + m3x3f iIw; + m3x3_mul( iI, player->rb.to_local, iIw ); + m3x3_mul( player->rb.to_world, iIw, iIw ); + + v3f world_cog; + m4x3_mulv( player->rb.to_world, s->weight_distribution, world_cog ); + vg_line_pt3( world_cog, 0.02f, VG__BLACK ); + + for( int j=0; j<10; j++ ) + { + for( int i=0; ico ); - v3_copy( ray.normal, ct->n ); - ct->p = 0.0f; + struct contact *ct = &manifold[i]; + + v3f rv, delta; + v3_sub( ct->co, world_cog, delta ); + v3_cross( player->rb.w, delta, rv ); + v3_add( player->rb.v, rv, rv ); - interface_len ++; - } - } + v3f raCn; + v3_cross( delta, ct->n, raCn ); - interface_manifold = manifold; - grind_manifold = manifold + interface_len; + v3f raCnI, rbCnI; + m3x3_mulv( iIw, raCn, raCnI ); - int grind_len = skate_grind_collide( player, grind_manifold ); + float normal_mass = 1.0f / (inv_mass + v3_dot(raCn,raCnI)), + vn = v3_dot( rv, ct->n ), + lambda = normal_mass * ( -vn ); - for( int i=0; inorm_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 ); + } } - skate_apply_grind_model( player, grind_manifold, grind_len ); - skate_apply_interface_model( player, manifold, interface_len ); - - skate_apply_pump_model( player ); - skate_apply_cog_model( player ); - skate_collision_response( player, manifold, interface_len + grind_len ); + v3f dt; + rb_depenetrate( manifold, manifold_len, dt ); + v3_add( dt, player->rb.co, player->rb.co ); + rb_update_transform( &player->rb ); - skate_apply_grab_model( player ); - skate_apply_friction_model( player ); - skate_apply_jump_model( player ); - skate_apply_air_model( player ); + substep_count ++; - skate_integrate( player ); + if( s->substep >= 0.0001f ) + goto begin_collision; /* again! */ - vg_line_pt3( s->state.cog, 0.1f, VG__WHITE ); - vg_line_pt3( s->state.cog, 0.11f, VG__WHITE ); - vg_line_pt3( s->state.cog, 0.12f, VG__WHITE ); - vg_line_pt3( s->state.cog, 0.13f, VG__WHITE ); - vg_line_pt3( s->state.cog, 0.14f, VG__WHITE ); + /* + * End of collision and dynamics routine + * -------------------------------------------------------------------------- + */ - vg_line( player->rb.co, s->state.cog, VG__RED ); + 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 ]); + } + skate_integrate( player ); + vg_line_pt3( s->state.cog, 0.02f, VG__WHITE ); teleport_gate *gate; if( (gate = world_intersect_gates( player->rb.co, s->state.prev_pos )) ) @@ -1177,13 +2470,8 @@ 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 +2498,36 @@ VG_STATIC void player__skate_im_gui( player_instance *player ) player->rb.w[1], player->rb.w[2] ); - player__debugtext( 1, "activity: %s\n", - (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", + const char *activity_txt[] = + { + "air", + "ground", + "undefined (INVALID)", + "grind_any (INVALID)", + "grind_boardslide", + "grind_noseslide", + "grind_tailslide", + "grind_back50", + "grind_front50", + "grind_5050" + }; + + player__debugtext( 1, "activity: %s", activity_txt[s->state.activity] ); +#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 +2544,18 @@ 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 ); - static float speed_wobble = 0.0f, speed_wobble_2 = 0.0f; + v3_copy( s->state.up_dir, cog_ideal ); + v3_normalize( cog_ideal ); + m3x3_mulv( player->rb.to_local, cog_ideal, cog_ideal ); + + 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 +2563,10 @@ 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; @@ -1271,8 +2587,7 @@ VG_STATIC void player__skate_animate( player_instance *player, /* movement information */ { - int iair = (s->state.activity == k_skate_activity_air) || - (s->state.activity == k_skate_activity_grind ); + int iair = s->state.activity == k_skate_activity_air; float dirz = s->state.reverse > 0.0f? 0.0f: 1.0f, dirx = s->state.slip < 0.0f? 0.0f: 1.0f, @@ -1388,40 +2703,98 @@ 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; + m3x3_mulv( player->rb.to_world, up, p1 ); + m3x3_mulv( player->rb.to_world, ndir, p2 ); + + vg_line_arrow( player->rb.co, p1, 0.25f, VG__PINK ); + vg_line_arrow( player->rb.co, p2, 0.25f, VG__PINK ); + } + + + 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]; - v3f bo; - v3_muls( s->board_offset, add_grab_mod, bo ); - v3_add( bo, kf_board->co, kf_board->co ); - v3_add( bo, kf_foot_l->co, kf_foot_l->co ); - v3_add( bo, kf_foot_r->co, kf_foot_r->co ); + v4f qtotal; + v4f qtrickr, qyawr, qpitchr, qrollr; + v3f eulerr; + + + v3_muls( s->board_trick_residuald, VG_TAUf, eulerr ); - m3x3f c; - q_m3x3( s->board_rotation, c ); + 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, 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 ); - v3_add( bo, d, kf_foot_l->co ); - - v3_sub( kf_foot_r->co, bo, d ); - m3x3_mulv( c, d, d ); - v3_add( bo, d, kf_foot_r->co ); - q_mul( s->board_rotation, kf_board->q, 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 +2802,7 @@ 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 +2823,82 @@ 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 */