X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=player_skate.c;h=a04a0ddddd9d6b5f750b3978340686b2b4dda040;hb=0a40a20806ec52fc13817fd78a43793de5e32ffa;hp=788bf0bff2adc7d54c0c3648bb5d13c507b69058;hpb=f38069d2c55cd4b3b4c76a4b72321dfa4dd30439;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/player_skate.c b/player_skate.c index 788bf0b..a04a0dd 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 +149,216 @@ VG_STATIC int skate_grind_collide( player_instance *player, rb_ct *contact ) return 0; } +VG_STATIC int skate_grind_scansq( player_instance *player, v3f ra ) +{ + v3f pos; + m4x3_mulv( player->rb.to_world, ra, pos ); + + v4f plane; + v3_copy( player->rb.to_world[2], 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; + + v3_zero( average_position ); + v3_zero( average_direction ); + + 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 ); + passed_samples ++; + } + } + + if( !passed_samples ) + return 0; + + float div = 1.0f/(float)passed_samples; + v3_muls( average_position, div, average_position ); + v3_muls( average_direction, div, average_direction ); /* !! not normed */ + + 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 ); + +#if 0 + if( passed_samples ) + { + v3f displacement, dir; + v3_sub( pos, average_position, displacement ); + v3_copy( displacement, dir ); + v3_normalize( dir ); + + v3f rv, raW; + q_mulv( player->rb.q, ra, 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, k_rb_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 ); + + /* Constraint based */ + } +#endif + + return passed_samples; +} + /* * * Prediction system @@ -401,8 +611,10 @@ 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; @@ -532,7 +744,7 @@ 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 +757,11 @@ 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 +829,8 @@ 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 ) @@ -701,6 +917,7 @@ 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; @@ -708,10 +925,12 @@ 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; @@ -734,7 +953,7 @@ VG_STATIC void skate_apply_trick_model( player_instance *player ) if( v3_length2( s->state.trick_vel ) < 0.0001f ) return; - int carry_on = player->input_jump->button.value; + 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) */ @@ -771,9 +990,18 @@ VG_STATIC void skate_apply_trick_model( player_instance *player ) } else { - if( s->state.lift_frames == 0 ) + 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 ); } } @@ -860,7 +1088,23 @@ 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 ) @@ -909,21 +1153,17 @@ 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; - - v3_zero( s->state.trick_vel ); - s->state.trick_vel[0] = 3.0f; - s->state.trick_vel[2] = 6.0f; - s->state.trick_time = 0.0f; +#endif s->state.lift_frames ++; /* FIXME audio events */ @@ -1023,29 +1263,30 @@ 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 ); @@ -1059,11 +1300,18 @@ 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 ); } } } @@ -1073,20 +1321,31 @@ 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; @@ -1098,8 +1357,10 @@ 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; @@ -1114,13 +1375,28 @@ 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; @@ -1132,6 +1408,42 @@ 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 ) @@ -1163,72 +1475,507 @@ 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; + + int apply_angular; + u32 colour; + + 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, k_board_end_radius, -k_board_length - k_board_end_radius }, + .radius = k_board_end_radius, + .apply_angular = 0, + .colour = VG__YELOW + }, + { + { 0.0f, k_board_end_radius, k_board_length + k_board_end_radius }, + .radius = k_board_end_radius, + .apply_angular = 0, + .colour = VG__YELOW + }, + }; + + const int k_wheel_count = 4; + + 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 + } + + s->substep = k_rb_delta; + int substep_count = 0; + + v3f original_velocity; + v3_muladds( player->rb.v, (v3f){0.0f,-k_gravity,0.0f}, + k_rb_delta, original_velocity ); + +begin_collision:; + + /* + * Phase 0: Continous collision detection + * -------------------------------------------------------------------------- + */ + + for( int i=0; irb.co, player->rb.v, s->substep, future_co ); - skate_get_board_points( player, mtx_front[3], mtx_back[3] ); + 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 ); + } - s->sphere_back.radius = 0.3f; - s->sphere_front.radius = 0.3f; + rb_update_transform( &player->rb ); - /* create manifold(s) */ - rb_ct manifold[72], - *interface_manifold = NULL, - *grind_manifold = NULL; + v3f gravity = { 0.0f, -9.6f, 0.0f }; + v3_muladds( player->rb.v, gravity, s->substep_delta, player->rb.v ); - 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; + s->substep -= s->substep_delta; - /* 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 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. + * -------------------------------------------------------------------------- + */ + + rb_ct manifold[128]; + + int manifold_len = 0; + + for( int i=0; irb.to_world[1], -1.0f, trace_dir ); + 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] ); + + 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 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 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_l.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 ); + + 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 v0, v1, n; + v3_sub( verts[1], verts[0], v0 ); + v3_sub( verts[2], verts[0], v1 ); + v3_cross( v0, v1, n ); + v3_normalize( n ); + + if( v3_dot( n, player->rb.to_world[1] ) < 0.7071f ) + continue; + + continue; + } + else + continue; + } + + float a = vg_clampf( v3_dot( v0, player->rb.to_world[0] ), -1.0f, 1.0f ); + a = acosf( a ); + + v3_muladds( truck, v0, k_board_width, right ); + v3_muladds( truck, v0, -k_board_width, left ); + + vg_line( left, right, VG__WHITE ); + + v3f axis; + v3_cross( v0, player->rb.to_world[0], axis ); - if( len_front ) - v3_copy( mtx_back[3], trace_from ); + float Fs = -a * k_board_spring, + Fd = -v3_dot( player->rb.w, axis ) * k_board_dampener; + + v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta, + player->rb.w ); + } + + /* + * 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.manual_direction = reverse_dir; + } + else + { + if( player->input_js1v->axis.value < 0.1f ) + { + s->state.manual_direction = 0; + } else - v3_copy( mtx_front[3], trace_from ); + { + 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; + } + + m4x3_mulv( player->rb.to_world, weight, world_cog ); + vg_line_pt3( world_cog, 0.1f, VG__BLACK ); + + /* TODO: Fall back on land normal */ + /* TODO: Lerp weight distribution */ + + if( v3_length2( surface_picture ) > 0.001f && + v3_length2( weight ) > 0.001f && + s->state.manual_direction ) + { + v3_normalize( surface_picture ); + 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 ); + + float a = v3_dot( plane_z, refdir ); + a = acosf( vg_clampf( a, -1.0f, 1.0f ) ); + + v3f axis; + v3_cross( plane_z, refdir, axis ); - ray_hit ray; - ray.dist = 0.6f; + float Fs = -a * k_manul_spring, + Fd = -v3_dot( player->rb.w, axis ) * k_manul_dampener; - if( ray_world( trace_from, trace_dir, &ray ) ) + v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta, + player->rb.w ); + } + + /* + * Phase 3: Dynamics + * -------------------------------------------------------------------------- + */ + + for( int i=0; isubstep_delta ); + + /* 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 ); + + 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 ); - v3_copy( ray.pos, ct->co ); - v3_copy( ray.normal, ct->n ); - ct->p = 0.0f; + float normal_mass = 1.0f / (inv_mass + v3_dot(raCn,raCnI)), + vn = v3_dot( rv, ct->n ), + lambda = normal_mass * ( -vn + ct->bias ); + + float temp = ct->norm_impulse; + ct->norm_impulse = vg_maxf( temp + lambda, 0.0f ); + lambda = ct->norm_impulse - temp; - interface_len ++; + 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 ); } } - interface_manifold = manifold; - grind_manifold = manifold + interface_len; + substep_count ++; + + if( s->substep >= 0.0001f ) + goto begin_collision; /* again! */ - int grind_len = skate_grind_collide( player, grind_manifold ); + /* + * 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 ]); } - skate_apply_grind_model( player, grind_manifold, grind_len ); - skate_apply_interface_model( player, manifold, interface_len ); + v3f velocity_change, p1; + v3_sub( player->rb.v, original_velocity, velocity_change ); + + v3_normalize( velocity_change ); + v3_muladds( player->rb.co, velocity_change, 2.0f, p1 ); + vg_line( player->rb.co, p1, VG__PINK ); + +#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 ); @@ -1285,9 +2032,11 @@ VG_STATIC void player__skate_im_gui( player_instance *player ) "k_skate_activity_ground", "k_skate_activity_grind }" } [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 ); +#endif player__debugtext( 1, "flip: %.4f %.4f", s->state.flip_rate, s->state.flip_time ); player__debugtext( 1, "trickv: %.2f %.2f %.2f", @@ -1525,17 +2274,18 @@ VG_STATIC void player__skate_animate( player_instance *player, q_mul( qpitch, qroll, qtrick ); q_mul( qyaw, qtrick, qtrick ); - q_mul( qtrick, kf_board->q, kf_board->q ); + 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 ); @@ -1543,6 +2293,7 @@ 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) && @@ -1600,10 +2351,12 @@ VG_STATIC void player__skate_clear_mechanics( player_instance *player ) s->state.jump_charge = 0.0f; s->state.lift_frames = 0; s->state.flip_rate = 0.0f; +#if 0 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 ); @@ -1611,6 +2364,8 @@ VG_STATIC void player__skate_clear_mechanics( player_instance *player ) 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_reset( player_instance *player,