X-Git-Url: https://harrygodden.com/git/?a=blobdiff_plain;f=vehicle.h;h=bdd12f02329cfe6169912ccb9fe89e3bb5a53de0;hb=6e6c7f31b8f17af3814727109e48fc6f85ef04b1;hp=c2429b90ae12ec6b1c18684a295e1f8d6b273034;hpb=be8ea6efdbfd9c0fdad97401ed7d92041d8c8778;p=carveJwlIkooP6JGAAIwe30JlM.git diff --git a/vehicle.h b/vehicle.h index c2429b9..bdd12f0 100644 --- a/vehicle.h +++ b/vehicle.h @@ -1,13 +1,13 @@ #ifndef VEHICLE_H #define VEHICLE_H -#define VG_GAME -#include "vg/vg.h" +#include "skaterift.h" #include "rigidbody.h" -#include "world.h" #include "player.h" +#include "world.h" +#include "world_physics.h" -VG_STATIC float k_car_spring = 1.0f, +static float k_car_spring = 1.0f, k_car_spring_damp = 0.001f, k_car_spring_length = 0.5f, k_car_wheel_radius = 0.2f, @@ -18,7 +18,7 @@ VG_STATIC float k_car_spring = 1.0f, k_car_downforce = 0.5f; typedef struct drivable_vehicle drivable_vehicle; -VG_STATIC struct drivable_vehicle +struct drivable_vehicle { int alive, inside; rb_object obj; @@ -35,276 +35,17 @@ VG_STATIC struct drivable_vehicle v3f tangent_vectors[4][2]; v3f wheels_local[4]; } -gzoomer = +static gzoomer = { - .obj = { .type = k_rb_shape_sphere, .inf.sphere.radius = 1.0f } + .obj = { .type = k_rb_shape_sphere, .inf.sphere.radius = 1.0f, + .rb.co = {-2000,-2000,-2000}} }; -VG_STATIC int spawn_car( int argc, const char *argv[] ) -{ - v3f ra, rb, rx; - v3_copy( main_camera.pos, ra ); - v3_muladds( ra, main_camera.transform[2], -10.0f, rb ); - - float t; - if( spherecast_world( get_active_world(), ra, rb, - gzoomer.obj.inf.sphere.radius, &t, rx ) != -1 ) - { - v3_lerp( ra, rb, t, gzoomer.obj.rb.co ); - gzoomer.obj.rb.co[1] += 4.0f; - q_axis_angle( gzoomer.obj.rb.q, (v3f){1.0f,0.0f,0.0f}, 0.001f ); - v3_zero( gzoomer.obj.rb.v ); - v3_zero( gzoomer.obj.rb.w ); - - rb_update_transform( &gzoomer.obj.rb ); - gzoomer.alive = 1; - - vg_success( "Spawned car\n" ); - } - else{ - vg_error( "Can't spawn here\n" ); - } - - return 0; -} - -VG_STATIC void vehicle_init(void) -{ - q_identity( gzoomer.obj.rb.q ); - v3_zero( gzoomer.obj.rb.w ); - v3_zero( gzoomer.obj.rb.v ); - v3_zero( gzoomer.obj.rb.co ); - rb_init_object( &gzoomer.obj ); - - VG_VAR_F32( k_car_spring, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_spring_damp, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_spring_length, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_wheel_radius, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_friction_lat, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_friction_roll, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_drive_force, flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_air_resistance,flags=VG_VAR_PERSISTENT ); - VG_VAR_F32( k_car_downforce, flags=VG_VAR_PERSISTENT ); - - VG_VAR_I32( gzoomer.inside ); - - vg_console_reg_cmd( "spawn_car", spawn_car, NULL ); - - v3_copy((v3f){ -1.0f, -0.25f, -1.5f }, gzoomer.wheels_local[0] ); - v3_copy((v3f){ 1.0f, -0.25f, -1.5f }, gzoomer.wheels_local[1] ); - v3_copy((v3f){ -1.0f, -0.25f, 1.5f }, gzoomer.wheels_local[2] ); - v3_copy((v3f){ 1.0f, -0.25f, 1.5f }, gzoomer.wheels_local[3] ); -} - -VG_STATIC void vehicle_wheel_force( int index ) -{ - v3f pa, pb, n; - m4x3_mulv( gzoomer.obj.rb.to_world, gzoomer.wheels_local[index], pa ); - v3_muladds( pa, gzoomer.obj.rb.to_world[1], -k_car_spring_length, pb ); - - -#if 1 - float t; - if( spherecast_world( get_active_world(), pa, pb, - k_car_wheel_radius, &t, n ) == -1 ) - { t = 1.0f; - } - -#else - - v3f dir; - v3_muls( gzoomer.rb.up, -1.0f, dir ); - - ray_hit hit; - hit.dist = k_car_spring_length; - ray_world( pa, dir, &hit ); - - float t = hit.dist / k_car_spring_length; - -#endif - - v3f pc; - v3_lerp( pa, pb, t, pc ); - - m4x3f mtx; - m3x3_copy( gzoomer.obj.rb.to_world, mtx ); - v3_copy( pc, mtx[3] ); - debug_sphere( mtx, k_car_wheel_radius, VG__BLACK ); - vg_line( pa, pc, VG__WHITE ); - v3_copy( pc, gzoomer.wheels[index] ); - - if( t < 1.0f ){ - /* spring force */ - float Fv = (1.0f-t) * k_car_spring*k_rb_delta; - - v3f delta; - v3_sub( pa, gzoomer.obj.rb.co, delta ); - - v3f rv; - v3_cross( gzoomer.obj.rb.w, delta, rv ); - v3_add( gzoomer.obj.rb.v, rv, rv ); - - Fv += v3_dot( rv, gzoomer.obj.rb.to_world[1] ) - * -k_car_spring_damp*k_rb_delta; - - /* scale by normal incident */ - Fv *= v3_dot( n, gzoomer.obj.rb.to_world[1] ); - - v3f F; - v3_muls( gzoomer.obj.rb.to_world[1], Fv, F ); - - rb_linear_impulse( &gzoomer.obj.rb, delta, F ); - - /* friction vectors - * -------------------------------------------------------------*/ - v3f tx, ty; - - if( index <= 1 ) - v3_cross( gzoomer.steerv, n, tx ); - else - v3_cross( n, gzoomer.obj.rb.to_world[2], tx ); - v3_cross( tx, n, ty ); - - v3_copy( tx, gzoomer.tangent_vectors[ index ][0] ); - v3_copy( ty, gzoomer.tangent_vectors[ index ][1] ); - - gzoomer.normal_forces[ index ] = Fv; - gzoomer.tangent_forces[ index ][0] = 0.0f; - gzoomer.tangent_forces[ index ][1] = 0.0f; - - /* orient inverse inertia tensors */ - v3f raW; - m3x3_mulv( gzoomer.obj.rb.to_world, gzoomer.wheels_local[index], raW ); - - v3f raCtx, raCtxI, raCty, raCtyI; - v3_cross( tx, raW, raCtx ); - v3_cross( ty, raW, raCty ); - m3x3_mulv( gzoomer.obj.rb.iIw, raCtx, raCtxI ); - m3x3_mulv( gzoomer.obj.rb.iIw, raCty, raCtyI ); - - gzoomer.tangent_mass[index][0] = gzoomer.obj.rb.inv_mass; - gzoomer.tangent_mass[index][0] += v3_dot( raCtx, raCtxI ); - gzoomer.tangent_mass[index][0] = 1.0f/gzoomer.tangent_mass[index][0]; - - gzoomer.tangent_mass[index][1] = gzoomer.obj.rb.inv_mass; - gzoomer.tangent_mass[index][1] += v3_dot( raCty, raCtyI ); - gzoomer.tangent_mass[index][1] = 1.0f/gzoomer.tangent_mass[index][1]; - - /* apply drive force */ - if( index >= 2 ){ - v3_muls( ty, -gzoomer.drive * k_car_drive_force * k_rb_delta, F ); - rb_linear_impulse( &gzoomer.obj.rb, raW, F ); - } - } - else{ - gzoomer.normal_forces[ index ] = 0.0f; - gzoomer.tangent_forces[ index ][0] = 0.0f; - gzoomer.tangent_forces[ index ][1] = 0.0f; - } -} - -VG_STATIC void vehicle_solve_friction(void) -{ - rigidbody *rb = &gzoomer.obj.rb; - for( int i=0; i<4; i++ ){ - v3f raW; - m3x3_mulv( rb->to_world, gzoomer.wheels_local[i], raW ); - - v3f rv; - v3_cross( rb->w, raW, rv ); - v3_add( rb->v, rv, rv ); - - float fx = k_car_friction_lat * gzoomer.normal_forces[i], - fy = k_car_friction_roll * gzoomer.normal_forces[i], - vtx = v3_dot( rv, gzoomer.tangent_vectors[i][0] ), - vty = v3_dot( rv, gzoomer.tangent_vectors[i][1] ), - lambdax = gzoomer.tangent_mass[i][0] * -vtx, - lambday = gzoomer.tangent_mass[i][1] * -vty; - - float tempx = gzoomer.tangent_forces[i][0], - tempy = gzoomer.tangent_forces[i][1]; - gzoomer.tangent_forces[i][0] = vg_clampf( tempx + lambdax, -fx, fx ); - gzoomer.tangent_forces[i][1] = vg_clampf( tempy + lambday, -fy, fy ); - lambdax = gzoomer.tangent_forces[i][0] - tempx; - lambday = gzoomer.tangent_forces[i][1] - tempy; - - v3f impulsex, impulsey; - v3_muls( gzoomer.tangent_vectors[i][0], lambdax, impulsex ); - v3_muls( gzoomer.tangent_vectors[i][1], lambday, impulsey ); - rb_linear_impulse( rb, raW, impulsex ); - rb_linear_impulse( rb, raW, impulsey ); - } -} - -VG_STATIC void vehicle_update_fixed(void) -{ - if( !gzoomer.alive ) - return; - - rigidbody *rb = &gzoomer.obj.rb; - - v3_muls( rb->to_world[2], -cosf(gzoomer.steer), gzoomer.steerv ); - v3_muladds( gzoomer.steerv, rb->to_world[0], - sinf(gzoomer.steer), gzoomer.steerv ); - - /* apply air resistance */ - v3f Fair, Fdown; - - v3_muls( rb->v, -k_car_air_resistance, Fair ); - v3_muls( rb->to_world[1], -fabsf(v3_dot( rb->v, rb->to_world[2] )) * - k_car_downforce, Fdown ); - - v3_muladds( rb->v, Fair, k_rb_delta, rb->v ); - v3_muladds( rb->v, Fdown, k_rb_delta, rb->v ); - - for( int i=0; i<4; i++ ) - vehicle_wheel_force( i ); - - rb_ct manifold[64]; - int len = rb_sphere__scene( rb->to_world, &gzoomer.obj.inf.sphere, - NULL, &get_active_world()->rb_geo.inf.scene, - manifold ); - for( int j=0; jrb_geo.rb; - } - rb_manifold_filter_coplanar( manifold, len, 0.05f ); - - if( len > 1 ){ - rb_manifold_filter_backface( manifold, len ); - rb_manifold_filter_joint_edges( manifold, len, 0.05f ); - rb_manifold_filter_pairs( manifold, len, 0.05f ); - } - len = rb_manifold_apply_filtered( manifold, len ); - - rb_presolve_contacts( manifold, len ); - for( int i=0; i<8; i++ ){ - rb_solve_contacts( manifold, len ); - vehicle_solve_friction(); - } - - rb_iter( rb ); - rb_update_transform( rb ); -} - -VG_STATIC void vehicle_update_post(void) -{ - if( !gzoomer.alive ) - return; - - rb_object_debug( &gzoomer.obj, VG__WHITE ); - - /* draw friction vectors */ - v3f p0, px, py; - - for( int i=0; i<4; i++ ){ - v3_copy( gzoomer.wheels[i], p0 ); - v3_muladds( p0, gzoomer.tangent_vectors[i][0], 0.5f, px ); - v3_muladds( p0, gzoomer.tangent_vectors[i][1], 0.5f, py ); - - vg_line( p0, px, VG__RED ); - vg_line( p0, py, VG__GREEN ); - } -} +static int spawn_car( int argc, const char *argv[] ); +static void vehicle_init(void); +static void vehicle_wheel_force( int index ); +static void vehicle_solve_friction(void); +static void vehicle_update_fixed(void); +static void vehicle_update_post(void); #endif /* VEHICLE_H */