+ /*
+ *
+ * EXPERIMENTAL
+ * ================================================================
+ */
+ if( phys->in_air )
+ player.normal_pressure = 0.0f;
+ else
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+
+ v3f p0_0, p0_1,
+ p1_0, p1_1,
+ n0, n1;
+ float t0, t1;
+
+ 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;
+
+ v3_copy( player.collide_front.co, p0_0 );
+ v3_copy( player.collide_back.co, p1_0 );
+
+ v3_muladds( p0_0, phys->rb.up, -disp_k, p0_1 );
+ v3_muladds( p1_0, phys->rb.up, -disp_k, p1_1 );
+
+ int cast0 = spherecast_world( p0_0, p0_1, 0.2f, &t0, n0 ),
+ cast1 = spherecast_world( p1_0, p1_1, 0.2f, &t1, n1 );
+
+ v3f animp0, animp1;
+
+ m4x3f temp;
+ m3x3_copy( phys->rb.to_world, temp );
+ if( cast0 != -1 )
+ {
+ v3_lerp( p0_0, p0_1, t0, temp[3] );
+ v3_copy( temp[3], animp0 );
+ debug_sphere( temp, 0.2f, VG__PINK );
+
+ v3f F, delta;
+ v3_sub( p0_0, phys->rb.co, delta );
+
+ float displacement = vg_clampf( 1.0f-t0, 0.0f, 1.0f ),
+ damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) );
+ v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta -
+ damp*damp_K*k_rb_delta, F );
+
+ v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v );
+
+ /* Angular velocity */
+ v3f wa;
+ v3_cross( delta, F, wa );
+ v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w );
+ }
+ else
+ v3_copy( p0_1, animp0 );
+
+ if( cast1 != -1 )
+ {
+ v3_lerp( p1_0, p1_1, t1, temp[3] );
+ v3_copy( temp[3], animp1 );
+ debug_sphere( temp, 0.2f, VG__PINK );
+
+ v3f F, delta;
+ v3_sub( p1_0, phys->rb.co, delta );
+
+ float displacement = vg_clampf( 1.0f-t1, 0.0f, 1.0f ),
+ damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) );
+ v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta -
+ damp*damp_K*k_rb_delta, F );
+
+ v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v );
+
+ /* Angular velocity */
+ v3f wa;
+ v3_cross( delta, F, wa );
+ v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w );
+ }
+ else
+ v3_copy( p1_1, animp1 );
+
+ v3f animavg, animdelta;
+ v3_add( animp0, animp1, animavg );
+ v3_muls( animavg, 0.5f, animavg );
+
+ v3_sub( animp1, animp0, animdelta );
+ v3_normalize( animdelta );
+
+ m4x3_mulv( phys->rb.to_local, animavg, player.board_offset );
+
+ float dx = -v3_dot( animdelta, phys->rb.forward ),
+ dy = v3_dot( animdelta, phys->rb.up );
+
+ float angle = -atan2f( dy, dx );
+ q_axis_angle( player.board_rotation, (v3f){ 1.0f, 0.0f, 0.0f }, angle );
+
+ /*
+ * ================================================================
+ * EXPERIMENTAL
+ */
+
+ if( len == 0 && !((cast0 !=-1)&&(cast1!=-1)) )