man[i].rbb = NULL;
}
- return len;
-
rb_manifold_filter_coplanar( man, len, 0.05f );
if( len > 1 )
return 0;
}
-VG_STATIC int skate_grind_scansq( player_instance *player, v3f pos,
- v3f result_co, v3f result_dir, v3f result_n )
+struct grind_info
+{
+ v3f co, dir, n;
+};
+
+VG_STATIC int skate_grind_scansq( player_instance *player,
+ v3f pos, v3f dir, float r,
+ struct grind_info *inf )
{
v4f plane;
- v3_copy( player->rb.v, plane );
+ v3_copy( dir, 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
+ vg_line_boxf( box, VG__BLACK );
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 );
centroid;
}
samples[48];
-
int sample_count = 0;
v2f support_min,
if( sample_count < 2 )
return 0;
- v3f average_position,
+ v3f
average_direction,
average_normal;
- v3_zero( average_position );
+ v2f min_co, max_co;
+ v2_fill( min_co, INFINITY );
+ v2_fill( max_co, -INFINITY );
+
v3_zero( average_direction );
v3_zero( average_normal );
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 );
+ 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 );
return 0;
float div = 1.0f/(float)passed_samples;
- v3_muls( average_position, div, average_position );
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; i<k_hashmap_size+1; i++ )
+ hashmap[i] = 0;
+
+ for( int i=0; i<sample_count; i++ )
+ {
+ u32 h = skate_grind_hashv2f( samples[i].co ) % k_hashmap_size;
+ hashmap[ h ] ++;
+ }
+
+ /* partial sums */
+ for( int i=0; i<k_hashmap_size; i++ )
+ {
+ hashmap[i+1] += hashmap[i];
+ }
+
+ /* trash compactor */
+ for( int i=0; i<sample_count; i++ )
+ {
+ u32 h = skate_grind_hashv2f( samples[i].co ) % k_hashmap_size;
+ hashmap[ h ] --;
+
+ entries[ hashmap[h] ] = i;
+ }
+
+
+ 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; i<sample_count; i++ )
+ {
+ struct grind_sample *si, *sj;
+ si = &samples[i];
+
+ v2i start;
+ skate_grind_coordv2i( si->co, 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; j<vg_list_size(offsets); j++ )
+ {
+ v2i cell;
+ v2i_add( start, offsets[j], cell );
+
+ u32 h = skate_grind_hashv2i( cell ) % k_hashmap_size;
+
+ int start = hashmap[ h ],
+ end = hashmap[ h+1 ];
+
+ for( int k=start; k<end; k++ )
+ {
+ int idx = entries[ k ];
+ if( idx <= i )
+ continue;
+
+ sj = &samples[idx];
+
+ /* non overlapping */
+ if( v2_dist2( si->co, 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 );
- v3_add( pos, average_position, average_position );
- vg_line_pt3( average_position, 0.02f, VG__GREEN );
+#if 0
+ vg_line_pt3( result_co, 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 );
+ 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_position, result_co );
v3_copy( average_normal, result_n );
v3_copy( average_direction, result_dir );
return passed_samples;
}
+#endif
+
/*
*
* Prediction system
* ------------------------------------------------
*/
+#if 0
VG_STATIC void skate_apply_grind_model( player_instance *player,
rb_ct *manifold, int len )
{
#endif
}
}
+#endif
/*
* Air control, no real physics
{
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 );
limiter *= limiter;
limiter = 1.0f-limiter;
+#if 0
if( fabsf(angle) < 0.9999f )
{
v4f correction;
acosf(angle)*(1.0f-limiter)*2.0f*VG_TIMESTEP_FIXED );
q_mul( correction, player->rb.q, player->rb.q );
}
+#endif
}
v2f steer = { player->input_js1h->axis.value,
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 );
}
+#if 0
VG_STATIC void skate_get_board_points( player_instance *player,
v3f front, v3f back )
{
m4x3_mulv( player->rb.to_world, pos_front, front );
m4x3_mulv( player->rb.to_world, pos_back, back );
}
+#endif
+#if 0
/*
* Casts and pushes a sphere-spring model into the world
*/
return 0;
}
}
+#endif
/*
{
struct player_skate *s = &player->_skate;
- if( !((s->state.activity == k_skate_activity_ground) ||
- (s->state.activity == k_skate_activity_air )) )
- return;
-
- if( s->state.activity == k_skate_activity_air )
- s->debug_normal_pressure = 0.0f;
- else
- s->debug_normal_pressure = v3_dot( player->rb.to_world[1], player->rb.v );
-
/* springs */
+
+#if 0
v3f spring0, spring1;
skate_get_board_points( player, spring1, spring0 );
#endif
}
}
+#endif
}
VG_STATIC int player_skate_trick_input( player_instance *player );
}
else
{
- if( (s->state.lift_frames == 0)
- && (v3_length2(s->state.trick_vel) >= 0.0001f ) &&
+ if( (v3_length2(s->state.trick_vel) >= 0.0001f ) &&
s->state.trick_time > 0.2f)
{
player__dead_transition( player );
s->state.grabbing = vg_lerpf( s->state.grabbing, grabt, 8.4f*k_rb_delta );
}
+VG_STATIC void skate_apply_steering_model( player_instance *player )
+{
+ struct player_skate *s = &player->_skate;
+
+ /* 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;
+
+ v3f steer_axis;
+ v3_muls( player->rb.to_world[1], -vg_signf( steer_scaled ), steer_axis );
+
+ float rate = 26.0f;
+
+ if( s->state.activity == k_skate_activity_air )
+ {
+ rate = 6.0f * fabsf(steer_scaled);
+ }
+
+ else if( s->state.activity >= k_skate_activity_grind_any )
+ {
+ rate *= fabsf(steer_scaled);
+ }
+
+ float current = v3_dot( player->rb.to_world[1], player->rb.w ),
+ addspeed = (steer_scaled * -1.0f) - current,
+ maxaccel = rate * k_rb_delta,
+ accel = vg_clampf( addspeed, -maxaccel, maxaccel );
+
+ v3_muladds( player->rb.w, player->rb.to_world[1], accel, player->rb.w );
+}
+
/*
* Computes friction and surface interface model
*/
{
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
/* 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;
+}
- 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 )
-{
- struct player_skate *s = &player->_skate;
- int charging_jump_prev = s->state.charging_jump;
- s->state.charging_jump = player->input_jump->button.value;
+VG_STATIC void skate_apply_jump_model( player_instance *player )
+{
+ struct player_skate *s = &player->_skate;
+ int charging_jump_prev = s->state.charging_jump;
+ 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 )
{
}
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) )
{
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;
-#endif
s->state.lift_frames ++;
+#endif
/* FIXME audio events */
#if 0
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 )
-{
- struct player_skate *s = &player->_skate;
-
- for( int j=0; j<10; j++ )
- {
- for( int i=0; i<len; i++ )
- {
- struct contact *ct = &manifold[i];
-
- v3f rv, delta;
- v3_sub( ct->co, player->rb.co, delta );
- v3_cross( player->rb.w, delta, rv );
- v3_add( player->rb.v, rv, rv );
-
- v3f raCn;
- v3_cross( delta, ct->n, raCn );
-
- 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 + lambda, 0.0f );
- lambda = ct->norm_impulse - temp;
-
- v3f 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 )
- {
- player__dead_transition( player );
- return;
- }
-
- v3_add( impulse, player->rb.v, player->rb.v );
- v3_cross( delta, impulse, impulse );
-
- /*
- * 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 ) * 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 );
- }
- }
-}
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 = 1.0f - (k_rb_delta * 3.0f);
+ float decay_rate = 1.0f - (k_rb_delta * 3.0f),
+ decay_rate_y = 1.0f;
-#if 0
- if( s->state.activity == k_skate_activity_air )
+ if( s->state.activity >= k_skate_activity_grind_any )
{
- float dist = 1.0f-(s->land_dist/4.0f);
- decay_rate = 0.5f * vg_maxf( dist*dist, 0.0f );
+ decay_rate = 1.0f-vg_lerpf( 3.0f, 20.0f, s->grind_strength ) * k_rb_delta;
+ decay_rate_y = decay_rate;
}
-#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] ),
+ 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 );
-#ifndef SKATE_CCD
- 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*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;
-
- 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 );
-
- q_axis_angle( rotate, player->rb.to_world[1], s->state.steery_s );
- q_mul( rotate, player->rb.q, player->rb.q );
-
- 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;
-#endif
-
s->state.flip_time += s->state.flip_rate * k_rb_delta;
rb_update_transform( &player->rb );
}
}
int trick_id;
- if( (s->state.lift_frames > 0) &&
+ if( (s->state.activity == k_skate_activity_air) &&
(trick_id = player_skate_trick_input( player )) )
{
if( (vg.time - s->state.jump_time) < 0.1f )
}
}
}
-}
+}
+
+VG_STATIC void player__skate_post_update( player_instance *player )
+{
+ struct player_skate *s = &player->_skate;
+
+#if 0
+ for( int i=0; i<s->prediction_count; i++ )
+ {
+ struct land_prediction *p = &s->predictions[i];
+
+ for( int j=0; j<p->log_length - 1; j ++ )
+ vg_line( p->log[j], p->log[j+1], 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, 0.200f, 0xff0000ff );
+ vg_line_pt3( s->state.apex, 0.201f, 0xff00ffff );
+#endif
+}
+
+/*
+ * 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_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 );
+
+ m3x3f mtx, mtx_inv;
+ skate_grind_orient( inf, mtx );
+ m3x3_transpose( mtx, mtx_inv );
+
+ /* decay 'force' */
+ 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 );
+
+ /* spring force */
+ v3_muladds( player->rb.v, delta, k_spring_force*strength*k_rb_delta,
+ player->rb.v );
+
+ /* friction force */
+ float a = 1.0f-fabsf( v3_dot( player->rb.to_world[2], 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 );
+
+ /* orientation */
+ rb_effect_spring_target_vector( &player->rb, player->rb.to_world[1],
+ inf->n,
+ k_grind_spring,
+ k_grind_dampener,
+ k_rb_delta );
+ vg_line_arrow( player->rb.co, inf->n, 1.0f, VG__GREEN );
+
+ /* TODO: This was a nice idea, but we should just apply steering to the
+ * target vector instead of this strange feedback loop thing! */
+ v3f target_fwd;
+ m3x3_mulv( mtx, s->grind_vec, target_fwd );
+
+ rb_effect_spring_target_vector( &player->rb, player->rb.to_world[2],
+ target_fwd,
+ k_grind_spring*strength,
+ k_grind_dampener*strength,
+ k_rb_delta );
+
+ vg_line_arrow( player->rb.co, target_fwd, 1.0f, VG__YELOW );
+
+ v3f new_target;
+ m3x3_mulv( mtx_inv, player->rb.to_world[2], new_target );
+ v3_lerp( s->grind_vec, new_target, k_rb_delta * 0.1f, s->grind_vec );
+
+ 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 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( player, 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;
+
+ 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( player,
+ 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;
+
+
+ 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, player->rb.to_world[2], s->grind_vec );
+
+ skate_grind_truck_apply( player, wsp, &inf, 1.0f );
+ return 1;
+ }
+ }
+
+ return 0;
+}
+
+VG_STATIC enum skate_activity skate_availible_grind( player_instance *player )
+{
+ struct player_skate *s = &player->_skate;
+
+ /*
+ * BOARDSLIDE
+ * ------------------------------------
+ */
+
+ struct grind_info grind_center;
+ if( skate_grind_scansq( player,
+ player->rb.co,
+ player->rb.to_world[0], k_board_length,
+ &grind_center ) )
+ {
+ v3f local_co, local_dir, local_n;
+ m4x3_mulv( player->rb.to_local, grind_center.co, local_co );
+ m3x3_mulv( player->rb.to_local, grind_center.dir, local_dir );
+ m3x3_mulv( player->rb.to_local, grind_center.n, local_n );
+
+ 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 */
+ {
+ /* compute position on center line */
+
+ v3f intersection;
+ v3_muladds( local_co, local_dir, local_co[0]/-local_dir[0],
+ intersection );
+ v3_copy( intersection, s->weight_distribution );
+
+
+ /* TODO: alignment & strengths should be proportional to speed */
+ /* dont apply correction in connecting velocities */
+ /* friciton */
+
+ v3f ideal_v, diff;
+ v3_muls( grind_center.dir,
+ v3_dot( player->rb.v, grind_center.dir ), ideal_v );
+
+ v3_sub( ideal_v, player->rb.v, diff );
+ v3_muladds( player->rb.v, diff, k_grind_aligment * k_rb_delta,
+ player->rb.v );
+
+
+ /* 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 );
+
+ return k_skate_activity_grind_boardslide;
+ }
+ }
-VG_STATIC void player__skate_post_update( player_instance *player )
-{
- struct player_skate *s = &player->_skate;
- for( int i=0; i<s->prediction_count; i++ )
+ if( s->state.activity == k_skate_activity_grind_back50 )
{
- struct land_prediction *p = &s->predictions[i];
-
- for( int j=0; j<p->log_length - 1; j ++ )
- vg_line( p->log[j], p->log[j+1], p->colour );
+ int result = skate_grind_truck_singular( player, 1.0f ),
+ front = skate_truck_entry_condition( player, -1.0f );
- vg_line_cross( p->log[p->log_length-1], p->colour, 0.25f );
+ 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 */
+ };
- v3f p1;
- v3_add( p->log[p->log_length-1], p->n, p1 );
- vg_line( p->log[p->log_length-1], p1, 0xffffffff );
+ 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 = skate_truck_entry_condition( player, 1.0f );
- vg_line_pt3( p->apex, 0.02f, 0xffffffff );
+ 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 front = skate_truck_entry_condition( player, -1.0f ),
+ back = skate_truck_entry_condition( player, 1.0f );
- vg_line_pt3( s->state.apex, 0.200f, 0xff0000ff );
- vg_line_pt3( s->state.apex, 0.201f, 0xff00ffff );
+ 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 skate_grind_boardslide( player_instance *player )
+{
+
}
VG_STATIC void player__skate_update( player_instance *player )
{
{
{ 0.0f, 0.0f, -k_board_length },
- .radius = 0.07f,
+ .radius = k_board_radius,
.apply_angular = 1,
.colour = VG__RED
},
{
{ 0.0f, 0.0f, k_board_length },
- .radius = 0.07f,
+ .radius = k_board_radius,
.apply_angular = 1,
.colour = VG__GREEN
},
};
const int k_wheel_count = 2;
-#if 0
- if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, -k_board_length } ) )
- {
-#if 0
- wheel_states[0] = 0;
- wheel_states[1] = 0;
-#endif
- }
-
- if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, k_board_length } ) )
- {
-#if 0
- wheel_states[2] = 0;
- wheel_states[3] = 0;
-#endif
- }
-#endif
s->substep = k_rb_delta;
s->substep_delta = s->substep;
- int substep_count = 0;
-
-
+ s->limit_count = 0;
+ int substep_count = 0;
+ v3_zero( s->surface_picture );
- /*
- * Phase 2: Truck alignment (spring/dampener model)
- * it uses the first two colliders as truck positions
- * --------------------------------------------------------------------------
- */
+ for( int i=0; i<k_wheel_count; i++ )
+ wheels[i].state = k_collider_state_default;
- v3f surface_picture;
- v3_zero( surface_picture );
-
- for( int i=0; i<2; i++ )
+ /* check if we can enter or continue grind */
+ enum skate_activity grindable_activity = skate_availible_grind( player );
+ if( grindable_activity != k_skate_activity_undefined )
{
- if( wheels[i].state == k_collider_state_disabled )
- continue;
-
- v3f truck, left, right;
- m4x3_mulv( player->rb.to_world, wheels[i].pos, truck );
- v3_muladds( truck, player->rb.to_world[0], -k_board_width, left );
- v3_muladds( truck, player->rb.to_world[0], k_board_width, right );
-
- vg_line( left, right, wheels[i].colour );
-
- v3_muladds( left, player->rb.to_world[1], 0.1f, left );
- v3_muladds( right, player->rb.to_world[1], 0.1f, right );
-
- float k_max_truck_flex = VG_PIf * 0.25f;
-
- ray_hit ray_l, ray_r;
- ray_l.dist = 0.2f;
- ray_r.dist = 0.2f;
-
- v3f dir;
- v3_muls( player->rb.to_world[1], -1.0f, dir );
-
- int res_l = ray_world( left, dir, &ray_l ),
- res_r = ray_world( right, dir, &ray_r );
-
- /* ignore bad normals */
- if( res_l )
- {
- if( v3_dot( ray_l.normal, player->rb.to_world[1] ) < 0.7071f )
- res_l = 0;
- else
- v3_add( ray_l.normal, surface_picture, surface_picture );
- }
-
- if( res_r )
- {
- if( v3_dot( ray_r.normal, player->rb.to_world[1] ) < 0.7071f )
- res_r = 0;
- else
- v3_add( ray_r.normal, surface_picture, surface_picture );
- }
-
- v3f v0;
- v3f midpoint;
- v3_muladds( truck, player->rb.to_world[1], -wheels[i].radius, midpoint );
-
- if( res_l || res_r )
- {
- v3f p0, p1;
- v3_copy( midpoint, p0 );
- v3_copy( midpoint, p1 );
-
- if( res_l ) v3_copy( ray_l.pos, p0 );
- if( res_r ) v3_copy( ray_r.pos, p1 );
-
- 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 )
- continue;
-
- v3_cross( n, player->rb.to_world[2], v0 );
- v3_muladds( v0, player->rb.to_world[2],
- -v3_dot( player->rb.to_world[2], v0 ), v0 );
- v3_normalize( v0 );
- }
- else
- continue;
- }
-
- v3_muladds( truck, v0, k_board_width, right );
- v3_muladds( truck, v0, -k_board_width, left );
-
- vg_line( left, right, VG__WHITE );
-
- rb_effect_spring_target_vector( &player->rb, player->rb.to_world[0], v0,
- k_board_spring, k_board_dampener,
- s->substep_delta );
+ s->state.activity = grindable_activity;
+ goto grinding;
}
- /*
- * Phase 2a: Manual alignment (spring/dampener model)
- * --------------------------------------------------------------------------
- */
-
- v3f weight, world_cog;
- v3_zero( weight );
-
- int reverse_dir = v3_dot( player->rb.to_world[2], player->rb.v ) < 0.0f?1:-1;
-
- if( s->state.manual_direction == 0 )
- {
- if( (player->input_js1v->axis.value > 0.7f) &&
- (s->state.activity == k_skate_activity_ground) &&
- (s->state.jump_charge <= 0.01f) )
- s->state.manual_direction = reverse_dir;
- }
- else
+ int contact_count = 0;
+ for( int i=0; i<2; i++ )
{
- if( player->input_js1v->axis.value < 0.1f )
- {
- s->state.manual_direction = 0;
- }
- else
+ v3f normal, axel;
+ if( skate_compute_surface_alignment( player, wheels[i].pos,
+ wheels[i].colour, normal, axel ) )
{
- if( reverse_dir != s->state.manual_direction )
- {
- player__dead_transition( player );
- return;
- }
- }
- }
+ rb_effect_spring_target_vector( &player->rb, player->rb.to_world[0],
+ axel,
+ k_board_spring, k_board_dampener,
+ s->substep_delta );
- 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;
+ v3_add( normal, s->surface_picture, s->surface_picture );
+ contact_count ++;
+ }
}
- if( v3_length2( surface_picture ) > 0.001f )
+ if( contact_count )
{
- v3_normalize( surface_picture );
-
- v3f target;
- v3_copy( surface_picture, target );
+ s->state.activity = k_skate_activity_ground;
+ v3_normalize( s->surface_picture );
- target[1] += 2.0f * surface_picture[1];
- v3_normalize( target );
-
- v3_lerp( s->state.up_dir, target,
- 8.0f * s->substep_delta, s->state.up_dir );
+ skate_apply_friction_model( player );
+ skate_weight_distribute( player );
+ skate_apply_pump_model( player );
}
else
{
- v3_lerp( s->state.up_dir, player->rb.to_world[1],
- 8.0f * s->substep_delta, s->state.up_dir );
+ s->state.activity = k_skate_activity_air;
+ skate_apply_air_model( player );
}
+grinding:;
- /* TODO: Fall back on land normal */
- /* TODO: Lerp weight distribution */
- /* TODO: Can start manual only if not charge jump */
- if( v3_length2( surface_picture ) > 0.001f &&
- v3_length2( weight ) > 0.001f &&
- s->state.manual_direction )
+ 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 )
{
- v3f plane_z;
-
- m3x3_mulv( player->rb.to_world, weight, plane_z );
- v3_negate( plane_z, plane_z );
-
- v3_muladds( plane_z, surface_picture,
- -v3_dot( plane_z, surface_picture ), plane_z );
- v3_normalize( plane_z );
-
- v3_muladds( plane_z, surface_picture, 0.3f, plane_z );
- v3_normalize( plane_z );
-
- v3f p1;
- v3_muladds( player->rb.co, plane_z, 1.5f, p1 );
- vg_line( player->rb.co, p1, VG__GREEN );
-
- v3f refdir;
- v3_muls( player->rb.to_world[2], -(float)s->state.manual_direction,
- refdir );
-
- rb_effect_spring_target_vector( &player->rb, refdir, plane_z,
- k_manul_spring, k_manul_dampener,
- s->substep_delta );
+ wheels[0].state = k_collider_state_disabled;
+ wheels[1].state = k_collider_state_disabled;
}
-
-
-
-
-
-
+ /* 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 );
begin_collision:;
m4x3_mulv( player->rb.to_world, s->state.head_position, head_wp0 );
v3_copy( player->rb.co, start_co );
- for( int i=0; i<k_wheel_count; i++ )
- wheels[i].state = k_collider_state_default;
-
/* calculate transform one step into future */
v3f future_co;
v4f future_q;
float t;
v3f n;
- float cast_radius = wheels[i].radius - k_penetration_slop * 1.2f;
+ 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 );
}
* --------------------------------------------------------------------------
*/
m4x3_mulv( player->rb.to_world, s->state.head_position, head_wp1 );
- vg_line( head_wp0, head_wp1, VG__RED );
+#if 0
float t;
v3f n;
if( (v3_dist2( head_wp0, head_wp1 ) > 0.001f) &&
v3_lerp( start_co, player->rb.co, t, player->rb.co );
rb_update_transform( &player->rb );
-#if 0
player__dead_transition( player );
-#endif
return;
}
-
- /*
- * Phase 2-1+0.5: Grind collision
- * --------------------------------------------------------------------------
- */
-
- for( int i=0; i<1; i++ )
- {
-
- /*
- * Grind collision detection
- * ------------------------------------------------
- */
- v3f grind_co, grind_n, grind_dir;
- if( skate_grind_scansq( player, player->rb.co,
- grind_co, grind_dir, grind_n ) )
- {
-#if 0
- rb_ct *ct = &manifold[ manifold_len ++ ];
-
- v3_copy( truck, ct->co );
- v3_copy( grind_n, ct->n );
- ct->p = vg_maxf( 0.0f, ct->co[1] - truck[1] );
-#endif
-
- v3f target_dir;
- v3_cross( grind_dir, (v3f){0.0f,1.0f,0.0f}, target_dir );
- target_dir[1] = 0.0f;
-
- if( v3_length2( target_dir ) <= 0.001f )
- continue;
-
- if( fabsf(v3_dot( player->rb.v, grind_dir )) < 0.7071f )
- continue;
-
- v3_copy( grind_co, player->rb.co );
-
- q_axis_angle( player->rb.q, (v3f){0.0f,1.0f,0.0f},
- -atan2f( target_dir[2], target_dir[0] ) );
-
- wheels[0].state = k_collider_state_disabled;
- wheels[1].state = k_collider_state_disabled;
- v3_muls( grind_dir, v3_dot(player->rb.v,grind_dir), player->rb.v );
- v3_zero( player->rb.w );
-
- rb_update_transform( &player->rb );
-
-
-#if 0
- v3f displacement, dir;
- v3_sub( truck, grind_co, displacement );
- v3_copy( displacement, dir );
- v3_normalize( dir );
-
- v3f rv, raW;
- q_mulv( player->rb.q, wheels[i].pos, raW );
-
- v3_cross( player->rb.w, raW, rv );
- v3_add( player->rb.v, rv, rv );
-
- v3_muladds( rv, player->rb.to_world[2],
- -v3_dot( rv, player->rb.to_world[2] ), rv );
-
- v3f Fd, Fs, F;
- v3_muls( displacement, -k_grind_spring, Fs );
- v3_muls( rv, -k_grind_dampener, Fd );
-
- v3_add( Fd, Fs, F );
- v3_muls( F, s->substep_delta, F );
-
- v3_add( player->rb.v, F, player->rb.v );
- v3f wa;
- v3_cross( raW, F, wa );
- v3_add( player->rb.w, wa, player->rb.w );
-
- rb_effect_spring_target_vector( &player->rb, player->rb.to_world[1],
- grind_n,
- k_board_spring, k_board_dampener,
- s->substep_delta );
-
- v3f adj;
- v3_cross( grind_dir, (v3f){0.0f,1.0f,0.0f}, adj );
- rb_effect_spring_target_vector( &player->rb, player->rb.to_world[2],
- adj,
- k_grind_spring, k_grind_dampener,
- s->substep_delta );
#endif
- s->state.activity = k_skate_activity_grind;
- }
- else
- s->state.activity = k_skate_activity_ground;
- }
-
-
/*
* Phase 1: Regular collision detection
* TODO: Me might want to automatically add contacts from CCD,
manifold_len += l;
}
+ 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] );
+
+ rb_ct *cman = &manifold[manifold_len];
+
+ int l = rb_capsule__scene( mtx, &capsule, NULL, &world.rb_geo.inf.scene,
+ cman );
+ manifold_len += l;
+
+ debug_capsule( mtx, capsule.radius, capsule.height, VG__WHITE );
+
+ /* add limits */
+ for( int i=0; i<s->limit_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;
+ }
+
/*
* Phase 3: Dynamics
* --------------------------------------------------------------------------
m3x3_mul( iI, player->rb.to_local, iIw );
m3x3_mul( player->rb.to_world, iIw, iIw );
- m4x3_mulv( player->rb.to_world, weight, world_cog );
- vg_line_pt3( world_cog, 0.1f, VG__BLACK );
+ 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++ )
{
vn = v3_dot( rv, ct->n ),
lambda = normal_mass * ( -vn );
- /* FIXME! */
- v3_muladds( player->rb.co, ct->n, ct->bias*0.02f, player->rb.co );
-
float temp = ct->norm_impulse;
ct->norm_impulse = vg_maxf( temp + lambda, 0.0f );
lambda = ct->norm_impulse - temp;
}
}
+ v3f dt;
+ rb_depenetrate( manifold, manifold_len, dt );
+ v3_add( dt, player->rb.co, player->rb.co );
+ rb_update_transform( &player->rb );
+
substep_count ++;
if( s->substep >= 0.0001f )
wheels[i].colour }[ wheels[i].state ]);
}
-#if 0
- skate_apply_grind_model( player, &manifold[manifold_len], grind_len );
-#endif
-
- skate_apply_interface_model( player, manifold, manifold_len );
-
- skate_apply_pump_model( player );
- skate_apply_cog_model( player );
-
- skate_apply_grab_model( player );
- skate_apply_friction_model( player );
- skate_apply_jump_model( player );
- skate_apply_air_model( player );
- skate_apply_trick_model( player );
-
skate_integrate( player );
-
- 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 );
-
- vg_line( player->rb.co, s->state.cog, VG__RED );
+ 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 )) )
player->rb.w[1],
player->rb.w[2] );
- player__debugtext( 1, "activity: %s",
- (const char *[]){ "k_skate_activity_air",
- "k_skate_activity_ground",
- "k_skate_activity_grind }" }
- [s->state.activity] );
+ 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,
/* 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,
}
v3f p1, p2;
- m4x3_mulv( player->rb.to_world, up, p1 );
- m4x3_mulv( player->rb.to_world, ndir, p2 );
+ m3x3_mulv( player->rb.to_world, up, p1 );
+ m3x3_mulv( player->rb.to_world, ndir, p2 );
- vg_line( player->rb.co, p1, VG__PINK );
- vg_line( player->rb.co, p2, VG__CYAN );
+ vg_line_arrow( player->rb.co, p1, 0.25f, VG__PINK );
+ vg_line_arrow( player->rb.co, p2, 0.25f, VG__PINK );
}
*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 );
-
-#if 0
- m3x3f c;
- q_m3x3( s->board_rotation, c );
-#endif
v4f qtotal;
-
v4f qtrickr, qyawr, qpitchr, qrollr;
v3f eulerr;
-
v3_muls( s->board_trick_residuald, VG_TAUf, eulerr );
q_axis_angle( qrollr, (v3f){0.0f,0.0f,1.0f}, eulerr[2] );
q_mul( qpitchr, qrollr, qtrickr );
- q_mul( qyawr, qtrickr, qtrickr );
- q_mul( s->board_rotation, qtrickr, qtotal );
+ q_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 );
- q_mulv( qtotal, d, d );
- v3_add( bo, d, kf_foot_l->co );
-
- v3_sub( kf_foot_r->co, bo, d );
- q_mulv( qtotal, d, d );
- v3_add( bo, d, kf_foot_r->co );
-
- q_mul( s->board_rotation, kf_board->q, kf_board->q );
- q_normalize( kf_board->q );
-
-
/* trick rotation */
v4f qtrick, qyaw, qpitch, qroll;
v3f euler;
projects / carveJwlIkooP6JGAAIwe30JlM.git / commitdiff