From: hgn Date: Tue, 7 Feb 2023 09:43:58 +0000 (+0000) Subject: CCD! X-Git-Url: https://harrygodden.com/git/?a=commitdiff_plain;h=0b69490b7ced300b028240fe0606b10b39fe08a2;p=carveJwlIkooP6JGAAIwe30JlM.git CCD! --- diff --git a/maps_src/mp_gridmap.mdl b/maps_src/mp_gridmap.mdl index 7efdc8a..676155a 100644 Binary files a/maps_src/mp_gridmap.mdl and b/maps_src/mp_gridmap.mdl differ diff --git a/player_skate.c b/player_skate.c index be35667..b2d951e 100644 --- a/player_skate.c +++ b/player_skate.c @@ -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, @@ -615,6 +615,8 @@ 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 +703,7 @@ 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; @@ -708,6 +711,7 @@ 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 } } } @@ -1061,10 +1065,12 @@ VG_STATIC void skate_collision_response( player_instance *player, */ float wy = v3_dot( player->rb.to_world[1], impulse ) * 0.8f, - wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f; + wx = v3_dot( player->rb.to_world[0], impulse ) * 1.0f, + wz = v3_dot( player->rb.to_world[2], impulse ) * 2.0f; 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 ); } } } @@ -1074,9 +1080,11 @@ 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; @@ -1088,6 +1096,7 @@ VG_STATIC void skate_integrate( player_instance *player ) v3_lerp( player->rb.w, (v3f){0.0f,0.0f,0.0f}, decay_rate, player->rb.w ); +#ifndef SKATE_CCD if( v3_length2( player->rb.w ) > 0.0f ) { v4f rotation; @@ -1099,6 +1108,7 @@ 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 */ v4f rotate; @@ -1203,72 +1213,186 @@ 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 ); + float l = k_board_length, + w = 0.13f; + + v3f wheel_positions[] = + { + { -w, 0.0f, -l }, + { w, 0.0f, -l }, + { -w, 0.0f, l }, + { w, 0.0f, l }, + }; + + rb_sphere collider; + collider.radius = 0.07f; + + s->substep = k_rb_delta; + +begin_collision:; + +#ifdef SKATE_CCD + + /* 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, + cast_radius = collider.radius - 0.05f; + + for( int i=0; i<4; i++ ) + { + v3f current, future; + q_mulv( future_q, wheel_positions[i], future ); + v3_add( future, future_co, future ); - skate_get_board_points( player, mtx_front[3], mtx_back[3] ); + q_mulv( player->rb.q, wheel_positions[i], current ); + v3_add( current, player->rb.co, current ); + + float t; /* TODO: ignore lightly grazing normals? */ + v3f n; + 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 */ + max_time = vg_minf( vg_maxf( max_time, k_rb_delta*0.025f ), s->substep ); + 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 ); + } + + rb_update_transform( &player->rb ); + + v3f gravity = { 0.0f, -9.6f, 0.0f }; + v3_muladds( player->rb.v, gravity, s->substep_delta, player->rb.v ); + +#else + + s->substep_delta = k_rb_delta; + +#endif + + s->substep -= s->substep_delta; - s->sphere_back.radius = 0.3f; - s->sphere_front.radius = 0.3f; /* create manifold(s) */ - rb_ct manifold[72], - *interface_manifold = NULL, - *grind_manifold = NULL; + rb_ct manifold[128]; + + int manifold_len = 0, + manifold_front = 0, + manifold_back = 0, + manifold_interface = 0; + + rb_ct *cmanifold = manifold; + + for( int i=0; i<4; i++ ) + { + m4x3f mtx; + m3x3_identity( mtx ); + + m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] ); + + int l = skate_collide_smooth( player, mtx, &collider, cmanifold ); - 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; + cmanifold += l; + manifold_len += l; + manifold_interface += l; + + if( i<=1 ) + manifold_front ++; + else + manifold_back ++; + } /* 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) ) + if( (s->state.activity == k_skate_activity_air) && + (manifold_front != manifold_back ) ) { v3f trace_from, trace_dir; v3_muls( player->rb.to_world[1], -1.0f, trace_dir ); - if( len_front ) - v3_copy( mtx_back[3], trace_from ); + if( manifold_front ) + v3_copy( (v3f){0.0f,0.0f, k_board_length}, trace_from ); else - v3_copy( mtx_front[3], trace_from ); + v3_copy( (v3f){0.0f,0.0f,-k_board_length}, trace_from ); + m4x3_mulv( player->rb.to_world, trace_from, trace_from ); ray_hit ray; ray.dist = 0.6f; if( ray_world( trace_from, trace_dir, &ray ) ) { - rb_ct *ct = &manifold[ interface_len ]; + rb_ct *ct = cmanifold; v3_copy( ray.pos, ct->co ); v3_copy( ray.normal, ct->n ); ct->p = 0.0f; - interface_len ++; + manifold_len ++; + manifold_interface ++; } } - interface_manifold = manifold; - grind_manifold = manifold + interface_len; - - int grind_len = skate_grind_collide( player, grind_manifold ); + int grind_len = skate_grind_collide( player, cmanifold ); + manifold_len += grind_len; - for( int i=0; ibias = -0.2f * + (s->substep_delta * 3600.0f) + * vg_minf( 0.0f, -ct->p+k_penetration_slop ); + rb_tangent_basis( ct->n, ct->t[0], ct->t[1] ); + ct->norm_impulse = 0.0f; + ct->tangent_impulse[0] = 0.0f; + ct->tangent_impulse[1] = 0.0f; +#else rb_prepare_contact( &manifold[i] ); +#endif rb_debug_contact( &manifold[i] ); } - skate_apply_grind_model( player, grind_manifold, grind_len ); - skate_apply_interface_model( player, manifold, interface_len ); + skate_collision_response( player, manifold, manifold_len ); + + if( s->substep >= 0.0001f ) + goto begin_collision; + + skate_apply_grind_model( player, &manifold[manifold_interface], grind_len ); + skate_apply_interface_model( player, manifold, manifold_interface ); 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 ); diff --git a/player_skate.h b/player_skate.h index 1833062..6ace410 100644 --- a/player_skate.h +++ b/player_skate.h @@ -3,6 +3,8 @@ #include "player_api.h" +#define SKATE_CCD + struct player_skate { struct @@ -86,7 +88,6 @@ struct player_skate *anim_push, *anim_push_reverse, *anim_ollie, *anim_ollie_reverse, *anim_grabs, *anim_stop; - rb_sphere sphere_front, sphere_back; v3f board_offset, board_trick_residualv, board_trick_residuald; @@ -101,6 +102,9 @@ struct player_skate blend_jump, blend_airdir; + float substep, + substep_delta; + v2f wobble; float debug_normal_pressure;