From: hgn <hgodden00@gmail.com>
Date: Sat, 26 Nov 2022 20:11:58 +0000 (+0000)
Subject: grind phys
X-Git-Url: https://harrygodden.com/git/?a=commitdiff_plain;h=147ecb98ce2d6a2b24b0d86436913a46888dea84;hp=777083e1f715a26d3f68be4ba5bdf2cbcaa84a05;p=carveJwlIkooP6JGAAIwe30JlM.git

grind phys
---

diff --git a/maps_src/mp_gridmap.mdl b/maps_src/mp_gridmap.mdl
index 2b2d2e5..0423803 100644
Binary files a/maps_src/mp_gridmap.mdl and b/maps_src/mp_gridmap.mdl differ
diff --git a/player.h b/player.h
index d0ce431..0edbbdd 100644
--- a/player.h
+++ b/player.h
@@ -2,6 +2,10 @@
  * Copyright (C) 2021-2022 Mt.ZERO Software, Harry Godden - All Rights Reserved
  */
 
+/*
+ * TODO: Tilt camera down to face borde when its behind you or out of vision
+ */
+
 #ifndef PLAYER_H
 #define PLAYER_H
 
@@ -31,7 +35,7 @@ VG_STATIC float
    k_steer_air             = 3.6f,
    k_steer_air_lerp        = 0.3f,
    k_pump_force            = 0.0f,
-   k_downforce             = 5.0f,
+   k_downforce             = 8.0f,
    k_walk_downforce        = 8.0f,
    k_jump_charge_speed     = (1.0f/1.0f),
    k_jump_force            = 5.0f,
@@ -64,14 +68,15 @@ VG_STATIC struct gplayer
       v3f a, v_last, m, bob, vl;
 
       /* Utility */
-      float vswitch, slip, slip_last,
-            reverse;
+      float vswitch, slip, slip_last, reverse;
 
       float grab, jump, pushing, push_time;
       v2f grab_mouse_delta;
 
+      int lift_frames;
+
       double start_push;
-      int in_air, on_board, jump_charge, jump_dir;
+      int in_air, on_board, jump_charge, jump_dir, grind;
 
       m3x3f vr,vr_pstep;
    }
@@ -138,7 +143,8 @@ VG_STATIC struct gplayer
          walk_timer,
          fjump,
          fonboard,
-         frun;
+         frun,
+         fgrind;
 
    float walk;
    int step_phase;
diff --git a/player_animation.h b/player_animation.h
index 4d57965..b9e28de 100644
--- a/player_animation.h
+++ b/player_animation.h
@@ -336,15 +336,21 @@ VG_STATIC void player_animate_camera(void)
       /* Look angles */
       v3_lerp( phys->vl, phys->rb.v, 0.05f, phys->vl );
 
+      player.fgrind = vg_lerpf( player.fgrind, phys->grind, vg.time_delta );
+
       float yaw = atan2f(  phys->vl[0], -phys->vl[2] ),
-          pitch = atan2f( -phys->vl[1], 
-                sqrtf(
-                  phys->vl[0]*phys->vl[0] + phys->vl[2]*phys->vl[2]
-                )) * 0.7f;
+          pitch = atan2f
+                  ( 
+                      -phys->vl[1], 
+                      sqrtf
+                      (
+                        phys->vl[0]*phys->vl[0] + phys->vl[2]*phys->vl[2]
+                      )
+                  ) 
+                  * 0.7f + vg_lerpf( 0.30f, 0.90f, player.fgrind );
 
       player.angles[0] = yaw;
-      player.angles[1] = vg_lerpf( player.angles[1], pitch + 0.30f, 
-                                                         player.fonboard );
+      player.angles[1] = vg_lerpf( player.angles[1], pitch, player.fonboard );
 
       /* Camera shake */
       static v2f shake_damp = {0.0f,0.0f};
diff --git a/player_physics.h b/player_physics.h
index 41adc1e..52c51da 100644
--- a/player_physics.h
+++ b/player_physics.h
@@ -21,11 +21,6 @@ VG_STATIC void player_start_air(void)
 {
    struct player_phys *phys = &player.phys;
 
-   if( phys->in_air )
-      return;
-
-   phys->in_air = 1;
-
    float pstep = VG_TIMESTEP_FIXED * 10.0f;
    float best_velocity_delta = -9999.9f;
    float k_bias = 0.96f;
@@ -112,6 +107,33 @@ VG_STATIC void player_start_air(void)
    }
 }
 
+
+VG_STATIC void player_physics_control_passive(void)
+{
+   struct player_phys *phys = &player.phys;
+   float grabt = player.input_grab->axis.value;
+
+   if( grabt > 0.5f )
+   {
+      v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f, 
+                  phys->grab_mouse_delta );
+      v2_normalize_clamp( phys->grab_mouse_delta );
+   }
+   else
+      v2_zero( phys->grab_mouse_delta );
+
+   phys->grab = vg_lerpf( phys->grab, grabt, 0.14f );
+   player.phys.pushing = 0.0f;
+
+   if( !phys->jump_charge || phys->in_air )
+   {
+      phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED;
+   }
+
+   phys->jump_charge = 0;
+   phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f );
+}
+
 /*
  * Main friction interface model
  */
@@ -186,6 +208,60 @@ VG_STATIC void player_physics_control(void)
          steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground;
 
    phys->iY -= steer_scaled * VG_TIMESTEP_FIXED;
+
+   if( !phys->jump_charge && phys->jump > 0.2f )
+   {
+      v3f jumpdir;
+      
+      /* Launch more up if alignment is up else improve velocity */
+      float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )),
+            mod = 0.5f,
+            dir = mod + aup*(1.0f-mod);
+
+      v3_copy( phys->rb.v, jumpdir );
+      v3_normalize( jumpdir );
+      v3_muls( jumpdir, 1.0f-dir, jumpdir );
+      v3_muladds( jumpdir, phys->rb.up, dir, jumpdir );
+      v3_normalize( jumpdir );
+      
+      float force = k_jump_force*phys->jump;
+      v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v );
+      phys->jump = 0.0f;
+
+      player.jump_time = vg.time;
+      
+      /* TODO: Move to audio file */
+      audio_lock();
+      audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D );
+      audio_player_set_position( &audio_player_extra, phys->rb.co );
+      audio_player_set_vol( &audio_player_extra, 20.0f );
+      audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] );
+      audio_unlock();
+   }
+}
+
+VG_STATIC void player_physics_control_grind(void)
+{
+   struct player_phys *phys = &player.phys;
+   v2f steer = { player.input_js1h->axis.value,
+                 player.input_js1v->axis.value };
+
+   float l2 = v2_length2( steer );
+   if( l2 > 1.0f )
+      v2_muls( steer, 1.0f/sqrtf(l2), steer );
+
+   phys->iY -= steer[0] * k_steer_air * VG_TIMESTEP_FIXED;
+
+   float iX = steer[1] * phys->reverse * k_steer_air * VG_TIMESTEP_FIXED;
+
+   static float siX = 0.0f;
+   siX = vg_lerpf( siX, iX, k_steer_air_lerp );
+   
+   v4f rotate;
+   q_axis_angle( rotate, phys->rb.right, siX );
+   q_mul( rotate, phys->rb.q, phys->rb.q );
+
+   phys->slip = 0.0f;
 }
 
 /*
@@ -239,7 +315,7 @@ VG_STATIC void player_physics_control_air(void)
          limiter *= limiter;
          limiter = 1.0f-limiter;
 
-         if( angle < 0.99f )
+         if( fabsf(angle) < 0.99f )
          {
             v4f correction;
             q_axis_angle( correction, axis, 
@@ -515,38 +591,137 @@ VG_STATIC void player_grind(void)
    vg_line_cross( closest, 0xff000000, 0.3f );
    vg_line( edge->p0, edge->p1, 0xff000000 );
 
-   return;
+   v3f grind_delta;
+   v3_sub( closest, phys->rb.co, grind_delta );
+   
+   float p = v3_dot( phys->rb.forward, grind_delta );
+   v3_muladds( grind_delta, phys->rb.forward, -p, grind_delta );
+   
+   float a = vg_maxf( 0.0f, 4.0f-v3_dist2( closest, phys->rb.co ) );
+   v3_muladds( phys->rb.v, grind_delta, a*0.2f, phys->rb.v );
+}
+
+VG_STATIC int player_update_grind_collision( rb_ct *contact )
+{
+   struct player_phys *phys = &player.phys;
 
-   idx = bh_closest_point( world.geo_bh, phys->rb.co, closest, INFINITY );
-   vg_line( phys->rb.co, closest, 0xff000000 );
-   vg_line_cross( closest, 0xff000000, 0.3f );
+   bh_iter it;
+   bh_iter_init( 0, &it );
+
+   boxf region;
+
+   v3f p0, p1, c0, c1;
+   v3_muladds( phys->rb.co, phys->rb.forward,  0.5f, p0 );
+   v3_muladds( phys->rb.co, phys->rb.forward, -0.5f, p1 );
+   v3_muladds( p0, phys->rb.up, 0.125f, p0 );
+   v3_muladds( p1, phys->rb.up, 0.125f, p1 );
+
+   box_init_inf( region );
+   box_addpt( region, p0 );
+   box_addpt( region, p1 );
    
-   idx = world.scene_geo->arrindices[ idx * 3 ];
-   struct world_material *mat = world_tri_index_material( idx );
+   float const k_r = 0.25f;
+   v3_add( (v3f){ k_r, k_r, k_r}, region[1], region[1] );
+   v3_add( (v3f){-k_r,-k_r,-k_r}, region[0], region[0] );
+
+   vg_line( p0, p1, 0xff0000ff );
+   vg_line_boxf( region, 0xff0000ff );
 
-   if( mat->info.flags & k_material_flag_grind_surface )
+   float closest = k_r*k_r;
+   struct grind_edge *closest_edge = NULL;
+   
+   int idx;
+   while( bh_next( world.grind_bh, &it, region, &idx ) )
    {
-      v3f grind_delta;
-      v3_sub( closest, phys->rb.co, grind_delta );
-      
-      float p = v3_dot( phys->rb.forward, grind_delta );
-      v3_muladds( grind_delta, phys->rb.forward, -p, grind_delta );
-      
-      float a = vg_maxf( 0.0f, 4.0f-v3_dist2( closest, phys->rb.co ) );
-      v3_muladds( phys->rb.v, grind_delta, a*0.2f, phys->rb.v );
+      struct grind_edge *edge = &world.grind_edges[ idx ];
+
+      float s,t;
+      v3f pa, pb;
+
+      float d2 = 
+         closest_segment_segment( p0, p1, edge->p0, edge->p1, &s,&t, pa, pb );
+
+      if( d2 < closest )
+      {
+         closest = d2;
+         closest_edge = edge;
+         v3_copy( pa, c0 );
+         v3_copy( pb, c1 );
+      }
    }
+
+   if( closest_edge )
+   {
+      vg_line_cross( c0, 0xff000000, 0.1f );
+      vg_line_cross( c1, 0xff000000, 0.1f );
+      vg_line( c0, c1, 0xff000000 );
+
+      v3f delta;
+      v3_sub( c1, c0, delta );
+
+      if( v3_dot( delta, phys->rb.up ) > 0.0f )
+      {
+         v3_copy( delta, contact->n );
+         float l = v3_length( contact->n );
+         v3_muls( contact->n, 1.0f/l, contact->n );
+         contact->p = l;
+         contact->type = k_contact_type_edge;
+         contact->element_id = 0;
+         v3_copy( c1, contact->co );
+         contact->rba = &player.phys.rb;
+         contact->rbb = &world.rb_geo;
+
+         v3f edge_dir, axis_dir;
+         v3_sub( closest_edge->p1, closest_edge->p0, edge_dir );
+         v3_normalize( edge_dir );
+         v3_cross( (v3f){0.0f,1.0f,0.0f}, edge_dir, axis_dir );
+         v3_cross( edge_dir, axis_dir, contact->n );
+
+         return 1;
+      }
+      else
+         return -1;
+   }
+
+   return 0;
+
+#if 0
+   v3f closest;
+   int idx = bh_closest_point( world.grind_bh, phys->rb.co, closest, INFINITY );
+   if( idx != -1 )
+   {
+      struct grind_edge *edge = &world.grind_edges[ idx ];
+
+      vg_line( phys->rb.co, closest, 0xff000000 );
+      vg_line_cross( closest, 0xff000000, 0.3f );
+      vg_line( edge->p0, edge->p1, 0xff000000 );
+
+      v3f delta;
+      v3_sub( closest, phys->rb.co, delta );
+
+      if( v3_length2(delta) < 0.5f*0.5f )
+      {
+         v3_copy( closest, phys->rb.co );
+
+         v3f line_dir;
+         v3_sub( edge->p1, edge->p0, line_dir );
+         v3_normalize( line_dir );
+
+         float p = v3_dot( phys->rb.v, line_dir );
+         v3_muls( line_dir, p, phys->rb.v );
+         phys->grind = 1;
+      }
+      else
+         phys->grind = 0;
+   }
+#endif
 }
 
-/*
- * Physics collision detection, and control
- */
-VG_STATIC void player_physics(void)
+/* Manifold must be able to hold at least 64 elements */
+VG_STATIC int player_update_collision_manifold( rb_ct *manifold )
 {
    struct player_phys *phys = &player.phys;
-   /*
-    * Update collision fronts
-    */
-   
+
    rigidbody *rbf = &player.collide_front,
              *rbb = &player.collide_back;
 
@@ -570,7 +745,6 @@ VG_STATIC void player_physics(void)
    rb_debug( rbf, 0xff00ffff );
    rb_debug( rbb, 0xffffff00 );
 
-   rb_ct manifold[64];
    int len_f = 0,
        len_b = 0; 
 
@@ -595,14 +769,7 @@ VG_STATIC void player_physics(void)
    }
    len_b = rb_manifold_apply_filtered( man_b, len_b );
 
-   int len = len_f+len_b;
-
-   player_grind();
-
-   boxf bax;
-   v3_sub( phys->rb.co, (v3f){2.0f,2.0f,2.0f}, bax[0] );
-   v3_add( phys->rb.co, (v3f){2.0f,2.0f,2.0f}, bax[1] );
-
+#if 0
    /* 
     * Preprocess collision points, and create a surface picture.
     * we want contacts that are within our 'capsule's internal line to be 
@@ -623,33 +790,79 @@ VG_STATIC void player_physics(void)
          v3_normalize( manifold[i].n );
       }
    }
+#endif
 
-   rb_presolve_contacts( manifold, len );
-   v3f surface_avg = {0.0f, 0.0f, 0.0f};
+   return len_f + len_b;
+}
+
+VG_STATIC void player_adhere_ground( rb_ct *manifold, int len )
+{
+   struct player_phys *phys = &player.phys;
+   int was_in_air = phys->in_air;
 
-   if( !len )
+   v3f surface_avg;
+   v3_zero( surface_avg );
+
+   if( len == 0 )
    {
-      player_start_air();
+      phys->lift_frames ++;
+
+      if( phys->lift_frames >= 8 )
+         phys->in_air = 1;
    }
    else
    {
       for( int i=0; i<len; i++ )
-      {
-         v3_add( manifold[i].n, surface_avg, surface_avg );
-      }
-
+         v3_add( surface_avg, manifold[i].n, surface_avg );
       v3_normalize( surface_avg );
-
-      if( v3_dot( phys->rb.v, surface_avg ) > 0.5f )
+      
+      if( v3_dot( phys->rb.v, surface_avg ) > 0.7f )
       {
-         player_start_air();
+         phys->lift_frames ++;
+
+         if( phys->lift_frames >= 8 )
+            phys->in_air = 1;
       }
       else
       {
          phys->in_air = 0;
+         phys->lift_frames = 0;
+         v3f projected, axis;
+
+         float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED;
+         v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
+
+         float d = v3_dot( phys->rb.forward, surface_avg );
+         v3_muladds( surface_avg, phys->rb.forward, -d, projected );
+         v3_normalize( projected );
+
+         float angle = v3_dot( phys->rb.up, projected );
+         v3_cross( phys->rb.up, projected, axis );
+
+         v3f p0, p1;
+         v3_add( phys->rb.co, projected, p0 );
+         v3_add( phys->rb.co, phys->rb.up, p1 );
+         vg_line( phys->rb.co, p0, 0xff00ff00 );
+         vg_line( phys->rb.co, p1, 0xff000fff );
+
+         if( fabsf(angle) < 0.999f )
+         {
+            v4f correction;
+            q_axis_angle( correction, axis, 
+                          acosf(angle)*4.0f*VG_TIMESTEP_FIXED );
+            q_mul( correction, phys->rb.q, phys->rb.q );
+         }
       }
    }
 
+   if( !was_in_air && phys->in_air )
+      player_start_air();
+}
+
+VG_STATIC void player_collision_response( rb_ct *manifold, int len )
+{
+   struct player_phys *phys = &player.phys;
+
    for( int j=0; j<5; j++ )
    {
       for( int i=0; i<len; i++ )
@@ -690,98 +903,12 @@ VG_STATIC void player_physics(void)
           */
          
          float wy = v3_dot( phys->rb.up, impulse ),
-               wx = v3_dot( phys->rb.right, impulse )*1.5f;
+               wx = v3_dot( phys->rb.right, impulse )*1.8f;
 
          v3_muladds( phys->rb.w, phys->rb.up, wy, phys->rb.w );
          v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w );
       }
    }
-
-   float grabt = player.input_grab->axis.value;
-
-   if( grabt > 0.5f )
-   {
-      v2_muladds( phys->grab_mouse_delta, vg.mouse_delta, 0.02f, 
-                  phys->grab_mouse_delta );
-      v2_normalize_clamp( phys->grab_mouse_delta );
-   }
-   else
-      v2_zero( phys->grab_mouse_delta );
-
-   phys->grab = vg_lerpf( phys->grab, grabt, 0.14f );
-   player.phys.pushing = 0.0f;
-
-   if( !phys->in_air )
-   {
-      v3f projected, axis;
-
-      float d = v3_dot( phys->rb.forward, surface_avg );
-      v3_muladds( surface_avg, phys->rb.forward, -d, projected );
-      v3_normalize( projected );
-
-      float angle = v3_dot( phys->rb.up, projected );
-      v3_cross( phys->rb.up, projected, axis );
-
-      v3f p0, p1;
-      v3_add( phys->rb.co, projected, p0 );
-      v3_add( phys->rb.co, phys->rb.up, p1 );
-      vg_line( phys->rb.co, p0, 0xff00ff00 );
-      vg_line( phys->rb.co, p1, 0xff000fff );
-
-      if( fabsf(angle) < 0.999f )
-      {
-         v4f correction;
-         q_axis_angle( correction, axis, acosf(angle)*4.0f*VG_TIMESTEP_FIXED );
-         q_mul( correction, phys->rb.q, phys->rb.q );
-      }
-
-      float const DOWNFORCE = -k_downforce*VG_TIMESTEP_FIXED;
-      v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
-
-      player_physics_control();
-
-      if( !phys->jump_charge && phys->jump > 0.2f )
-      {
-         v3f jumpdir;
-         
-         /* Launch more up if alignment is up else improve velocity */
-         float aup = fabsf(v3_dot( (v3f){0.0f,1.0f,0.0f}, phys->rb.up )),
-               mod = 0.5f,
-               dir = mod + aup*(1.0f-mod);
-
-         v3_copy( phys->rb.v, jumpdir );
-         v3_normalize( jumpdir );
-         v3_muls( jumpdir, 1.0f-dir, jumpdir );
-         v3_muladds( jumpdir, phys->rb.up, dir, jumpdir );
-         v3_normalize( jumpdir );
-         
-         float force = k_jump_force*phys->jump;
-         v3_muladds( phys->rb.v, jumpdir, force, phys->rb.v );
-         phys->jump = 0.0f;
-
-         player.jump_time = vg.time;
-         
-         /* TODO: Move to audio file */
-         audio_lock();
-         audio_player_set_flags( &audio_player_extra, AUDIO_FLAG_SPACIAL_3D );
-         audio_player_set_position( &audio_player_extra, phys->rb.co );
-         audio_player_set_vol( &audio_player_extra, 20.0f );
-         audio_player_playclip( &audio_player_extra, &audio_jumps[rand()%2] );
-         audio_unlock();
-      }
-   }
-   else
-   {
-      player_physics_control_air();
-   }
-
-   if( !phys->jump_charge )
-   {
-      phys->jump -= k_jump_charge_speed * VG_TIMESTEP_FIXED;
-   }
-
-   phys->jump_charge = 0;
-   phys->jump = vg_clampf( phys->jump, 0.0f, 1.0f );
 }
 
 VG_STATIC void player_save_frame(void)
@@ -821,13 +948,55 @@ VG_STATIC void player_do_motion(void)
       }
    }
 
-
    v3f prevco;
    v3_copy( phys->rb.co, prevco );
 
    if( phys->on_board )
    {
-      player_physics();
+      rb_ct manifold[72];
+      int len = player_update_collision_manifold( manifold );
+      int grind_col = player_update_grind_collision( &manifold[len] );
+
+      if( grind_col )
+      {
+         phys->grind = 1;
+         v3f up = { 0.0f, 1.0f, 0.0f };
+         float angle = v3_dot( phys->rb.up, up );
+         v3f axis; 
+         v3_cross( phys->rb.up, up, axis );
+
+         if( fabsf(angle) < 0.99f )
+         {
+            v4f correction;
+            q_axis_angle( correction, axis, 
+                  VG_TIMESTEP_FIXED * 10.0f * acosf(angle) );
+            q_mul( correction, phys->rb.q, phys->rb.q );
+         }
+
+         float const DOWNFORCE = -k_downforce*2.0f*VG_TIMESTEP_FIXED;
+         v3_muladds( phys->rb.v, phys->rb.up, DOWNFORCE, phys->rb.v );
+      }
+      else
+      {
+         phys->grind = 0;
+         player_adhere_ground( manifold, len );
+      }
+
+      rb_presolve_contacts( manifold, len+ VG_MAX(0,grind_col) );
+      player_collision_response( manifold, len+ VG_MAX(0,grind_col) );
+
+      player_physics_control_passive();
+
+      if( grind_col )
+         player_physics_control_grind();
+      else
+      {
+         if( phys->in_air )
+            player_physics_control_air();
+         else
+            player_physics_control();
+      }
+
       player_integrate();
    }
    else