From: hgn <hgodden00@gmail.com>
Date: Thu, 2 Jun 2022 05:28:27 +0000 (+0100)
Subject: refactor physsics steps
X-Git-Url: https://harrygodden.com/git/?a=commitdiff_plain;h=fc32ce17923a42f9a0f250e4ab21a08411a41acb;hp=54ca09093b8d5f752b4a0897bd9703f3b2ad6ed1;p=carveJwlIkooP6JGAAIwe30JlM.git

refactor physsics steps
---

diff --git a/blender_export.py b/blender_export.py
index 9c01c19..05f2b6f 100644
--- a/blender_export.py
+++ b/blender_export.py
@@ -140,3 +140,4 @@ write_model( "test" )
 write_model( "free_dev" )
 write_model( "char_dev" )
 write_model( "skydome" )
+write_model( "cement_r1" )
diff --git a/main.c b/main.c
index 8a81228..0b36899 100644
--- a/main.c
+++ b/main.c
@@ -7,12 +7,15 @@ vg_tex2d tex_grid = { .path = "textures/grid.qoi" };
 vg_tex2d tex_sky = { .path = "textures/sky.qoi" };
 vg_tex2d tex_gradients = { .path = "textures/gradients.qoi",
                            .flags = VG_TEXTURE_CLAMP };
+vg_tex2d tex_cement = { .path = "textures/cement512.qoi" };
+
 vg_tex2d *texture_list[] =
 {
    &tex_norwey,
    &tex_gradients,
    &tex_grid,
-   &tex_sky
+   &tex_sky,
+   &tex_cement
 };
 
 /* Convars */
@@ -35,28 +38,40 @@ m4x3f world_matrix;
 
 static struct gplayer
 {
+   /* Physics */
    v3f co, v, a;
    v4f rot;
    float vswitch, slip_last;
 
+   float iY;   /* Yaw inertia */
+   int in_air;
+
+   /* Input */
+   v2f joy_l;
+
    v3f view;
    v2f look_dir;  /* TEMP */
+   float pitch;
 
    m4x3f to_world, to_local;
+   
+   v3f handl_target, handr_target,
+       handl, handr;
 
    glmesh mesh;
-   
    submodel legl,
             legu,
             board,
             torso,
-            wheels;
+            wheels,
+            feet;
 }
 player;
 
 static struct gworld
 {
    glmesh skydome;
+   glmesh cement;
    
    scene foliage,    /* Tree shader */
          geo,        /* Std shader, collisions */
@@ -148,7 +163,13 @@ void vg_start(void)
    player.board = *submodel_get( char_dev, "skateboard" );
    player.torso = *submodel_get( char_dev, "torso" );
    player.wheels = *submodel_get( char_dev, "wheels" );
+   player.feet = *submodel_get( char_dev, "feet" );
    free(char_dev);
+
+   /* temp */
+   model *cement_model = vg_asset_read("models/cement_r1.mdl" );
+   model_unpack( cement_model, &world.cement );
+   free( cement_model );
    
    /* Setup scene */
    scene_init( &world.geo );
@@ -245,153 +266,70 @@ void vg_start(void)
    player_transform_update();
 }
 
-v3f head;
+static float ktimestep = 1.0f/60.0f;
 
-void vg_update(void)
+static void player_freecam(void)
 {
-   float timestep = 1.0f/60.0f;
-
-   if( freecam )
-   {
-      m4x3f cam_rot;
-      m4x3_identity( cam_rot );
-      m4x3_rotate_y( cam_rot, -player.look_dir[0] );
-      m4x3_rotate_x( cam_rot, -player.look_dir[1] );
-
-      v3f lookdir = { 0.0f, 0.0f, -1.0f },
-          sidedir = { 1.0f, 0.0f,  0.0f };
-      
-      m4x3_mulv( cam_rot, lookdir, lookdir );
-      m4x3_mulv( cam_rot, sidedir, sidedir );
-      
-      float movespeed = 5.0f;
-      static v2f mouse_last,
-                 view_vel = { 0.0f, 0.0f };
-      static v3f move_vel = { 0.0f, 0.0f, 0.0f };
-
-      if( vg_get_button_down( "primary" ) )
-      {
-         v2_copy( vg_mouse, mouse_last );
-      }
-      else if( vg_get_button( "primary" ) )
-      {
-         v2f delta;
-         v2_sub( vg_mouse, mouse_last, delta );
-         v2_copy( vg_mouse, mouse_last );
+   m4x3f cam_rot;
+   m4x3_identity( cam_rot );
+   m4x3_rotate_y( cam_rot, -player.look_dir[0] );
+   m4x3_rotate_x( cam_rot, -player.look_dir[1] );
 
-         v2_muladds( view_vel, delta, 0.005f, view_vel );
-      }
-      
-      v2_muls( view_vel, 0.75f, view_vel );
-      v2_add( view_vel, player.look_dir, player.look_dir );
-      player.look_dir[1] = 
-         vg_clampf( player.look_dir[1], -VG_PIf*0.5f, VG_PIf*0.5f );
-
-      if( vg_get_button( "forward" ) )
-         v3_muladds( move_vel, lookdir, timestep * movespeed, move_vel );
-      if( vg_get_button( "back" ) )
-         v3_muladds( move_vel, lookdir, timestep *-movespeed, move_vel );
-      if( vg_get_button( "left" ) )
-         v3_muladds( move_vel, sidedir, timestep *-movespeed, move_vel );
-      if( vg_get_button( "right" ) )
-         v3_muladds( move_vel, sidedir, timestep * movespeed, move_vel );
-
-      v3_muls( move_vel, 0.75f, move_vel );
-      v3_add( move_vel, player.view, player.view );
-   }
+   v3f lookdir = { 0.0f, 0.0f, -1.0f },
+       sidedir = { 1.0f, 0.0f,  0.0f };
    
+   m4x3_mulv( cam_rot, lookdir, lookdir );
+   m4x3_mulv( cam_rot, sidedir, sidedir );
+   
+   float movespeed = 5.0f;
+   static v2f mouse_last,
+              view_vel = { 0.0f, 0.0f };
 
-   static int in_air = 1;
-
-   v3f ground_pos, ground_norm;
-   v3_copy( player.co, ground_pos );
+   static v3f move_vel = { 0.0f, 0.0f, 0.0f };
 
-   if( sample_scene_height( &world.geo, ground_pos, ground_norm ) )
+   if( vg_get_button_down( "primary" ) )
+      v2_copy( vg_mouse, mouse_last );
+   else if( vg_get_button( "primary" ) )
    {
-#if 0
-      v3f localup;
-      m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );
-      v3_normalize(localup);
-      v3_normalize(ground_norm);
-
-      float angle = v3_dot( localup, ground_norm );
-      v3f axis; 
-      v3_cross( localup, ground_norm, axis );
+      v2f delta;
+      v2_sub( vg_mouse, mouse_last, delta );
+      v2_copy( vg_mouse, mouse_last );
 
-      if( angle < 0.999f && !in_air )
-      {
-         v4f correction;
-         q_axis_angle( correction, axis, acosf(angle) );
-         q_mul( correction, player.rot, player.rot );
-      }
-#endif
+      v2_muladds( view_vel, delta, 0.005f, view_vel );
    }
    
-   if( freecam )
-      return;
-
-   if( in_air )
-   {
-      v3f pco, pco1, pv;
-      
-      float pstep = timestep*10.0f;
-
-      v3f gravity = { 0.0f, -9.6f, 0.0f };
-      v3_copy( player.co, pco );
-      v3_copy( player.v, pv );
-
-      v3f targetn;
-
-      for( int i=0; i<20; i++ )
-      {
-         v3_copy( pco, pco1 );
-         v3_muladds( pv, gravity, pstep, pv );
-         v3_muladds( pco, pv, pstep, pco );
-
-         vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
-         
-         v3f sh;
-         v3_copy( pco, sh );
-         sample_scene_height( &world.geo, sh, targetn );
-
-         if( sh[1] >= pco[1] )
-         {
-            v3f localup;
-            m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );
-
-            float angle = v3_dot( localup, targetn );
-            v3f axis; 
-            v3_cross( localup, targetn, axis );
-
-            if( angle < 0.99f )
-            {
-               v4f correction;
-               q_axis_angle( correction, axis, acosf(angle)*0.1f );
-               q_mul( correction, player.rot, player.rot );
-            }
-
-            break;
-         }
-      }
-
-      if( ground_pos[1] > player.co[1] )
-      {
-         in_air = 0;
-      }
-   }
+   v2_muls( view_vel, 0.75f, view_vel );
+   v2_add( view_vel, player.look_dir, player.look_dir );
+   player.look_dir[1] = 
+      vg_clampf( player.look_dir[1], -VG_PIf*0.5f, VG_PIf*0.5f );
 
    if( vg_get_button( "forward" ) )
-   {
-      v3f dir = { 0.0f, 0.0f, -1.0f };
-
-      m3x3_mulv( player.to_world, dir, dir );
-      v3_muladds( player.v, dir, 5.0f * timestep, player.v );
-   }
+      v3_muladds( move_vel, lookdir, ktimestep * movespeed, move_vel );
+   if( vg_get_button( "back" ) )
+      v3_muladds( move_vel, lookdir, ktimestep *-movespeed, move_vel );
+   if( vg_get_button( "left" ) )
+      v3_muladds( move_vel, sidedir, ktimestep *-movespeed, move_vel );
+   if( vg_get_button( "right" ) )
+      v3_muladds( move_vel, sidedir, ktimestep * movespeed, move_vel );
+
+   v3_muls( move_vel, 0.75f, move_vel );
+   v3_add( move_vel, player.view, player.view );
+}
 
-   /* Get front and back contact points */
+static void apply_gravity( v3f vel, float const timestep )
+{
+   v3f gravity = { 0.0f, -9.6f, 0.0f };
+   v3_muladds( vel, gravity, timestep, vel );
+}
 
-   v3f contact_front, contact_back, fwd, fwd1, contact_norm, vup, vside;
-   v3f axis;
+static void player_physics_ground(void)
+{
+   /* 
+    * Getting surface collision points,
+    * the contact manifold is a triangle for simplicity.
+    */
+   v3f contact_front, contact_back, fwd, fwd1, contact_norm, vup, vside,
+       axis;
 
    m3x3_mulv( player.to_world, (v3f){0.0f,0.0f,-1.0f}, fwd );
    m4x3_mulv( player.to_world, (v3f){ 0.15f,0.0f,-1.0f}, contact_norm );
@@ -404,6 +342,12 @@ void vg_update(void)
       sample_scene_height( &world.geo, contact_front, NULL ) &&
       sample_scene_height( &world.geo, contact_back, NULL ) &&
       sample_scene_height( &world.geo, contact_norm, NULL );
+   
+   if( !all_contacting )
+   {
+      player.in_air = 1;
+      return;
+   }
 
    v3f norm;
    v3f v0, v1;
@@ -419,97 +363,202 @@ void vg_update(void)
    float angle = v3_dot( vup, norm );
    v3_cross( vup, norm, axis );
 
-   if( angle < 0.999f && !in_air )
+   if( angle < 0.999f )
    {
       v4f correction;
       q_axis_angle( correction, axis, acosf(angle) );
       q_mul( correction, player.rot, player.rot );
    }
 
+   float resistance = v3_dot( norm, player.v );
 
-   v3f gravity = { 0.0f, -9.6f, 0.0f };
-   v3_muladds( player.v, gravity, timestep, player.v );
-
-   if( !in_air )
+   if( resistance >= 0.0f )
    {
-      float resistance = v3_dot( norm, player.v );
-
-      if( resistance >= 0.0f )
-         in_air = 1;
-      else
-      {
-         v3_muladds( player.v, norm, -resistance, player.v );
-      }
+      player.in_air = 1;
+      return;
+   }
+   else
+   {
+      v3_muladds( player.v, norm, -resistance, player.v );
    }
-
-   /* vg_info( "%.3f | %.3f\n", player.v[1], resistance ); */
-   v3_muladds( player.co, player.v, timestep, player.co );
    
+   /* This is where velocity integration used to be */
+
    float slip = 0.0f;
-   float yawamt = 0.0f;
 
-   if( !in_air )
+   player.co[1] = (contact_front[1]+contact_back[1])*0.5f;
+
+   v3f vel;
+   m3x3_mulv( player.to_local, player.v, vel );
+
+   /* Calculate local forces */
+
+   slip = (-vel[0] / vel[2]) * player.vswitch;
+   if( fabsf( slip ) > 1.2f )
+      slip = vg_signf( slip ) * 1.2f;
+
+   
+   if( player.slip_last*slip < 0.0f && fabsf(slip) > 0.7f )
    {
-      player.co[1] = (contact_front[1]+contact_back[1])*0.5f;
+      vg_warn( "SWITCH\n" );
+      player.vswitch = -player.vswitch;
+      slip = -slip;
+   }
 
-      v3f vel;
-      m3x3_mulv( player.to_local, player.v, vel );
+   player.slip_last = slip;
 
-      /* Calculate local forces */
+   float substep = ktimestep * 0.2f;
+   
+   for( int i=0; i<5; i++ )
+   {
+      if( fabsf(vel[2]) >= 0.02f*substep )
+         vel[2] += vg_signf( vel[2] ) * -0.02f * substep;
+      if( fabsf(vel[0]) >= 7.0f*substep )
+         vel[0] += vg_signf( vel[0] ) * -7.0f * substep;
+   }
+   
+   m3x3_mulv( player.to_world, vel, player.v );
 
-      slip = (-vel[0] / vel[2]) * player.vswitch;
-      if( fabsf( slip ) > 1.2f )
-         slip = vg_signf( slip ) * 1.2f;
+   if( vg_get_button( "yawl" ) )
+      player.iY +=  3.6f * ktimestep;
+   if( vg_get_button( "yawr" ) )
+      player.iY -=  3.6f * ktimestep;
+   
+   float steer = vg_get_axis( "horizontal" );
+   player.iY -= vg_signf(steer)*powf(steer,2.0f) * 3.5f * ktimestep;
+}
 
-      
-      if( player.slip_last*slip < 0.0f && fabsf(slip) > 0.7f )
+static void player_physics_air(void)
+{
+   v3f ground_pos, ground_norm;
+   v3_copy( player.co, ground_pos );
+
+   if( sample_scene_height( &world.geo, ground_pos, ground_norm ) )
+   {
+      if( ground_pos[1] > player.co[1] )
       {
-         vg_warn( "SWITCH\n" );
-         player.vswitch = -player.vswitch;
-         slip = -slip;
+         player.in_air = 0;
+         return;
       }
+   }
+   
+   /* Prediction 
+    *
+    * TODO: Find best landing surface and guide player towords it
+    */
+   float pstep = ktimestep*10.0f;
+
+   v3f pco, pco1, pv;
+   v3_copy( player.co, pco );
+   v3_copy( player.v, pv );
+
+   v3f targetn;
+   for( int i=0; i<50; i++ )
+   {
+      v3_copy( pco, pco1 );
+      apply_gravity( pv, pstep );
+      v3_muladds( pco, pv, pstep, pco );
 
-      player.slip_last = slip;
-
-      float substep = timestep * 0.2f;
+      vg_line( pco, pco1, i&0x1?0xff000000:0xffffffff );
       
-      for( int i=0; i<5; i++ )
+      v3f sh;
+      v3_copy( pco, sh );
+      int hit = sample_scene_height( &world.geo, sh, targetn );
+
+      if( sh[1] >= pco[1] && hit )
       {
-         if( fabsf(vel[2]) >= 0.02f*substep )
-            vel[2] += vg_signf( vel[2] ) * -0.02f * substep;
-         if( fabsf(vel[0]) >= 6.0f*substep )
-            vel[0] += vg_signf( vel[0] ) * -6.0f * substep;
-      }
-      
-      m3x3_mulv( player.to_world, vel, player.v );
+         v3f localup;
+         m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, localup );
 
-      if( vg_get_button( "yawl" ) )
-         yawamt =  1.6f * timestep;
-      if( vg_get_button( "yawr" ) )
-         yawamt = -1.6f * timestep;
-      
-      yawamt -= vg_get_axis( "horizontal" ) * 1.6f * timestep;
+         float angle = v3_dot( localup, targetn );
+         v3f axis; 
+         v3_cross( localup, targetn, axis );
 
+         if( angle < 0.99f )
+         {
+            v4f correction;
+            q_axis_angle( correction, axis, acosf(angle)*0.01f );
+            q_mul( correction, player.rot, player.rot );
+         }
+
+         break;
+      }
    }
-   else
+
+   player.iY -= vg_get_axis( "horizontal" ) * 3.6f * ktimestep;
+}
+
+static void player_update(void)
+{
+   /* temp */
+   if( vg_get_axis("grabl")>0.0f)
+      reset_player(0,NULL);
+   if( vg_get_button( "forward" ) )
    {
-      yawamt -= vg_get_axis( "horizontal" ) * 3.6f * timestep;
+      v3f dir = { 0.0f, 0.0f, -1.0f };
 
-      v4f pitch;
-      q_axis_angle( pitch, vside, vg_get_axis( "vertical" ) * 3.6f *timestep );
-      q_mul( pitch, player.rot, player.rot );
+      m3x3_mulv( player.to_world, dir, dir );
+      v3_muladds( player.v, dir, 5.0f * ktimestep, player.v );
    }
+   
+
+   float horizontal = vg_get_axis("horizontal"),
+         vertical = vg_get_axis("vertical");
+
+   player.joy_l[0] = vg_signf(horizontal) * powf( horizontal, 2.0f );
+   player.joy_l[1] = vg_signf(vertical) * powf( vertical, 2.0f );
+
+   if( freecam )
+   {
+      player_freecam();
+      return;
+   }
+   
+   /* Integrate velocity */
+   apply_gravity( player.v, ktimestep );
+   v3_muladds( player.co, player.v, ktimestep, player.co );
 
-   v4f rotate;
-   q_axis_angle( rotate, vup, yawamt );
+   /* Integrate inertia */
+   v4f rotate; v3f vup = {0.0f,1.0f,0.0f};
+   m3x3_mulv( player.to_world, vup, vup );
+
+   q_axis_angle( rotate, vup, player.iY );
    q_mul( rotate, player.rot, player.rot );
 
    player.look_dir[0] = atan2f( player.v[0], -player.v[2] );
+   player.look_dir[1] = atan2f( -player.v[1], sqrtf(player.v[0]*player.v[0]+
+                                       player.v[2]*player.v[2]) ) * 0.3f;
+
+   player.iY = 0.0f; /* temp */
+
+   if( player.in_air )
+      player_physics_air();
+
+   if( !player.in_air )
+      player_physics_ground();
    
-   /* Creating a skeleton of the player dynamically */
+   /* Camera and character */
    float kheight = 1.8f,
          kleg = 0.6f;
 
+   v3f head;
+   head[0] =  0.0f;
+   head[1] =  kheight;
+   head[2] =  0.0f;
+
+   m4x3_mulv( player.to_world, head, head );
+   v3_copy( head, player.view );
+
+   player_transform_update();
+   q_normalize(player.rot);
+}
+
+void vg_update(void)
+{
+   player_update();
+
+   /* Creating a skeleton of the player dynamically */
+
    v2f ac;
 
    static v3f last_vel = { 0.0f, 0.0f, 0.0f };
@@ -531,9 +580,16 @@ void vg_update(void)
    v3_lerp( bob, target, 0.2f, bob );
 
    /* Head */
+#if 0
    float lslip = fabsf(slip); //vg_minf( 0.4f, slip );
+                              
+   static float grab = 0.0f;
+   float grabt = vg_get_axis( "grabr" )*0.5f+0.5f;
+   grab = vg_lerpf( grab, grabt, 0.04f );
+
+   v3f head;
    head[0] =  0.0f;//(-sinf(lslip)*0.9f * kheight) * 0.44f;
-   head[1] =  (0.3f + cosf(lslip)*0.5f) * kheight;
+   head[1] =  (0.3f + cosf(lslip)*0.5f) * kheight - grab*0.7f; 
    head[2] =  0.0f;
 
    v3f offset;
@@ -541,14 +597,42 @@ void vg_update(void)
    offset[0] *= 0.25f;
    offset[1] *= -0.25f;
    offset[2] *= 0.7f;
-   v3_muladds( head, offset, 1.0f, head );
+   v3_muladds( head, offset, 0.7f, head );
 
-   player_transform_update();
+   head[1] = vg_clampf( head[1], 0.3f, 20.0f );
 
-   m4x3_mulv( player.to_world, head, head );
-   v3_copy( head, player.view );
+   player.handl_target[0] = head[0] + 0.2f;
+   player.handl_target[1] = head[1] - 0.8f*(1.0f-fabsf(slip));
+   player.handl_target[2] = head[2] + 0.2f + 0.7f*fabsf(slip);
+
+   player.handr_target[0] = head[0] + 0.2f;
+   player.handr_target[1] = head[1] - 0.8f*(1.0f-fabsf(slip));
+   player.handr_target[2] = head[2] - (0.2f + 0.7f*fabsf(slip));
+
+   if( vg_maxf(lslip,grab) > 0.5f )
+   {
+      if( slip < 0.0f && in_air )
+      {
+         player.handl_target[0] = 0.15f;
+         player.handl_target[1] = 0.1f;
+         player.handl_target[2] = 0.4f;
+      }
+      else
+      {
+         player.handr_target[0] =  0.15f;
+         player.handr_target[1] =  0.1f;
+         player.handr_target[2] = -0.4f;
+      }
+
+      if( grab > 0.5f )
+      {
+         player.handr_target[0] =  -0.15f;
+         player.handr_target[1] =  0.1f;
+         player.handr_target[2] =  0.4f;
+      }
+   }
+#endif
 
-   q_normalize(player.rot);
 }
 
 static void debug_grid( v3f at )
@@ -574,11 +658,16 @@ static void draw_player(void)
 {
    mesh_bind( &player.mesh );
    float const kleg_upper = 0.53f,
-               kleg_lower = 0.5f;
+               kleg_lower = 0.5f,
+               karm_ratio = 0.75f,
+               karm_upper = kleg_upper*karm_ratio,
+               karm_lower = kleg_lower*karm_ratio;
 
    /* Create IK targets */
    struct ik_basic ik_leg_l = { .l1 = kleg_upper, .l2 = kleg_lower },
-                   ik_leg_r = { .l1 = kleg_upper, .l2 = kleg_lower };
+                   ik_leg_r = { .l1 = kleg_upper, .l2 = kleg_lower },
+                   ik_arm_l = { .l1 = karm_upper, .l2 = karm_lower },
+                   ik_arm_r = { .l1 = karm_upper, .l2 = karm_lower };
 
    v3f butt, fwd;
 
@@ -599,7 +688,32 @@ static void draw_player(void)
 
    ik_basic( &ik_leg_r, mleg_r, mknee_r );
    ik_basic( &ik_leg_l, mleg_l, mknee_l );
+
+   /* Arms */
+   v3f hl, hr, neckl = {0.2f,-0.1f, 0.2f},
+               neckr = {0.2f,-0.1f,-0.2f};
+   
+   v3_lerp( player.handl, player.handl_target, 0.04f, player.handl );
+   v3_lerp( player.handr, player.handr_target, 0.04f, player.handr );
+
+   m3x3_mulv( player.to_world, neckl, neckl );
+   m3x3_mulv( player.to_world, neckr, neckr );
+
+   v3_add( player.view, neckl, ik_arm_l.base );
+   v3_add( player.view, neckr, ik_arm_r.base );
+   m4x3_mulv( player.to_world, player.handl, ik_arm_l.end );
+   m4x3_mulv( player.to_world, player.handr, ik_arm_r.end );
+   m4x3_mulv( player.to_world, (v3f){ 0.6f,0.7f, 0.4f  }, ik_arm_l.pole );
+   m4x3_mulv( player.to_world, (v3f){ 0.6f,0.7f,-0.35f }, ik_arm_r.pole );
    
+   m4x3f marm_l, melbow_l, marm_r, melbow_r;
+   ik_basic( &ik_arm_l, marm_l, melbow_l );
+   ik_basic( &ik_arm_r, marm_r, melbow_r );
+   m4x3_scale( marm_l, karm_ratio );
+   m4x3_scale( marm_r, karm_ratio );
+   m4x3_scale( melbow_l, karm_ratio );
+   m4x3_scale( melbow_r, karm_ratio );
+
    /* Draw */
    vg_tex2d_bind( &tex_grid, 0 );
    scene_tree_sway = 0.0f;
@@ -618,14 +732,14 @@ static void draw_player(void)
    
    float kscale = 0.7f;
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
-         0.9f*kscale,0.6f*kscale,0.1f*kscale,1.0f );
+         0.35f*kscale,0.35f*kscale,0.35f*kscale,1.0f );
 
    m4x3_expand( player.to_world, mat );
 	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
    submodel_draw( &player.board );
 
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
-         0.2f*kscale,0.3f*kscale,1.0f*kscale,1.0f );
+         0.7f*kscale,0.7f*kscale,0.7f*kscale,1.0f );
    submodel_draw( &player.wheels );
 
    glEnable(GL_BLEND);
@@ -633,7 +747,9 @@ static void draw_player(void)
    glBlendEquation(GL_FUNC_ADD);
    glDisable( GL_DEPTH_TEST );
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
-         0.2f*kscale,0.3f*kscale,1.0f*kscale,0.2f );
+         0.2f*kscale,0.8f*kscale,0.4f*kscale,0.14f );
+
+   submodel_draw( &player.feet );
 
    m4x3_expand( mleg_l, mat );
 	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
@@ -651,6 +767,24 @@ static void draw_player(void)
 	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
    submodel_draw( &player.legl );
 
+   /* arms */
+   m4x3_expand( marm_l, mat );
+	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
+   submodel_draw( &player.legu );
+
+   m4x3_expand( melbow_l, mat );
+	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
+   submodel_draw( &player.legl );
+
+   m4x3_expand( marm_r, mat );
+	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
+   submodel_draw( &player.legu );
+
+   m4x3_expand( melbow_r, mat );
+	glUniformMatrix4fv( kuMdl, 1, GL_FALSE, (float *)mat );
+   submodel_draw( &player.legl );
+
+   /* body */
    m4x3f mbutt;
    m3x3_copy( player.to_world, mbutt );
    v3_copy( butt, mbutt[3] );
@@ -679,10 +813,14 @@ void vg_render(void)
    v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f };
    v3_muls( shake, speed*0.01f, shake );
 
+   static v2f look_lerped = {0.0f,0.0f};
+   v2_lerp( look_lerped, player.look_dir, 0.03f, look_lerped );
+
    m4x3_identity( world_matrix );
    m4x3_rotate_x( world_matrix, 
-         freecam? player.look_dir[1]: 0.5f+shake[1]*0.04f );
-   m4x3_rotate_y( world_matrix, player.look_dir[0]+shake[0]*0.02f );
+         freecam? look_lerped[1]: 0.6f+shake[1]*0.04f+look_lerped[1] );
+
+   m4x3_rotate_y( world_matrix, look_lerped[0]+shake[0]*0.02f );
    m4x3_translate( world_matrix, pos_inv );
    
    m4x4f world_4x4;
@@ -726,6 +864,13 @@ void vg_render(void)
    glUniform1i( SHADER_UNIFORM( shader_unlit, "uTexMain" ), 0 );
    vg_tex2d_bind( &tex_sky, 0 );
 
+   mesh_bind( &world.skydome );
+   mesh_draw( &world.skydome );
+
+   vg_tex2d_bind( &tex_cement, 0 );
+   mesh_bind( &world.cement );
+   mesh_draw( &world.cement );
+
    SHADER_USE(shader_standard_lit);
 
 	glUniformMatrix4fv( SHADER_UNIFORM( shader_standard_lit, "uPv" ), 
@@ -738,6 +883,7 @@ void vg_render(void)
    vg_tex2d_bind( &tex_grid, 0 );
 
    scene_bind( &world.geo );
+#if 0
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
          0.2f,0.36f,0.25f,1.0f );
    submodel_draw( &world.terrain );
@@ -745,10 +891,10 @@ void vg_render(void)
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
          0.2f,0.2f,0.21f,1.0f );
    submodel_draw( &world.terrain_rocks );
-
    glUniform4f( SHADER_UNIFORM(shader_standard_lit,"uColour"), 
          0.4f,0.4f,0.4f,1.0f );
    submodel_draw( &world.terrain_road );
+#endif
    
    scene_bind( &world.detail );
    scene_draw( &world.detail );
diff --git a/scene.h b/scene.h
index bf61fba..d5fa275 100644
--- a/scene.h
+++ b/scene.h
@@ -318,7 +318,7 @@ SHADER_DEFINE( shader_unlit,
 	"void main()"
 	"{"
       "vec3 diffuse = texture( uTexMain, aUv ).rgb;"
-      "FragColor = vec4(pow(diffuse,vec3(1.0/2.2)),1.0);"
+      "FragColor = vec4(pow(diffuse,vec3(1.0)),1.0);"
 	"}"
 	,
 	UNIFORMS({ "uTexMain", "uPv", "uMdl" })
diff --git a/textures/cement512.png b/textures/cement512.png
new file mode 100644
index 0000000..cd94f96
Binary files /dev/null and b/textures/cement512.png differ
diff --git a/vg_config.h b/vg_config.h
index b1348a0..c1e7512 100644
--- a/vg_config.h
+++ b/vg_config.h
@@ -18,7 +18,11 @@ static struct button_binding vg_button_binds[] =
 static struct axis_binding vg_axis_binds[] = 
 {
 	{ .name = "horizontal",	.axis = GLFW_GAMEPAD_AXIS_LEFT_X },
-	{ .name = "vertical", 	.axis = GLFW_GAMEPAD_AXIS_LEFT_Y }
+	{ .name = "vertical", 	.axis = GLFW_GAMEPAD_AXIS_LEFT_Y },
+   { .name = "grabr",      .axis = GLFW_GAMEPAD_AXIS_RIGHT_TRIGGER },
+   { .name = "grabl",      .axis = GLFW_GAMEPAD_AXIS_LEFT_TRIGGER },
+   { .name = "h1",         .axis = GLFW_GAMEPAD_AXIS_RIGHT_X },
+   { .name = "v1",         .axis = GLFW_GAMEPAD_AXIS_RIGHT_Y }
 };
 
 static struct vg_achievement vg_achievements[] =