VG_STATIC float
k_walkspeed = 12.0f,
k_air_accelerate = 20.0f,
-
k_runspeed = 20.0f,
k_board_radius = 0.3f,
k_board_length = 0.45f,
k_steer_air = 3.6f,
k_steer_air_lerp = 0.3f,
k_pump_force = 0.0f,
- k_downforce = 8.0f,
+ k_downforce = 5.0f,
k_walk_downforce = 8.0f,
k_jump_charge_speed = (1.0f/1.0f),
k_jump_force = 5.0f,
k_pitch_limit = 1.5f,
k_look_speed = 2.0f,
k_walk_accel = 150.0f,
- k_walk_friction = 8.0f;
+ k_walk_friction = 8.0f,
+
+ k_cog_spring = 0.2f,
+ k_cog_damp = 0.02f,
+ k_cog_mass_ratio = 0.9f,
+
+ k_mmthrow_scale = 6.0f,
+ k_mmcollect_lat = 2.0f,
+ k_mmcollect_vert = 0.0f,
+ k_mmdecay = 12.0f,
+ k_spring_angular = 1.7f,
+
+ k_spring_force = 15.0f,
+ k_spring_dampener = 5.0f;
VG_STATIC int freecam = 0;
VG_STATIC int walk_grid_iterations = 1;
float grab, jump, pushing, push_time, rise;
v2f grab_mouse_delta;
+ v3f throw_v;
+ v3f cog,
+ cog_v;
+
int lift_frames;
double start_push;
phys,
phys_gate_frame;
+ float normal_pressure;
+ v3f debug_mmcollect_lat,
+ debug_mmcollect_vert;
+
m4x3f visual_transform,
inv_visual_transform;
frun,
fgrind;
+ v3f board_offset;
+ v4f board_rotation;
+
float walk;
int step_phase;
enum mdl_surface_prop surface_prop;
id_ik_hand_r,
id_ik_elbow_l,
id_ik_elbow_r,
- id_head;
+ id_head,
+ id_ik_foot_l,
+ id_ik_foot_r,
+ id_board;
v3f cam_pos;
rb_init( &player.collide_front );
rb_init( &player.collide_back );
- vg_var_push( (struct vg_var){
- .name = "gwalk_speed",
- .data = &k_walkspeed,
- .data_type = k_var_dtype_f32,
- .opt_f32 = { .clamp = 0 },
- .persistent = 0
- });
-
- vg_var_push( (struct vg_var){
- .name = "air_accelerate",
- .data = &k_air_accelerate,
- .data_type = k_var_dtype_f32,
- .opt_f32 = { .clamp = 0 },
- .persistent = 0
- });
-
- vg_var_push( (struct vg_var){
- .name = "run_speed",
- .data = &k_runspeed,
- .data_type = k_var_dtype_f32,
- .opt_f32 = { .clamp = 0 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "walk_accel",
- .data = &k_walk_accel,
- .data_type = k_var_dtype_f32,
- .opt_f32 = { .clamp = 0 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "fc",
- .data = &freecam,
- .data_type = k_var_dtype_i32,
- .opt_i32 = { .min=0, .max=1, .clamp=1 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "cl_thirdperson",
- .data = &cl_thirdperson,
- .data_type = k_var_dtype_i32,
- .opt_i32 = { .min=0, .max=1, .clamp=1 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "fcs",
- .data = &fc_speed,
- .data_type = k_var_dtype_f32,
- .opt_f32 = { .clamp = 0 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_ragdoll_limit_scale",
- .data = &k_ragdoll_limit_scale,
- .data_type = k_var_dtype_f32,
- .opt_f32 = { .clamp = 0 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_ragdoll_div",
- .data = &k_ragdoll_div,
- .data_type = k_var_dtype_i32,
- .opt_i32 = { .clamp=0 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_ragdoll_debug_collider",
- .data = &k_ragdoll_debug_collider,
- .data_type = k_var_dtype_i32,
- .opt_i32 = { .clamp=0 },
- .persistent = 1
- });
-
- vg_var_push( (struct vg_var){
- .name = "k_ragdoll_debug_constraints",
- .data = &k_ragdoll_debug_constraints,
- .data_type = k_var_dtype_i32,
- .opt_i32 = { .clamp=0 },
- .persistent = 1
- });
+ VG_VAR_F32( k_walkspeed );
+ VG_VAR_F32( k_air_accelerate );
+ VG_VAR_F32( k_runspeed );
+ VG_VAR_F32( k_walk_accel );
+
+ VG_VAR_I32( freecam );
+ VG_VAR_I32( cl_thirdperson );
+ VG_VAR_F32_PERSISTENT( fc_speed );
+
+ /* TODO: NOT PERSISTENT */
+ VG_VAR_F32_PERSISTENT( k_ragdoll_limit_scale );
+ VG_VAR_I32_PERSISTENT( k_ragdoll_div );
+ VG_VAR_I32_PERSISTENT( k_ragdoll_debug_collider );
+ VG_VAR_I32_PERSISTENT( k_ragdoll_debug_constraints );
+
+ VG_VAR_F32_PERSISTENT( k_friction_lat );
+
+ VG_VAR_F32_PERSISTENT( k_cog_spring );
+ VG_VAR_F32_PERSISTENT( k_cog_damp );
+
+ VG_VAR_F32_PERSISTENT( k_cog_mass_ratio );
+ VG_VAR_F32_PERSISTENT( k_downforce );
+
+ VG_VAR_F32_PERSISTENT( k_spring_force );
+ VG_VAR_F32_PERSISTENT( k_spring_dampener );
+ VG_VAR_F32_PERSISTENT( k_spring_angular );
+
+ VG_VAR_F32_PERSISTENT( k_mmthrow_scale );
+ VG_VAR_F32_PERSISTENT( k_mmcollect_lat );
+ VG_VAR_F32_PERSISTENT( k_mmcollect_vert );
+ VG_VAR_F32_PERSISTENT( k_mmdecay );
vg_function_push( (struct vg_cmd){
.name = "reset",
}
-
-
-
-
-
+ vg_line_pt3( phys->cog, 0.10f, 0xffffffff );
+ vg_line_pt3( phys->cog, 0.09f, 0xffffffff );
+ vg_line_pt3( phys->cog, 0.08f, 0xffffffff );
+ vg_line( phys->cog, phys->rb.co, 0xff000000 );
+
+ v3f spring_end;
+ v3f throw_end, p0, p1;
+ v3_muladds( phys->rb.co, phys->rb.up, 1.0f, spring_end );
+ v3_muladds( spring_end, phys->throw_v, 1.0f, throw_end );
+ v3_muladds( spring_end, player.debug_mmcollect_lat, 1.0f, p0 );
+ v3_muladds( spring_end, player.debug_mmcollect_vert, 1.0f, p1 );
+ vg_line( spring_end, throw_end, VG__RED );
+ vg_line( spring_end, p0, VG__GREEN );
+ vg_line( spring_end, p1, VG__BLUE );
if( player.rewinding )
return;
phys->slip = slip;
phys->reverse = -vg_signf(vel[2]);
- float substep = VG_TIMESTEP_FIXED * 0.2f;
+ float substep = VG_TIMESTEP_FIXED;
float fwd_resistance = k_friction_resistance;
- for( int i=0; i<5; i++ )
- {
- vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep);
- vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep);
- }
+ vel[2] = stable_force( vel[2],vg_signf(vel[2]) * -fwd_resistance*substep);
+ vel[0] = stable_force( vel[0],vg_signf(vel[0]) * -k_friction_lat*substep);
if( player.input_jump->button.value )
{
steer_scaled = vg_signf(steer) * powf(steer,2.0f) * k_steer_ground;
phys->iY -= steer_scaled * VG_TIMESTEP_FIXED;
+
+
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+#if 0
+ v3f cog_ideal, diff;
+
+ v3_muladds( phys->rb.co, phys->rb.up, 1.0f-grab, cog_ideal );
+ v3_sub( cog_ideal, phys->cog, diff );
+
+ /* temp */
+ if( v3_length2( diff ) > 20.0f*20.0f )
+ v3_copy( cog_ideal, phys->cog );
+ else
+ {
+ float rate_lat = k_cog_spring_lat * VG_TIMESTEP_FIXED,
+ rate_vert = k_cog_spring_vert * VG_TIMESTEP_FIXED,
+ vert_amt = v3_dot( diff, phys->rb.up );
+
+ /* Split into vert/lat springs */
+ v3f diff_vert, diff_lat;
+ v3_muladds( diff, phys->rb.up, -vert_amt, diff_lat );
+ v3_muls( phys->rb.up, vert_amt, diff_vert );
+
+
+ if( diff[1] > 0.0f )
+ rate_vert *= k_cog_boost_multiplier;
+
+ float ap_a = k_cog_mass_ratio,
+ ap_b = -(1.0f-k_cog_mass_ratio);
+
+ v3_muladds( phys->cog_v, diff_lat, rate_lat * ap_a, phys->cog_v );
+ v3_muladds( phys->cog_v, diff_vert, rate_vert * ap_a, phys->cog_v );
+
+ //v3_muladds( phys->rb.v, diff_lat, rate_lat * ap_b, phys->rb.v );
+ v3_muladds( phys->rb.v, diff_vert, rate_vert * ap_b, phys->rb.v );
+
+ /* dampen */
+ v3_muls( phys->cog_v, 1.0f-(VG_TIMESTEP_FIXED*k_cog_damp), phys->cog_v );
+
+ /* integrate */
+ v3_muladds( phys->cog, phys->cog_v, VG_TIMESTEP_FIXED, phys->cog );
+ }
+
+
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+#endif
+
if( !phys->jump_charge && phys->jump > 0.2f )
{
c0, c1, k_r );
+#if 0
vg_line( p0, p1, 0xff0000ff );
+#endif
if( closest_edge )
{
+#if 0
vg_line_cross( c0, 0xff000000, 0.1f );
vg_line_cross( c1, 0xff000000, 0.1f );
vg_line( c0, c1, 0xff000000 );
+#endif
v3f delta;
v3_sub( c1, c0, delta );
v3f surface_avg;
v3_zero( surface_avg );
- if( len == 0 )
+ /*
+ *
+ * EXPERIMENTAL
+ * ================================================================
+ */
+ if( phys->in_air )
+ player.normal_pressure = 0.0f;
+ else
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+
+ v3f p0_0, p0_1,
+ p1_0, p1_1,
+ n0, n1;
+ float t0, t1;
+
+ float mod = 0.7f * player.input_grab->axis.value + 0.3f,
+ spring_k = mod * k_spring_force,
+ damp_K = mod * k_spring_dampener,
+ disp_k = 0.4f;
+
+ v3_copy( player.collide_front.co, p0_0 );
+ v3_copy( player.collide_back.co, p1_0 );
+
+ v3_muladds( p0_0, phys->rb.up, -disp_k, p0_1 );
+ v3_muladds( p1_0, phys->rb.up, -disp_k, p1_1 );
+
+ int cast0 = spherecast_world( p0_0, p0_1, 0.2f, &t0, n0 ),
+ cast1 = spherecast_world( p1_0, p1_1, 0.2f, &t1, n1 );
+
+ v3f animp0, animp1;
+
+ m4x3f temp;
+ m3x3_copy( phys->rb.to_world, temp );
+ if( cast0 != -1 )
+ {
+ v3_lerp( p0_0, p0_1, t0, temp[3] );
+ v3_copy( temp[3], animp0 );
+ debug_sphere( temp, 0.2f, VG__PINK );
+
+ v3f F, delta;
+ v3_sub( p0_0, phys->rb.co, delta );
+
+ float displacement = vg_clampf( 1.0f-t0, 0.0f, 1.0f ),
+ damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) );
+ v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta -
+ damp*damp_K*k_rb_delta, F );
+
+ v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v );
+
+ /* Angular velocity */
+ v3f wa;
+ v3_cross( delta, F, wa );
+ v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w );
+ }
+ else
+ v3_copy( p0_1, animp0 );
+
+ if( cast1 != -1 )
+ {
+ v3_lerp( p1_0, p1_1, t1, temp[3] );
+ v3_copy( temp[3], animp1 );
+ debug_sphere( temp, 0.2f, VG__PINK );
+
+ v3f F, delta;
+ v3_sub( p1_0, phys->rb.co, delta );
+
+ float displacement = vg_clampf( 1.0f-t1, 0.0f, 1.0f ),
+ damp = vg_maxf( 0.0f, v3_dot( phys->rb.up, phys->rb.v ) );
+ v3_muls( phys->rb.up, displacement*spring_k*k_rb_delta -
+ damp*damp_K*k_rb_delta, F );
+
+ v3_muladds( phys->rb.v, F, 1.0f, phys->rb.v );
+
+ /* Angular velocity */
+ v3f wa;
+ v3_cross( delta, F, wa );
+ v3_muladds( phys->rb.w, wa, k_spring_angular, phys->rb.w );
+ }
+ else
+ v3_copy( p1_1, animp1 );
+
+ v3f animavg, animdelta;
+ v3_add( animp0, animp1, animavg );
+ v3_muls( animavg, 0.5f, animavg );
+
+ v3_sub( animp1, animp0, animdelta );
+ v3_normalize( animdelta );
+
+ m4x3_mulv( phys->rb.to_local, animavg, player.board_offset );
+
+ float dx = -v3_dot( animdelta, phys->rb.forward ),
+ dy = v3_dot( animdelta, phys->rb.up );
+
+ float angle = -atan2f( dy, dx );
+ q_axis_angle( player.board_rotation, (v3f){ 1.0f, 0.0f, 0.0f }, angle );
+
+ /*
+ * ================================================================
+ * EXPERIMENTAL
+ */
+
+ if( len == 0 && !((cast0 !=-1)&&(cast1!=-1)) )
{
phys->lift_frames ++;
float angle = v3_dot( phys->rb.up, projected );
v3_cross( phys->rb.up, projected, axis );
+#if 0
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 );
+#endif
if( fabsf(angle) < 0.999f )
{
{
struct player_phys *phys = &player.phys;
- for( int j=0; j<5; j++ )
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+
+#if 0
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+
+ {
+ float ideal = 1.0f-player.input_grab->axis.value,
+ diff = phys->spring - ideal,
+ Fspring = -k_cog_spring_lat * diff,
+ Fdamp = -k_cog_damp * phys->springv,
+ F = (Fspring + Fdamp) * k_rb_delta;
+
+ phys->springv += F;
+ phys->spring += phys->springv * k_rb_delta;
+
+ if( phys->springv > 0.0f )
+ v3_muladds( phys->rb.v, phys->rb.up, F*k_cog_spring_vert, phys->rb.v );
+
+ if( phys->in_air )
+ player.normal_pressure = 0.0f;
+ else
+ player.normal_pressure = v3_dot( phys->rb.up, phys->rb.v );
+ }
+#endif
+
+ if( player.input_grab->axis.value > 0.5f )
+ {
+ if( !phys->in_air )
+ {
+ /* Throw */
+ v3_muls( phys->rb.up, k_mmthrow_scale, phys->throw_v );
+ }
+ }
+ else
+ {
+ /* Collect */
+ float doty = v3_dot( phys->rb.up, phys->throw_v );
+
+ v3f Fl, Fv;
+ v3_muladds( phys->throw_v, phys->rb.up, -doty, Fl );
+
+ if( !phys->in_air )
+ {
+ v3_muladds( phys->rb.v, Fl, k_mmcollect_lat, phys->rb.v );
+ v3_muladds( phys->throw_v, Fl, -k_mmcollect_lat, phys->throw_v );
+ }
+
+ v3_muls( phys->rb.up, -doty, Fv );
+ v3_muladds( phys->rb.v, Fv, k_mmcollect_vert, phys->rb.v );
+ v3_muladds( phys->throw_v, Fv, k_mmcollect_vert, phys->throw_v );
+
+ v3_copy( Fl, player.debug_mmcollect_lat );
+ v3_copy( Fv, player.debug_mmcollect_vert );
+ }
+
+ /* Decay */
+ if( v3_length2( phys->throw_v ) > 0.0001f )
+ {
+ v3f dir;
+ v3_copy( phys->throw_v, dir );
+ v3_normalize( dir );
+
+ float max = v3_dot( dir, phys->throw_v ),
+ amt = vg_minf( k_mmdecay * k_rb_delta, max );
+
+ v3_muladds( phys->throw_v, dir, -amt, phys->throw_v );
+ }
+
+
+ /* TODO: RElocate */
+ {
+
+ v3f ideal_cog, ideal_diff;
+ v3_muladds( phys->rb.co, phys->rb.up,
+ 1.0f-player.input_grab->axis.value, ideal_cog );
+ v3_sub( ideal_cog, phys->cog, ideal_diff );
+
+ /* Apply velocities */
+ v3f rv;
+ v3_sub( phys->rb.v, phys->cog_v, rv );
+
+ v3f F;
+ v3_muls( ideal_diff, -k_cog_spring * k_rb_rate, F );
+ v3_muladds( F, rv, -k_cog_damp * k_rb_rate, F );
+
+ float ra = k_cog_mass_ratio,
+ rb = 1.0f-k_cog_mass_ratio;
+
+ v3_muladds( phys->cog_v, F, -rb, phys->cog_v );
+ }
+
+ /*
+ * EXPERIMENTAL
+ * ===============================================
+ */
+
+ for( int j=0; j<10; j++ )
{
for( int i=0; i<len; i++ )
{
v3_muladds( phys->rb.w, phys->rb.right, wx, phys->rb.w );
}
}
+
+ /* early integrate this */
+ phys->cog_v[1] += -9.8f * k_rb_delta;
+ v3_muladds( phys->cog, phys->cog_v, k_rb_delta, phys->cog );
}
VG_STATIC void player_save_frame(void)
VG_STATIC void player_integrate(void)
{
struct player_phys *phys = &player.phys;
+ v3_sub( phys->rb.v, phys->v_last, phys->a );
+ v3_muls( phys->a, 1.0f/VG_TIMESTEP_FIXED, phys->a );
+ v3_copy( phys->rb.v, phys->v_last );
+
apply_gravity( phys->rb.v, VG_TIMESTEP_FIXED );
v3_muladds( phys->rb.co, phys->rb.v, VG_TIMESTEP_FIXED, phys->rb.co );
}
if( gate_intersect( gate, phys->rb.co, prevco ) )
{
m4x3_mulv( gate->transport, phys->rb.co, phys->rb.co );
+ m4x3_mulv( gate->transport, phys->cog, phys->cog );
+ m3x3_mulv( gate->transport, phys->cog_v, phys->cog_v );
m3x3_mulv( gate->transport, phys->rb.v, phys->rb.v );
m3x3_mulv( gate->transport, phys->vl, phys->vl );
m3x3_mulv( gate->transport, phys->v_last, phys->v_last );
player.mdl.shoes[1] = 1;
rb_update_transform( &phys->rb );
+
+ v3_add( phys->rb.up, phys->rb.co, phys->cog );
+ v3_zero( phys->cog_v );
+
player_save_frame();
return 1;
}
}
}
+VG_STATIC void player_physics_gui(void)
+{
+ return;
+
+ vg_uictx.cursor[0] = 0;
+ vg_uictx.cursor[1] = vg.window_y - 128;
+ vg_uictx.cursor[3] = 14;
+ ui_fill_x();
+
+ char buf[128];
+
+ snprintf( buf, 127, "v: %6.3f %6.3f %6.3f\n", player.phys.rb.v[0],
+ player.phys.rb.v[1],
+ player.phys.rb.v[2] );
+
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+
+ snprintf( buf, 127, "a: %6.3f %6.3f %6.3f (%6.3f)\n", player.phys.a[0],
+ player.phys.a[1],
+ player.phys.a[2],
+ v3_length(player.phys.a));
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+ float normal_acceleration = v3_dot( player.phys.a, player.phys.rb.up );
+ snprintf( buf, 127, "Normal acceleration: %6.3f\n", normal_acceleration );
+
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+ snprintf( buf, 127, "Normal Pressure: %6.3f\n", player.normal_pressure );
+ ui_text( vg_uictx.cursor, buf, 1, 0 );
+ vg_uictx.cursor[1] += 14;
+
+
+}
+
#endif /* PLAYER_PHYSICS_H */
projects / carveJwlIkooP6JGAAIwe30JlM.git / commitdiff