v3_copy( player->rb.co, s->state.prev_pos );
s->state.activity_prev = s->state.activity;
- float l = k_board_length,
- w = 0.13f;
-
-#if 0
- v3f wheel_positions[] =
+ struct board_collider
{
- { -w, 0.0f, -l },
- { w, 0.0f, -l },
- { -w, 0.0f, l },
- { w, 0.0f, l },
- };
-#else
- v3f wheel_positions[] =
- {
- { 0.0f, 0.0f, -l },
- { 0.0f, 0.0f, l },
- };
-#endif
+ v3f pos;
+ float radius;
- u32 wheel_colours[] =
- {
- VG__RED, VG__GREEN, VG__BLUE, VG__YELOW
- };
+ int apply_angular;
+ u32 colour;
- int wheel_states[] =
+ enum board_collider_state
+ {
+ k_collider_state_default,
+ k_collider_state_disabled,
+ k_collider_state_colliding
+ }
+ state;
+ }
+ wheels[] =
{
- 1, 1, 1, 1
+ {
+ { 0.0f, 0.0f, -k_board_length },
+ .radius = 0.07f,
+ .apply_angular = 1,
+ .colour = VG__RED
+ },
+ {
+ { 0.0f, 0.0f, k_board_length },
+ .radius = 0.07f,
+ .apply_angular = 1,
+ .colour = VG__GREEN
+ },
+ {
+ { 0.0f, k_board_end_radius, -k_board_length - k_board_end_radius },
+ .radius = k_board_end_radius,
+ .apply_angular = 0,
+ .colour = VG__YELOW
+ },
+ {
+ { 0.0f, k_board_end_radius, k_board_length + k_board_end_radius },
+ .radius = k_board_end_radius,
+ .apply_angular = 0,
+ .colour = VG__YELOW
+ },
};
- const int wheel_count = 2;
+ const int k_wheel_count = 4;
- if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, -l } ) )
+ if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, -k_board_length } ) )
{
#if 0
wheel_states[0] = 0;
#endif
}
- if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, l } ) )
+ if( skate_grind_scansq( player, (v3f){ 0.0f, 0.0f, k_board_length } ) )
{
#if 0
wheel_states[2] = 0;
#endif
}
- rb_sphere collider;
- collider.radius = 0.07f;
-
s->substep = k_rb_delta;
-
-
int substep_count = 0;
-begin_collision:;
+ v3f original_velocity;
+ v3_muladds( player->rb.v, (v3f){0.0f,-k_gravity,0.0f},
+ k_rb_delta, original_velocity );
+begin_collision:;
- for( int i=0; i<wheel_count; i++ )
- {
- m4x3f mtx;
- m3x3_copy( player->rb.to_world, mtx );
- m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] );
- debug_sphere( mtx, collider.radius,
- (u32[]){ VG__BLACK, VG__WHITE,
- wheel_colours[i] }[ wheel_states[i] ]);
- }
-
+ /*
+ * Phase 0: Continous collision detection
+ * --------------------------------------------------------------------------
+ */
-#ifdef SKATE_CCD
+ 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;
}
/* calculate the minimum time we can move */
- float max_time = s->substep,
- cast_radius = collider.radius - k_penetration_slop*1.2f;
+ float max_time = s->substep;
- for( int i=0; i<wheel_count; i++ )
+ for( int i=0; i<k_wheel_count; i++ )
{
- if( !wheel_states[i] )
+ if( wheels[i].state == k_collider_state_disabled )
continue;
v3f current, future;
- q_mulv( future_q, wheel_positions[i], future );
+ q_mulv( future_q, wheels[i].pos, future );
v3_add( future, future_co, future );
- q_mulv( player->rb.q, wheel_positions[i], current );
+ q_mulv( player->rb.q, wheels[i].pos, current );
v3_add( current, player->rb.co, current );
- float t; /* TODO: ignore lightly grazing normals? */
+ float t;
v3f n;
+
+ float cast_radius = wheels[i].radius - k_penetration_slop * 1.2f;
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 */
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;
+ /*
+ * Phase 1: Regular collision detection
+ * TODO: Me might want to automatically add contacts from CCD,
+ * since at high angular velocities, theres a small change
+ * that discreet detection will miss.
+ * --------------------------------------------------------------------------
+ */
- /* create manifold(s) */
rb_ct manifold[128];
+
+ int manifold_len = 0;
- int manifold_len = 0,
- manifold_front = 0,
- manifold_back = 0,
- manifold_interface = 0;
-
- rb_ct *cmanifold = manifold;
-
- for( int i=0; i<wheel_count; i++ )
+ for( int i=0; i<k_wheel_count; i++ )
{
- if( !wheel_states[i] )
+ if( wheels[i].state == k_collider_state_disabled )
continue;
m4x3f mtx;
m3x3_identity( mtx );
-
- m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] );
+ m4x3_mulv( player->rb.to_world, wheels[i].pos, mtx[3] );
- int l = skate_collide_smooth( player, mtx, &collider, cmanifold );
+ rb_sphere collider = { .radius = wheels[i].radius };
+ rb_ct *man = &manifold[ manifold_len ];
+
+ int l = skate_collide_smooth( player, mtx, &collider, man );
if( l )
- wheel_states[i] = 2;
+ wheels[i].state = k_collider_state_colliding;
- cmanifold += l;
- manifold_len += l;
- manifold_interface += l;
+ /* for non-angular contacts we just want Y. contact positions are
+ * snapped to the local xz plane */
+ if( !wheels[i].apply_angular )
+ {
+ for( int j=0; j<l; j++ )
+ {
+ v3f ra;
+ v3_sub( man[j].co, player->rb.co, ra );
- if( i<=1 )
- manifold_front ++;
- else
- manifold_back ++;
+ float dy = v3_dot( player->rb.to_world[1], ra );
+ v3_muladds( man[j].co, player->rb.to_world[1], -dy, man[j].co );
+ }
+ }
+
+ manifold_len += l;
}
-#if 0
- /* 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) &&
- (manifold_front != manifold_back ) )
+ /*
+ * Phase 2: Truck alignment (spring/dampener model)
+ * it uses the first two colliders as truck positions
+ * --------------------------------------------------------------------------
+ */
+
+ v3f surface_picture;
+ v3_zero( surface_picture );
+
+ for( int i=0; i<2; i++ )
{
- v3f trace_from, trace_dir;
- v3_muls( player->rb.to_world[1], -1.0f, trace_dir );
+ 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 );
- if( manifold_front )
- v3_copy( (v3f){0.0f,0.0f, k_board_length}, trace_from );
- else
- v3_copy( (v3f){0.0f,0.0f,-k_board_length}, trace_from );
- m4x3_mulv( player->rb.to_world, trace_from, trace_from );
+ 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 );
+ }
- ray_hit ray;
- ray.dist = 0.6f;
+ if( res_r )
+ {
+ if( v3_dot( ray_r.normal, player->rb.to_world[1] ) < 0.7071f )
+ res_r = 0;
+ else
+ v3_add( ray_l.normal, surface_picture, surface_picture );
+ }
+
+ v3f v0;
+ v3f midpoint;
+ v3_muladds( truck, player->rb.to_world[1], -wheels[i].radius, midpoint );
- if( ray_world( trace_from, trace_dir, &ray ) )
+ if( res_l || res_r )
{
- rb_ct *ct = cmanifold;
+ v3f p0, p1;
+ v3_copy( midpoint, p0 );
+ v3_copy( midpoint, p1 );
- v3_copy( ray.pos, ct->co );
- v3_copy( ray.normal, ct->n );
- ct->p = 0.0f;
+ if( res_l ) v3_copy( ray_l.pos, p0 );
+ if( res_r ) v3_copy( ray_r.pos, p1 );
- manifold_len ++;
- manifold_interface ++;
+ 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 v0, v1, n;
+ v3_sub( verts[1], verts[0], v0 );
+ v3_sub( verts[2], verts[0], v1 );
+ v3_cross( v0, v1, n );
+ v3_normalize( n );
+
+ if( v3_dot( n, player->rb.to_world[1] ) < 0.7071f )
+ continue;
+
+ continue;
+ }
+ else
+ continue;
}
+
+ float a = vg_clampf( v3_dot( v0, player->rb.to_world[0] ), -1.0f, 1.0f );
+ a = acosf( a );
+
+ v3_muladds( truck, v0, k_board_width, right );
+ v3_muladds( truck, v0, -k_board_width, left );
+
+ vg_line( left, right, VG__WHITE );
+
+ v3f axis;
+ v3_cross( v0, player->rb.to_world[0], axis );
+
+ float Fs = -a * k_board_spring,
+ Fd = -v3_dot( player->rb.w, axis ) * k_board_dampener;
+
+ v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta,
+ player->rb.w );
}
- int grind_len = skate_grind_collide( player, cmanifold );
- manifold_len += grind_len;
-#endif
+ /*
+ * Phase 2a: Manual alignment (spring/dampener model)
+ * --------------------------------------------------------------------------
+ */
- int grind_len = 0;
+ v3f weight, world_cog;
+ v3_zero( weight );
- v3f surface_normal = {0.0f,0.0f,0.0f};
+ int reverse_dir = v3_dot( player->rb.to_world[2], player->rb.v ) < 0.0f?1:-1;
- for( int i=0; i<manifold_len; i ++ )
+ if( s->state.manual_direction == 0 )
+ {
+ if( (player->input_js1v->axis.value > 0.7f) &&
+ s->state.activity == k_skate_activity_ground )
+ s->state.manual_direction = reverse_dir;
+ }
+ else
{
- rb_ct *ct = &manifold[i];
- ct->bias = -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;
+ if( player->input_js1v->axis.value < 0.1f )
+ {
+ s->state.manual_direction = 0;
+ }
+ else
+ {
+ if( reverse_dir != s->state.manual_direction )
+ {
+ player__dead_transition( player );
+ return;
+ }
+ }
+ }
- v3_add( ct->n, surface_normal, surface_normal );
+ 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;
}
- if( manifold_len )
+ m4x3_mulv( player->rb.to_world, weight, world_cog );
+ vg_line_pt3( world_cog, 0.1f, VG__BLACK );
+
+ /* TODO: Fall back on land normal */
+ /* TODO: Lerp weight distribution */
+
+ if( v3_length2( surface_picture ) > 0.001f &&
+ v3_length2( weight ) > 0.001f &&
+ s->state.manual_direction )
{
- v3_muls( surface_normal, 1.0f/(float)manifold_len, surface_normal );
+ v3_normalize( surface_picture );
+ v3f plane_z;
- float a = v3_dot( player->rb.to_world[1], surface_normal );
+ m3x3_mulv( player->rb.to_world, weight, plane_z );
+ v3_negate( plane_z, plane_z );
- if( a <= 0.9999f )
- {
- v3f axis;
- v3_cross( surface_normal, player->rb.to_world[1], axis );
+ v3_muladds( plane_z, surface_picture,
+ -v3_dot( plane_z, surface_picture ), plane_z );
+ v3_normalize( plane_z );
- float Fs = -a * k_board_spring,
- Fd = -v3_dot( player->rb.w, axis ) * k_board_dampener;
+ v3_muladds( plane_z, surface_picture, 0.3f, plane_z );
+ v3_normalize( plane_z );
- v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta,
- player->rb.w );
- }
+ 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 );
+
+ float a = v3_dot( plane_z, refdir );
+ a = acosf( vg_clampf( a, -1.0f, 1.0f ) );
+
+ v3f axis;
+ v3_cross( plane_z, refdir, axis );
+
+ float Fs = -a * k_manul_spring,
+ Fd = -v3_dot( player->rb.w, axis ) * k_manul_dampener;
+
+ v3_muladds( player->rb.w, axis, (Fs+Fd) * s->substep_delta,
+ player->rb.w );
}
- v3f extent = { w, 0.1f, k_board_length };
+ /*
+ * Phase 3: Dynamics
+ * --------------------------------------------------------------------------
+ */
+
+ for( int i=0; i<manifold_len; i ++ )
+ rb_prepare_contact( &manifold[i], s->substep_delta );
+
+ /* yes, we are currently rebuilding mass matrices every frame. too bad! */
+ v3f extent = { k_board_width, 0.1f, k_board_length };
float ex2 = k_board_interia*extent[0]*extent[0],
ey2 = k_board_interia*extent[1]*extent[1],
ez2 = k_board_interia*extent[2]*extent[2];
{
for( int i=0; i<manifold_len; i++ )
{
+ /*
+ * regular dance; calculate velocity & total mass, apply impulse.
+ */
+
struct contact *ct = &manifold[i];
v3f rv, delta;
- v3_sub( ct->co, player->rb.co, delta );
+ v3_sub( ct->co, world_cog, delta );
v3_cross( player->rb.w, delta, rv );
v3_add( player->rb.v, rv, rv );
v3f raCnI, rbCnI;
m3x3_mulv( iIw, raCn, raCnI );
- float normal_mass = 1.0f / (inv_mass + v3_dot(raCn,raCnI));
- float vn = v3_dot( rv, ct->n );
-
-
-
-
- float lambda = normal_mass * ( -vn + ct->bias );
+ float normal_mass = 1.0f / (inv_mass + v3_dot(raCn,raCnI)),
+ vn = v3_dot( rv, ct->n ),
+ lambda = normal_mass * ( -vn + ct->bias );
float temp = ct->norm_impulse;
ct->norm_impulse = vg_maxf( temp + lambda, 0.0f );
v3f impulse;
v3_muls( ct->n, lambda, impulse );
-#if 0
- 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;
- }
-#endif
-
v3_muladds( player->rb.v, impulse, inv_mass, player->rb.v );
v3_cross( delta, impulse, impulse );
m3x3_mulv( iIw, impulse, impulse );
v3_cross( player->rb.w, delta, rv );
v3_add( player->rb.v, rv, rv );
vn = v3_dot( rv, ct->n );
-
}
}
-
-
-
-
-
-
substep_count ++;
-
if( s->substep >= 0.0001f )
- goto begin_collision;
-
+ goto begin_collision; /* again! */
+ /*
+ * End of collision and dynamics routine
+ * --------------------------------------------------------------------------
+ */
- for( int i=0; i<wheel_count; i++ )
+ for( int i=0; i<k_wheel_count; i++ )
{
m4x3f mtx;
m3x3_copy( player->rb.to_world, mtx );
- m4x3_mulv( player->rb.to_world, wheel_positions[i], mtx[3] );
- debug_sphere( mtx, collider.radius,
- (u32[]){ VG__BLACK, VG__WHITE,
- wheel_colours[i] }[ wheel_states[i] ]);
+ m4x3_mulv( player->rb.to_world, wheels[i].pos, mtx[3] );
+ debug_sphere( mtx, wheels[i].radius,
+ (u32[]){ VG__WHITE, VG__BLACK,
+ wheels[i].colour }[ wheels[i].state ]);
}
+ v3f velocity_change, p1;
+ v3_sub( player->rb.v, original_velocity, velocity_change );
+ v3_normalize( velocity_change );
+ v3_muladds( player->rb.co, velocity_change, 2.0f, p1 );
+ vg_line( player->rb.co, p1, VG__PINK );
+#if 0
+ skate_apply_grind_model( player, &manifold[manifold_len], grind_len );
+#endif
-
-
-
- skate_apply_grind_model( player, &manifold[manifold_interface], grind_len );
- skate_apply_interface_model( player, manifold, manifold_interface );
+ skate_apply_interface_model( player, manifold, manifold_len );
skate_apply_pump_model( player );
skate_apply_cog_model( player );
projects / carveJwlIkooP6JGAAIwe30JlM.git / commitdiff