From 04a309d5d25508cc47e796e84fad6703b21fe15a Mon Sep 17 00:00:00 2001 From: hgn Date: Sun, 29 May 2022 00:55:53 +0100 Subject: [PATCH] change to quat --- main.c | 389 ++++++++++++++++++++------------------------------------- 1 file changed, 134 insertions(+), 255 deletions(-) diff --git a/main.c b/main.c index b397e2e..e34ca5f 100644 --- a/main.c +++ b/main.c @@ -31,14 +31,27 @@ int main( int argc, char *argv[] ) } m4x3f world_matrix; -v3f player_pos; -v3f player_head; /* Relative to pos */ -v3f player_vel = { 0.0f, 0.0f, -0.2f }; + +#if 0 +v3f player.co; +v3f player.view; /* Relative to pos */ +v3f player.v = { 0.0f, 0.0f, -0.2f }; float player_yaw; -v2f look_dir; -v3f player_accel; +v2f player.look_dir; +v3f player.a; +#endif + +static struct gplayer +{ + v3f co, v, a; + v4f rot; -float waves[128][128]; + v3f view; + v2f look_dir; /* TEMP */ + + m4x3f to_world, to_local; +} +player; road_patch road_main; scene test_scene; @@ -47,12 +60,24 @@ scene player_scene; u32 world_terrain_count, world_road_count; +static void player_transform_update(void) +{ + q_m3x3( player.rot, player.to_world ); + v3_copy( player.co, player.to_world[3] ); + + v4f inv; + q_inv( player.rot, inv ); + q_m3x3( inv, player.to_local ); + v3_negate( player.co, player.to_local[3] ); +} + static int reset_player( int argc, char const *argv[] ) { - v3_zero( player_pos ); - v3_copy( (v3f){ 0.0f, 0.0f, -0.2f }, player_vel ); - player_yaw = 0.0f; + v3_zero( player.co ); + v3_copy( (v3f){ 0.0f, 0.0f, -0.2f }, player.v ); + q_identity( player.rot ); + player_transform_update(); return 0; } @@ -63,17 +88,6 @@ void vg_register(void) void vg_start(void) { - for( int y=0; y<128; y++ ) - { - for( int x=0; x<128; x++ ) - { - v2f pos = {x,y}; - - waves[x][y] = sinf( pos[0] * 0.1f ) * - cosf( pos[1] * 0.3f ) * 5.0f + x*-0.2f; - } - } - vg_tex2d_init( texture_list, vg_list_size( texture_list ) ); road_patch_init( &road_main ); @@ -186,62 +200,12 @@ void vg_start(void) scene_upload( &player_scene ); scene_upload( &world_scene ); scene_upload( &test_scene ); -} - -static float sample_terrain( v3f pos ) -{ - v3f local; - v3_muls( pos, 0.1f, local ); - - v2i ico = { local[0], local[2] }; - for( int i=0; i<2; i++ ) - { - if( ico[i] < 0 ) ico[i] = 0; - if( ico[i] > 126 ) ico[i] = 126; - } - - float hse = waves[ico[0]+1][ico[1]], - hsw = waves[ico[0]][ico[1]], - hne = waves[ico[0]+1][ico[1]+1], - hnw = waves[ico[0]][ico[1]+1]; - - v3f subcoord; - v3_floor( local, subcoord ); - v3_sub( local, subcoord, subcoord ); - - float hs = vg_lerpf( hse, hsw, 1.0f-subcoord[0] ), - hn = vg_lerpf( hne, hnw, 1.0f-subcoord[0] ), - sampleh = vg_lerpf( hs, hn, subcoord[2] ); - return sampleh*10.0f; + reset_player( 0, NULL ); + player_transform_update(); } -static void draw_terrain(void) -{ - float sf = 10.0f; - - /* Draw waves - */ - for( int y=0; y<63; y++ ) - { - for( int x=0; x<63; x++ ) - { - v2i pos = {x*2,y*2}; - vg_line( (v3f){ pos[0]*sf, waves[pos[0]][pos[1]]*sf, pos[1]*sf }, - (v3f){ (pos[0]+2)*sf, waves[pos[0]+2][pos[1]]*sf, pos[1]*sf }, - 0xa0ffffff ); - - vg_line( (v3f){ pos[1]*sf, waves[pos[1]][pos[0]]*sf, pos[0]*sf }, - (v3f){ pos[1]*sf, waves[pos[1]][pos[0]+2]*sf, (pos[0]+2)*sf }, - 0xa0ffffff ); - } - } - -} - -v3f head, butt, knee_r, knee_l, foot_r, foot_l, hand_r, hand_l, - shoulder_r, shoulder_l; - +v3f head; void vg_update(void) { @@ -251,8 +215,8 @@ void vg_update(void) { m4x3f cam_rot; m4x3_identity( cam_rot ); - m4x3_rotate_y( cam_rot, -look_dir[0] ); - m4x3_rotate_x( cam_rot, -look_dir[1] ); + 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 }; @@ -279,8 +243,9 @@ void vg_update(void) } v2_muls( view_vel, 0.75f, view_vel ); - v2_add( view_vel, look_dir, look_dir ); - look_dir[1] = vg_clampf( look_dir[1], -VG_PIf*0.5f, VG_PIf*0.5f ); + 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 ); @@ -292,49 +257,33 @@ void vg_update(void) v3_muladds( move_vel, sidedir, timestep * movespeed, move_vel ); v3_muls( move_vel, 0.75f, move_vel ); - v3_add( move_vel, player_head, player_head ); + v3_add( move_vel, player.view, player.view ); return; } - + if( vg_get_button( "forward" ) ) { - v3f accel = { sinf( player_yaw ), 0.0f, -cosf( player_yaw ) }; - v3_muladds( player_vel, accel, 5.0f * timestep, player_vel ); - } - - m4x3f player_transform, - world_to_local, local_to_world; - - m4x3_identity( player_transform ); - m4x3_translate( player_transform, player_pos ); - m4x3_rotate_y( player_transform, -player_yaw ); + v3f dir = { 0.0f, 0.0f, -1.0f }; - m4x3_identity( world_to_local ); - m4x3_rotate_y( world_to_local, player_yaw ); - - m4x3_identity( local_to_world ); - m4x3_rotate_y( local_to_world, -player_yaw ); + m3x3_mulv( player.to_world, dir, dir ); + v3_muladds( player.v, dir, 5.0f * timestep, player.v ); + } /* Get front and back contact points */ - v3f contact_front, contact_back, fwd, fwd1, contact_norm; + v3f contact_front, contact_back, fwd, fwd1, contact_norm, vup; - m4x3_mulv( local_to_world, (v3f){0.0f,0.0f,-1.0f}, fwd ); - m4x3_mulv( local_to_world, (v3f){0.03f,0.0f,-1.0f}, fwd1 ); + m3x3_mulv( player.to_world, (v3f){0.0f,0.0f,-1.0f}, fwd ); + m3x3_mulv( player.to_world, (v3f){0.03f,0.0f,-1.0f}, fwd1 ); + m3x3_mulv( player.to_world, (v3f){0.0f,1.0f,0.0f}, vup ); - v3_muladds( player_pos, fwd, 1.0f, contact_front ); - v3_muladds( player_pos, fwd,-1.0f, contact_back ); - v3_muladds( player_pos, fwd1, 1.0f, contact_norm ); + v3_muladds( player.co, fwd, 1.0f, contact_front ); + v3_muladds( player.co, fwd,-1.0f, contact_back ); + v3_muladds( player.co, fwd1, 1.0f, contact_norm ); -#if 0 - road_patch_setplayer( &road_main, player_pos ); - sample_road_height( &road_main, contact_front ); - sample_road_height( &road_main, contact_back ); -#else sample_scene_height( &world_scene, contact_front ); sample_scene_height( &world_scene, contact_back ); sample_scene_height( &world_scene, contact_norm ); -#endif v3f norm; v3f v0, v1; @@ -344,99 +293,104 @@ void vg_update(void) v3_normalize( norm ); v3f gravity = { 0.0f, -9.6f, 0.0f }; - v3_muladds( player_vel, gravity, timestep, player_vel ); + v3_muladds( player.v, gravity, timestep, player.v ); v3f ground_pos; - v3_copy( player_pos, ground_pos ); + v3_copy( player.co, ground_pos ); sample_scene_height( &world_scene, ground_pos ); static int in_air = 1; if( in_air ) { - if( ground_pos[1] > player_pos[1] ) + if( ground_pos[1] > player.co[1] ) in_air = 0; } if( !in_air ) { - float resistance = v3_dot( norm, player_vel ); + float resistance = v3_dot( norm, player.v ); if( resistance >= 0.0f ) in_air = 1; else { - v3_muladds( player_vel, norm, -resistance, player_vel ); + v3_muladds( player.v, norm, -resistance, player.v ); } } - /* vg_info( "%.3f | %.3f\n", player_vel[1], resistance ); */ - v3_muladds( player_pos, player_vel, timestep, player_pos ); + /* vg_info( "%.3f | %.3f\n", player.v[1], resistance ); */ + v3_muladds( player.co, player.v, timestep, player.co ); float slip = 0.0f; + float yawamt = 0.0f; if( !in_air ) { - player_pos[1] = (contact_front[1]+contact_back[1])*0.5f; + player.co[1] = (contact_front[1]+contact_back[1])*0.5f; - vg_line( player_pos, contact_front, 0xff00ffff ); - vg_line( player_pos, contact_back, 0xff00ffa0 ); + vg_line( player.co, contact_front, 0xff00ffff ); + vg_line( player.co, contact_back, 0xff00ffa0 ); - /* Create the 'travel' vector */ - v3f travel; - v3_sub( contact_front, contact_back, travel ); - v3_normalize( travel ); + /* Create the 'travel' vector */ + v3f travel; + v3_sub( contact_front, contact_back, travel ); + v3_normalize( travel ); - /* Apply gravity */ + /* Apply gravity */ #if 0 - float gravity_conversion = -v3_dot( travel, gravity ); - vel[2] += gravity_conversion * substep; + float gravity_conversion = -v3_dot( travel, gravity ); + vel[2] += gravity_conversion * substep; #endif - /* Get localized (rotated) rigidbody forces - * -z - * ^ - * -|- - * | - * +z - */ - - v3f vel; - m4x3_mulv( world_to_local, player_vel, vel ); + /* Get localized (rotated) rigidbody forces + * -z + * ^ + * -|- + * | + * +z + */ + + v3f vel; + m3x3_mulv( player.to_local, player.v, vel ); - /* Calculate local forces */ - slip = -vel[0] / vel[2]; - float substep = timestep * 0.2f; + /* Calculate local forces */ + slip = -vel[0] / vel[2]; + float substep = timestep * 0.2f; - if( fabsf( slip ) > 1.2f ) - { - slip = vg_signf( slip ) * 1.2f; - } - - 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]) >= 6.0f*substep ) - vel[0] += vg_signf( vel[0] ) * -6.0f * substep; - } - - m4x3_mulv( local_to_world, vel, player_vel ); + if( fabsf( slip ) > 1.2f ) + { + slip = vg_signf( slip ) * 1.2f; + } + + 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]) >= 6.0f*substep ) + vel[0] += vg_signf( vel[0] ) * -6.0f * substep; + } + + m3x3_mulv( player.to_world, vel, player.v ); - if( vg_get_button( "yawl" ) ) - player_yaw -= 1.6f * timestep; - if( vg_get_button( "yawr" ) ) - player_yaw += 1.6f * timestep; + 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; - player_yaw += vg_get_axis( "horizontal" ) * 1.6f * timestep; } else { - player_yaw += vg_get_axis( "horizontal" ) * 3.6f * timestep; - look_dir[0] = player_yaw; + yawamt -= vg_get_axis( "horizontal" ) * 3.6f * timestep; } - look_dir[0] = atan2f( player_vel[0], -player_vel[2] ); + v4f rotate; + q_axis_angle( rotate, vup, yawamt ); + q_mul( rotate, player.rot, player.rot ); + + player.look_dir[0] = atan2f( player.v[0], -player.v[2] ); /* Creating a skeleton of the player dynamically */ float kheight = 1.8f, @@ -447,9 +401,9 @@ void vg_update(void) static v3f last_vel = { 0.0f, 0.0f, 0.0f }; static v3f bob, bob1; - v3_sub( player_vel, last_vel, player_accel ); - v3_copy( player_vel, last_vel ); - v3_add( bob, player_accel, bob ); + v3_sub( player.v, last_vel, player.a ); + v3_copy( player.v, last_vel ); + v3_add( bob, player.a, bob ); bob[0] = vg_clampf( bob[0], -0.4f, 1.0f ); bob[1] = vg_clampf( bob[1], -0.4f, 1.3f ); @@ -458,63 +412,15 @@ void vg_update(void) v3_lerp( bob, (v3f){ 0.0f, 0.0f, 0.0f }, 0.1f, bob ); v3_lerp( bob1, bob, 0.1f, bob1 ); - /* Feet */ - foot_r[0] = 0.0f; - foot_r[1] = 0.0f; - foot_r[2] = 0.3f; - - foot_l[0] = 0.0f; - foot_l[1] = 0.0f; - foot_l[2] = -0.3f; - /* Head */ head[0] = (-sinf(slip)*0.9f * kheight + bob1[0]*0.6f) * 0.54f; head[1] = cosf(slip)*0.9f * kheight +-bob1[1]*1.4f; head[2] = 0.0f; - /* Hips */ - butt[0] = -sinf(slip)*0.2f; - butt[1] = cosf(slip); - butt[2] = 0.0f; - v2_normalize(butt); - v2_muls( butt, -0.7f, butt ); - v2_add( head, butt, butt ); - - /* Knees */ - v2_sub( butt, (v2f){0.0f,0.0f}, ac ); - float cl = v2_length( ac ), - d = acosf( (2.0f * kleg*kleg - cl*cl) / 2.0f * kleg*kleg ), - x = atan2f( ac[0], ac[1] ), - ad = (-VG_PIf-d)/2.0f; - - v2_muladds( (v2f){0.0f,0.0f}, - (v2f){ sinf( ad+x ), cosf( ad + x ) }, - kleg, knee_l ); - knee_l[2] = -0.3f; - - v2_copy( knee_l, knee_r ); - knee_r[2] = 0.3f; - - /* shoulders */ - v3_add( (v3f){0.0f,-0.1f,-0.2f}, head, shoulder_r ); - - /* Hands */ - hand_r[0] = sinf( slip ) * 0.1f; - hand_r[1] = -cosf( slip*5.0f ) * 0.5f - 0.5f; - hand_r[2] = -sinf( fabsf(slip) * 2.4f ); - v3_add( shoulder_r, hand_r, hand_r ); - - m4x3_mulv( player_transform, head, head ); - m4x3_mulv( player_transform, butt, butt ); - m4x3_mulv( player_transform, knee_l, knee_l ); - m4x3_mulv( player_transform, knee_r, knee_r ); - m4x3_mulv( player_transform, foot_l, foot_l ); - m4x3_mulv( player_transform, foot_r, foot_r ); - m4x3_mulv( player_transform, hand_r, hand_r ); - m4x3_mulv( player_transform, shoulder_r, shoulder_r ); - - v3_copy( head, player_head ); - + m4x3_mulv( player.to_world, head, head ); + v3_copy( head, player.view ); + + player_transform_update(); } static void debug_grid( v3f at ) @@ -545,15 +451,16 @@ void vg_render(void) glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT ); v3f pos_inv; - v3_negate( player_head, pos_inv ); + v3_negate( player.view, pos_inv ); - float speed = v3_length( player_vel ); + float speed = v3_length( player.v ); v3f shake = { vg_randf()-0.5f, vg_randf()-0.5f, vg_randf()-0.5f }; v3_muls( shake, speed*0.01f, shake ); m4x3_identity( world_matrix ); - m4x3_rotate_x( world_matrix, freecam? look_dir[1]: 0.3f+shake[1]*0.04f ); - m4x3_rotate_y( world_matrix, look_dir[0]+shake[0]*0.02f ); + m4x3_rotate_x( world_matrix, + freecam? player.look_dir[1]: 0.3f+shake[1]*0.04f ); + m4x3_rotate_y( world_matrix, player.look_dir[0]+shake[0]*0.02f ); m4x3_translate( world_matrix, pos_inv ); m4x4f world_4x4; @@ -572,12 +479,16 @@ void vg_render(void) vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 1.0f, 0.0f }, 0xff00ff00 ); vg_line( (v3f){ 0.0f, 0.0f, 0.0f }, (v3f){ 0.0f, 0.0f, 1.0f }, 0xff0000ff ); - v3f board_fwd = { -sinf( player_yaw ), 0.0f, cosf( player_yaw ) }; - v3f board_side = { -board_fwd[2], 0.0f, board_fwd[0] }; + v3f board_fwd = { 0.0f, 0.0f, -1.0f }; + v3f board_side = { 1.0f, 0.0f, 0.0f }; + + m3x3_mulv( player.to_world, board_fwd, board_fwd ); + m3x3_mulv( player.to_world, board_side, board_side ); + v3f bnw, bne, bse, bsw; - v3_muladds( player_pos, board_fwd, 0.75f, bnw ); - v3_muladds( player_pos, board_fwd, -0.75f, bsw ); + v3_muladds( player.co, board_fwd, 0.75f, bnw ); + v3_muladds( player.co, board_fwd, -0.75f, bsw ); v3_muladds( bnw, board_side, 0.1f, bne ); v3_muladds( bnw, board_side, -0.1f, bnw ); v3_muladds( bsw, board_side, 0.1f, bse ); @@ -590,25 +501,6 @@ void vg_render(void) glEnable( GL_DEPTH_TEST ); - v3f leg_dr, leg_dl, leg_ar, leg_al; - - v3_sub( foot_l, butt, leg_dl ); - v3_sub( foot_r, butt, leg_dr ); - leg_dl[1] = 0.0f; - leg_dr[1] = 0.0f; - v3_normalize( leg_dl ); - v3_normalize( leg_dr ); - - v3f v0; - v3_sub( butt, knee_l, v0 ); - float leg_pl = atan2f( v0[1], v3_dot( v0, leg_dl ) ); - - v3_sub( knee_l, foot_l, v0 ); - float knee_pl = atan2f( v0[1], v3_dot( v0, leg_dl ) ); - - float leg_yl = -atan2f( leg_dl[2], leg_dl[0] ), - leg_yr = atan2f( leg_dr[2], leg_dr[0] ); - SHADER_USE( shader_debug_vcol ); m4x3f temp; m4x4f temp1; @@ -616,23 +508,10 @@ void vg_render(void) vg_tex2d_bind( &tex_grid, 0 ); scene_tree_sway = 0.0f; - vg_line( head, butt, 0xff0000ff ); - vg_line( butt, knee_l, 0xff0000ff ); - vg_line( butt, knee_r, 0xff0000ff ); - vg_line( foot_l, knee_l, 0xff00a0ff ); - vg_line( foot_r, knee_r, 0xff00a0ff ); - vg_line( head, shoulder_r, 0xa0ff00ff ); - vg_line( shoulder_r, hand_r, 0xffff00ff ); m4x3_identity( temp ); - - m4x3_translate( temp, knee_l ); - m4x3_rotate_x( temp, knee_pl ); - m4x3_rotate_y( temp, leg_yl ); - m4x3_expand( temp, temp1 ); glUniformMatrix4fv( SHADER_UNIFORM( shader_debug_vcol, "uMdl" ), 1, GL_FALSE, (float *)temp1 ); - scene_draw( &player_scene, -1, 0 ); m4x3_identity( temp ); @@ -658,11 +537,11 @@ void vg_ui(void) { char buf[20]; - snprintf( buf, 20, "%.2fm/s", v3_length( player_vel ) ); + snprintf( buf, 20, "%.2fm/s", v3_length( player.v ) ); gui_text( (ui_px [2]){ 0, 0 }, buf, 1, k_text_align_left ); snprintf( buf, 20, "%.2f %.2f %.2f m/s", - player_accel[0], player_accel[1], player_accel[2] ); + player.a[0], player.a[1], player.a[2] ); gui_text( (ui_px [2]){ 0, 20 }, buf, 1, k_text_align_left ); -- 2.25.1