static void game_update_grav(float h[3], const float g[3])
{
struct s_file *fp = &file;
float x[3];
float y[3] = { 0.f, 1.f, 0.f };
float z[3];
float X[16];
float Z[16];
float M[16];
/* Compute the gravity vector from the given world rotations. */
v_sub(z, view_p, fp->uv->p);
v_crs(x, y, z);
v_crs(z, x, y);
v_nrm(x, x);
v_nrm(z, z);
// m_rot (Z, z, V_RAD(game_rz));
m_rot (Z, z, V_RAD(game_rz*((20.0f/BOUND))));
// m_rot (X, x, V_RAD(game_rx));
m_rot (X, x, V_RAD(game_rx*((20.0f/BOUND))));
m_mult(M, Z, X);
m_vxfm(h, M, g);
}
/*
* Integrate the rotation of the given basis E under angular velocity W
* through time DT.
*/
void sol_rotate(float e[3][3], const float w[3], float dt)
{
if (v_len(w) > 0.0f)
{
float a[3], M[16], f[3][3];
/* Compute the rotation matrix. */
v_nrm(a, w);
m_rot(M, a, v_len(w) * dt);
/* Apply it to the basis. */
m_vxfm(f[0], M, e[0]);
m_vxfm(f[1], M, e[1]);
m_vxfm(f[2], M, e[2]);
/* Re-orthonormalize the basis. */
v_crs(e[2], f[0], f[1]);
v_crs(e[1], f[2], f[0]);
v_crs(e[0], f[1], f[2]);
v_nrm(e[0], e[0]);
v_nrm(e[1], e[1]);
v_nrm(e[2], e[2]);
}
}
void video_calc_view(float *M, const float *c,
const float *p,
const float *u)
{
float x[3];
float y[3];
float z[3];
v_sub(z, p, c);
v_nrm(z, z);
v_crs(x, u, z);
v_nrm(x, x);
v_crs(y, z, x);
m_basis(M, x, y, z);
}
/*
* Compute the new linear and angular velocities of a bouncing ball.
* Q gives the position of the point of impact and W gives the
* velocity of the object being impacted.
*/
static float sol_bounce(struct v_ball *up,
const float q[3],
const float w[3], float dt)
{
float n[3], r[3], d[3], vn, wn;
float *p = up->p;
float *v = up->v;
/* Find the normal of the impact. */
v_sub(r, p, q);
v_sub(d, v, w);
v_nrm(n, r);
/* Find the new angular velocity. */
v_crs(up->w, d, r);
v_scl(up->w, up->w, -1.0f / (up->r * up->r));
/* Find the new linear velocity. */
vn = v_dot(v, n);
wn = v_dot(w, n);
v_mad(v, v, n, 1.7 * (wn - vn));
v_mad(p, q, n, up->r);
/* Return the "energy" of the impact, to determine the sound amplitude. */
return fabsf(v_dot(n, d));
}
void game_set_fly(float k)
{
struct s_vary *fp = &file.vary;
float x[3] = { 1.f, 0.f, 0.f };
float y[3] = { 0.f, 1.f, 0.f };
float z[3] = { 0.f, 0.f, 1.f };
float c0[3] = { 0.f, 0.f, 0.f };
float p0[3] = { 0.f, 0.f, 0.f };
float c1[3] = { 0.f, 0.f, 0.f };
float p1[3] = { 0.f, 0.f, 0.f };
float v[3];
if (!state)
return;
v_cpy(view_e[0], x);
v_cpy(view_e[1], y);
if (fp->base->zc > 0)
v_sub(view_e[2], fp->uv[ball].p, fp->base->zv[0].p);
else
v_cpy(view_e[2], z);
if (fabs(v_dot(view_e[1], view_e[2])) > 0.999)
v_cpy(view_e[2], z);
v_crs(view_e[0], view_e[1], view_e[2]);
v_crs(view_e[2], view_e[0], view_e[1]);
v_nrm(view_e[0], view_e[0]);
v_nrm(view_e[2], view_e[2]);
/* k = 0.0 view is at the ball. */
if (fp->uc > 0)
{
v_cpy(c0, fp->uv[ball].p);
v_cpy(p0, fp->uv[ball].p);
}
v_mad(p0, p0, view_e[1], view_dy);
v_mad(p0, p0, view_e[2], view_dz);
/* k = +1.0 view is s_view 0 */
if (k >= 0 && fp->base->wc > 0)
{
v_cpy(p1, fp->base->wv[0].p);
v_cpy(c1, fp->base->wv[0].q);
}
/* k = -1.0 view is s_view 1 */
if (k <= 0 && fp->base->wc > 1)
{
v_cpy(p1, fp->base->wv[1].p);
v_cpy(c1, fp->base->wv[1].q);
}
/* Interpolate the views. */
v_sub(v, p1, p0);
v_mad(view_p, p0, v, k * k);
v_sub(v, c1, c0);
v_mad(view_c, c0, v, k * k);
/* Orthonormalize the view basis. */
v_sub(view_e[2], view_p, view_c);
v_crs(view_e[0], view_e[1], view_e[2]);
v_crs(view_e[2], view_e[0], view_e[1]);
v_nrm(view_e[0], view_e[0]);
v_nrm(view_e[2], view_e[2]);
view_a = V_DEG(fatan2f(view_e[2][0], view_e[2][2]));
}
void game_update_view(float dt)
{
const float y[3] = { 0.f, 1.f, 0.f };
float dy;
float dz;
float k;
float e[3];
float d[3];
float s = 2.f * dt;
if (!state)
return;
/* Center the view about the ball. */
v_cpy(view_c, file.vary.uv[ball].p);
v_inv(view_v, file.vary.uv[ball].v);
switch (config_get_d(CONFIG_CAMERA))
{
case 2:
/* Camera 2: View vector is given by view angle. */
view_e[2][0] = fsinf(V_RAD(view_a));
view_e[2][1] = 0.f;
view_e[2][2] = fcosf(V_RAD(view_a));
s = 1.f;
break;
default:
/* View vector approaches the ball velocity vector. */
v_mad(e, view_v, y, v_dot(view_v, y));
v_inv(e, e);
k = v_dot(view_v, view_v);
v_sub(view_e[2], view_p, view_c);
v_mad(view_e[2], view_e[2], view_v, k * dt * 0.1f);
}
/* Orthonormalize the basis of the view in its new position. */
v_crs(view_e[0], view_e[1], view_e[2]);
v_crs(view_e[2], view_e[0], view_e[1]);
v_nrm(view_e[0], view_e[0]);
v_nrm(view_e[2], view_e[2]);
/* The current view (dy, dz) approaches the ideal (view_dy, view_dz). */
v_sub(d, view_p, view_c);
dy = v_dot(view_e[1], d);
dz = v_dot(view_e[2], d);
dy += (view_dy - dy) * s;
dz += (view_dz - dz) * s;
/* Compute the new view position. */
view_p[0] = view_p[1] = view_p[2] = 0.f;
v_mad(view_p, view_c, view_e[1], dy);
v_mad(view_p, view_p, view_e[2], dz);
view_a = V_DEG(fatan2f(view_e[2][0], view_e[2][2]));
}
float sol_step(struct s_vary *vary, const float *g, float dt, int ui, int *m)
{
float P[3], V[3], v[3], r[3], a[3], d, e, nt, b = 0.0f, tt = dt, t;
int c;
union cmd cmd;
if (ui < vary->uc)
{
struct v_ball *up = vary->uv + ui;
/* If the ball is in contact with a surface, apply friction. */
v_cpy(a, up->v);
v_cpy(v, up->v);
v_cpy(up->v, g);
if (m && sol_test_file(tt, P, V, up, vary) < 0.0005f)
{
v_cpy(up->v, v);
v_sub(r, P, up->p);
t = v_len(r) * v_len(g);
if (t == 0.f)
{
t = SMALL;
}
if ((d = v_dot(r, g) / t) > 0.999f)
{
if ((e = (v_len(up->v) - dt)) > 0.0f)
{
/* Scale the linear velocity. */
v_nrm(up->v, up->v);
v_scl(up->v, up->v, e);
/* Scale the angular velocity. */
v_sub(v, V, up->v);
v_crs(up->w, v, r);
v_scl(up->w, up->w, -1.0f / (up->r * up->r));
}
else
{
/* Friction has brought the ball to a stop. */
up->v[0] = 0.0f;
up->v[1] = 0.0f;
up->v[2] = 0.0f;
(*m)++;
}
}
else v_mad(up->v, v, g, tt);
}
else v_mad(up->v, v, g, tt);
/* Test for collision. */
for (c = 16; c > 0 && tt > 0; c--)
{
float st;
int mi, ms;
/* HACK: avoid stepping across path changes. */
st = tt;
for (mi = 0; mi < vary->mc; mi++)
{
struct v_move *mp = vary->mv + mi;
struct v_path *pp = vary->pv + mp->pi;
if (!pp->f)
continue;
if (mp->tm + ms_peek(st) > pp->base->tm)
st = MS_TO_TIME(pp->base->tm - mp->tm);
}
/* Miss collisions if we reach the iteration limit. */
if (c > 1)
nt = sol_test_file(st, P, V, up, vary);
else
nt = tt;
cmd.type = CMD_STEP_SIMULATION;
cmd.stepsim.dt = nt;
sol_cmd_enq(&cmd);
ms = ms_step(nt);
sol_move_step(vary, nt, ms);
sol_swch_step(vary, nt, ms);
sol_ball_step(vary, nt);
if (nt < st)
if (b < (d = sol_bounce(up, P, V, nt)))
b = d;
tt -= nt;
}
v_sub(a, up->v, a);
sol_pendulum(up, a, g, dt);
}
return b;
}
/*
* Compute the earliest time and position of the intersection of a
* sphere and an edge.
*
* The sphere has radius R and moves along vector V from point P. The
* edge moves along vector W from point Q in a coordinate system based
* at O. The edge extends along the length of vector U.
*/
static float v_edge(float Q[3],
const float o[3],
const float q[3],
const float u[3],
const float w[3],
const float p[3],
const float v[3], float r)
{
float d[3], e[3];
float P[3], V[3];
float du, eu, uu, s, t;
v_sub(d, p, o);
v_sub(d, d, q);
v_sub(e, v, w);
/*
* Think projections. Vectors D, extending from the edge vertex Q
* to the sphere, and E, the relative velocity of sphere wrt the
* edge, are made orthogonal to the edge vector U. Division of
* the dot products is required to obtain the true projection
* ratios since U does not have unit length.
*/
du = v_dot(d, u);
eu = v_dot(e, u);
uu = v_dot(u, u);
v_mad(P, d, u, -du / uu);
/* First, test for intersection. */
if (v_dot(P, P) < r * r)
{
/* The sphere already intersects the line of the edge. */
if (du < 0 || du > uu)
{
/*
* The sphere is behind the endpoints of the edge, and
* can't hit the edge without hitting the vertices first.
*/
return LARGE;
}
/* The sphere already intersects the edge. */
if (v_dot(P, e) >= 0)
{
/* Moving apart. */
return LARGE;
}
v_nrm(P, P);
v_mad(Q, p, P, -r);
return 0;
}
v_mad(V, e, u, -eu / uu);
t = v_sol(P, V, r);
s = (du + eu * t) / uu; /* Projection of D + E * t on U. */
if (0.0f <= t && t < LARGE && 0.0f < s && s < 1.0f)
{
v_mad(d, o, w, t);
v_mad(e, q, u, s);
v_add(Q, e, d);
}
else
t = LARGE;
return t;
}
void game_set_fly(float k)
{
struct s_file *fp = &file;
float x[3] = { 1.f, 0.f, 0.f };
float y[3] = { 0.f, 1.f, 0.f };
float z[3] = { 0.f, 0.f, 1.f };
float c0[3] = { 0.f, 0.f, 0.f };
float p0[3] = { 0.f, 0.f, 0.f };
float c1[3] = { 0.f, 0.f, 0.f };
float p1[3] = { 0.f, 0.f, 0.f };
float v[3];
v_cpy(view_e[0], x);
v_cpy(view_e[1], y);
v_cpy(view_e[2], z);
/* k = 0.0 view is at the ball. */
if (fp->uc > 0)
{
v_cpy(c0, fp->uv[0].p);
v_cpy(p0, fp->uv[0].p);
}
v_mad(p0, p0, y, view_dp);
v_mad(p0, p0, z, view_dz);
v_mad(c0, c0, y, view_dc);
/* k = +1.0 view is s_view 0 */
if (k >= 0 && fp->wc > 0)
{
v_cpy(p1, fp->wv[0].p);
v_cpy(c1, fp->wv[0].q);
}
/* k = -1.0 view is s_view 1 */
if (k <= 0 && fp->wc > 1)
{
v_cpy(p1, fp->wv[1].p);
v_cpy(c1, fp->wv[1].q);
}
/* Interpolate the views. */
v_sub(v, p1, p0);
v_mad(view_p, p0, v, k * k);
v_sub(v, c1, c0);
v_mad(view_c, c0, v, k * k);
/* Orthonormalize the view basis. */
v_sub(view_e[2], view_p, view_c);
v_crs(view_e[0], view_e[1], view_e[2]);
v_crs(view_e[2], view_e[0], view_e[1]);
v_nrm(view_e[0], view_e[0]);
v_nrm(view_e[2], view_e[2]);
}
static void game_update_view(float dt)
{
float dc = view_dc * (jump_b ? 2.0f * fabsf(jump_dt - 0.5f) : 1.0f);
float dx = view_ry * dt * 5.0f;
float k;
view_a += view_ry * dt * 90.f;
/* Center the view about the ball. */
v_cpy(view_c, file.uv->p);
v_inv(view_v, file.uv->v);
switch (config_get_d(CONFIG_CAMERA))
{
case 1: /* Camera 1: Viewpoint chases the ball position. */
v_sub(view_e[2], view_p, view_c);
break;
case 2: /* Camera 2: View vector is given by view angle. */
view_e[2][0] = fsinf(V_RAD(view_a));
view_e[2][1] = 0.f;
view_e[2][2] = fcosf(V_RAD(view_a));
dx = 0.0f;
break;
default: /* Default: View vector approaches the ball velocity vector. */
k = v_dot(view_v, view_v);
v_sub(view_e[2], view_p, view_c);
v_mad(view_e[2], view_e[2], view_v, k * dt / 4);
break;
}
/* Orthonormalize the basis of the view in its new position. */
v_crs(view_e[0], view_e[1], view_e[2]);
v_crs(view_e[2], view_e[0], view_e[1]);
v_nrm(view_e[0], view_e[0]);
v_nrm(view_e[2], view_e[2]);
/* Compute the new view position. */
k = 1.0f + v_dot(view_e[2], view_v) / 10.0f;
view_k = view_k + (k - view_k) * dt;
if (view_k < 0.5) view_k = 0.5;
v_cpy(view_p, file.uv->p);
v_mad(view_p, view_p, view_e[0], dx * view_k);
v_mad(view_p, view_p, view_e[1], view_dp * view_k);
v_mad(view_p, view_p, view_e[2], view_dz * view_k);
/* Compute the new view center. */
v_cpy(view_c, file.uv->p);
v_mad(view_c, view_c, view_e[1], dc);
/* Note the current view angle. */
view_a = V_DEG(fatan2f(view_e[2][0], view_e[2][2]));
}
static void game_update_view(float dt)
{
float dc = view.dc * (jump_b > 0 ? 2.0f * fabsf(jump_dt - 0.5f) : 1.0f);
float da = input_get_r() * dt * 90.0f;
float k;
float M[16], v[3], Y[3] = { 0.0f, 1.0f, 0.0f };
float view_v[3];
float spd = (float) cam_speed(input_get_c()) / 1000.0f;
/* Track manual rotation time. */
if (da == 0.0f)
{
if (view_time < 0.0f)
{
/* Transition time is influenced by activity time. */
view_fade = CLAMP(VIEW_FADE_MIN, -view_time, VIEW_FADE_MAX);
view_time = 0.0f;
}
/* Inactivity. */
view_time += dt;
}
else
{
if (view_time > 0.0f)
{
view_fade = 0.0f;
view_time = 0.0f;
}
/* Activity (yes, this is negative). */
view_time -= dt;
}
/* Center the view about the ball. */
v_cpy(view.c, vary.uv->p);
view_v[0] = -vary.uv->v[0];
view_v[1] = 0.0f;
view_v[2] = -vary.uv->v[2];
/* Compute view vector. */
if (spd >= 0.0f)
{
/* Viewpoint chases ball position. */
if (da == 0.0f)
{
float s;
v_sub(view.e[2], view.p, view.c);
v_nrm(view.e[2], view.e[2]);
/* Gradually restore view vector convergence rate. */
s = fpowf(view_time, 3.0f) / fpowf(view_fade, 3.0f);
s = CLAMP(0.0f, s, 1.0f);
v_mad(view.e[2], view.e[2], view_v, v_len(view_v) * spd * s * dt);
}
}
else
{
/* View vector is given by view angle. */
view.e[2][0] = fsinf(V_RAD(view.a));
view.e[2][1] = 0.0;
view.e[2][2] = fcosf(V_RAD(view.a));
}
/* Apply manual rotation. */
if (da != 0.0f)
{
m_rot(M, Y, V_RAD(da));
m_vxfm(v, M, view.e[2]);
v_cpy(view.e[2], v);
}
/* Orthonormalize the new view reference frame. */
v_crs(view.e[0], view.e[1], view.e[2]);
v_crs(view.e[2], view.e[0], view.e[1]);
v_nrm(view.e[0], view.e[0]);
v_nrm(view.e[2], view.e[2]);
/* Compute the new view position. */
k = 1.0f + v_dot(view.e[2], view_v) / 10.0f;
view_k = view_k + (k - view_k) * dt;
if (view_k < 0.5) view_k = 0.5;
v_scl(v, view.e[1], view.dp * view_k);
v_mad(v, v, view.e[2], view.dz * view_k);
v_add(view.p, v, vary.uv->p);
/* Compute the new view center. */
v_cpy(view.c, vary.uv->p);
v_mad(view.c, view.c, view.e[1], dc);
/* Note the current view angle. */
view.a = V_DEG(fatan2f(view.e[2][0], view.e[2][2]));
game_cmd_updview();
}
