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code: improve vehicle physics

isolation_bkp/dynres
Dominik Madarász 2021-08-10 13:19:45 +02:00
parent ef2b6cd68e
commit f7ee8d0f11
8 changed files with 181 additions and 172 deletions
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2
code/game/src/vehicle.c
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@ -10,7 +10,7 @@ uint64_t vehicle_spawn(void) {
Vehicle *veh = ecs_get_mut(world_ecs(), e, Vehicle, NULL);
zpl_zero_item(veh);
veh->wheel_base = 60.0f;
veh->wheel_base = 50.0f;
return (uint64_t)e;
}

2
code/game/src/world/blocks_list.c
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@ -2,7 +2,7 @@
static block blocks[] = {
{.name = "base-ground", .flags = 0, .kind = BLOCK_KIND_GROUND, .biome = 0, .symbol = '.', .drag = 1.0f},
{.name = "base-dirt", .flags = 0, .kind = BLOCK_KIND_DIRT, .biome = 0, .symbol = ',', .drag = 4.0f },
{.name = "base-dirt", .flags = 0, .kind = BLOCK_KIND_DIRT, .biome = 0, .symbol = ',', .drag = 2.1f },
{.name = "base-wall", .flags = BLOCK_FLAG_COLLISION, .kind = BLOCK_KIND_WALL, .biome = 0, .symbol = '#', .drag = 1.0f },
{.name = "base-hill", .flags = BLOCK_FLAG_COLLISION, .kind = BLOCK_KIND_HILL, .biome = 0, .symbol = '^', .drag = 1.0f },
{.name = "base-hill-snow", .flags = BLOCK_FLAG_COLLISION, .kind = BLOCK_KIND_HILL_SNOW, .biome = 0, .symbol = '*', .drag = 1.0f },

6
code/game/src/world/worldgen/worldgen_test.c
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@ -98,6 +98,10 @@ static WORLD_BLOCK_OBSERVER(shaper_noise50) {
static WORLD_BLOCK_OBSERVER(shaper_noise33) {
return world_perlin_cond(block_idx, 0.33) ? shaper(id, block_idx) : BLOCK_INVALID;
}
static WORLD_BLOCK_OBSERVER(shaper_noise05) {
return world_perlin_cond(block_idx, 0.05) ? shaper(id, block_idx) : BLOCK_INVALID;
}
#else
static WORLD_BLOCK_OBSERVER(shaper_noise80) {
return rand()%10 < 8 ? shaper(id, block_idx) : BLOCK_INVALID;
@ -139,7 +143,7 @@ int32_t worldgen_test(world_data *wld) {
// ground
world_fill_rect(grnd_id, 1, 1, world->dim-2, world->dim-2, NULL);
world_fill_rect(dirt_id, 1, 1, world->dim-2, world->dim-2, shaper_noise33);
world_fill_rect(dirt_id, 1, 1, world->dim-2, world->dim-2, shaper_noise05);
// water
#if 1

2
code/modules/modules/components.h
View File

@ -52,7 +52,7 @@ ECS_STRUCT(Classify, {
ECS_STRUCT(Vehicle, {
uint64_t seats[4];
float speed;
float force;
float heading;
float steer;
float wheel_base;

172
code/modules/modules/systems.c
View File

@ -11,17 +11,9 @@
#define PHY_LOOKAHEAD(x) (zpl_sign(x)*16.0f)
#define PHY_CORRECTION(x) ((zpl_max(0.0f, (WORLD_BLOCK_SIZE/2.0f) - zpl_abs(x))*zpl_sign(x)))*(WORLD_BLOCK_SIZE/2.0f)
void MoveWalk(ecs_iter_t *it) {
Position *p = ecs_column(it, Position, 1);
Velocity *v = ecs_column(it, Velocity, 2);
for (int i = 0; i < it->count; i++) {
world_block_lookup lookup = world_block_from_realpos(p[i].x, p[i].y);
float drag = blocks_get_drag(lookup.block_id);
v[i].x = zpl_lerp(v[i].x, 0.0f, PHY_WALK_DRAG*drag);
v[i].y = zpl_lerp(v[i].y, 0.0f, PHY_WALK_DRAG*drag);
}
}
#include "source/system_onfoot.c"
#include "source/system_demo.c"
#include "source/system_vehicle.c"
void IntegratePositions(ecs_iter_t *it) {
profile(PROF_INTEGRATE_POS) {
@ -70,47 +62,6 @@ void UpdateTrackerPos(ecs_iter_t *it) {
}
}
#define PLR_MOVE_SPEED 50.0
#define PLR_MOVE_SPEED_MULT 4.0
void MovementImpulse(ecs_iter_t *it) {
Input *in = ecs_column(it, Input, 1);
Velocity *v = ecs_column(it, Velocity, 2);
for (int i = 0; i < it->count; i++) {
if (ecs_is_alive(world_ecs(), in[i].parent)) continue;
double speed = PLR_MOVE_SPEED * (in[i].sprint ? PLR_MOVE_SPEED_MULT : 1.0);
if (zpl_abs(v[i].x) < speed && in[i].x)
v[i].x = in[i].x*speed;
if (zpl_abs(v[i].y) < speed && in[i].y)
v[i].y = in[i].y*speed;
}
}
#define DEMO_NPC_CHANGEDIR_FACTOR 0.1
#define DEMO_NPC_MOVE_SPEED 1500
void DemoNPCMoveAround(ecs_iter_t *it) {
Velocity *v = ecs_column(it, Velocity, 1);
for (int i = 0; i < it->count; i++) {
v[i].x = zpl_lerp(v[i].x, (rand()%3-1)*DEMO_NPC_MOVE_SPEED, DEMO_NPC_CHANGEDIR_FACTOR);
v[i].y = zpl_lerp(v[i].y, (rand()%3-1)*DEMO_NPC_MOVE_SPEED, DEMO_NPC_CHANGEDIR_FACTOR);
}
}
void DemoPlaceIceBlock(ecs_iter_t *it) {
Input *in = ecs_column(it, Input, 1);
Position *p = ecs_column(it, Position, 2);
uint8_t watr_id = blocks_find(BLOCK_BIOME_DEV, BLOCK_KIND_WATER);
for (int i = 0; i < it->count; i++) {
if (in[i].use) {
world_block_lookup l = world_block_from_realpos(p[i].x, p[i].y);
world_chunk_replace_block(l.chunk_id, l.id, watr_id);
}
}
}
#define HAZARD_BLOCK_TIME 1.0f
#define HAZARD_BLOCK_DMG 5.0f
@ -148,121 +99,6 @@ void RegenerateHP(ecs_iter_t *it) {
}
}
#define VEH_ENTER_RADIUS 45.0f
void EnterOrLeaveVehicle(ecs_iter_t *it) {
Input *in = ecs_column(it, Input, 1);
Position *p = ecs_column(it, Position, 2);
for (int i = 0; i < it->count; i++) {
if (!in[i].use) continue;
if (!ecs_is_alive(world_ecs(), in[i].parent)) {
size_t ents_count;
int64_t *ents = world_chunk_query_entities(it->entities[i], &ents_count, 2);
for (size_t j = 0; j < ents_count; j++) {
if (ecs_get(world_ecs(), ents[j], Vehicle)) {
Vehicle *veh = ecs_get_mut(world_ecs(), ents[j], Vehicle, NULL);
Position const* p2 = ecs_get(world_ecs(), ents[j], Position);
float dx = p2->x - p[i].x;
float dy = p2->y - p[i].y;
float range = zpl_sqrt(dx*dx + dy*dy);
if (range <= VEH_ENTER_RADIUS) {
for (int k = 0; k < 4; k++) {
if (veh->seats[k] != 0) continue;
// NOTE(zaklaus): We can enter the vehicle, yay!
veh->seats[k] = it->entities[i];
in[i].parent = ents[j];
p[i] = *p2;
break;
}
}
}
}
} else {
if (ecs_get(world_ecs(), in[i].parent, Vehicle)) {
Vehicle *veh = ecs_get_mut(world_ecs(), in[i].parent, Vehicle, NULL);
for (int k = 0; k < 4; k++) {
if (veh->seats[k] == it->entities[i]) {
veh->seats[k] = 0;
break;
}
}
in[i].parent = 0;
} else {
ZPL_PANIC("unreachable code");
}
}
}
}
#define VEHICLE_MAX_SPEED 500.0f
#define VEHICLE_ACCEL 2.1f
#define VEHICLE_STEER 0.01f
void VehicleHandling(ecs_iter_t *it) {
Vehicle *veh = ecs_column(it, Vehicle, 1);
Position *p = ecs_column(it, Position, 2);
Velocity *v = ecs_column(it, Velocity, 3);
for (int i = 0; i < it->count; i++) {
Vehicle *car = &veh[i];
// NOTE(zaklaus): Apply friction
car->speed *= 0.99f;
car->steer *= 0.97f;
for (int j = 0; j < 4; j++) {
// NOTE(zaklaus): Perform seat cleanup
if (!ecs_is_alive(world_ecs(), veh[i].seats[j])) {
veh[i].seats[j] = 0;
continue;
}
ecs_entity_t pe = veh[i].seats[j];
// NOTE(zaklaus): Update passenger position
{
Position *p2 = ecs_get_mut(world_ecs(), pe, Position, NULL);
Velocity *v2 = ecs_get_mut(world_ecs(), pe, Velocity, NULL);
*p2 = p[i];
*v2 = v[i];
}
// NOTE(zaklaus): Handle driver input
if (j == 0) {
Input const* in = ecs_get(world_ecs(), pe, Input);
car->speed += in->y * VEHICLE_ACCEL;
car->speed = zpl_clamp(car->speed, -VEHICLE_MAX_SPEED, VEHICLE_MAX_SPEED);
car->steer += in->x * -VEHICLE_STEER * (zpl_abs(car->speed*2.5f) / VEHICLE_MAX_SPEED);
car->steer = zpl_clamp(car->steer, -40.0f, 40.0f);
}
}
// NOTE(zaklaus): Vehicle physics
float fr_x = p[i].x + (car->wheel_base/2.0f) * zpl_cos(car->heading);
float fr_y = p[i].y + (car->wheel_base/2.0f) * zpl_sin(car->heading);
float bk_x = p[i].x - (car->wheel_base/2.0f) * zpl_cos(car->heading);
float bk_y = p[i].y - (car->wheel_base/2.0f) * zpl_sin(car->heading);
bk_x += car->speed * zpl_cos(car->heading);
bk_y += car->speed * zpl_sin(car->heading);
fr_x += car->speed * zpl_cos(car->heading + zpl_to_radians(car->steer));
fr_y += car->speed * zpl_sin(car->heading + zpl_to_radians(car->steer));
v[i].x = (fr_x + bk_x) / 2.0f - p[i].x;
v[i].y = (fr_y + bk_y) / 2.0f - p[i].y;
car->heading = zpl_arctan2(fr_y - bk_y, fr_x - bk_x);
}
}
void SystemsImport(ecs_world_t *ecs) {
ECS_MODULE(ecs, Systems);
ECS_IMPORT(ecs, Components);
@ -272,7 +108,7 @@ void SystemsImport(ecs_world_t *ecs) {
ECS_SYSTEM(ecs, DemoNPCMoveAround, EcsOnLoad, components.Velocity, components.EcsDemoNPC);
ECS_SYSTEM(ecs, EnterOrLeaveVehicle, EcsOnLoad, components.Input, components.Position);
ECS_SYSTEM(ecs, MoveWalk, EcsOnUpdate, components.Position, components.Velocity, !components.Vehicle);
ECS_SYSTEM(ecs, MoveWalk, EcsOnUpdate, components.Position, components.Velocity);
ECS_SYSTEM(ecs, HurtOnHazardBlock, EcsOnUpdate, components.Position, components.Health);
ECS_SYSTEM(ecs, RegenerateHP, EcsOnUpdate, components.Health);
ECS_SYSTEM(ecs, VehicleHandling, EcsOnUpdate, components.Vehicle, components.Position, components.Velocity);

24
code/modules/source/system_demo.c 100644
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@ -0,0 +1,24 @@
#define DEMO_NPC_CHANGEDIR_FACTOR 0.1
#define DEMO_NPC_MOVE_SPEED 1500
void DemoNPCMoveAround(ecs_iter_t *it) {
Velocity *v = ecs_column(it, Velocity, 1);
for (int i = 0; i < it->count; i++) {
v[i].x = zpl_lerp(v[i].x, (rand()%3-1)*DEMO_NPC_MOVE_SPEED, DEMO_NPC_CHANGEDIR_FACTOR);
v[i].y = zpl_lerp(v[i].y, (rand()%3-1)*DEMO_NPC_MOVE_SPEED, DEMO_NPC_CHANGEDIR_FACTOR);
}
}
void DemoPlaceIceBlock(ecs_iter_t *it) {
Input *in = ecs_column(it, Input, 1);
Position *p = ecs_column(it, Position, 2);
uint8_t watr_id = blocks_find(BLOCK_BIOME_DEV, BLOCK_KIND_WATER);
for (int i = 0; i < it->count; i++) {
if (in[i].use) {
world_block_lookup l = world_block_from_realpos(p[i].x, p[i].y);
world_chunk_replace_block(l.chunk_id, l.id, watr_id);
}
}
}

29
code/modules/source/system_onfoot.c 100644
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@ -0,0 +1,29 @@
void MoveWalk(ecs_iter_t *it) {
Position *p = ecs_column(it, Position, 1);
Velocity *v = ecs_column(it, Velocity, 2);
for (int i = 0; i < it->count; i++) {
world_block_lookup lookup = world_block_from_realpos(p[i].x, p[i].y);
float drag = blocks_get_drag(lookup.block_id);
v[i].x = zpl_lerp(v[i].x, 0.0f, PHY_WALK_DRAG*drag);
v[i].y = zpl_lerp(v[i].y, 0.0f, PHY_WALK_DRAG*drag);
}
}
#define PLR_MOVE_SPEED 50.0
#define PLR_MOVE_SPEED_MULT 4.0
void MovementImpulse(ecs_iter_t *it) {
Input *in = ecs_column(it, Input, 1);
Velocity *v = ecs_column(it, Velocity, 2);
for (int i = 0; i < it->count; i++) {
if (ecs_is_alive(world_ecs(), in[i].parent)) continue;
double speed = PLR_MOVE_SPEED * (in[i].sprint ? PLR_MOVE_SPEED_MULT : 1.0);
if (zpl_abs(v[i].x) < speed && in[i].x)
v[i].x = in[i].x*speed;
if (zpl_abs(v[i].y) < speed && in[i].y)
v[i].y = in[i].y*speed;
}
}

116
code/modules/source/system_vehicle.c 100644
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@ -0,0 +1,116 @@
#define VEH_ENTER_RADIUS 45.0f
void EnterOrLeaveVehicle(ecs_iter_t *it) {
Input *in = ecs_column(it, Input, 1);
Position *p = ecs_column(it, Position, 2);
for (int i = 0; i < it->count; i++) {
if (!in[i].use) continue;
if (!ecs_is_alive(world_ecs(), in[i].parent)) {
size_t ents_count;
int64_t *ents = world_chunk_query_entities(it->entities[i], &ents_count, 2);
for (size_t j = 0; j < ents_count; j++) {
if (ecs_get(world_ecs(), ents[j], Vehicle)) {
Vehicle *veh = ecs_get_mut(world_ecs(), ents[j], Vehicle, NULL);
Position const* p2 = ecs_get(world_ecs(), ents[j], Position);
float dx = p2->x - p[i].x;
float dy = p2->y - p[i].y;
float range = zpl_sqrt(dx*dx + dy*dy);
if (range <= VEH_ENTER_RADIUS) {
for (int k = 0; k < 4; k++) {
if (veh->seats[k] != 0) continue;
// NOTE(zaklaus): We can enter the vehicle, yay!
veh->seats[k] = it->entities[i];
in[i].parent = ents[j];
p[i] = *p2;
break;
}
}
}
}
} else {
if (ecs_get(world_ecs(), in[i].parent, Vehicle)) {
Vehicle *veh = ecs_get_mut(world_ecs(), in[i].parent, Vehicle, NULL);
for (int k = 0; k < 4; k++) {
if (veh->seats[k] == it->entities[i]) {
veh->seats[k] = 0;
break;
}
}
in[i].parent = 0;
} else {
ZPL_PANIC("unreachable code");
}
}
}
}
#define VEHICLE_FORCE 12.8f
#define VEHICLE_ACCEL 0.17f
#define VEHICLE_DECEL 0.28f
#define VEHICLE_STEER 0.11f
#define VEHICLE_STEER_MUL 0.087f
void VehicleHandling(ecs_iter_t *it) {
Vehicle *veh = ecs_column(it, Vehicle, 1);
Position *p = ecs_column(it, Position, 2);
Velocity *v = ecs_column(it, Velocity, 3);
for (int i = 0; i < it->count; i++) {
Vehicle *car = &veh[i];
// NOTE(zaklaus): Apply friction
car->force = zpl_lerp(car->force, 0.0f, VEHICLE_DECEL);
car->steer *= 0.97f;
for (int j = 0; j < 4; j++) {
// NOTE(zaklaus): Perform seat cleanup
if (!ecs_is_alive(world_ecs(), veh[i].seats[j])) {
veh[i].seats[j] = 0;
continue;
}
ecs_entity_t pe = veh[i].seats[j];
// NOTE(zaklaus): Update passenger position
{
Position *p2 = ecs_get_mut(world_ecs(), pe, Position, NULL);
Velocity *v2 = ecs_get_mut(world_ecs(), pe, Velocity, NULL);
*p2 = p[i];
*v2 = v[i];
}
// NOTE(zaklaus): Handle driver input
if (j == 0) {
Input const* in = ecs_get(world_ecs(), pe, Input);
car->force += zpl_lerp(0.0f, in->y * VEHICLE_FORCE, VEHICLE_ACCEL);
car->steer += in->x * -VEHICLE_STEER;
car->steer = zpl_clamp(car->steer, -40.0f, 40.0f);
}
}
// NOTE(zaklaus): Vehicle physics
float fr_x = p[i].x + (car->wheel_base/2.0f) * zpl_cos(car->heading);
float fr_y = p[i].y + (car->wheel_base/2.0f) * zpl_sin(car->heading);
float bk_x = p[i].x - (car->wheel_base/2.0f) * zpl_cos(car->heading);
float bk_y = p[i].y - (car->wheel_base/2.0f) * zpl_sin(car->heading);
bk_x += car->force * zpl_cos(car->heading);
bk_y += car->force * zpl_sin(car->heading);
fr_x += car->force * zpl_cos(car->heading + zpl_to_radians(car->steer));
fr_y += car->force * zpl_sin(car->heading + zpl_to_radians(car->steer));
v[i].x += (fr_x + bk_x) / 2.0f - p[i].x;
v[i].y += (fr_y + bk_y) / 2.0f - p[i].y;
car->heading = zpl_arctan2(fr_y - bk_y, fr_x - bk_x);
}
}