// pathfind demo
// - rlyeh, public domain
//
// @todo: use 2d sprites instead, will shorten things
#include "v4k.h"
bool topdown_cam = 1;
void move_players();
int main() {
window_create(85, 0); // WINDOW_MSAA4);
window_title(__FILE__);
// window_fps_lock(60);
// game loop
while( window_swap() && !input(KEY_ESC) ) {
if( input(KEY_LALT) && input_down(KEY_Z) ) window_record(__FILE__ ".mp4");
move_players();
if( input_down(MOUSE_R) ) topdown_cam ^= 1;
}
}
struct player_t {
const char *name;
model_t mdl;
anim_t idle, run; // anim clips
float keys[4], scale; // up,down,left,right
vec2 inertia; // [forward,yaw]
vec3 pivot, speed; // [pitch,yaw,roll] [turn speed,forward speed,anim speed fps]
vec3 pos, dir, pad; // [position] [facing dir] [gamepad accumulator]
bool notified;
float brain[4]; // AI
};
// every chunk is a 2D grid [200x200 units], center at (W/2,H/2), bit:1 means traversable
array(unsigned) chunk = 0; // chunk partition in world
array(aabb) blockers = 0; // static blockers in world
vec3 from, to; bool recast; bool vis_recast;
enum { W = 200, Z = 200 };
void draw_scene() {
do_once array_resize(chunk, W*Z);
enum { NUM_BLOCKS = 200 };
do_once
for( int i = 0; i < NUM_BLOCKS; ++i) {
float ox = randi(-W/2,W/2);
float oz = randi(-Z/2,Z/2);
float ww = randi(1,10);
float dd = randi(1,10);
float hh = randi(3,10);
aabb b = { vec3(ox,0,oz), vec3(ox+ww,hh,oz+dd) };
static aabb spawn_zone = { {-10,-10,-10},{10,10,10} };
if( aabb_hit_aabb(b, spawn_zone) ) continue;
array_push(blockers, b);
for( int y = oz; y < (oz+dd); ++y )
for( int x = ox; x < (ox+ww); ++x )
chunk[ (x + W/2) + mini(y + Z/2, Z-1) * W ] |= 1;
}
ddraw_color(BLUE);
for( int i = 0; i < NUM_BLOCKS; ++i) {
ddraw_aabb(blockers[i].min, blockers[i].max);
}
// debug traversal visualization
if( input(KEY_F1) ) {
ddraw_color(GREEN);
for( int z = 0; z < Z; ++z )
for( int x = 0; x < W; ++x )
if( !chunk[x+z*W] ) ddraw_cube( vec3(x-W/2-0.5,0,z-Z/2-0.5), 1 );
ddraw_color(RED);
for( int z = 0; z < Z; ++z )
for( int x = 0; x < W; ++x )
if( chunk[x+z*W] ) ddraw_cube( vec3(x-W/2-0.5,0,z-Z/2-0.5), 1 );
}
static vec2i path[W*Z] = {0};
static int path_count = 0;
static uint64_t taken = 0;
if( vis_recast || input_down(KEY_SPACE) ) {
vis_recast = 0;
taken =- time_ns();
path_count = pathfind_astar(W, Z, chunk, vec2i(clampf(from.x+W/2,0,W-1),clampf(from.z+Z/2,0,Z-1)), vec2i(clampf(to.x+W/2,0,W-1),clampf(to.z+Z/2,0,Z-1)), path, countof(path));
taken += time_ns();
}
font_print(va(FONT_TOP FONT_RIGHT "%d (%5.2fms)", path_count, taken / 1e6));
// path visualization
if( path_count ) {
ddraw_color(YELLOW); // wizard of oz
vec2i* p = path;
for( int i = 0; i < path_count; ++i, ++p ) {
ddraw_point(vec3(p->x-W/2,0,p->y-Z/2));
}
}
}
void move_players() {
static struct player_t player[3];
do_once
player[0] = (struct player_t)
{ "PLAYER-1", model("kgirls01.fbx", 0), loop(0,60,0.25,0), loop(66,85,0.25,0), // idle anim [0..60], run anim [66..85]
{KEY_UP,KEY_DOWN,KEY_LEFT,KEY_RIGHT}, 2, {0.90,0.80}, {-100}, {3, 0.30, 30}, {0}, {1} },
player[1] = (struct player_t)
{ "PLAYER-2", model("george.fbx", 0), loop(0,100,0.25,0), loop(372,396,0.25,0), // idle anim [0..100], run anim [372..396]
{KEY_I,KEY_K,KEY_J,KEY_L}, 1, {0.95,0.90}, {-90,-90}, {1.75, 0.25, 24}, {-5}, {1} },
player[2] = (struct player_t)
{ "PLAYER-3", model("alien.fbx", 0), loop(110,208,0.25,0), loop(360,380,0.25,0), // idle anim [110..208], run anim [360..380]
{KEY_W,KEY_S,KEY_A,KEY_D}, 0.85, {0.85,0.75}, {-90,-90}, {3.5, 0.35, 60}, {5}, {1} };
static camera_t cam; do_once cam = camera();
static skybox_t sky; do_once sky = skybox("cubemaps/stardust", 0);
skybox_render(&sky, cam.proj, cam.view);
for( int i = 0; i < countof(player); ++i )
ddraw_position_dir(player[i].pos, player[i].dir, 1.0f);
ddraw_ground(0);
draw_scene();
ddraw_flush();
// move and render players
for( int i = 0; i < countof(player); ++i ) {
struct player_t *p = &player[i];
// capture inputs
p->brain[0] = input(p->keys[0]);
p->brain[1] = input(p->keys[1]);
p->brain[2] = input(p->keys[2]);
p->brain[3] = input(p->keys[3]);
// setup waypoints for PLAYER-1
static array(vec3) points;
if( input_down(MOUSE_L) && !ui_hover() ) {
vec3 pt = editor_pick(input(MOUSE_X), input(MOUSE_Y));
hit *h = ray_hit_plane(ray(cam.position, pt), plane(vec3(0,0,0),vec3(0,1,0)));
if(h) {
if (array_count(points) == 0) recast = 1, vis_recast = 1;
array_push(points, h->p), from = player[0].pos, to = *array_back(points);
}
}
// ddraw waypoints
ddraw_color(YELLOW);
for( int i = 1; i < array_count(points); ++i) ddraw_line(points[i-1],points[i]);
for( int i = 0; i < array_count(points); ++i) ddraw_circle(points[i], vec3(0,1,0), 1); // prism(points[i], 1, 0, vec3(0,1,0), 4);
ddraw_color(RED);
for( int i = 0; i < array_count(points); ++i) ddraw_point(points[i]);
ddraw_color(WHITE);
// move thru waypoints (PLAYER-1 only)
if( i == 0 && array_count(points) ) {
static vec2i path[W*Z] = {0};
static int path_count = 0;
static int path_index = 0;
struct player_t *p = &player[i];
vec3 pt = points[0];
if( recast ) {
recast = 0;
path_count = pathfind_astar(W, Z, chunk, vec2i(clampf(p->pos.x+W/2,0,W-1),clampf(p->pos.z+Z/2,0,Z-1)), vec2i(clampf(pt.x+W/2,0,W-1),clampf(pt.z+Z/2,0,Z-1)), path, countof(path));
path_index = path_count-1;
}
if (path_count == 0) {
array_pop_front(points);
continue;
}
vec2i ph = path[path_index];
vec3 dst = vec3(ph.x-W/2,0,ph.y-Z/2);
vec3 vector1 = norm3(vec3(p->dir.x,0,p->dir.z));
vec3 vector2 = norm3(sub3(dst,p->pos));
float angle = atan2(vector2.z, vector2.x) - atan2(vector1.z, vector1.x);
angle *= 180 / C_PI;
// range [0, 360)
// if (angle < 0) { angle += 2 * 180; }
// range (-180, 180]
if (angle > 180) { angle -= 2 * 180; }
else if (angle <= -180) { angle += 2 * 180; }
float dist = len3(sub3(p->pos, dst));
if(dist < 1) {
path_index--;
if (path_index <= 0) {
// goal
array_pop_front(points);
recast = 1, vis_recast = 1;
}
}
else {
if( dist < 10 && abs(angle) > 10 ) {
// spin only
p->brain[ angle < 0 ? 2 : 3 ] = 1;
}
else {
// spin
p->brain[ angle < 0 ? 2 : 3 ] = 1;
// move forward
p->brain[ 0 ] = 1;
}
}
}
// accumulate movement
float yaw = p->brain[2] - p->brain[3];
float fwd = p->brain[0] - p->brain[1]; if(fwd<0) fwd = 0;
p->pad.x = p->pad.x * (p->inertia.y) + yaw * (1-p->inertia.y);
p->pad.y = p->pad.y * (p->inertia.x) + fwd * (1-p->inertia.x);
// rotate yaw dir, then apply into position
p->dir = rotatey3(p->dir, p->speed.x * p->pad.x);
p->pos = add3(p->pos, scale3(p->dir, p->speed.y * p->pad.y));
// animate clips and blend
anim_t *primary = fwd ? &p->run : &p->idle;
anim_t *secondary = fwd ? &p->idle : &p->run;
model_animate_blends(p->mdl, primary, secondary, window_delta() * p->speed.z);
// render model. transforms on top of initial pivot and scale
mat44 M; compose44(M, p->pos, eulerq(add3(p->pivot,vec3(atan2(p->dir.z,p->dir.x)*180/C_PI,0,0))),vec3(p->scale,p->scale,p->scale));
model_render(p->mdl, cam.proj, cam.view, M, 0);
// ui
if( yaw||fwd ) if( !p->notified ) p->notified = 1, ui_notify(0, va(ICON_MD_GAMEPAD " %s joined the game.", p->name));
ddraw_text(p->pos, 0.01, va("%s: %6.3f", fwd?"run":"idle", (fwd ? p->run : p->idle).timer ));
}
static int reset_topdown_cam = 1;
if( topdown_cam ) {
if( reset_topdown_cam ) reset_topdown_cam = 0, camera_teleport(&cam, vec3(0,80,0)), camera_lookat(&cam, vec3(cam.position.x,0,cam.position.z+1));
// gta1 cam style: top-down view, look-at player, smoothed values. optional rotation
if(0) { static vec3 smooth1; camera_lookat(&cam, smooth1 = mix3(add3(player[0].pos,player[0].dir),smooth1,0.95)); }
if(1) { static vec3 smooth2; camera_teleport(&cam, smooth2 = mix3(add3(player[0].pos,vec3(0.1,80,0.1)),smooth2,0.95)); }
camera_fov(&cam, cam.fov * 0.99 + 60 * 0.01);
} else {
reset_topdown_cam = 1;
// look at the players that are moving; center of their triangle otherwise.
float A = len3(player[0].pad); if(A<0.01) A=0;
float B = len3(player[1].pad); if(B<0.01) B=0;
float C = len3(player[2].pad); if(C<0.01) C=0;
float weight = A + B + C;
if( weight ) A /= weight, B /= weight, C /= weight; else A = B = C = 0.33333;
// smooth target before sending to camera
vec3 target = add3(add3(scale3(player[0].pos,A), scale3(player[1].pos,B)), scale3(player[2].pos,C));
static vec3 smooth1; camera_lookat(&cam, smooth1 = mix3(target,smooth1,!weight ? 0.98 : 0.95));
target = vec3(10,10,10);
static vec3 smooth2; camera_teleport(&cam, smooth2 = mix3(target,smooth2,!weight ? 0.98 : 0.95));
camera_fov(&cam, cam.fov * 0.99 + 45 * 0.01);
}
// ui
if( ui_panel("Controls", 0) ) {
ui_label2("[F1]", ICON_MD_KEYBOARD " Debug traversal visualization");
ui_label2("[Left mouse]", ICON_MD_MOUSE " Set Waypoint");
ui_label2("[Right mouse]", ICON_MD_MOUSE " Toggle camera");
ui_label2("Girl", ICON_MD_GAMEPAD " CURSOR keys");
ui_label2("Alien", ICON_MD_GAMEPAD " W,A,S,D keys");
ui_label2("Robot", ICON_MD_GAMEPAD " I,J,K,L keys");
ui_panel_end();
}
}