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Improve ray-based character controller

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mid 2025-06-28 13:17:20 +03:00
parent ce465ef449
commit 7b6ce73fa5
3 changed files with 113 additions and 56 deletions
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152
src/game.c
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@ -5,6 +5,8 @@
#include"resman.h" #include"resman.h"
#include<cglm/vec3.h> #include<cglm/vec3.h>
#define SUBFEET(cp) (cp->capsule.radius)
struct Game Game; struct Game Game;
void game_init() { void game_init() {
@ -29,8 +31,8 @@ void game_init() {
} }
struct CollisionPair { struct CollisionPair {
dGeomID g1; // greater uint16_t e1; // greater
dGeomID g2; // lesser uint16_t e2; // lesser
uint8_t x; uint8_t x;
} __attribute__((packed)); } __attribute__((packed));
static size_t activeCollisionCount, activeCollisionCapacity; static size_t activeCollisionCount, activeCollisionCapacity;
@ -38,22 +40,22 @@ static struct CollisionPair *activeCollisions;
int pair_comparator(const void *a_, const void *b_) { int pair_comparator(const void *a_, const void *b_) {
const struct CollisionPair *a = a_; const struct CollisionPair *a = a_;
const struct CollisionPair *b = b_; const struct CollisionPair *b = b_;
if(a->g1 == b->g1) { if(a->e1 == b->e1) {
return (uintptr_t) a->g2 - (uintptr_t) b->g2; return (intmax_t) a->e2 - (intmax_t) b->e2;
} else { } else {
return (uintptr_t) a->g1 - (uintptr_t) b->g1; return (intmax_t) a->e1 - (intmax_t) b->e1;
} }
} }
static int activate_pair(dGeomID g1, dGeomID g2) { static int activate_pair(uint16_t e1, uint16_t e2) {
struct CollisionPair p = { struct CollisionPair p = {
.g1 = g1 > g2 ? g1 : g2, .e1 = e1 > e2 ? e1 : e2,
.g2 = g1 > g2 ? g2 : g1, .e2 = e1 > e2 ? e2 : e1,
}; };
struct CollisionPair *peepee = bsearch(&p, activeCollisions, activeCollisionCount, sizeof(struct CollisionPair), pair_comparator); struct CollisionPair *peepee = bsearch(&p, activeCollisions, activeCollisionCount, sizeof(struct CollisionPair), pair_comparator);
if(peepee) { if(peepee) {
peepee->x++; peepee->x = 2;
return TRIGGER_EV_CONTINUOUS; return TRIGGER_EV_CONTINUOUS;
} }
@ -72,8 +74,8 @@ static int activate_pair(dGeomID g1, dGeomID g2) {
static void tick_pairs() { static void tick_pairs() {
for(size_t i = 0; i < activeCollisionCount;) { for(size_t i = 0; i < activeCollisionCount;) {
if(--activeCollisions[i].x == 0) { if(--activeCollisions[i].x == 0) {
uint16_t e1 = (uintptr_t) dGeomGetData(activeCollisions[i].g1); uint16_t e1 = activeCollisions[i].e1;
uint16_t e2 = (uintptr_t) dGeomGetData(activeCollisions[i].g2); uint16_t e2 = activeCollisions[i].e2;
if(e1 != ENT_ID_INVALID) { if(e1 != ENT_ID_INVALID) {
struct CPhysics *p1 = game_getcomponent(e1, physics); struct CPhysics *p1 = game_getcomponent(e1, physics);
@ -110,6 +112,8 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
uint16_t e1 = (uintptr_t) dGeomGetData(g1); uint16_t e1 = (uintptr_t) dGeomGetData(g1);
uint16_t e2 = (uintptr_t) dGeomGetData(g2); uint16_t e2 = (uintptr_t) dGeomGetData(g2);
if(e1 != ENT_ID_INVALID && e1 == e2) return;
dBodyID b1 = dGeomGetBody(g1); dBodyID b1 = dGeomGetBody(g1);
dBodyID b2 = dGeomGetBody(g2); dBodyID b2 = dGeomGetBody(g2);
@ -133,8 +137,6 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
if(movingPlatform) { if(movingPlatform) {
const dReal *platvel = dBodyGetLinearVel(movingPlatform == 1 ? b1 : b2); const dReal *platvel = dBodyGetLinearVel(movingPlatform == 1 ? b1 : b2);
//if(i == 0)printf("get %f %f %f\n", platvel[0], platvel[1], platvel[2]);
contact[i].surface.mode |= dContactMotion1 | dContactMotion2 | dContactMotionN | dContactFDir1; contact[i].surface.mode |= dContactMotion1 | dContactMotion2 | dContactMotionN | dContactFDir1;
contact[i].surface.mode |= dContactSoftERP; contact[i].surface.mode |= dContactSoftERP;
contact[i].surface.soft_erp = 0.9; contact[i].surface.soft_erp = 0.9;
@ -155,8 +157,11 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
int ghost = 0; int ghost = 0;
if(dGeomGetCategoryBits(g1) & CATEGORY_GHOST) ghost = 1;
if(dGeomGetCategoryBits(g2) & CATEGORY_GHOST) ghost = 1;
if(numc) { if(numc) {
int triggerType = activate_pair(g1, g2); int triggerType = activate_pair(e1, e2);
if(e1 != ENT_ID_INVALID) { if(e1 != ENT_ID_INVALID) {
struct CPhysics *cp = game_getcomponent(e1, physics); struct CPhysics *cp = game_getcomponent(e1, physics);
@ -168,6 +173,11 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
if(cp->dynamics & CPHYSICS_GHOST) { if(cp->dynamics & CPHYSICS_GHOST) {
ghost = 1; ghost = 1;
} }
struct CMovement *cm = game_getcomponent(e1, movement);
if(cm && cm->holding != ENT_ID_INVALID && cm->holding == e2) {
ghost = 1;
}
} }
if(e2 != ENT_ID_INVALID) { if(e2 != ENT_ID_INVALID) {
@ -180,6 +190,11 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
if(cp->dynamics & CPHYSICS_GHOST) { if(cp->dynamics & CPHYSICS_GHOST) {
ghost = 1; ghost = 1;
} }
struct CMovement *cm = game_getcomponent(e2, movement);
if(cm && cm->holding != ENT_ID_INVALID && cm->holding == e1) {
ghost = 1;
}
} }
float friction = 1; float friction = 1;
@ -318,30 +333,35 @@ static void game_character_controller_raycast_handler(void *data, dGeomID g1, dG
vec3 n = {0, -1, 0}; vec3 n = {0, -1, 0};
struct CPhysics *cp1 = game_getcomponent(e1, physics);
struct CPhysics *cp2 = game_getcomponent(e2, physics);
if((cp2 && (cp2->dynamics & CPHYSICS_GHOST)) || (cp1 && (cp1->dynamics & CPHYSICS_GHOST))) {
return;
}
if(dGeomGetClass(g1) == dRayClass) { if(dGeomGetClass(g1) == dRayClass) {
dBodyID bid = dGeomGetBody(cp1->geom);
struct CMovement *cm = game_getcomponent(e1, movement); struct CMovement *cm = game_getcomponent(e1, movement);
struct CPhysics *cp2 = game_getcomponent(e2, physics); cm->groundDepth = dGeomRayGetLength(g1) - contact[0].geom.depth;
if(cp2 && (cp2->dynamics & CPHYSICS_GHOST)) {
return;
}
if(glm_vec3_dot(contact[0].geom.normal, n) <= -0.7) { if(glm_vec3_dot(contact[0].geom.normal, n) <= -0.7 && cm->groundDepth > SUBFEET(cp1)) {
cm->canJump = 1;
glm_vec3_scale(contact[0].geom.normal, 1, cm->groundNormal);
}
} else if(dGeomGetClass(g2) == dRayClass) {
struct CMovement *cm = game_getcomponent(e2, movement);
struct CPhysics *cp1 = game_getcomponent(e1, physics);
if(cp1 && (cp1->dynamics & CPHYSICS_GHOST)) {
return;
}
if(glm_vec3_dot(contact[0].geom.normal, n) <= -0.7) {
cm->canJump = 1; cm->canJump = 1;
glm_vec3_scale(contact[0].geom.normal, -1, cm->groundNormal); glm_vec3_scale(contact[0].geom.normal, -1, cm->groundNormal);
} }
} else if(dGeomGetClass(g2) == dRayClass) {
dBodyID bid = dGeomGetBody(cp2->geom);
struct CMovement *cm = game_getcomponent(e2, movement);
cm->groundDepth = dGeomRayGetLength(g2) - contact[0].geom.depth;
if(glm_vec3_dot(contact[0].geom.normal, n) >= +0.7 && cm->groundDepth > SUBFEET(cp2)) {
cm->canJump = 1;
glm_vec3_scale(contact[0].geom.normal, +1, cm->groundNormal);
}
} }
} }
@ -349,6 +369,10 @@ static void game_character_controller_raycast_handler(void *data, dGeomID g1, dG
void game_character_controller_raycast() { void game_character_controller_raycast() {
dGeomID rayGeoms[Game.entities.movementCount]; dGeomID rayGeoms[Game.entities.movementCount];
for(size_t i = 0; i < Game.entities.movementCount; i++) {
Game.entities.movement[i].canJump = 0;
}
for(int i = 0; i < Game.entities.movementCount; i++) { for(int i = 0; i < Game.entities.movementCount; i++) {
struct CPhysics *cp = game_getcomponent(Game.entities.movement[i].entity, physics); struct CPhysics *cp = game_getcomponent(Game.entities.movement[i].entity, physics);
@ -357,9 +381,7 @@ void game_character_controller_raycast() {
continue; continue;
} }
const float raylen = 0.5; rayGeoms[i] = dCreateRay(Game.space, cp->capsule.length / 2 + cp->capsule.radius + SUBFEET(cp));
rayGeoms[i] = dCreateRay(Game.space, raylen);
dGeomSetData(rayGeoms[i], (void*) (uintptr_t) Game.entities.movement[i].entity); dGeomSetData(rayGeoms[i], (void*) (uintptr_t) Game.entities.movement[i].entity);
@ -370,7 +392,7 @@ void game_character_controller_raycast() {
const float *position = dBodyGetPosition(bid); const float *position = dBodyGetPosition(bid);
dGeomRaySet(rayGeoms[i], position[0], position[1] - cp->capsule.length / 2 - cp->capsule.radius + raylen / 2, position[2], 0, -1, 0); dGeomRaySet(rayGeoms[i], position[0], position[1], position[2], 0, -1, 0);
} }
dSpaceCollide(Game.space, NULL, game_character_controller_raycast_handler); dSpaceCollide(Game.space, NULL, game_character_controller_raycast_handler);
@ -430,9 +452,18 @@ void game_update() {
if(cp && cp->geom) { if(cp && cp->geom) {
dBodyID bid = dGeomGetBody(cp->geom); dBodyID bid = dGeomGetBody(cp->geom);
if(Game.entities.movement[i].canJump) { if(Game.entities.movement[i].canJump) {
if(dBodyGetLinearVel(bid)[1] <= 0) {
Game.entities.movement[i].isJumping = false;
}
if(!Game.entities.movement[i].isJumping) {
const float *pos = dBodyGetPosition(bid);
dBodySetPosition(bid, pos[0], pos[1] + Game.entities.movement[i].groundDepth - cp->capsule.radius / 2 - SUBFEET(cp), pos[2]);
dBodySetLinearVel(bid, 0, 0, 0); dBodySetLinearVel(bid, 0, 0, 0);
} }
dBodySetGravityMode(bid, !Game.entities.movement[i].canJump); }
dBodySetGravityMode(bid, Game.entities.movement[i].canJump && !Game.entities.movement[i].isJumping ? 0 : 1);
} }
} }
@ -468,14 +499,21 @@ void game_update() {
Game.entities.physics[i].box.l); Game.entities.physics[i].box.l);
break; break;
case CPHYSICS_CAPSULE: case CPHYSICS_CAPSULE: {
Game.entities.physics[i].geom = dCreateCapsule(Game.space, dGeomID top = dCreateCapsule(Game.space,
Game.entities.physics[i].capsule.radius, Game.entities.physics[i].capsule.radius,
Game.entities.physics[i].capsule.length); Game.entities.physics[i].capsule.length - Game.entities.physics[i].capsule.radius);
dGeomID feet = dCreateSphere(Game.space,
Game.entities.physics[i].capsule.radius);
Game.entities.physics[i].geom = top;
Game.entities.physics[i].geom2 = feet;
dMassSetCapsuleTotal(&mass, Game.entities.physics[i].mass, 2, Game.entities.physics[i].capsule.radius, Game.entities.physics[i].capsule.length); dMassSetCapsuleTotal(&mass, Game.entities.physics[i].mass, 2, Game.entities.physics[i].capsule.radius, Game.entities.physics[i].capsule.length);
break; break;
}
case CPHYSICS_SPHERE: case CPHYSICS_SPHERE:
Game.entities.physics[i].geom = dCreateSphere(Game.space, Game.entities.physics[i].geom = dCreateSphere(Game.space,
Game.entities.physics[i].sphere.radius); Game.entities.physics[i].sphere.radius);
@ -489,6 +527,12 @@ void game_update() {
dGeomSetCollideBits(Game.entities.physics[i].geom, Game.entities.physics[i].collide); dGeomSetCollideBits(Game.entities.physics[i].geom, Game.entities.physics[i].collide);
dGeomSetData(Game.entities.physics[i].geom, (void*) Game.entities.physics[i].entity); dGeomSetData(Game.entities.physics[i].geom, (void*) Game.entities.physics[i].entity);
if(Game.entities.physics[i].type == CPHYSICS_CAPSULE) {
dGeomSetCategoryBits(Game.entities.physics[i].geom2, CATEGORY_ENTITY | CATEGORY_GHOST);
dGeomSetCollideBits(Game.entities.physics[i].geom2, Game.entities.physics[i].collide);
dGeomSetData(Game.entities.physics[i].geom2, (void*) Game.entities.physics[i].entity);
}
if((Game.entities.physics[i].dynamics & ~CPHYSICS_GHOST) != CPHYSICS_STATIC) { if((Game.entities.physics[i].dynamics & ~CPHYSICS_GHOST) != CPHYSICS_STATIC) {
dBodyID body = dBodyCreate(Game.phys); dBodyID body = dBodyCreate(Game.phys);
@ -499,10 +543,16 @@ void game_update() {
} }
dGeomSetBody(Game.entities.physics[i].geom, body); dGeomSetBody(Game.entities.physics[i].geom, body);
if(Game.entities.physics[i].geom2) {
dGeomSetBody(Game.entities.physics[i].geom2, body);
}
if(Game.entities.physics[i].type == CPHYSICS_CAPSULE) { if(Game.entities.physics[i].type == CPHYSICS_CAPSULE) {
dBodySetMaxAngularSpeed(body, 0); dBodySetMaxAngularSpeed(body, 0);
dGeomSetOffsetPosition(Game.entities.physics[i].geom, 0, Game.entities.physics[i].capsule.radius / 2, 0);
dGeomSetOffsetPosition(Game.entities.physics[i].geom2, 0, -Game.entities.physics[i].capsule.length / 2, 0);
// Rotate to Y-up // Rotate to Y-up
dQuaternion q; dQuaternion q;
dQFromAxisAndAngle(q, 1, 0, 0, M_PI * 0.5); dQFromAxisAndAngle(q, 1, 0, 0, M_PI * 0.5);
@ -589,21 +639,17 @@ void game_update() {
dQFromAxisAndAngle(q, 0, 1, 0, Game.entities.movement[mi].pointing + M_PI); dQFromAxisAndAngle(q, 0, 1, 0, Game.entities.movement[mi].pointing + M_PI);
dBodySetQuaternion(bid, q); dBodySetQuaternion(bid, q);
if(Game.entities.movement[mi].jump && (0||Game.entities.movement[mi].canJump)) { if(Game.entities.movement[mi].jump && Game.entities.movement[mi].canJump) {
Game.entities.movement[mi].canJump = 0; dVector3 force = {};
dWorldImpulseToForce(Game.phys, 1.f / GAME_TPS, 0, 6.5, 0, force);
dVector3 force;
dWorldImpulseToForce(Game.phys, 1.f / GAME_TPS, 0, 5, 0, force);
if(bid) { if(bid) {
dBodyAddForce(bid, force[0], force[1], force[2]); dBodyAddForce(bid, force[0], force[1], force[2]);
} }
}
}
}
for(size_t i = 0; i < Game.entities.movementCount; i++) { Game.entities.movement[mi].isJumping = true;
Game.entities.movement[i].canJump = 0; }
}
} }
dSpaceCollide(Game.space, 0, &contact_callback); dSpaceCollide(Game.space, 0, &contact_callback);
@ -955,10 +1001,14 @@ void game_killentity(uint16_t eid) {
if(cp) { if(cp) {
dBodyID bid = dGeomGetBody(cp->geom); dBodyID bid = dGeomGetBody(cp->geom);
dGeomDestroy(cp->geom);
if(bid) { if(bid) {
for(dGeomID gid = dBodyGetFirstGeom(bid); gid; gid = dBodyGetNextGeom(gid)) {
dGeomDestroy(gid);
}
dBodyDestroy(bid); dBodyDestroy(bid);
} else {
dGeomDestroy(cp->geom);
} }
game_killcomponent_ptr(cp, physics); game_killcomponent_ptr(cp, physics);

6
src/game.h
View File

@ -13,6 +13,7 @@
#define CATEGORY_STATIC 1 #define CATEGORY_STATIC 1
#define CATEGORY_RAY 2 #define CATEGORY_RAY 2
#define CATEGORY_ENTITY 4 #define CATEGORY_ENTITY 4
#define CATEGORY_GHOST 8
#define TRIGGER_INVALID 0 #define TRIGGER_INVALID 0
@ -47,7 +48,7 @@ struct TrimeshData {
#define CPHYSICS_GHOST 128 #define CPHYSICS_GHOST 128
struct CPhysics { struct CPhysics {
uint16_t entity; uint16_t entity;
dGeomID geom; dGeomID geom, geom2;
uint16_t trigger; uint16_t trigger;
uint8_t type; uint8_t type;
@ -87,8 +88,9 @@ struct CMovement {
uint16_t entity; uint16_t entity;
vec3 dir; vec3 dir;
float pointing; float pointing;
char jump, canJump; char jump, canJump, isJumping;
vec3 groundNormal; vec3 groundNormal;
float groundDepth;
uint16_t holding; uint16_t holding;
}; };

11
src/main.c
View File

@ -523,11 +523,16 @@ int main(int argc_, char **argv_) {
InstantCamShift--; InstantCamShift--;
} }
if(LuaapiFirstPerson) { if(LuaapiFirstPerson) {
struct CRender *c = game_getcomponent(Game.spectated, render); struct CRender *cr = game_getcomponent(Game.spectated, render);
struct CPhysics *cp = game_getcomponent(Game.spectated, physics);
if(c) { if(cr) {
vec3 p; vec3 p;
glm_vec3_lerp(c->posLast, c->pos, alpha, p); glm_vec3_lerp(cr->posLast, cr->pos, alpha, p);
if(cp && cp->type == CPHYSICS_CAPSULE) {
p[1] += cp->capsule.length / 2;
}
mat4 view; mat4 view;
glm_look(p, cameraForwardDir, (vec3) {0, 1, 0}, view); glm_look(p, cameraForwardDir, (vec3) {0, 1, 0}, view);