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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<cglm/vec3.h>
#define SUBFEET(cp) (cp->capsule.radius)
struct Game Game;
void game_init() {
@ -29,8 +31,8 @@ void game_init() {
}
struct CollisionPair {
dGeomID g1; // greater
dGeomID g2; // lesser
uint16_t e1; // greater
uint16_t e2; // lesser
uint8_t x;
} __attribute__((packed));
static size_t activeCollisionCount, activeCollisionCapacity;
@ -38,22 +40,22 @@ static struct CollisionPair *activeCollisions;
int pair_comparator(const void *a_, const void *b_) {
const struct CollisionPair *a = a_;
const struct CollisionPair *b = b_;
if(a->g1 == b->g1) {
return (uintptr_t) a->g2 - (uintptr_t) b->g2;
if(a->e1 == b->e1) {
return (intmax_t) a->e2 - (intmax_t) b->e2;
} 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 = {
.g1 = g1 > g2 ? g1 : g2,
.g2 = g1 > g2 ? g2 : g1,
.e1 = e1 > e2 ? e1 : e2,
.e2 = e1 > e2 ? e2 : e1,
};
struct CollisionPair *peepee = bsearch(&p, activeCollisions, activeCollisionCount, sizeof(struct CollisionPair), pair_comparator);
if(peepee) {
peepee->x++;
peepee->x = 2;
return TRIGGER_EV_CONTINUOUS;
}
@ -72,8 +74,8 @@ static int activate_pair(dGeomID g1, dGeomID g2) {
static void tick_pairs() {
for(size_t i = 0; i < activeCollisionCount;) {
if(--activeCollisions[i].x == 0) {
uint16_t e1 = (uintptr_t) dGeomGetData(activeCollisions[i].g1);
uint16_t e2 = (uintptr_t) dGeomGetData(activeCollisions[i].g2);
uint16_t e1 = activeCollisions[i].e1;
uint16_t e2 = activeCollisions[i].e2;
if(e1 != ENT_ID_INVALID) {
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 e2 = (uintptr_t) dGeomGetData(g2);
if(e1 != ENT_ID_INVALID && e1 == e2) return;
dBodyID b1 = dGeomGetBody(g1);
dBodyID b2 = dGeomGetBody(g2);
@ -133,8 +137,6 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
if(movingPlatform) {
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 |= dContactSoftERP;
contact[i].surface.soft_erp = 0.9;
@ -155,8 +157,11 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
int ghost = 0;
if(dGeomGetCategoryBits(g1) & CATEGORY_GHOST) ghost = 1;
if(dGeomGetCategoryBits(g2) & CATEGORY_GHOST) ghost = 1;
if(numc) {
int triggerType = activate_pair(g1, g2);
int triggerType = activate_pair(e1, e2);
if(e1 != ENT_ID_INVALID) {
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) {
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) {
@ -180,6 +190,11 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
if(cp->dynamics & CPHYSICS_GHOST) {
ghost = 1;
}
struct CMovement *cm = game_getcomponent(e2, movement);
if(cm && cm->holding != ENT_ID_INVALID && cm->holding == e1) {
ghost = 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};
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) {
dBodyID bid = dGeomGetBody(cp1->geom);
struct CMovement *cm = game_getcomponent(e1, movement);
struct CPhysics *cp2 = game_getcomponent(e2, physics);
if(cp2 && (cp2->dynamics & CPHYSICS_GHOST)) {
return;
}
cm->groundDepth = dGeomRayGetLength(g1) - contact[0].geom.depth;
if(glm_vec3_dot(contact[0].geom.normal, n) <= -0.7) {
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) {
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) {
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() {
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++) {
struct CPhysics *cp = game_getcomponent(Game.entities.movement[i].entity, physics);
@ -357,9 +381,7 @@ void game_character_controller_raycast() {
continue;
}
const float raylen = 0.5;
rayGeoms[i] = dCreateRay(Game.space, raylen);
rayGeoms[i] = dCreateRay(Game.space, cp->capsule.length / 2 + cp->capsule.radius + SUBFEET(cp));
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);
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);
@ -430,9 +452,18 @@ void game_update() {
if(cp && cp->geom) {
dBodyID bid = dGeomGetBody(cp->geom);
if(Game.entities.movement[i].canJump) {
dBodySetLinearVel(bid, 0, 0, 0);
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);
}
}
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);
break;
case CPHYSICS_CAPSULE:
Game.entities.physics[i].geom = dCreateCapsule(Game.space,
case CPHYSICS_CAPSULE: {
dGeomID top = dCreateCapsule(Game.space,
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);
break;
}
case CPHYSICS_SPHERE:
Game.entities.physics[i].geom = dCreateSphere(Game.space,
Game.entities.physics[i].sphere.radius);
@ -489,6 +527,12 @@ void game_update() {
dGeomSetCollideBits(Game.entities.physics[i].geom, Game.entities.physics[i].collide);
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) {
dBodyID body = dBodyCreate(Game.phys);
@ -499,10 +543,16 @@ void game_update() {
}
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) {
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
dQuaternion q;
dQFromAxisAndAngle(q, 1, 0, 0, M_PI * 0.5);
@ -589,23 +639,19 @@ void game_update() {
dQFromAxisAndAngle(q, 0, 1, 0, Game.entities.movement[mi].pointing + M_PI);
dBodySetQuaternion(bid, q);
if(Game.entities.movement[mi].jump && (0||Game.entities.movement[mi].canJump)) {
Game.entities.movement[mi].canJump = 0;
dVector3 force;
dWorldImpulseToForce(Game.phys, 1.f / GAME_TPS, 0, 5, 0, force);
if(Game.entities.movement[mi].jump && Game.entities.movement[mi].canJump) {
dVector3 force = {};
dWorldImpulseToForce(Game.phys, 1.f / GAME_TPS, 0, 6.5, 0, force);
if(bid) {
dBodyAddForce(bid, force[0], force[1], force[2]);
}
Game.entities.movement[mi].isJumping = true;
}
}
}
for(size_t i = 0; i < Game.entities.movementCount; i++) {
Game.entities.movement[i].canJump = 0;
}
dSpaceCollide(Game.space, 0, &contact_callback);
tick_pairs();
@ -955,10 +1001,14 @@ void game_killentity(uint16_t eid) {
if(cp) {
dBodyID bid = dGeomGetBody(cp->geom);
dGeomDestroy(cp->geom);
if(bid) {
for(dGeomID gid = dBodyGetFirstGeom(bid); gid; gid = dBodyGetNextGeom(gid)) {
dGeomDestroy(gid);
}
dBodyDestroy(bid);
} else {
dGeomDestroy(cp->geom);
}
game_killcomponent_ptr(cp, physics);

6
src/game.h
View File

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

11
src/main.c
View File

@ -523,11 +523,16 @@ int main(int argc_, char **argv_) {
InstantCamShift--;
}
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;
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;
glm_look(p, cameraForwardDir, (vec3) {0, 1, 0}, view);