Raycasting character controller

src/game.c

@@ -97,6 +97,15 @@ static void tick_pairs() {
 	}
 }
 
+static void vec3_project_to_plane(vec3 v, vec3 n, vec3 ret) {
+	float scale = glm_vec3_dot(v, n) / glm_vec3_dot(n, n);
+	
+	vec3 n2;
+	glm_vec3_scale(n, scale, n2);
+	
+	glm_vec3_sub(v, n2, ret);
+}
+
 static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
 	uint16_t e1 = (uintptr_t) dGeomGetData(g1);
 	uint16_t e2 = (uintptr_t) dGeomGetData(g2);
@@ -197,19 +206,17 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
 			vec3 n = {0, 1, 0};
 			glm_quat_rotatev(q, n, n);
 			
-			if(!ghost) for(int i = 0; i < numc; i++) {
+			/*if(!ghost) for(int i = 0; i < numc; i++) {
 				if(glm_vec3_dot(contact[i].geom.normal, n) >= 0.7) {
 					struct CMovement *m = game_getcomponent(e1, movement);
 					if(m) {
 						if(m->holding != ENT_ID_INVALID && m->holding == e2) {
 							ghost = 1;
 						}
-						
-						m->canJump = 1;
 						break;
 					}
 				}
-			}
+			}*/
 			
 			if(c->trigger != TRIGGER_INVALID) {
 				Game.triggers[c->trigger - 1](c->trigger, e1, e2, triggerType);
@@ -238,19 +245,16 @@ static void contact_callback(void *data, dGeomID g1, dGeomID g2) {
 			vec3 n = {0, -1, 0};
 			glm_quat_rotatev(q, n, n);
 			
-			if(!ghost) for(int i = 0; i < numc; i++) {
+			/*if(!ghost) for(int i = 0; i < numc; i++) {
 				if(glm_vec3_dot(contact[i].geom.normal, n) >= 0.7) {
 					struct CMovement *m = game_getcomponent(e2, movement);
 					if(m) {
 						if(m->holding != ENT_ID_INVALID && m->holding == e1) {
 							ghost = 1;
 						}
-						
-						m->canJump = 1;
-						break;
 					}
 				}
-			}
+			}*/
 			
 			if(c->trigger != TRIGGER_INVALID) {
 				Game.triggers[c->trigger - 1](c->trigger, e2, e1, triggerType);
@@ -349,7 +353,82 @@ void game_raycast(struct LocalRay *rays, size_t count) {
 	}
 }
 
+static void game_character_controller_raycast_handler(void *data, dGeomID g1, dGeomID g2) {
+	if(dGeomGetClass(g1) != dRayClass && dGeomGetClass(g2) != dRayClass) {
+		return;
+	}
+	
+	dContact contact[1];
+	memset(contact, 0, sizeof(contact));
+	
+	int numc = dCollide(g1, g2, 1, &contact[0].geom, sizeof(dContact));
+	
+	uint16_t e1 = (uintptr_t) dGeomGetData(g1);
+	uint16_t e2 = (uintptr_t) dGeomGetData(g2);
+	
+	if(numc) {
+		
+		vec3 n = {0, -1, 0};
+		
+		if(dGeomGetClass(g1) == dRayClass) {
+			struct CMovement *cm = &Game.entities.movement[(uintptr_t) dGeomGetData(g1)];
+			
+			if(glm_vec3_dot(contact[0].geom.normal, n) <= -0.7) {
+				cm->canJump = 1;
+				glm_vec3_scale(contact[0].geom.normal, 1, cm->groundNormal);
+			}
+			
+			return;
+		} else if(dGeomGetClass(g2) == dRayClass) {
+			struct CMovement *cm = &Game.entities.movement[(uintptr_t) dGeomGetData(g2)];
+			
+			if(glm_vec3_dot(contact[0].geom.normal, n) <= -0.7) {
+				cm->canJump = 1;
+				glm_vec3_scale(contact[0].geom.normal, -1, cm->groundNormal);
+			}
+			
+			return;
+		}
+		
+	}
+}
+void game_character_controller_raycast() {
+	dGeomID rayGeoms[Game.entities.movementCount];
+	
+	for(int i = 0; i < Game.entities.movementCount; i++) {
+		struct CPhysics *cp = game_getcomponent(Game.entities.movement[i].entity, physics);
+		
+		if(!cp || !cp->geom || cp->type != CPHYSICS_CAPSULE) {
+			rayGeoms[i] = NULL;
+			continue;
+		}
+		
+		rayGeoms[i] = dCreateRay(Game.space, 1);
+		
+		dGeomSetData(rayGeoms[i], (void*) (uintptr_t) i);
+		
+		dGeomSetCategoryBits(rayGeoms[i], CATEGORY_RAY);
+		dGeomSetCollideBits(rayGeoms[i], CATEGORY_STATIC | CATEGORY_ENTITY);
+		
+		dBodyID bid = dGeomGetBody(cp->geom);
+		
+		const float *position = dBodyGetPosition(bid);
+		
+		dGeomRaySet(rayGeoms[i], position[0], position[1] - cp->capsule.length / 2 + 0.5, position[2], 0, -1, 0);
+	}
+	
+	dSpaceCollide(Game.space, NULL, game_character_controller_raycast_handler);
+	
+	for(int i = 0; i < Game.entities.movementCount; i++) {
+		if(rayGeoms[i]) {
+			dGeomDestroy(rayGeoms[i]);
+		}
+	}
+}
+
 void game_update() {
+	game_character_controller_raycast();
+	
 	for(size_t i = 0; i < Game.entities.playerctrlCount; i++) {
 		struct CPlayerCtrl *cc = &Game.entities.playerctrl[i];
 		
@@ -528,6 +607,8 @@ void game_update() {
 				if(glm_vec3_norm(wishvel) > 3) {
 					glm_vec3_scale_as(wishvel, 3, wishvel);
 				}
+			} else {
+				vec3_project_to_plane(wishvel, Game.entities.movement[mi].groundNormal, wishvel);
 			}
 			
 			float currentspeed = glm_vec3_dot(wishvel, dBodyGetLinearVel(bid));

src/game.h

@@ -88,6 +88,7 @@ struct CMovement {
 	vec3 dir;
 	float pointing;
 	char jump, canJump;
+	vec3 groundNormal;
 	uint16_t holding;
 };
 

src/main.c

@@ -227,6 +227,7 @@ static int eng_init() {
 		GameWnd = glfwCreateWindow(START_WIDTH, START_HEIGHT, START_TITLE, NULL, NULL);
 	}
 	
+	// Attempt compatibility
 	if(!GameWnd) {
 		glfwWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_ANY_PROFILE);
 		glfwWindowHint(GLFW_OPENGL_FORWARD_COMPAT, GL_FALSE);
@@ -299,7 +300,7 @@ static void fix_resol() {
 }
 
 static void eng_ui_init() {
-	set_ui_mode(1);
+	set_ui_mode(!!UiActive);
 }
 
 static void fps_counter_step(double newDT) {
@@ -338,6 +339,7 @@ static int gr_shadowmap_init() {
 		"!!ARBfp1.0\n"
 		"TEMP col;\n"
 		"TEX col, fragment.texcoord, texture[0], 2D;\n"
+		"MOV result.color, col;\n"
 		"MAD col.xyz, -col, 29.9, 30.1;\n"
 		"RCP col.x, col.x;\n"
 		"RCP col.y, col.y;\n"
@@ -393,7 +395,6 @@ int main(int argc_, char **argv_) {
 	argv = argv_;
 	
 	eng_init();
-	eng_ui_init();
 	
 	gr_shadowmap_init();
 	gr_bloom_init();
@@ -413,6 +414,8 @@ int main(int argc_, char **argv_) {
 		luaapi_load(k4_get_arg("script") ? k4_get_arg("script") : "init");
 	//
 	
+	eng_ui_init();
+	
 	LuaapiStartTime = glfwGetTime();
 	
 	LastTime = glfwGetTime();