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This commit is contained in:
Miloslav Ciz 2024-09-10 17:29:22 +02:00
parent 74ea3dcd41
commit 0cedae66a9
5 changed files with 80 additions and 21 deletions
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76
racing.h
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@ -26,7 +26,9 @@ typedef int32_t LCR_GameUnit; ///< abstract game unit
#define LCR_CAR_FORWARD_FRICTION TPE_F / 14
#define LCR_CAR_TURN_FRICTION (3 * TPE_F / 4)
#define LCR_CAR_ELASTICITY (TPE_F / 100)
#define LCR_CAR_ACCELERATION (LCR_PHYSICS_UNIT / 8)
#define LCR_CAR_ACCELERATION (LCR_PHYSICS_UNIT / 20)
#define LCR_CAR_TURN_SPEED (LCR_GAME_UNIT / 3)
#define LCR_CAR_TURN_MAX (LCR_GAME_UNIT / 4)
struct
{
@ -203,10 +205,12 @@ void _LCR_racingWheelAccelerate(unsigned int wheel, TPE_Vec3 dir)
(dir.z * LCR_CAR_ACCELERATION) / TPE_F;
}
/**
Updates the racing physics world, call every LCR_RACING_TICK_MS milliseconds.
*/
void LCR_racingStep(unsigned int input)
{
TPE_Vec3 carForw, carRight, carUp;
// TPE_Vec3 vel = TPE_vec3(0,0,0);
carForw = TPE_vec3Normalized(TPE_vec3Plus(
TPE_vec3Minus(LCR_racing.carBody.joints[0].position,
@ -224,26 +228,40 @@ void LCR_racingStep(unsigned int input)
if (input)
{
unsigned char steering = 0;
// TODO: magic constants
if (input & LCR_RACING_INPUT_FORW)
LCR_racing.wheelRotation =
(LCR_racing.wheelRotation + 5) % LCR_GAME_UNIT;
if (input & LCR_RACING_INPUT_BACK)
LCR_racing.wheelRotation -= 4;
if (input & (LCR_RACING_INPUT_FORW | LCR_RACING_INPUT_BACK))
{
// TODO: in air always rotate wheels
while (LCR_racing.wheelRotation < 0)
LCR_racing.wheelRotation = LCR_racing.wheelRotation +
(LCR_racingGetCarSpeed() / 32)
% LCR_GAME_UNIT;
if (LCR_racing.wheelRotation < 0)
LCR_racing.wheelRotation += LCR_GAME_UNIT;
}
if (input & LCR_RACING_INPUT_RIGHT)
{
steering = 2;
LCR_racing.wheelSteer = TPE_min(
LCR_racing.wheelSteer + 64,LCR_GAME_UNIT / 2);
LCR_racing.wheelSteer + LCR_CAR_TURN_SPEED,
LCR_CAR_TURN_MAX);
}
if (input & LCR_RACING_INPUT_LEFT)
else if (input & LCR_RACING_INPUT_LEFT)
{
steering = 1;
LCR_racing.wheelSteer = TPE_max(
LCR_racing.wheelSteer - 64,-1 * LCR_GAME_UNIT / 2);
LCR_racing.wheelSteer - LCR_CAR_TURN_SPEED,
-1 * LCR_CAR_TURN_MAX);
}
if ((LCR_racing.wheelCollisions & 0x03) == 0x03) // back wheels on gr.?
if ((LCR_racing.wheelCollisions & 0x0c)) // back wheel on ground?
{
if (input & LCR_RACING_INPUT_FORW)
{
@ -256,13 +274,45 @@ void LCR_racingStep(unsigned int input)
_LCR_racingWheelAccelerate(1,TPE_vec3TimesPlain(carForw,-1));
}
}
for (int i = 0; i < 4; ++i)
if (LCR_racing.wheelCollisions & (0x01 << i)) // wheel on ground?
{
TPE_Vec3 jv = TPE_vec3( // joint velocity
LCR_racing.carBody.joints[i].velocity[0],
LCR_racing.carBody.joints[i].velocity[1],
LCR_racing.carBody.joints[i].velocity[2]);
TPE_Vec3 ja = carRight; // wheel axis of rotation
if (i >= 2 && steering)
{
// for front wheels with turning we tilt the wheel axis 45 degrees
TPE_Unit steer =
(LCR_racing.wheelSteer * TPE_F) / LCR_GAME_UNIT;
ja = TPE_vec3Normalized(
TPE_vec3Plus(TPE_vec3Times(carForw,steer),carRight));
}
/* friction is in the direction if the axis and its magnitude is
determined by the dot product (angle) of the axis and velocity */
TPE_Vec3 fric = TPE_vec3Times(ja,(TPE_vec3Dot(ja,jv) *
LCR_CAR_TURN_FRICTION) / TPE_F);
jv = TPE_vec3Minus(jv,fric); // subtract the friction
LCR_racing.carBody.joints[i].velocity[0] = jv.x;
LCR_racing.carBody.joints[i].velocity[1] = jv.y;
LCR_racing.carBody.joints[i].velocity[2] = jv.z;
}
}
if ((!(input & LCR_RACING_INPUT_LEFT)) &&
(!(input & LCR_RACING_INPUT_RIGHT)))
LCR_racing.wheelSteer /= 2;
if ((LCR_racing.wheelCollisions & 0x0f) != 0x0f) // EXPERIMENTAL: don't apply gravity with all wheels on ground
TPE_bodyApplyGravity(&(LCR_racing.carBody),LCR_GRAVITY);