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Try to handle car turtle

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This commit is contained in:
Miloslav Ciz 2024-09-28 01:47:05 +02:00
parent 53096517c9
commit 34293981b0
3 changed files with 145 additions and 23 deletions
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2
frontend_sdl.c
View file

@ -1,7 +1,7 @@
#include <stdio.h>
#include <SDL2/SDL.h>
#define LCR_SETTING_LOG_LEVEL 0
#define LCR_SETTING_LOG_LEVEL 2
#include "game.h"
#include "debug.h"

163
racing.h
View file

@ -15,6 +15,10 @@ typedef int32_t LCR_GameUnit; ///< abstract game unit
#define LCR_RACING_INPUT_LEFT 0x08
#define LCR_PHYSICS_UNIT 2048 ///< length of map square for physics engine
#define TPE_RESHAPE_TENSION_LIMIT 10
#define TPE_RESHAPE_ITERATIONS 5
#include "map.h"
#include "tinyphysicsengine.h"
@ -35,16 +39,14 @@ typedef int32_t LCR_GameUnit; ///< abstract game unit
#define LCR_GRAVITY (LCR_PHYSICS_UNIT / 140)
#define LCR_CAR_FORWARD_FRICTION (TPE_F / 9)
#define LCR_CAR_TURN_FRICTION (4 * TPE_F / 4)
#define LCR_CAR_TURN_FRICTION (TPE_F)
#define LCR_CAR_ELASTICITY (TPE_F / 110)
#define LCR_CAR_ACCELERATION (LCR_PHYSICS_UNIT / 16)
#define LCR_CAR_TURN_SPEED (LCR_GAME_UNIT / 20)
#define LCR_CAR_TURN_MAX (LCR_GAME_UNIT / 4)
#define LCR_CAR_TURN_SPEED (LCR_GAME_UNIT / 18)
#define LCR_CAR_TURN_MAX ((7 * LCR_GAME_UNIT) / 24)
#endif
#define LCR_CAR_JOINTS 5
#define LCR_CAR_CONNECTIONS 10
@ -64,6 +66,11 @@ struct
TPE_Vec3 carPositions[2]; ///* Current and previous position.
TPE_Vec3 carRotations[2]; ///* Current and previous rotation.
TPE_Vec3 carOKPositions[LCR_CAR_JOINTS];
uint8_t carNotOKCount;
LCR_GameUnit wheelRotation;
LCR_GameUnit wheelSteer;
} LCR_racing;
@ -315,9 +322,22 @@ void LCR_racingRestart(void)
LCR_racing.carRotations[0] = TPE_vec3(0,0,0);
LCR_racing.carRotations[1] = LCR_racing.carRotations[0];
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
LCR_racing.carOKPositions[i] = TPE_vec3(0,0,0);
LCR_racing.carNotOKCount = 0;
// TODO
}
/**
Initializes the racing module, only call once.
*/
@ -353,6 +373,9 @@ void LCR_racingInit(void)
all map blocks. */
LCR_racing.carBody.flags |= TPE_BODY_FLAG_NO_BSPHERE;
TPE_bodyRotateByAxis(&LCR_racing.carBody,
TPE_vec3(TPE_F / 3,0,0));
LCR_racingRestart();
}
@ -558,29 +581,24 @@ void LCR_racingStep(unsigned int input)
TPE_worldStep(&(LCR_racing.physicsWorld));
LCR_LOG2("stepping physics engine done");
if (TPE_vec3Dot(carUp,TPE_vec3Minus(LCR_racing.carBody.joints[4].position,
LCR_racing.carBody.joints[0].position)) < 0)
{
/* if the car falls on its roof the center joint may flip to the other
side, here we fix it */
LCR_racing.carBody.joints[4].position = TPE_vec3Plus(TPE_vec3Times(carUp,
LCR_GAME_UNIT / 4),LCR_racing.carBody.joints[4].position);
}
TPE_Vec3 tmpVec = LCR_racing.carPositions[0];
LCR_racing.carPositions[0] = // average position of 4 wheels to get car pos
_LCR_TPE_vec3DividePlain(
TPE_vec3TimesPlain(
TPE_vec3Plus(
TPE_Vec3 wheelAverage =
_LCR_TPE_vec3DividePlain(
TPE_vec3Plus(
TPE_vec3Plus(
LCR_racing.carBody.joints[0].position,
LCR_racing.carBody.joints[1].position),
TPE_vec3Plus(
LCR_racing.carBody.joints[2].position,
LCR_racing.carBody.joints[3].position)
),LCR_GAME_UNIT),4 * LCR_PHYSICS_UNIT);
LCR_racing.carBody.joints[3].position)),4);
LCR_racing.carPositions[0] =
_LCR_TPE_vec3DividePlain(
TPE_vec3TimesPlain(
wheelAverage,LCR_GAME_UNIT),
LCR_PHYSICS_UNIT);
LCR_racing.carPositions[0] = // smooth the position
TPE_vec3KeepWithinBox(LCR_racing.carPositions[1],LCR_racing.carPositions[0],
@ -597,6 +615,111 @@ void LCR_racingStep(unsigned int input)
LCR_racing.carRotations[1] = LCR_racing.carRotations[0];
LCR_racing.carRotations[0] = tmpVec;
int carOK = 1; // TODO: for checking if car shape is fine, if we're inside a wall etc.
TPE_Unit roofAngle =
TPE_vec3Dot(carUp,TPE_vec3Normalized(TPE_vec3Minus(LCR_racing.carBody.joints[4].position,
LCR_racing.carBody.joints[0].position)));
if (roofAngle < TPE_F / 4) // TODO: magic constant
{
LCR_LOG2("car roof low, applying anti force")
tmpVec = TPE_vec3Times(carUp,LCR_PHYSICS_UNIT / 16); // TODO: 16 magic con.
if (roofAngle <= 0)
{
LCR_LOG1("car roof flipped over, fixing")
LCR_racing.carBody.joints[4].position = wheelAverage;
roofAngle = 0;
}
roofAngle = TPE_F - 4 * roofAngle; // 4 comes from above TPE_F / 4
tmpVec = TPE_vec3Times(tmpVec,roofAngle);
// accelerate roof and wheels away from each other
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
{
LCR_racing.carBody.joints[i].velocity[0] += (i == 4 ? 1 : -1) * tmpVec.x;
LCR_racing.carBody.joints[i].velocity[1] += (i == 4 ? 1 : -1) * tmpVec.y;
LCR_racing.carBody.joints[i].velocity[2] += (i == 4 ? 1 : -1) * tmpVec.z;
}
}
if (1 /*carOK*/)
{
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
LCR_racing.carOKPositions[i] = LCR_racing.carBody.joints[i].position;
}
else
{
LCR_racing.carNotOKCount++;
// if (LCR_racing.carNotOKCount > 4)
{
LCR_LOG1("car not OK, fixing");
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
{
LCR_racing.carBody.joints[i].position = LCR_racing.carOKPositions[i];
//LCR_racing.carBody.joints[i].velocity[0] = 0;
//LCR_racing.carBody.joints[i].velocity[1] = 0;
//LCR_racing.carBody.joints[i].velocity[2] = 0;
}
TPE_bodyReshape(&(LCR_racing.carBody),
LCR_racing.physicsWorld.environmentFunction);
// TODO
LCR_racing.carNotOKCount = 0;
}
}
#if 0
if (TPE_vec3Dot(carUp,TPE_vec3Minus(LCR_racing.carBody.joints[4].position,
LCR_racing.carBody.joints[0].position)) < 0)
{
/* if the car falls on its roof the center joint may flip to the other
side, here we fix it */
LCR_LOG1("car roof flipped over, fixing")
// LCR_racing.carBody.joints[4].position = TPE_vec3Plus(TPE_vec3Times(carUp,
// LCR_PHYSICS_UNIT / 8),LCR_racing.carBody.joints[4].position);
//tmpVec = TPE_vec3Times(carUp,LCR_PHYSICS_UNIT / 8);
/*
for (int j = 0; j < 4; ++j)
LCR_racing.carBody.joints[j].position = TPE_vec3Minus(
LCR_racing.carBody.joints[j].position,tmpVec);
*/
/*
LCR_racing.carBody.joints[4].position = TPE_vec3Plus(TPE_vec3Times(carUp,
LCR_GAME_UNIT / 4),LCR_racing.carBody.joints[4].position);
LCR_racing.carBody.joints[4].position =
TPE_vec3Plus(LCR_racing.carBody.joints[4],tmpVec);
*/
// TPE_bodyReshape(&(LCR_racing.carBody),
//LCR_racing.physicsWorld.environmentFunction);
}
#endif
LCR_racing.tick++;
LCR_LOG2("racing step end");

3
renderer.h
View file

@ -941,8 +941,7 @@ void LCR_rendererDrawRect(int x, int y, unsigned int w, unsigned int h,
unsigned long index = y * LCR_EFFECTIVE_RESOLUTION_X + x;
if (0)
// if (dither)
if (dither)
{
uint8_t parity = (x % 2) == (y % 2);