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Continue physics

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This commit is contained in:
Miloslav Ciz 2024-09-05 22:51:11 +02:00
parent 1c6666b377
commit 46c8a4eade
4 changed files with 122 additions and 23 deletions
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89
racing.h
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@ -9,55 +9,114 @@ typedef int32_t LCR_GameUnit; ///< game spatial units
#define LCR_GAME_UNIT 1024 ///< length of map square in game units
#define LCR_RACING_INPUT_FORW 0x01
#define LCR_RACING_INPUT_RIGHT 0x02
#define LCR_RACING_INPUT_BACK 0x04
#define LCR_RACING_INPUT_LEFT 0x08
#define LCR_PHYSICS_UNIT 512 ///< length of map square for physics engine
#include "map.h"
#include "tinyphysicsengine.h"
#define LCR_CAR_JOINTS 5
#define LCR_CAR_CONNECTIONS 8
struct
{
TPE_World physicsWorld;
TPE_Body carBody;
TPE_Joint carJoints[5];
TPE_Connection carConnections[8];
} LCR_racing;
TPE_Vec3 LCR_racingEnvironmentFunction(TPE_Vec3 point, TPE_Unit maxDist)
{
/*
return
TPE_envHalfPlane(point,
TPE_vec3(0,0,0),
TPE_vec3(0,TPE_FRACTIONS_PER_UNIT,0));
*/
return TPE_envAABoxInside(point,TPE_vec3(0,0,0),TPE_vec3(
LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS,
(LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS) / 2,
LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS));
}
void LCR_racingInit(void)
{
LCR_log("initializing racing engine");
// make the car body:
TPE_makeCenterRect(LCR_racing.carJoints,
LCR_racing.carConnections,
LCR_GAME_UNIT / 3,
(LCR_GAME_UNIT) / 2,
LCR_GAME_UNIT / 8);
LCR_racing.carJoints[4].position.y += LCR_PHYSICS_UNIT / 3;
LCR_racing.carJoints[4].sizeDivided *= 3;
LCR_racing.carJoints[4].sizeDivided /= 2;
TPE_bodyInit(&(LCR_racing.carBody),
LCR_racing.carJoints,LCR_CAR_JOINTS,
LCR_racing.carConnections,LCR_CAR_CONNECTIONS,
TPE_FRACTIONS_PER_UNIT);
TPE_worldInit(&(LCR_racing.physicsWorld),
&(LCR_racing.carBody),1,LCR_racingEnvironmentFunction);
}
void LCR_racingGetCarTransform(LCR_GameUnit position[3],
LCR_GameUnit rotation[3])
{
#define AVERAGE(c) \
(((((LCR_racing.carBody.joints[0].position.c + \
LCR_racing.carBody.joints[1].position.c + \
LCR_racing.carBody.joints[2].position.c + \
LCR_racing.carBody.joints[3].position.c) / 4) + \
LCR_racing.carBody.joints[4].position.c) / 2) * \
LCR_GAME_UNIT) / LCR_PHYSICS_UNIT
position[0] = AVERAGE(x);
position[1] = AVERAGE(y);
position[2] = AVERAGE(z);
#undef AVERAGE
}
void _LCR_drawPhysicsDebugPixel(uint16_t x, uint16_t y, uint8_t color)
{
if (x > 1 && x < LCR_EFFECTIVE_RESOLUTION_X - 1 &&
y > 1 && y < LCR_EFFECTIVE_RESOLUTION_Y - 1)
if (x > 1 && x < LCR_EFFECTIVE_RESOLUTION_X - 2 &&
y > 1 && y < LCR_EFFECTIVE_RESOLUTION_Y - 2)
{
uint16_t color = color;
color = (color << 3) | 0xf800;
uint16_t c = 0x8101 | (0x8f1f << (2 * color));
for (int j = -1; j < 2; ++j)
for (int i = -1; i < 2; ++i)
LCR_drawPixelXYUnsafe(x + i,y + j,color);
for (int j = -1; j <= 2; ++j)
for (int i = -1; i <= 2; ++i)
LCR_drawPixelXYUnsafe(x + i,y + j,c);
}
}
// TODO: input
void LCR_racingStep(unsigned int input)
{
TPE_Vec3 vel = TPE_vec3(0,0,0);
if (input)
{
if (input & LCR_RACING_INPUT_FORW)
vel.z = LCR_GAME_UNIT / 32;
if (input & LCR_RACING_INPUT_BACK)
vel.y = LCR_GAME_UNIT / 32;
if (input & LCR_RACING_INPUT_RIGHT)
vel.x = LCR_GAME_UNIT / 32;
if (input & LCR_RACING_INPUT_LEFT)
vel.x = -1 * LCR_GAME_UNIT / 32;
TPE_bodyAccelerate(&(LCR_racing.carBody),vel);
}
TPE_worldStep(&(LCR_racing.physicsWorld));
}
void LCR_physicsDebugDraw(LCR_GameUnit camPos[3], LCR_GameUnit camRot[2],
LCR_GameUnit camFov)
{