Continue physics
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1c6666b377
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46c8a4eade
4 changed files with 122 additions and 23 deletions
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@ -21,6 +21,11 @@
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#define LCR_MAP_SIZE_BLOCKS 64
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/** Physics FPS, i.e. the number of physics ticks per second. */
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#define LCR_RACING_FPS 25
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#define LCR_RACING_TICK_MS (1000 / LCR_RACING_FPS)
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#define LCR_ANIMATE_CAR (LCR_SETTING_CAR_ANIMATION_SUBDIVIDE != 0)
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/** Maximum number of triangles of a block shape. */
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36
game.h
36
game.h
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@ -74,7 +74,11 @@ uint8_t LCR_gameStep(uint32_t timeMs);
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//------------------------------------------------------------------------------
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uint32_t LCR_nextRenderFrameTime;
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struct
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{
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uint32_t nextRenderFrameTime;
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uint32_t nextRacingTickTime;
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} LCR_game;
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void LCR_drawPixelXYUnsafe(unsigned int x, unsigned int y,
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uint16_t color);
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@ -92,7 +96,7 @@ static inline void LCR_drawPixelXYSafe(unsigned int x, unsigned int y,
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#include "renderer.h"
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uint8_t LCR_keyStates[LCR_KEYS_TOTAL]; /**< Assures unchanging key states
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during a single frame. */
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during a single frame. */
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void LCR_drawPixelXYUnsafe(unsigned int x, unsigned int y,
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uint16_t color)
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@ -121,6 +125,9 @@ void LCR_gameInit(void)
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LCR_mapLoad(map1);
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LCR_rendererInit();
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LCR_racingInit();
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LCR_game.nextRenderFrameTime = 0;
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LCR_game.nextRacingTickTime = 0;
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}
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void LCR_gameEnd(void)
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@ -134,10 +141,27 @@ uint8_t LCR_gameStep(uint32_t time)
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uint32_t sleep = 0;
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if (time >= LCR_nextRenderFrameTime)
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while (time >= LCR_game.nextRacingTickTime)
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{
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unsigned int input = 0;
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if (LCR_keyStates[LCR_KEY_B])
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input =
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(LCR_keyStates[LCR_KEY_UP] ? LCR_RACING_INPUT_FORW : 0) |
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(LCR_keyStates[LCR_KEY_RIGHT] ? LCR_RACING_INPUT_RIGHT : 0) |
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(LCR_keyStates[LCR_KEY_DOWN] ? LCR_RACING_INPUT_BACK : 0) |
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(LCR_keyStates[LCR_KEY_LEFT] ? LCR_RACING_INPUT_LEFT : 0);
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LCR_racingStep(input);
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LCR_game.nextRacingTickTime += LCR_RACING_TICK_MS;
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}
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if (time >= LCR_game.nextRenderFrameTime)
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{
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LCR_GameUnit carTransform[6];
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LCR_racingGetCarTransform(carTransform,carTransform + 3);
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LCR_rendererSetCarTransform(carTransform,carTransform + 3);
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@ -149,7 +173,7 @@ LCR_rendererGetCameraTransform(sss,sss + 3,sss + 6);
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LCR_physicsDebugDraw(sss,sss + 3,sss[6]);
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LCR_nextRenderFrameTime += 1000 / LCR_SETTING_FPS;
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LCR_game.nextRenderFrameTime += 1000 / LCR_SETTING_FPS;
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LCR_GameUnit offsets[5];
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@ -168,7 +192,7 @@ LCR_physicsDebugDraw(sss,sss + 3,sss[6]);
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else if (LCR_keyStates[LCR_KEY_LEFT])
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offsets[3] = LCR_FREE_CAMERA_TURN_STEP;
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}
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else
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else if (!LCR_keyStates[LCR_KEY_B])
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{
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if (LCR_keyStates[LCR_KEY_UP])
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offsets[0] = LCR_FREE_CAMERA_STEP;
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@ -184,7 +208,7 @@ LCR_physicsDebugDraw(sss,sss + 3,sss[6]);
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LCR_rendererMoveCamera(offsets,offsets + 3);
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}
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else
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sleep = LCR_nextRenderFrameTime - time;
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sleep = LCR_game.nextRenderFrameTime - time;
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if (sleep)
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LCR_sleep(sleep);
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89
racing.h
89
racing.h
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@ -9,55 +9,114 @@ typedef int32_t LCR_GameUnit; ///< game spatial units
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#define LCR_GAME_UNIT 1024 ///< length of map square in game units
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#define LCR_RACING_INPUT_FORW 0x01
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#define LCR_RACING_INPUT_RIGHT 0x02
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#define LCR_RACING_INPUT_BACK 0x04
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#define LCR_RACING_INPUT_LEFT 0x08
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#define LCR_PHYSICS_UNIT 512 ///< length of map square for physics engine
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#include "map.h"
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#include "tinyphysicsengine.h"
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#define LCR_CAR_JOINTS 5
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#define LCR_CAR_CONNECTIONS 8
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struct
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{
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TPE_World physicsWorld;
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TPE_Body carBody;
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TPE_Joint carJoints[5];
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TPE_Connection carConnections[8];
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} LCR_racing;
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TPE_Vec3 LCR_racingEnvironmentFunction(TPE_Vec3 point, TPE_Unit maxDist)
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{
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/*
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return
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TPE_envHalfPlane(point,
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TPE_vec3(0,0,0),
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TPE_vec3(0,TPE_FRACTIONS_PER_UNIT,0));
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*/
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return TPE_envAABoxInside(point,TPE_vec3(0,0,0),TPE_vec3(
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LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS,
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(LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS) / 2,
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LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS));
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}
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void LCR_racingInit(void)
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{
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LCR_log("initializing racing engine");
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// make the car body:
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TPE_makeCenterRect(LCR_racing.carJoints,
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LCR_racing.carConnections,
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LCR_GAME_UNIT / 3,
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(LCR_GAME_UNIT) / 2,
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LCR_GAME_UNIT / 8);
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LCR_racing.carJoints[4].position.y += LCR_PHYSICS_UNIT / 3;
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LCR_racing.carJoints[4].sizeDivided *= 3;
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LCR_racing.carJoints[4].sizeDivided /= 2;
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TPE_bodyInit(&(LCR_racing.carBody),
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LCR_racing.carJoints,LCR_CAR_JOINTS,
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LCR_racing.carConnections,LCR_CAR_CONNECTIONS,
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TPE_FRACTIONS_PER_UNIT);
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TPE_worldInit(&(LCR_racing.physicsWorld),
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&(LCR_racing.carBody),1,LCR_racingEnvironmentFunction);
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}
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void LCR_racingGetCarTransform(LCR_GameUnit position[3],
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LCR_GameUnit rotation[3])
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{
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#define AVERAGE(c) \
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(((((LCR_racing.carBody.joints[0].position.c + \
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LCR_racing.carBody.joints[1].position.c + \
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LCR_racing.carBody.joints[2].position.c + \
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LCR_racing.carBody.joints[3].position.c) / 4) + \
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LCR_racing.carBody.joints[4].position.c) / 2) * \
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LCR_GAME_UNIT) / LCR_PHYSICS_UNIT
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position[0] = AVERAGE(x);
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position[1] = AVERAGE(y);
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position[2] = AVERAGE(z);
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#undef AVERAGE
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}
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void _LCR_drawPhysicsDebugPixel(uint16_t x, uint16_t y, uint8_t color)
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{
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if (x > 1 && x < LCR_EFFECTIVE_RESOLUTION_X - 1 &&
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y > 1 && y < LCR_EFFECTIVE_RESOLUTION_Y - 1)
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if (x > 1 && x < LCR_EFFECTIVE_RESOLUTION_X - 2 &&
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y > 1 && y < LCR_EFFECTIVE_RESOLUTION_Y - 2)
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{
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uint16_t color = color;
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color = (color << 3) | 0xf800;
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uint16_t c = 0x8101 | (0x8f1f << (2 * color));
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for (int j = -1; j < 2; ++j)
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for (int i = -1; i < 2; ++i)
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LCR_drawPixelXYUnsafe(x + i,y + j,color);
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for (int j = -1; j <= 2; ++j)
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for (int i = -1; i <= 2; ++i)
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LCR_drawPixelXYUnsafe(x + i,y + j,c);
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}
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}
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// TODO: input
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void LCR_racingStep(unsigned int input)
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{
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TPE_Vec3 vel = TPE_vec3(0,0,0);
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if (input)
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{
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if (input & LCR_RACING_INPUT_FORW)
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vel.z = LCR_GAME_UNIT / 32;
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if (input & LCR_RACING_INPUT_BACK)
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vel.y = LCR_GAME_UNIT / 32;
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if (input & LCR_RACING_INPUT_RIGHT)
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vel.x = LCR_GAME_UNIT / 32;
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if (input & LCR_RACING_INPUT_LEFT)
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vel.x = -1 * LCR_GAME_UNIT / 32;
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TPE_bodyAccelerate(&(LCR_racing.carBody),vel);
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}
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TPE_worldStep(&(LCR_racing.physicsWorld));
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}
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void LCR_physicsDebugDraw(LCR_GameUnit camPos[3], LCR_GameUnit camRot[2],
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LCR_GameUnit camFov)
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{
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15
renderer.h
15
renderer.h
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@ -7,7 +7,7 @@
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#define S3L_RESOLUTION_X LCR_SETTING_RESOLUTION_X
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#define S3L_RESOLUTION_Y LCR_SETTING_RESOLUTION_Y
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#define S3L_PIXEL_FUNCTION LCR_pixelFunc3D
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#define S3L_PIXEL_FUNCTION _LCR_pixelFuncc3D
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#define S3L_PERSPECTIVE_CORRECTION 2
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#define S3L_NEAR_CROSS_STRATEGY 1
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@ -82,7 +82,18 @@ struct
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} LCR_renderer;
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void LCR_pixelFunc3D(S3L_PixelInfo *pixel)
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void LCR_rendererSetCarTransform(LCR_GameUnit position[3],
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LCR_GameUnit rotation[3])
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{
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LCR_renderer.carModel->transform.translation.x =
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(position[0] * LCR_RENDERER_UNIT) / LCR_GAME_UNIT;
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LCR_renderer.carModel->transform.translation.y =
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(position[1] * LCR_RENDERER_UNIT) / LCR_GAME_UNIT;
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LCR_renderer.carModel->transform.translation.z =
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(position[2] * LCR_RENDERER_UNIT) / LCR_GAME_UNIT;
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}
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void _LCR_pixelFuncc3D(S3L_PixelInfo *pixel)
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{
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// once we get a new triangle, we precompute things for it:
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if (pixel->triangleID != LCR_renderer.previousTriID)
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