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Check front collision

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This commit is contained in:
Miloslav Ciz 2024-10-07 01:32:30 +02:00
parent d0bbd09856
commit 5a3db49cc1
2 changed files with 61 additions and 39 deletions
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4
assets.h
View file

@ -26,7 +26,7 @@ static const uint8_t map1[] =
LCR_MAP_BLOCK(LCR_BLOCK_START,1,1,1,0,0), LCR_MAP_BLOCK(LCR_BLOCK_START,1,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,0,0,LCR_BLOCK_MATERIAL_GRASS,0), LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,15,1,20,0,0), LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,15,1,20,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,0,20,LCR_BLOCK_MATERIAL_CONCRETE,0), LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,0,20,LCR_BLOCK_MATERIAL_CONCRETE,0),
@ -69,6 +69,8 @@ LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,2,5,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,3,6,6,LCR_BLOCK_MATERIAL_CONCRETE,0), LCR_MAP_BLOCK(LCR_BLOCK_FULL,3,6,6,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,2,1,3,0,0), LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,2,1,3,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_CORNER,1,1,4,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,15,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0), LCR_MAP_BLOCK(LCR_BLOCK_FULL,15,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,15,0,0), LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,15,0,0),

96
racing.h
View file

@ -799,53 +799,73 @@ void LCR_racingStep(unsigned int input)
} }
} }
// now make a special test for a "pinch" front collision
TPE_Vec3 frontWheelMiddle = TPE_vec3Plus(
LCR_racing.carBody.joints[0].position,
LCR_racing.carBody.joints[1].position);
frontWheelMiddle.x /= 2;
frontWheelMiddle.y /= 2;
frontWheelMiddle.z /= 2;
frontWheelMiddle = TPE_vec3Minus(frontWheelMiddle,
_LCR_racingEnvironmentFunction(frontWheelMiddle,LCR_PHYSICS_UNIT / 4));
uint8_t frontCollision = frontWheelMiddle.x == 0 && frontWheelMiddle.y == 0 &&
frontWheelMiddle.z == 0;
if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) || if (frontCollision)
!_LCR_racingCarShapeOK())
{
// car not OK
if (LCR_racing.carNotOKCount > 8) // TODO: constant
{ {
LCR_LOG1("car not OK for some time, fixing"); // stop the car immediately
LCR_LOG1("car front pierced");
for (int i = 0; i < LCR_CAR_JOINTS; ++i) LCR_racing.carNotOKCount += (LCR_racing.carNotOKCount < 15 ? 32 : 0); // TODO: consts
{
if (LCR_racing.carNotOKCount < 30) // TODO: const
{
// for a while try to smoothly iterate towards previous OK position
LCR_racing.carBody.joints[i].position =
TPE_vec3Plus(LCR_racing.carBody.joints[i].position,
LCR_racing.carOKPositions[i]);
LCR_racing.carBody.joints[i].position.x /= 2;
LCR_racing.carBody.joints[i].position.y /= 2;
LCR_racing.carBody.joints[i].position.z /= 2;
}
else // hard set the pos (iteration may be infinite due to sim.)
LCR_racing.carBody.joints[i].position = LCR_racing.carOKPositions[i];
for (int j = 0; j < 3; ++j) // lower speed a bit
LCR_racing.carBody.joints[i].velocity[j] =
(7 * ((int) LCR_racing.carBody.joints[i].velocity[j])) / 8;
}
} }
LCR_racing.carNotOKCount += LCR_racing.carNotOKCount < 32 ? 1 : 0; if ((LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED) || frontCollision ||
} !_LCR_racingCarShapeOK())
else {
{ // car not OK
// car OK
// LCR_racing.carNotOKCount -= LCR_racing.carNotOKCount ? 1 : 0;
LCR_racing.carNotOKCount = 0;
for (int i = 0; i < LCR_CAR_JOINTS; ++i) if (LCR_racing.carNotOKCount > 5) // TODO: constant
LCR_racing.carOKPositions[i] = LCR_racing.carBody.joints[i].position; {
} LCR_LOG1("car not OK (short), fixing");
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
{
if (LCR_racing.carNotOKCount < 50) // TODO: const
{
// for a while try to smoothly iterate towards previous OK position
LCR_racing.carBody.joints[i].position =
TPE_vec3Plus(LCR_racing.carBody.joints[i].position,
LCR_racing.carOKPositions[i]);
LCR_racing.carBody.joints[i].position.x /= 2;
LCR_racing.carBody.joints[i].position.y /= 2;
LCR_racing.carBody.joints[i].position.z /= 2;
for (int j = 0; j < 3; ++j) // lower speed a bit
LCR_racing.carBody.joints[i].velocity[j] =
(7 * ((int) LCR_racing.carBody.joints[i].velocity[j])) / 8;
}
else // hard set the pos (iteration may be infinite due to sim.)
{
LCR_LOG1("car not OK (long), teleporting");
LCR_racing.carBody.joints[i].position = LCR_racing.carOKPositions[i];
}
}
}
LCR_racing.carNotOKCount += LCR_racing.carNotOKCount < 255 ? 1 : 0;
}
else
{
// car OK
LCR_racing.carNotOKCount = 0;
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
LCR_racing.carOKPositions[i] = LCR_racing.carBody.joints[i].position;
}
LCR_racing.tick++; LCR_racing.tick++;