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Handle start position

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This commit is contained in:
Miloslav Ciz 2024-09-29 20:52:52 +02:00
parent 34293981b0
commit beda272f18
4 changed files with 146 additions and 162 deletions
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67
assets.h
View file

@ -32,77 +32,16 @@ LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_RAMP,46,0,33,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,1,1,10,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,36,0,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_LEFT,36,0,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,1,10,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,36,0,43,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_FILL,10,4,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,0,32,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_START,32,1,32,0,LCR_BLOCK_TRANSFORM_ROT_180),
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,63,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,63,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,63,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,0,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,63,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,63,0,0,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,63,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL_ACCEL,32,32,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,4,4,4,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,50,20,20,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,5,5,5,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,10,10,10,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,3,3,3,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,2,25,50,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,3,3,3,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,0,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,40,1,1,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,63,63,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,1,1,40,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,15,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,7,4,8,0,0),
*/
/*
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,15,0,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_CUBOID_HOLLOW,7,4,8,0,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,32,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,32,32,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_RAMP_CURVED_WALL,34,32,32,LCR_BLOCK_MATERIAL_GRASS,0),
LCR_MAP_BLOCK(LCR_BLOCK_RAMP_CURVED_WALL,35,32,32,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,63,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,0,35,32,LCR_BLOCK_MATERIAL_ICE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,40,35,32,LCR_BLOCK_MATERIAL_DIRT,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,41,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,42,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,43,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,44,35,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_BOTTOM_LEFT,34,32,33,LCR_BLOCK_MATERIAL_CONCRETE,LCR_BLOCK_TRANSFORM_ROT_90),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,33,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,33,32,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,33,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,33,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,32,32,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
LCR_MAP_BLOCK(LCR_BLOCK_FULL,33,32,33,LCR_BLOCK_MATERIAL_CONCRETE,0),
*/
LCR_MAP_TERMINATOR
};

59
map.h
View file

@ -104,7 +104,7 @@ struct
{
uint16_t blockCount;
uint8_t blocks[LCR_SETTING_MAP_MAX_BLOCKS * LCR_BLOCK_SIZE];
uint32_t startPos;
uint8_t startPos[4]; ///< Initial position and rotation.
uint8_t environment;
@ -227,6 +227,8 @@ uint8_t *LCR_getMapBlockAtCoordNumber(uint32_t coord)
*/
uint8_t _LCR_mapAddBlock(const uint8_t block[LCR_BLOCK_SIZE])
{
LCR_LOG2("adding map block");
if (LCR_currentMap.blockCount >= LCR_SETTING_MAP_MAX_BLOCKS)
return 0;
@ -283,7 +285,11 @@ uint8_t _LCR_mapAddBlock(const uint8_t block[LCR_BLOCK_SIZE])
*/
uint8_t LCR_mapLoad(const uint8_t *map)
{
LCR_currentMap.startPos = 0;
LCR_LOG0("loading map")
for (int i = 0; i < 4; ++i)
LCR_currentMap.startPos[i] = 0;
LCR_currentMap.blockCount = 0;
if (map[0] != LCR_MAP_MAGIC_NUMBER1 || map[1] != LCR_MAP_MAGIC_NUMBER2)
@ -348,6 +354,15 @@ uint8_t LCR_mapLoad(const uint8_t *map)
break;
}
case LCR_BLOCK_START:
LCR_mapBlockGetCoords(map,
LCR_currentMap.startPos,
LCR_currentMap.startPos + 1,
LCR_currentMap.startPos + 2);
LCR_currentMap.startPos[3] = LCR_mapBlockGetTransform(map) & 0x60;
break;
default:
if (!_LCR_mapAddBlock(map)) // normal block
return 0;
@ -355,16 +370,10 @@ uint8_t LCR_mapLoad(const uint8_t *map)
break;
}
map += 4;
map += LCR_BLOCK_SIZE;
}
// process and remove special blocks:
// TODO
// sort the blocks (for fast searching):
// TODO
LCR_LOG2("map loaded")
return 1;
}
@ -447,8 +456,9 @@ void _LCR_addBlockShapeByte(uint8_t *bytes, uint8_t *byteCount,
*byteCount += 1;
}
/**
Macro that transforms coordinates according to block transformation.
*/
#define LCR_TRANSFORM_COORDS(trans,cx,cy,cz,maxXZ,maxY)\
if (trans & LCR_BLOCK_TRANSFORM_FLIP_H) cx = maxXZ - cx;\
if (trans & 0x20) { /* for both 90 and 270 */ \
@ -460,8 +470,6 @@ void _LCR_addBlockShapeByte(uint8_t *bytes, uint8_t *byteCount,
if (trans & LCR_BLOCK_TRANSFORM_FLIP_V) \
cy = maxY - cy;
/**
Gets a shape of given map block type as a 3D model composed of triangles. The
model is returned as an array of byte triplets (triangles), with each byte
@ -584,28 +592,7 @@ void LCR_mapGetBlockShape(uint8_t blockType, uint8_t transform,
_LCR_decodeMapBlockCoords(bytes[i],&x,&y,&z);
LCR_TRANSFORM_COORDS(transform,x,y,z,6,4)
/*
if (transform & LCR_BLOCK_TRANSFORM_FLIP_H)
x = 6 - x;
if (transform & 0x20) // for both 90 and 270
{
tmp = z;
z = x;
x = 6 - tmp;
}
if (transform & 0x40) // for both 180 and 270
{
x = 6 - x;
z = 6 - z;
}
if (transform & LCR_BLOCK_TRANSFORM_FLIP_V)
y = 4 - y;
*/
LCR_TRANSFORM_COORDS(transform,x,y,z,6,4)
bytes[i] = _LCR_encodeMapBlockCoords(x,y,z);
}

172
racing.h
View file

@ -62,9 +62,8 @@ struct
Lower bits record current collisions, higher
bits the previous state (for averaging). */
TPE_Vec3 carPositions[2]; ///* Current and previous position.
TPE_Vec3 carRotations[2]; ///* Current and previous rotation.
TPE_Vec3 carPositions[2]; ///* Current and previous position in game units.
TPE_Vec3 carRotations[2]; ///* Current and previous rotation in game units.
TPE_Vec3 carOKPositions[LCR_CAR_JOINTS];
@ -323,6 +322,61 @@ void LCR_racingRestart(void)
LCR_racing.carRotations[0] = TPE_vec3(0,0,0);
LCR_racing.carRotations[1] = LCR_racing.carRotations[0];
TPE_bodyMoveTo(&(LCR_racing.carBody),
TPE_vec3(
(((TPE_Unit) LCR_currentMap.startPos[0]) - LCR_MAP_SIZE_BLOCKS / 2)
* LCR_PHYSICS_UNIT + LCR_PHYSICS_UNIT / 2,
(((TPE_Unit) LCR_currentMap.startPos[1]) - LCR_MAP_SIZE_BLOCKS / 2)
* LCR_PHYSICS_UNIT / 2 + LCR_PHYSICS_UNIT / 4,
(((TPE_Unit) LCR_currentMap.startPos[2]) - LCR_MAP_SIZE_BLOCKS / 2)
* LCR_PHYSICS_UNIT + LCR_PHYSICS_UNIT / 2));
// TODO: allow also flipping the car upside down on start?
if (LCR_currentMap.startPos[3])
TPE_bodyRotateByAxis(&(LCR_racing.carBody),
TPE_vec3(0,
LCR_currentMap.startPos[3] == LCR_BLOCK_TRANSFORM_ROT_90 ? 3 * TPE_F / 4 :
(LCR_currentMap.startPos[3] == LCR_BLOCK_TRANSFORM_ROT_180 ? TPE_F / 2 :
(TPE_F / 4)),0));
/*
const uint8_t *b = LCR_currentMap.blocks;
for (int i = 0; i < LCR_currentMap.blockCount; ++i)
{
if (*b == LCR_BLOCK_START)
{
uint8_t x, y, z;
LCR_LOG1("placing car to start position");
LCR_mapBlockGetCoords(b,&x,&y,&z);
TPE_bodyMoveTo(&(LCR_racing.carBody),
TPE_vec3(
(((TPE_Unit) x) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT +
LCR_PHYSICS_UNIT / 2,
(((TPE_Unit) y) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT / 2 +
LCR_PHYSICS_UNIT / 4,
(((TPE_Unit) z) - LCR_MAP_SIZE_BLOCKS / 2) * LCR_PHYSICS_UNIT +
LCR_PHYSICS_UNIT / 2
));
// resuse x:
x = LCR_mapBlockGetTransform(b) & 0x60;
if (x)
TPE_bodyRotateByAxis(&(LCR_racing.carBody),
TPE_vec3(0,x == LCR_BLOCK_TRANSFORM_ROT_90 ? TPE_F / 4 :
(x == LCR_BLOCK_TRANSFORM_ROT_180 ? TPE_F / 2 : (3 * TPE_F / 4)),0));
}
b += LCR_BLOCK_SIZE;
}
*/
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
LCR_racing.carOKPositions[i] = TPE_vec3(0,0,0);
@ -373,9 +427,6 @@ 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();
}
@ -616,29 +667,29 @@ LCR_racing.carPositions[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)));
TPE_Unit angle =
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
if (angle < 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)
if (angle <= 0)
{
LCR_LOG1("car roof flipped over, fixing")
LCR_racing.carBody.joints[4].position = wheelAverage;
roofAngle = 0;
angle = 0;
}
roofAngle = TPE_F - 4 * roofAngle; // 4 comes from above TPE_F / 4
angle = TPE_F - 4 * angle; // 4 comes from above TPE_F / 4
tmpVec = TPE_vec3Times(tmpVec,roofAngle);
tmpVec = TPE_vec3Times(tmpVec,angle);
// accelerate roof and wheels away from each other
for (int i = 0; i < LCR_CAR_JOINTS; ++i)
@ -650,76 +701,75 @@ int carOK = 1; // TODO: for checking if car shape is fine, if we're inside a wal
}
angle =
(TPE_vec3Dot(
TPE_vec3Minus(
LCR_racing.carBody.joints[1].position,
LCR_racing.carBody.joints[0].position),
TPE_vec3Minus(
LCR_racing.carBody.joints[2].position,
LCR_racing.carBody.joints[0].position)) +
TPE_vec3Dot(
TPE_vec3Minus(
LCR_racing.carBody.joints[0].position,
LCR_racing.carBody.joints[3].position),
TPE_vec3Minus(
LCR_racing.carBody.joints[2].position,
LCR_racing.carBody.joints[3].position)));
int carOK = 1; // TODO: for checking if car shape is fine, if we're inside a wall etc.
if (angle < 1900 || angle > 2350 ||
(LCR_racing.carBody.flags & TPE_BODY_FLAG_UNRESOLVED))
carOK = 0;
if (1 /*carOK*/)
if (carOK)
{
LCR_racing.carNotOKCount -= LCR_racing.carNotOKCount ? 1 : 0;
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)
if (LCR_racing.carNotOKCount > 5)
{
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].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;
//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);
}
// TPE_bodyReshape(&(LCR_racing.carBody),
// LCR_racing.physicsWorld.environmentFunction);
// TODO
LCR_racing.carNotOKCount = 0;
// LCR_racing.carNotOKCount = 0;
}
else
LCR_racing.carNotOKCount++;
}
#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");

8
tinyphysicsengine.h
View file

@ -252,6 +252,9 @@ typedef struct
energy. */
#define TPE_BODY_FLAG_NO_BSPHERE 64 /**< Stops quick bounding sphere checks
against environment. */
#define TPE_BODY_FLAG_UNRESOLVED 128 /**< Set automatically for bodies whose
collision with environment failed
to be resolved. */
/** Function used for defining static environment, working similarly to an SDF
(signed distance function). The parameters are: 3D point P, max distance D.
@ -1913,6 +1916,8 @@ uint8_t TPE_bodyEnvironmentResolveCollision(TPE_Body *body,
TPE_Vec3 c;
TPE_Unit d;
body->flags &= ~TPE_BODY_FLAG_UNRESOLVED;
if (!(body->flags & TPE_BODY_FLAG_NO_BSPHERE))
{
TPE_bodyGetFastBSphere(body,&c,&d);
@ -1938,6 +1943,9 @@ uint8_t TPE_bodyEnvironmentResolveCollision(TPE_Body *body,
{
collision = 1;
if (r == 2)
body->flags |= TPE_BODY_FLAG_UNRESOLVED;
if (body->flags & TPE_BODY_FLAG_NONROTATING)
_TPE_bodyNonrotatingJointCollided(body,i,previousPos,r == 1);
}