262 lines
7.1 KiB
C
262 lines
7.1 KiB
C
/**
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racing module: implements the racing physics and logic.
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*/
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#ifndef _LCR_RACING_H
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#define _LCR_RACING_H
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typedef int32_t LCR_GameUnit; ///< abstract game unit
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#define LCR_GAME_UNIT 1024 ///< length of map square in LCR_GameUnits
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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 10
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#define LCR_CAR_FORWARD_FRICTION (TPE_F / 14)
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#define LCR_CAR_TURN_FRICTION (3 * TPE_F / 4)
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#define LCR_CAR_ELASTICITY (TPE_F / 100)
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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[LCR_CAR_JOINTS];
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TPE_Connection carConnections[LCR_CAR_CONNECTIONS];
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uint8_t wheelCollisions; /**< In individual bits records for each car wheel
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whether it's currently touching the ground.
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Lower bits record current collisions, higher
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bits the previous state (for averaging). */
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TPE_Vec3 carPositions[2]; ///* Current and previous position.
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} LCR_racing;
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TPE_Vec3 _LCR_TPE_vec3DividePlain(TPE_Vec3 v, TPE_Unit d)
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{
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v.x /= d;
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v.y /= d;
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v.z /= d;
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return v;
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}
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TPE_Vec3 _LCR_racingEnvironmentFunction(TPE_Vec3 point, TPE_Unit maxDist)
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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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uint8_t _LCR_racingCollisionHandler(uint16_t b1, uint16_t j1, uint16_t b2,
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uint16_t j2, TPE_Vec3 p)
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{
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// check which wheels are touching the ground.
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if (j1 < 4) // wheel joint?
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LCR_racing.wheelCollisions |= 0x01 << j1;
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return 1;
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}
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/**
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Initializes new run.
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*/
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void LCR_racingRestart(void)
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{
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LCR_racing.wheelCollisions = 0;
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TPE_bodyDeactivate(&(LCR_racing.carBody));
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// TODO
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}
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/**
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Initializes the racing module, only call once.
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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_makeCenterRectFull(LCR_racing.carJoints,
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LCR_racing.carConnections,
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LCR_PHYSICS_UNIT / 2,
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(LCR_PHYSICS_UNIT * 3) / 4,
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LCR_PHYSICS_UNIT / 8);
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LCR_racing.carJoints[4].position.y += LCR_PHYSICS_UNIT / 6;
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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_F);
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LCR_racing.carBody.friction = LCR_CAR_FORWARD_FRICTION;
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LCR_racing.carBody.elasticity = LCR_CAR_ELASTICITY;
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TPE_worldInit(&(LCR_racing.physicsWorld),
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&(LCR_racing.carBody),1,_LCR_racingEnvironmentFunction);
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LCR_racing.physicsWorld.collisionCallback = _LCR_racingCollisionHandler;
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LCR_racingRestart();
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}
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void LCR_racingGetCarTransform(LCR_GameUnit position[3],
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LCR_GameUnit rotation[3], LCR_GameUnit interpolationParam)
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{
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#if LCR_SETTING_SMOOTH_ANIMATIONS
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TPE_Vec3 v = TPE_vec3Plus(
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LCR_racing.carPositions[1],
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_LCR_TPE_vec3DividePlain(
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TPE_vec3TimesPlain(
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TPE_vec3Minus(
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LCR_racing.carPositions[0],LCR_racing.carPositions[1]),
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interpolationParam),LCR_GAME_UNIT));
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position[0] = v.x;
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position[1] = v.y;
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position[2] = v.z;
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#else
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TPE_Vec3 v;
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position[0] = LCR_racing.carPositions[0].x;
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position[1] = LCR_racing.carPositions[0].y;
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position[2] = LCR_racing.carPositions[0].z;
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#endif
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v = TPE_bodyGetRotation(&(LCR_racing.carBody),0,2,1);
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rotation[0] = (v.x * LCR_GAME_UNIT) / TPE_F;
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rotation[1] = (v.y * LCR_GAME_UNIT) / TPE_F;
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rotation[2] = (v.z * LCR_GAME_UNIT) / TPE_F;
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// TODO: also smooth out rotation?
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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 - 2 &&
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y > 1 && y < LCR_EFFECTIVE_RESOLUTION_Y - 2)
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{
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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,c);
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}
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}
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int LCR_racingCarWheelTouchesGround(int wheel)
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{
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return ((LCR_racing.wheelCollisions & (LCR_racing.wheelCollisions >> 4))
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>> wheel) & 0x01;
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}
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void LCR_racingStep(unsigned int input)
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{
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TPE_Vec3 carForw, carRight, carUp;
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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.y = LCR_PHYSICS_UNIT / 8;
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if (input & LCR_RACING_INPUT_BACK)
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vel.z = LCR_PHYSICS_UNIT / 32;
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if (input & LCR_RACING_INPUT_RIGHT)
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vel.x = LCR_PHYSICS_UNIT / 32;
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if (input & LCR_RACING_INPUT_LEFT)
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vel.x = -1 * LCR_PHYSICS_UNIT / 32;
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TPE_bodyAccelerate(&(LCR_racing.carBody),vel);
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}
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TPE_bodyApplyGravity(&(LCR_racing.carBody),
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TPE_F / 32
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);
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LCR_racing.wheelCollisions <<= 4;
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TPE_worldStep(&(LCR_racing.physicsWorld));
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carForw = TPE_vec3Normalized(TPE_vec3Plus(
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TPE_vec3Minus(LCR_racing.carBody.joints[2].position,
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LCR_racing.carBody.joints[0].position),
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TPE_vec3Minus(LCR_racing.carBody.joints[3].position,
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LCR_racing.carBody.joints[1].position)));
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carRight = TPE_vec3Normalized(TPE_vec3Plus(
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TPE_vec3Minus(LCR_racing.carBody.joints[1].position,
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LCR_racing.carBody.joints[0].position),
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TPE_vec3Minus(LCR_racing.carBody.joints[3].position,
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LCR_racing.carBody.joints[2].position)));
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carUp = TPE_vec3Cross(carForw,carRight);
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if (TPE_vec3Dot(carUp,TPE_vec3Minus(LCR_racing.carBody.joints[4].position,
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LCR_racing.carBody.joints[0].position)) < 0)
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{
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/* if the car falls on its roof the center joint may flip to the other
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side, here we fix it */
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// LCR_log("car flipped over, fixing");
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LCR_racing.carBody.joints[4].position = TPE_vec3Plus(TPE_vec3Times(carUp,
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LCR_GAME_UNIT / 4),LCR_racing.carBody.joints[4].position);
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}
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LCR_racing.carPositions[1] = LCR_racing.carPositions[0];
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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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LCR_racing.carPositions[0].x = AVERAGE(x);
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LCR_racing.carPositions[0].y = AVERAGE(y);
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LCR_racing.carPositions[0].z = AVERAGE(z);
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#undef AVERAGE
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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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TPE_Vec3 cPos, cRot, cView;
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cPos.x = (camPos[0] * LCR_PHYSICS_UNIT) / LCR_GAME_UNIT;
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cPos.y = (camPos[1] * LCR_PHYSICS_UNIT) / LCR_GAME_UNIT;
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cPos.z = (camPos[2] * LCR_PHYSICS_UNIT) / LCR_GAME_UNIT;
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cRot.x = (camRot[0] * TPE_F) / LCR_GAME_UNIT;
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cRot.y = (camRot[1] * TPE_F) / LCR_GAME_UNIT;
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cRot.z = 0;
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cView.x = LCR_EFFECTIVE_RESOLUTION_X;
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cView.y = LCR_EFFECTIVE_RESOLUTION_Y;
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cView.z = (camFov * TPE_F) / LCR_GAME_UNIT;
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TPE_worldDebugDraw(&(LCR_racing.physicsWorld),_LCR_drawPhysicsDebugPixel,
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cPos,cRot,cView,16,2 * LCR_PHYSICS_UNIT);
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}
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#endif // guard
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