/apps/demos/scenery: box is almost coherent...
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@ -19,7 +19,7 @@
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#define PLAYER_HEIGHT 0.6f
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#define TREE_DENSITY 0.03f
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#define G_CONST 0.1f
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#define G_CONST 10.0f
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/* TODO: pregenerate grid of levels of detail */
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static float heightmap[TERRAIN_DISTANCE][TERRAIN_DISTANCE];
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@ -58,11 +58,11 @@ static float heightmap[TERRAIN_DISTANCE][TERRAIN_DISTANCE];
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#define VEHICLE_WIDTH 1.7f
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#define VEHICLE_HEIGHT 1.3f
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/* spring constant */
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#define VEHICLE_SPRING_K 400.0f
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#define VEHICLE_SPRING_K 50000.0f
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/* damping constant */
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#define VEHICLE_SPRING_C 20.0f
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#define VEHICLE_FRICTION_S 1000000.0f
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#define VEHICLE_FRICTION_K 1000000.0f
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#define VEHICLE_SPRING_C 200.0f
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#define VEHICLE_FRICTION_S 50000.0f
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#define VEHICLE_FRICTION_K 700.0f
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/* initial, ideal corner positions */
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static const Vec3 vbpi[8] = {
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@ -119,7 +119,7 @@ static void process_vehicle(SceneIngame *scn) {
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Facc[i] = vec3_add(Facc[i], Fg);
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/* apply springs */
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for (size_t i = 0; i < 24; ++i) {
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for (size_t i = 0; i < 28; ++i) {
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Vec3 const p0 = vbp[vbs[i][0]];
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Vec3 const p1 = vbp[vbs[i][1]];
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Vec3 const v0 = vbv[vbs[i][0]];
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@ -140,7 +140,7 @@ static void process_vehicle(SceneIngame *scn) {
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Vec3 const p = vbp[i];
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Vec3 const v = vbv[i];
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float const h = height_at(scn, (Vec2){ p.x, p.z });
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if (h > p.y) {
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if (h >= p.y) {
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/* displacement force */
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Vec3 const n = normal_at(scn, (Vec2){ p.x, p.z });
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float const xn = (h - p.y) * n.y;
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@ -151,22 +151,25 @@ static void process_vehicle(SceneIngame *scn) {
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/* friction force, perpendicular to displacement */
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/* portions aligned to surface normal */
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Vec3 const vov = vec3_sub(v, vec3_scale(n, vn));
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draw_line_3d(vbp[i], vec3_add(vbp[i], vec3_scale(vov, 3)), 1, (Color){255, 0, 0, 255});
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float const vo = vec3_length(vov);
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Vec3 const Fov = vec3_sub(Facc[i], vec3_scale(n, vec3_dot(Facc[i], n)));
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float const Fo = vec3_length(Fov);
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float const fkxn = VEHICLE_FRICTION_K * xn;
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if (fabsf(0.0f - vo) <= 0.0001f) {
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if (fabsf(0.0f - vo) <= 0.001f) {
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/* cannot overcome static friction, zero force along the surface */
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if (Fo <= VEHICLE_FRICTION_S * xn) {
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Facc[i] = vec3_sub(Facc[i], Fov);
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// Facc[i] = vec3_sub(Facc[i], Fov);
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Facc[i] = (Vec3){0};
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}
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/* apply kinematic friction */
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else {
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Facc[i] = vec3_sub(Facc[i], vec3_scale(vec3_norm(Fov), fkxn));
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Facc[i] = vec3_sub(Fov, vec3_scale(vec3_norm(Fov), fkxn));
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}
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/* velocity with gain along the surface will not overcome */
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} else if (vo + (Fo / VEHICLE_MASS) * ctx.frame_duration <= fkxn * ctx.frame_duration) {
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vbv[i] = vec3_sub(vbv[i], vov);
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} else if (vec3_length(vec3_add(vov, vec3_scale(vec3_scale(Fov, (1.0f / VEHICLE_MASS)), ctx.frame_duration))) <= fkxn * ctx.frame_duration) {
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// vbv[i] = vec3_sub(vbv[i], vov);
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vbv[i] = (Vec3){0};
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} else {
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Facc[i] = vec3_sub(Facc[i], vec3_scale(vec3_norm(vov), fkxn));
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}
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@ -175,10 +178,10 @@ static void process_vehicle(SceneIngame *scn) {
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/* integrate forces and velocity */
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for (size_t i = 0; i < 8; ++i) {
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Vec3 const vd = vec3_scale(Facc[i], (1.0f / VEHICLE_MASS) * ctx.frame_duration);
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Vec3 vd = vec3_scale(vec3_scale(Facc[i], (1.0f / VEHICLE_MASS)), ctx.frame_duration);
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if (vec3_length(vd) <= 0.02f) vd = (Vec3){0}; /* TODO: dirty hack... */
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vbv[i] = vec3_add(vbv[i], vd);
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vbp[i] = vec3_add(vbp[i], vbv[i]);
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vbv[i] = vec3_scale(vbv[i], 0.99f);
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vbp[i] = vec3_add(vbp[i], vec3_scale(vbv[i], ctx.frame_duration));
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}
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}
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